Robot robust path tracking

A new discontinuous robust control law for a rigid manipulator with bounded parameter uncertainties to track a desired trajectory, is presented. Global exponential stability is proved by the use of a natural Lyapunov function based on a transformation of the manipulator's differential equation due to Slotine and Li [2]. Convergence is to a sliding mode along which the tracking error is reduced at an arbitrary exponential rate. It is also shown how adaptation of bounds on uncertainties, and parameter adaptation, can be incorporated. For a continuous approximation of the discontinuous control law,practical stability (essentially, global uniform ultimate boundedness) of the tracking error is proved. Simulation results for the continuous control law exhibit excellent robust tracking.     

The role of carbon deposition on precious metal catalyst activity during dry reforming of biogas

Gold and palladium were supported on a mesoporous TiO₂ for total oxidation of volatile organic compounds (VOCs). Mesoporous high surface area titania support was synthesised using of Ti(OC₂H₅)₂ in the presence of CTMABr surfactant. After removing the surfactant molecules, 0.5 or 1.5 wt% of palladium and 1 wt% of gold were precipitated on the support by, respectively, wet impregnation and deposition–precipitation methods. The activity for toluene and propene total oxidation of the prereduced samples follows the same order: 0.5%Pd-1%Au/TiO₂ > 1.5%Pd/TiO₂ > 0.5%Pd/TiO₂ > 1%Au-0.5%Pd/TiO₂ > 1%Au/TiO₂ > TiO₂. Moreover, a catalytic comparison with samples based on a conventional TiO₂, shows the catalytic advantage of the mesoporous TiO₂ support. The promotional effect of gold added to palladium could be partly explained by small metallic particles (TEM), but meanly by metallic particles made up of Au-rich core with a Pd-rich shell. Moreover, the hydrogen TPR profile of 0.5%Pd-1%Au/TiO₂ shows only the signal attributed to small PdO particles. Gold also implies a protecting effect of the support under reduction atmosphere. Operando diffuse reflectance infrared fourier transform (DRIFT) spectroscopy was carried on and allowed to follow the VOCs oxidation and the formation of coke molecules, but also a metallic electrodonor effect to the adsorbed molecule which increases in the same order as the activity for oxidation reaction. The presence of coke after test was also shown by DTA–TGA by exothermic signals between 300 and 500 °C and by EPR (g = 2.003).     

Subspace identification of MIMO LPV systems using a periodic scheduling sequence

A novel subspace identification method is presented which is able to reconstruct the deterministic part of a multivariable state-space LPV system with affine parameter dependence, in the presence of process and output noise. It is assumed that the identification data is generated with the scheduling variable varying periodically during the course of the identification experiment. This allows to use methods from LTI subspace identification to determine the column space of the time-varying observability matrices. It is shown that the crucial step in determining the original LPV system is to ensure the obtained observability matrices are defined with respect to the same state basis. Once the LPV model has been identified, it is valid for other nonperiodic scheduling sequences as well.     

Flavonoids of “La Alcarria” honey A study of their botanical origin

Summary The flavonoids present in ten selected samples of La Alcarria honey with different pollen compositions have been HPLC analysed in order to establish if correlations between botanical origin and flavonoid profiles are possible. A common flavonoid pattern is observed in the different samples showing that pollen is not the main source of honey flavonoids. A close correlation between the flavonoid patterns of honey flavonoids and propolis flavonoids has been found suggesting that flavonoid analysis could be more useful in geographical origin determinations than in botanical origin studies.

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Flavonoide des La-Alcarria-Honigs Eine Studie ihres botanischen Ursprungs

Zusammenfassung Die Flavonoide in Proben in Alcarria-Honig mit unterschiedlicher Pollenzusammensetzung wurden untersucht, um Kortrelationen zwischen dem botanischen Ursprung und den möglichen Flavonoiden zu finden. In den verschiedenen Proben wurde ein Flavonoid-Muster gefunden, wobei der Pollen nicht die Hauptquelle der Honigflavonoide ist. Es wurde jedoch eine enge Korrelation zwischen den Flavonoid-Mustern des Honigs und des Bienenkittharzes gefunden, was für die geographische Herkunft wichtiger ist als die botanische.

