Distributed attitude synchronization using backstepping and sliding mode control

We consider the problem of attitude synchronization for systems of rigid body agents with directed topologies. Two different scenarios for the rotation matrices of the agents are considered. In the first scenario, the rotations are contained in a convex subset of SO(3), which is a ball of radius less than π/2, whereas in the second scenario the agents are contained in a subset of SO(3), which is a ball of radius less than π. Using a control law based on backstepping and sliding mode control, we provide distributed, semi-global, torque control laws for the agents so that the rotations asymptotically synchronize. The control laws for the agents in the first scenario only depend on the relative rotations between neighboring agents, whereas the control laws in the second scenario depend on rotations defined in a global coordinate frame. Illustrative examples are provided where the synchronization is shown for both scenarios.     

Detection of thermophilic Campylobacter spp. in blood-free enriched samples of inoculated foods by the polymerase chain reaction

The detection of thermophilic Campylobacter spp., as represented by Campylobacter jejuni, by the polymerase chain reaction (PCR) was investigated and compared with the selective agar isolation (SAI) method. Stationary-phase cultures of C. jejuni were inoculated into either blood-free enrichment broth (BFEB) or BFEB that contained 10% broccoli, crabmeat, mushroom, raw milk, and raw oyster rinses. Following a 48-h enrichment period, aliquots of food test portions were removed for simultaneous analysis by PCR and SAI. It was determined that the presence of charcoal and iron in the enrichment broth interfered with the PCR assay. Therefore, three DNA extraction techniques were developed and evaluated using a 16S rRNA primer pair in the PCR assay. The 50% end point (DL50) values (determined upon six initial C. jejuni spiking levels) were used to assess the frequency of isolation utilizing PCR versus SAI for the detection of this organism in the enrichment matrices. There were virtually no differences in detection of C. jejuni among enriched samples analyzed by PCR and SAI. Mean DL50 values (n = 3) for plain BFEB, broccoli, crabmeat, mushroom, raw milk, and raw oyster were, respectively, 0.02 (PCR) versus 0.01 (SAI), 0.01 versus 0.06, 0.07 versus 0.04, 0.03 versus 0.08, 0.01 versus 0.01, and 0.01 versus 0.01 CFU/5 g food. Significant variability in the detection limit of C. jejuni by PCR in the food enrichments was observed among DNA extraction techniques. Using 48-h enrichment cultures followed by PCR analysis could save 1 day of the time required for the presumptive identification of C. jejuni in suspected foods.     

Controlled descent training

In this work, a novel and model-based artificial neural network (ANN) training method is developed supported by optimal control theory. The method augments training labels in order to robustly guarantee training loss convergence and improve training convergence rate. Dynamic label augmentation is proposed within the framework of gradient descent training where the convergence of training loss is controlled. First, we capture the training behavior with the help of empirical Neural Tangent Kernels (NTK) and borrow tools from systems and control theory to analyze both the local and global training dynamics (e.g., stability, reachability). Second, we propose to dynamically alter the gradient descent training mechanism via fictitious labels as control inputs and an optimal state feedback policy. In this way, we enforce locally $$ optimal and convergent training behavior. The novel algorithm, Controlled Descent Training (CDT), guarantees local convergence. CDT unleashes new potentials in the analysis, interpretation, and design of ANN architectures. The applicability of the method is demonstrated on standard regression and classification problems.     

Water Savings Through Improved Irrigation Techniques: Basin-Scale Quantification in Semi-Arid Environments

In many semi-arid and arid regions of the world, water saving strategies need to be implemented in the agricultural sector in order to increase the resilience to water scarcity. We investigate basin-scale hydrological impacts of possible irrigation technique improvements, considering extensive cotton fields in the Aral Sea drainage basin (ASDB), Central Asia. We use a distributed hydrologic model that combines basin-scale, calibrated discharge and evapotranspiration quantifications with experimental results of (on-farm) water application needs for different irrigation techniques. This allows for quantification of how return flows contribute to river discharge through coupled groundwater-surface water-systems at the basin scale, under different regional climatic conditions. Results show that an implementation of improved irrigation techniques can yield water savings that increase the discharge to the Aral Sea by between 1 and 6 km³/year. Such water savings could contribute to mitigation of the acute water scarcity in the lower ASDB. The basin-scale water savings are about 60% lower than corresponding on-farm reductions in irrigation water application, since water is re-used and, hence, return flows decrease when less water is applied. Spatial analysis of regional differences in climatic conditions shows that implementation of more efficient irrigation systems would result in much larger (up to a factor 4) water savings in the more arid downstream regions than in the colder, upstream mountainous regions.     

Bringing planning back into the picture – How can supply chain planning aid in dealing with supply chain-related problems in construction?

