Contribution to the decoupled control of large-scale mechanical systems

This paper presents the concept of decomposition as applied to the control synthesis of multivariable mechanical systems, in which the coupling among the subsystems can be very strong. The system class considered contains subsystems with powered degrees of freedom, as well as subsystems without their own actuators. Global control is introduced to diminish the influence of coupling on the stability of the whole system. The procedure is illustrated by simulation of two examples, one in robotics, the other in biomechanics.     

Survey of Intelligent Control Techniques for Humanoid Robots

This paper focusses on the application of intelligent control techniques (neural networks, fuzzy logic and genetic algorithms) and their hybrid forms (neuro-fuzzy networks, neuro-genetic and fuzzy-genetic algorithms) in the area of humanoid robotic systems. It represents an attempt to cover the basic principles and concepts of intelligent control in humanoid robotics, with an outline of a number of recent algorithms used in advanced control of humanoid robots. Overall, this survey covers a broad selection of examples that will serve to demonstrate the advantages and disadvantages of the application of intelligent control techniques.     

A novel SON2‐based similarity index and its application for the rationalization of river water quality monitoring network

In this paper, a novel self‐organizing network (SON) based similarity index and its application for the optimization of sampling locations in an existing river water quality monitoring network (WQMN) is presented. A rationalization of the River Danube WQMN on its stretch through Serbia was performed using the proposed SON²‐based similarity index. A high‐dimensional dataset was used, which is composed of 18 water quality parameters that were collected during the period 2002–2010 at 17 monitoring locations. The SON‐based seasonal classification that divides 12 months into the cold, moderate, and warm seasons was employed, whereas its second application on each seasonal class yielded subclasses that were used to compare the monitoring locations. The obtained SON²‐based similarity index can be utilized for analysing seasonal variations, as well as overall similarities among neighbouring sites. Based on the calculated similarities of locations and characteristics of the River Danube basin a rationalized WQMN, which uses 30% less monitoring sites, has been proposed.     

Bread and durum wheat compared for antioxidants contents,and lipoxygenase and peroxidase activities

Potential beneficial components, including proteins, total phenolics, total flavonoids, carotenoids, tocopherols, and DPPH radical scavenging activity, were investigated in wholemeal of ten bread (T. aestivum L.) and ten durum (T. durum Desf.) novel wheat genotypes. In addition, the activity rate of lipoxygenase (LOX) and peroxidase (POD) enzymes implicated in the antioxidant metabolism was determined. The protein contnet and the antioxidant properties varied according to the two different wheat species, as well as, between the different bread and durum wheat genotypes themselves. The results indicated significant differences in proteins and antioxidant compounds between bread and durum wheat. Higher total proteins, wet gluten and antioxidants contents, combined with lower LOX and POD activities, point to a higher nutritive value of durum wheat than bread wheat.     

Mathematical modelling of soybean oil solubility in supercritical carbon dioxide

The solubility of soybean oil in supercritical carbon dioxide has been determined in the pressure range of 100–300 bar and in the temperature range of 313–323 K. The obtained values (from 0.0005 to 0.02055 g L^?1) have been correlated using four different empirical equations proposed correspondingly by Chrastil, del Valle and Aquilera, Adachi and Lu and Sparks et al. Since the Sparks et al. equation provided the lowest average absolute relative deviation (AARD) (10.25%) than other models in the examined experimental range, a modified equation of Sparks et al. model was developed for predicting the solubility of soybean oil in supercritical carbon dioxide as a function of temperature and density. An improved equation showed the lowest deviation (2.15%) between experimental data than the other empirical equations considered in this study. The proposed equation was also applied for correlating the solubility of linoleic acid (AARD was 2.40%).     

STRATIGRAPHY AND PETROLEUM GEOLOGY OF THE CROATIAN PART OF THE ADRIATIC BASIN

Coastal parts of Croatia are dominated by the SW‐verging Dinaric foldbelt, to the west and SW of which is the Adriatic Basin (the stable foreland). In both areas, the stratigraphic column is dominated by a thick carbonate succession ranging from Carboniferous to Miocene. Four megasequences have been identified: (i) a pre‐platform succession ranging in age from Late Carboniferous (Middle Pennsylvanian: Moscovian) to Early Jurassic (Early Toarcian; Bru?ane and Ba?ke Ostarije Formations); (ii) an Early Jurassic to Late Cretaceous platform megasequence (Mali Alan Formation); (iii) a Paleogene to Neogene post‐platform megasequence (Ra?a Formation); and (iv) a Neogene to Quaternary (Pliocene to Holocene) megasequence (Istra and Ivana Formations). A number of organic‐rich intervals with source rock potential have been identified on‐ and offshore Croatia: Middle and Upper Carboniferous, Upper Permian, Lower and Middle Triassic, Lower and Upper Jurassic, Lower and Upper Cretaceous, Eocene, and Pliocene – Pleistocene. Traps and potential plays have been identified from seismic data in the Dinaric belt and adjacent foreland. Evaporites of Permian, Triassic and Neogene (Messinian) ages form potential regional seals, and carbonates with secondary porosity form potential reservoirs. Oil and gas shows in wells in the Croatian part of the Adriatic Basin have been recorded but no oil accumulations of commercial value have yet been discovered. In the northern Adriatic offshore Croatia, Pliocene hemi‐pelagic marlstones and shales include source rocks which produce commercial volumes of biogenic gas. The gas is reservoired in unconsolidated sands of the Pleistocene Ivana Formation.     

Periodical Literature in Urban Studies and Planning

Geographic information systems have the potential to aid planning functions in both data processing and decision making. Because the incorporation of GIS technology into local government is at an early stage, knowledge about GIS implementation and its impact on planning activities is scarce. Using a survey of local governments in four southeastern states, this paper explores how the new technology affects planning and whether it meets the expectations of the planning agencies using it. Most of the agencies surveyed report improvements in communication of information, data accessibility, and data accuracy. They report that more current data are available, and they have confidence in analyses performed with GIS technology. Political support, staffing, length of experience with GIS technology, system sharing, data-base contents, and number and type of GIS applications all exert some influence on either planning operations or decision making. While experience with GIS emerged as the most significant factor in achieving operational benefits, using GIS technology for analytical tasks positively affected improvements in decision making.     

Optimization of supercritical CO2 extraction of dried Helichrysum italicum flowers by response surface methodology: GC-MS profiles of the extracts and essential oil

Supercritical (SC) CO₂ extraction of dried Immortelle flowers was performed at different process parameters. The optimal extraction conditions related to the yield were determined by response surface methodology (yield 4.09% at 20 MPa and 52°C). The extracts were analyzed by GC-MS and tremetone derivatives dominated: bitalin A, 12-acetoxytremetone, gnaphaliol, 1-[2-(2-methyl-2,3-dihydroxypropyl)-2,3-dihydro-1-benzofuran-5-yl]ethanone, isobutyl bitalin A, and 1-[2-(acetylprop-1-en-2-yl)-3-hydroxy-2,3-dihydro-1-benzofuran-5-yl]ethanone. Striking differences were found among the essential oil and SC-CO₂ extracts composition. The major oil compounds were γ-curcumene, α-pinene, β-selinene, α-selinene, and limonene. Mono- and sesquiterpene were found among minor constituents of the extracts. Neryl acetate was present in the extracts and essential oil.