     

The Contribution of Small Vessel Disease to Neurodegeneration: Focus on Alzheimer’s Disease,Parkinson’s Disease and Multiple Sclerosis

Brain small vessel disease (SVD) refers to a variety of structural and functional changes affecting small arteries and micro vessels, and manifesting as white matter changes, microbleeds and lacunar infarcts. Growing evidence indicates that SVD might play a significant role in the neurobiology of central nervous system (CNS) neurodegenerative disorders, namely Alzheimer’s disease (AD) and Parkinson’s disease (PD), and neuroinflammatory diseases, such as multiple sclerosis (MS). These disorders share different pathophysiological pathways and molecular mechanisms (i.e., protein misfolding, derangement of cellular clearance systems, mitochondrial impairment and immune system activation) having neurodegeneration as biological outcome. In these diseases, the actual contribution of SVD to the clinical picture, and its impact on response to pharmacological treatments, is not known yet. Due to the high frequency of SVD in adult-aged patients, it is important to address this issue. In this review, we report preclinical and clinical data on the impact of SVD in AD, PD and MS, with the main aim of clarifying the predictability of SVD on clinical manifestations and treatment response.     

Carbonaceous adsorbents from sewage sludge and their application in a combined activated sludge-powdered activated carbon (AS-PAC) treatment

In this study, waste biological sludge is converted to an adsorbent by chemical activation with sulphuric acid. The adsorbent obtained is then applied to the aerated vessel of an activated sludge process treating glucose and phenol to improve the quality of the treated effluent. The sludge-based carbonaceous adsorbent was found to be mesoporous in nature, with a good adsorption capacity for large molecular weight compounds and limited removal efficiency for smaller molecules such as phenol. The addition of carbon, either sludge-based or commercial, enhanced phenol removal from 58% to 98.7% and from 87% to 93% the organic matter removal as measured by the chemical oxygen demand (COD) when operated with feed concentrations of 100 mg phenol/l and 2500 mg COD/l. No differences were found between the activated sludge-activated carbon bench scale continuous reactors operating with either commercial or sludge-based adsorbents in spite of the higher adsorption capacity of the former. It is suggested that powdered adsorbent bioregeneration in the combined AS-PAC system may be impaired by the obstruction of pores due to bacterial growth, the effect being more important for the commercial activated carbon with a narrower pore size distribution.     

A complete and efficient CUDA-sharing solution for HPC clusters

In this paper we detail the key features, architectural design, and implementation of rCUDA, an advanced framework to enable remote and transparent GPGPU acceleration in HPC clusters. rCUDA allows decoupling GPUs from nodes, forming pools of shared accelerators, which brings enhanced flexibility to cluster configurations. This opens the door to configurations with fewer accelerators than nodes, as well as permits a single node to exploit the whole set of GPUs installed in the cluster. In our proposal, CUDA applications can seamlessly interact with any GPU in the cluster, independently of its physical location. Thus, GPUs can be either distributed among compute nodes or concentrated in dedicated GPGPU servers, depending on the cluster administrator’s policy. This proposal leads to savings not only in space but also in energy, acquisition, and maintenance costs. The performance evaluation in this paper with a series of benchmarks and a production application clearly demonstrates the viability of this proposal. Concretely, experiments with the matrix–matrix product reveal excellent performance compared with regular executions on the local GPU; on a much more complex application, the GPU-accelerated LAMMPS, we attain up to 11x speedup employing 8 remote accelerators from a single node with respect to a 12-core CPU-only execution. GPGPU service interaction in compute nodes, remote acceleration in dedicated GPGPU servers, and data transfer performance of similar GPU virtualization frameworks are also evaluated.