There are several supply chain-related problems facing the construction industry, such as poor construction site logistics, lack of communication and trust. These problems can jeopardize construction projects through delays and cost overruns. Supply chain planning, a part of supply chain management (SCM), can be used as a tool to deal with these problems. The purpose of this paper is to study how linkages between common supply chain-related problems in construction can be illustrated and to demonstrate how they could be resolved through supply chain planning. Firstly, we identify how the linkages between common problems can be illustrated, and secondly the role of supply chain planning in resolving these problems. A conceptual model is developed that was verified using three cases with Swedish gypsum and kitchen supply chains. The model is shown to be useful in illustrating how supply chain problems occurring at executional level on-site are related to problems originating in lack of planning at company/pre-construction level. The study thus demonstrates how supply chain planning can aid in resolving supply chain problems. The paper contributes by bringing planning back into the picture and by showing how supply chain planning can help to adopt SCM in construction.     

Sequential extraction of sulfide-rich tailings remediated by the application of till cover,Kristineberg mine,northern Sweden

A sequential extraction has been carried out on sulfide-rich mine tailings. The purpose was to investigate how elements released by oxidation are secondarily retained in the tailings and the possible consequences of the remediation. After investigating the solid tailings, seven samples were chosen for sequential extractions. Two samples were oxidised, situated just above the oxidation front; two samples from just below the former oxidation front with increased concentrations of several elements; two unoxidised samples were from an intermediate depth, and the deepest sample was from the tailings-peat boundary at the bottom of the impoundment. Five phases were extracted: adsorbed/exchangeable/carbonate; labile organics; amorphous Fe-oxyhydroxides/Mn-oxides; crystalline Fe-oxides; and organics/sulfides. The addition from dried porewater to the extracted fractions has been calculated and considered as minor. In the oxidised tailings, the sulfide fraction still dominates for elements such as Fe, S, Cd, Co, Cu, Hg and Zn, although the concentrations are low compared to the unoxidised tailings. Generally, the second most important fraction is the adsorbed/exchangeable/carbonate fraction. Below the oxidation front, the sulfide content of the tailings sharply increases. In the secondary enrichment zone, the total element concentrations increase compared with the deeper unoxidised samples, mainly due to secondary retention. For some elements, secondary retention is greater than the total amount extracted for the deeper unoxidised samples. In the secondary enrichment zone the adsorbed/exchangeable/carbonate fraction represents approximately 20 wt.% or more for Cd, Co, Mn, Ni and Zn. The amorphous iron oxyhydroxide or the crystalline iron oxide fractions are less important at this level, although for As, Ba and Cu the amorphous iron oxyhydroxide fraction represents up to 20 wt.%. At the lower border of the enrichment zone, the total concentration for most metals is lower, but the importance of the adsorbed/exchangeable/carbonate fraction is further enhanced for Cd, Cu, Ni and Zn. These elements have 35-60 wt.% of the total amount from this fraction. For As, Cd, Cu, Ni and Pb, the secondary fractions extracted (extractions A-D) represent between 60 and 80 wt.% of the total content. At greater depth in the impoundment the relative importance of the adsorbed/exchangeable/carbonate fraction decreases, whilst the importance of amorphous iron oxyhydroxide and crystalline iron oxide fractions increases. The adsorbed/exchangeable/carbonate fraction is the most easily remobilised fraction. A raised groundwater table previously situated below the enrichment zone may result in the release of secondarily retained metals.     

Injection Molding and Appearance of Cellulose-Reinforced Composites

Composite materials based on an ethylene-acrylic acid (EAA) copolymer and 20 wt% cellulose fibers were compounded by two runs in a twin-screw extruder. The composite material with cellulose fibers (CF) and a reference of unfilled EAA were injection molded into plaques using three different temperature profiles with end zone temperatures of 170°C, 200°C, and 230°C. The injection molded samples were then characterized in terms of their mechanical properties, thermal properties, appearance (color and gloss), and surface topography. The higher processing temperatures resulted in a clear discoloration of the composites, but there was no deterioration in the mechanical performance. The addition of cellulose typically gave a tensile modulus three times higher than that of the unfilled EAA, but the strength and strain at rupture were reduced when fibers were added. The processing temperature had no significant influence on the mechanical properties of the composites. Gloss measurements revealed negligible differences between the samples molded at the different melt temperatures but the surface smoothness was somewhat higher when the melt temperature was increased. In general, addition of the cellulose to the EAA reduced the gloss level and the surface smoothness. POLYM. ENG. SCI., 60:5–12, 2020. © 2019 Society of Plastics Engineers     

Electrospinning of cellulose nanofibers from ionic liquids: The effect of different cosolvents

Cellulose was electrospun with various concentrations of ionic liquid and cosolvent. Three different cosolvents were used in this study; dimethylacetamide (DMAc), dimethyl formamide (DMF), and dimethyl sulfoxide (DMSO). The cosolvents were added to modify the viscosity, electrical conductivity, and surface tension of the solutions. The solubility of cellulose in ionic liquids is highly affected by changes in solvent properties on the molecular level in the binary solvent systems. The difference in molecular structure of the cosolvents and the interactions between cosolvent and ionic liquid can explain the difference in dissolution power of the cosolvents. Scanning electron microscope (SEM) was used to characterize electrospun cellulose fibers. For the systems tested the importance of having a rather high viscosity and high surface tension, and some degree of shear thinning to produce fibers is shown. © 2012 Wiley Periodicals, Inc. J Appl Polym Sci, 2012