Lyapunov based predictive control of vehicle drivetrains over CAN

Vehicle drivetrains are characterized by fast dynamics, subject to physical and control constraints, which make controller design for driveline oscillations damping a challenging problem. Furthermore, in current implementations, the connections between the controller and the physical plant are realized using a controller area network (CAN) as the communication medium, which introduces time-varying delays. As such, the goal of this paper is to provide a control design methodology that can cope with all these challenges and limitations and still yield an effective solution. To this end, firstly, a continuous-time model of a vehicle drivetrain is derived. Then, a method for determining a worst case upper bound on the delays that can be introduced by a CAN is presented, which enables the usage of a polytopic approximation technique to obtain a discrete-time model of the closed-loop CAN system. Thirdly, a non-conservative Lyapunov based predictive controller is designed for the resulting model with time-varying delays, polytopic uncertainty and hard constraints. Several tests performed using an industry validated drivetrain model and the Matlab toolbox TrueTime indicate that the proposed design methodology can handle both the performance/physical constraints and the strict limitations on the computational complexity, while effectively coping with time-varying delays. Preliminary real-time results further validate the proposed methodology.     

Predicting Eucalyptus spp. stand volume in Zululand,South Africa: an analysis using a stochastic gradient boosting regression ensemble with multi-source data sets

Accurate, reliable, and up-to-date forest stand volume information is a prerequisite for a detailed evaluation of commercial forest resources and their sustainable management. Commercial forest responses to global climate change remain uncertain, and hence the mapping of stand volume as carbon sinks is fundamentally important in understanding the role of forests in stabilizing climate change effects. The aim of this study was to examine the utility of stochastic gradient boosting (SGB) and multi-source data to predict stand volume of a Eucalyptus plantation in South Africa. The SGB ensemble, random forest (RF), and stepwise multiple-linear regression (SMLR) were used to predict Eucalyptus stand volume and other related tree-structural attributes such as mean tree height and mean diameter at breast height (DBH). Multi-source data consisted of SPOT-5 raw spectral features (four bands), 14 spectral vegetation indices, rainfall data, and stand age. When all variables were used, the SGB algorithm showed that stand volume can be accurately estimated (R² = 0.78 and RMSE = 33.16 m³ ha^?1 (23.01% of the mean)). The competing RF ensemble produced an R² value of 0.76 and a RMSE value of 37.28 m³ ha^?1 (38.28% of the mean). SMLR on the other hand, produced an R² value of 0.65 and an RMSE value of 42.50 m³ ha^?1 (42.50% of the mean). Our study further showed that Eucalyptus mean tree height (R² = 0.83 and RMSE = 1.63 m (9.08% of the mean)) and mean diameter at breast height (R² = 0.74 and RMSE = 1.06 (7.89% of the mean)) can also be reasonably predicted using SGB and multi-source data. Furthermore, when the most important SGB model-selected variables were used for prediction, the predictive accuracies improved significantly for mean DBH (R² = 0.81 and RMSE = 1.21 cm (6.12% of the mean)), mean tree height (R² = 0.86 and RMSE = 1.39 m (7.02% of the mean)), and stand volume (R² = 0.83 and RMSE = 29.58 m³ ha^?1 (17.63% of the mean)). These results underscore the importance of integrating multi-source data with remotely sensed data for predicting Eucalyptus stand volume and related tree-structural attributes.     

The effect of ion implantation on the corrosion behaviour of pure iron—I. Argonion implantation

High purity iron has been implanted with relatively high (ca. 5 at.%) surface concentrations of argon by means of ion implantation. Using electrometric reduction it has been shown that at some stage during or after the implantation process the natural air-formed film on the iron is thickened, producing an oxide film comparable to a thermally grown film formed at low oxygen partial pressure (～ 30μN m^?2) at 475K. The factor responsible for this enhanced film growth has not been identified. Using a three sweep potentiokinetic polarization technique it has also been shown that once the thickened air formed film is removed by cathodic polarization there are no significant differences between the polarization behaviour of unimplanted and argon implanted iron that cannot be explained by changes in surface roughness associated with the implantation process.It is concluded that earlier reports that the implantation of metals with inert species such as argon confers enhanced corrosion resistance may be attributed to the thickening of the air-formed oxide film and not to the presence of the implant species per se. Furthermore, in the investigation of the effect of implantation of more active implant species it is necessary to take account of the film thickening that occurs during implantation.     

Propagation of a penny-shaped hydraulic fracture parallel to the free-surface of an elastic half-space

In this paper we analyze the problem of a penny-shaped hydraulic fracture propagating parallel to the free-surface of an elastic half-space. The fracture is driven by an incompressible Newtonian fluid injected at a constant rate at the center of the fracture. The flow of viscous fluid in the fracture is governed by the lubrication equation, while the crack opening and the fluid pressure are related by singular integral equations. We construct two asymptotic solutions based on the assumption that either the solid has no toughness or that the fluid has no viscosity. These asymptotic solutions must be understood as corresponding to limiting cases when the energy expended in the creation of new fracture surfaces is either small or large compared to the energy dissipated in viscous flow. It is shown that the asymptotic solutions, when properly scaled, depend only on the dimensionless parameter cal R cal, the ratio of the fracture radius over the distance from the fracture to the free-surface. The scaled solutions can thus be tabulated once and for all and the dependence of the solution on time can be retrieved for specific parameters, through simple scaling and by solving an implicit equation.     

Binge-drinking-related consequences in college students: Role of drinking beliefs and mother–teen communications.

The present research contrasted theoretical models depicting the nature of the relation among drinking beliefs, drinking tendencies, and behavioral consequences in 266 incoming freshman college students. It also examined the theoretical relations between mother–teen communications and drinking beliefs relevant to behavioral consequences. The findings revealed direct relations between binge-drinking consequences and the drinking beliefs: Alcohol can make positive transformations, can enhance social behavior, and can increase negative affect and normative approval. Direct relations were not observed between consequences and the drinking beliefs regarding physical risk and health orientation. Finally, the present research found consistent support for the relation between mother–teen communications and drinking beliefs relevant to binge-drinking consequences. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Modeling climate change mitigation from alternative methods of charcoal production in Kenya

Current carbon accounting methodologies do not accommodate activities that involve emissions reductions from both land-use change and energy production. This paper analyzes the climate change mitigation potential of charcoal production in East Africa by examining the impact of changing both land management and technology. Current production in a major charcoal producing region of Kenya where charcoal is made as a by-product of land clearance for commercial grain production is modeled as the “business-as-usual” scenario. Alternative production systems are proposed based on coppice management of native or exotic trees. Improved kilns are also considered. Changes in aboveground, belowground, and soil carbon are modeled and two distinct baseline assessments are analyzed: one is based on a fixed area of land and one is based on the quantity of non-renewable fuel that is displaced by project activities. The magnitude of carbon emissions reductions varies depending on land management as well as the choice of carbonization technology. However, these variations are smaller than the variations arising from the choice of baseline methodology. The fixed-land baseline yields annualized carbon emission reductions equivalent to 0.5–2.8 tons per year (t y^?1) with no change in production technology and 0.7–3.5 t y^?1 with improved kilns. In contrast, the baseline defined by the quantity of displaced non-renewable fuel is 2–6 times larger, yielding carbon emissions reductions of 1.4–12.9 t y^?1 with no change in production technology and 3.2–20.4 t y^?1 with improved kilns. The results demonstrate the choice of baseline, often a political rather than scientific decision, is critical in assessing carbon emissions reductions.