A canonical structure for constrained optimal control problems

We consider a general class of optimal control problems with regional pole and controller structure constraints. Our goal is to show that for a fairly general class of regional pole and controller structure constraints, such constrained optimal control problems can be transformed to a new one with a canonical structure. A three-step transformation procedure is used to achieve our goal, which essentially amounts to repeated augmentations of plant dynamics and repeated reductions of the controller. The transformed problem is one of the standard optimal static output feedback with a decentralized and repeated structure.     

Molecular weight distribution of polyphenylene sulfide by high temperature gel permeation chromatography

Poly(phenylene sulfide) (PPS) has been characterized using a novel high temperature gel permeation chromatograph (GPC). Samples were injected in slurry form at ambient temperature, and redissolved by an in-line precolumn heater at 250°C. A viscometer consisting of a capillary tube with inlet and outlet taps connected to a sensitive differential pressure transducer was used as sole detector, with deflections converted to concentration using the column calibration. Columns and viscometer were operated at 210°C. Universal calibration was carried out using intrinsic viscosity/molecular weight relations for polystyrene and PPS, determined by light scattering. Satisfactory operation was confirmed by agreement between intrinsic viscosity calculated from GPC with independently measured values, and comparisons with melt flow data. Samples of PPS tested were found to be of relatively narrow distribution, with M_w/M_n typically less than two.     

Precursor gas chemistry determines the crystallinity of carbon nanotubes synthesized at low temperature

Despite significant progress in carbon nanotube (CNT) synthesis by thermal chemical vapor deposition (CVD), the factors determining the structure of the resulting carbon filaments and other graphitic nanocarbons are not well understood. Here, we demonstrate that gas chemistry influences the crystal structure of carbon filaments grown at low temperatures (500 °C). Using thermal CVD, we decoupled the thermal treatment of the gaseous precursors (C₂H₄/H₂/Ar) and the substrate-supported catalyst. Varying the preheating temperature of the feedstock gas, we observed a striking transition between amorphous carbon nanofibers (CNFs) and crystalline CNTs. These results were confirmed using both a hot-wall CVD system and a cold-wall CVD reactor. Analysis of the exhaust gases (by ex situ gas chromatography) showed increasing concentrations of specific volatile organic compounds (VOCs) and polycyclic aromatic hydrocarbons (PAHs) that correlated with the structural transition observed (characterized using high-resolution transmission electron microscopy). This suggests that the crystallinity of carbon filaments may be controlled by the presence of specific gas phase precursor molecules (e.g., VOCs and PAHs). Thus, direct delivery of these molecules in the CVD process may enable selective CNF or CNT formation at low substrate temperatures. The inherent scalability of this approach could impact many promising applications, especially in the electronics industry.     

Impact of rotifer grazing on population dynamics of green microalgae in high-rate ponds

In high-rate algal ponds, the grazing activity of rotifers such as Brachionus rubens or B. calyciflorus often leads to a replacement of Scenedesmus species by Micractinium pusillum. In contrast to many other green microalgae including Scenedesmus, Micractinium pusillum with fully developed spines (setae) cannot be eaten by Brachionus. Ecological conditions for population shifts between Scenedesmus and Micractinium are, therefore, interpreted as a response of the rotifers rather than being due to physiological properties of the algae. Another effect of rotifer grazing on the microbial flora of high-rate ponds is the development of large stable flocs consisting of bacteria and microalgae.     

High-frequency propagation on nonuniform multiconductor transmission lines in uniform media

The asymptotic form, for high frequencies, of the equations of propagation on a nonuniform N-conductor transmission line is considered. Under the assumption of perfect conditions in uniform, isotropic media, all N propagation velocities are the same, but the characteristic impedance matrix is allowed to vary with position along the line. Closed-form solutions are obtained for some cases of interest.     

A genetic technique for robotic trajectory planning

There are many multi-stage optimization problems that are not easily solved through any known direct method when the stages are coupled. For instance, the problem of planning a vehicle's control sequence to negotiate obstacles and reach a goal in minimum time is investigated. The vehicle has a known mass, and the controlling forces have finite limits. A genetic programming technique is developed that finds admissible control trajectories that tend to minimize the vehicle's transit time through the obstacle field. The immediate application is that of a space robot that must rapidly traverse around two or three dimensional structures via application of a rotating thruster or non-rotating on-off thrusters. (An air-bearing floor test-bed for such vehicles is located at the Marshal Space Flight Center in Huntsville, Alabama.) It appears that the developed method is applicable to a general set of optimization problems in which the cost function and the multi-dimensional multi-state system can be any non-linear functions that are continuous in the operating regions. Other applications include: the planning of optimal navigation pathways through a traversability graph, the planning of control input for underwater maneuvering vehicles which have complex control state-space relationships, the planning of control sequences for milling and manufacturing robots, the planning of control and trajectories for automated delivery vehicles, and the optimization of control for racing vehicles and athletic training in slalom sports.     

Studies on the adsorption of RuN3 dye on sheet-like nanostructured porous ZnO films

The interface between the ZnO and dye directly impacts the dye-sensitized solar cell (DSSC) performance. Nanostructured porous ZnO film was developed by a simple chemical solution process. Scanning electron microscope (SEM) images demonstrated the uniform ZnO films with sheet-like nanostructure. Adsorption studies indicated that the maximum adsorption capacity of RuN₃ dye on the surface of ZnO films was approximately 0.016 mmol RuN₃/g ZnO films. Adsorption studies were conducted at 25 and 40 °C. The results showed that the dye adsorption was significantly influenced by temperatures. Moreover, the problem of the dye aggregation on the ZnO surface was reduced at higher adsorption temperatures. The adsorption chemistry was studied with Raman spectroscopy.