Glyoxal Ozonation Process in Aqueous Solution

The process of ozonation of glyoxal in aqueous solution has been studied by following its chemical and kinetic evolution. Results show that the oxidative process leads to formation of carboxylic functions and carbon dioxide according to a constant selectivity ratio at varying conversion degree.. Comparison between the oxygen amounts of reaction products and the corresponding ozone consumptions reveals that molecular oxygen takes part in the reaction process. System behavior is explained on the basis of radical reaction mechanism.     

Crystallization,morphology, structure and thermal behaviour of nylon-6/rubber blends

An experimental study was carried out in order to investigate the morphological, kinetic, structural and thermodynamic properties of nylon-6/rubber (namely ethylene-propylene copolymer (EPM) and ethylene-propylene copolymer functionalized by inserting along its backbone succinic anhydride groups (EPM-g-SA)) blends. The morphology and the overall kinetics of crystallization of the blends strongly depend on the type of copolymer added to nylon and on the blend composition. The EPM-g-SA acts as a nucleating agent for the Ny spherulites and at the same time causes a drastic depression of the overall kinetic rate constant. This decrease is related to the increase of the melt viscosity observed in Ny/EPM-g-SA blends. The crystalline lamella thickness of the Ny phase in the blends is lower than that of pure Ny crystallized at the same T_c suggesting that the presence in the melt of an elastomeric phase disturbs the growth of the Ny crystals. The rubber does not influence the thermal behaviour of the nylon. The results found lead to the conclusion that in the melt nylon-6 is incompatible with both EPM and EPM-g-SA copolymers.     

Model falsification using set‐valued observers for a class of discrete‐time dynamic systems: a coprime factorization approach

This article introduces a new method for model falsification using set‐valued observers, which can be applied to a class of discrete linear time‐invariant dynamic systems with time‐varying model uncertainties. In comparison with previous results, the main advantages of this approach are as follows: The computation of the convex hull of the set‐valued estimates of the state can be avoided under certain circumstances; to guarantee convergence of the set‐valued estimates of the state, the required number of previous steps is at most as large as the number of states of the nominal plant; and it provides a straightforward nonconservative method to falsify uncertain models of dynamic systems, including open‐loop unstable plants. The results obtained are illustrated in simulation, emphasizing the advantages and shortcomings of the suggested method. Copyright © 2013 John Wiley & Sons, Ltd.     

A two‐step control approach for docking of autonomous underwater vehicles

This paper presents a novel integrated guidance and control strategy for docking of autonomous underwater vehicles. The approach to the base, and hence the control design, is divided in two steps: (i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated, and an appropriate control law is derived to steer the vehicle towards the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions; (ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions, in the presence of parametric model uncertainty. Simulations are presented illustrating the performance of the proposed controllers, including model uncertainty and sensor noise. Copyright © 2014 John Wiley & Sons, Ltd.     

A nonlinear position and attitude observer on SE(3) using landmark measurements

This paper addresses the problem of position and attitude estimation, based on landmark readings and velocity measurements. A derivation of a nonlinear observer on SE(3) is presented, using a Lyapunov function conveniently expressed as a function of the difference between the estimated and the measured landmark coordinates. The resulting feedback laws are explicit functions of the landmark measurements and velocity readings, exploiting the sensor information directly in the observer. The proposed observer yields almost global asymptotic stabilization of the position and attitude errors and exponential convergence in any closed ball inside the region of attraction. Also, it is shown that the asymptotic convergence of the estimation error trajectories is shaped by the landmark geometry and observer design parameters. The problem of non-ideal velocity readings is also considered, and the observer is augmented to compensate for bias in the angular and linear velocity measurements. The resulting position, attitude, and bias estimation errors are shown to converge exponentially fast to the desired equilibrium points, for bounded initial estimation errors. Simulation results are presented to illustrate the stability and convergence properties of the observer.     

On the design of multi‐rate tracking controllers: Application to rotorcraft guidance and control

This paper presents a new methodology for the design and implementation of gain‐scheduled controllers for multi‐rate systems. The proposed methodology provides a natural way to address the integrated guidance and control problem for autonomous vehicles when the outputs are sampled at different instants of time. A controller structure is first proposed for the regulation of non‐square multi‐rate systems with more measured outputs than inputs. Based on this structure, an implementation for a gain‐scheduled controller is obtained that satisfies an important property known as the linearization property. The implementation resembles the velocity implementation for single‐rate systems. The method is then applied to the problem of steering an autonomous rotorcraft along a predefined trajectory defined in terms of space and time coordinates. By considering a convenient error vector to describe the vehicle's dynamics, the trajectory tracking problem is reduced to that of regulating the error variables to zero. Because of the periodic multi‐rate nature of the onboard sensor suite, the controller synthesis is dealt with under the scope of linear periodic systems theory. Simulation results obtained with a full non‐linear rotorcraft dynamic model are presented and discussed. Copyright © 2010 John Wiley & Sons, Ltd.     

Set‐based fault detection and isolation for detectable linear parameter‐varying systems

In the context of fault detection and isolation of linear parameter‐varying systems, a challenging task appears when the dynamics and the available measurements render the model unobservable, which invalidates the use of standard set‐valued observers. Two results are obtained in this paper, namely, using a left‐coprime factorization, one can achieve set‐valued estimates with ultimately bounded hyper‐volume and convergence dependent on the slowest unobservable mode; and by rewriting the set‐valued observer equations and taking advantage of a coprime factorization, it is possible to have a low‐complexity fault detection and isolation method. Performance is assessed through simulation, illustrating, in particular, the detection time for various types of faults. Copyright © 2017 John Wiley & Sons, Ltd.     

Vision-based control for rigid body stabilization

This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move on . It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system’s trajectory. The resulting solution consists of a feedback control law based on the current and desired image coordinates and reconstructed attitude and depth ratio information, which guarantees that (i) the desired equilibrium point is an almost global attractor; (ii) a set of necessary conditions for feature visibility holds throughout the system’s trajectories; and (iii) the image of a predefined feature point is kept inside the camera’s field of view.     

A Guide to Polysaccharide-Based Hydrogel Bioinks for 3D Bioprinting Applications

Three-dimensional (3D) bioprinting is an innovative technology in the biomedical field, allowing the fabrication of living constructs through an approach of layer-by-layer deposition of cell-laden inks, the so-called bioinks. An ideal bioink should possess proper mechanical, rheological, chemical, and biological characteristics to ensure high cell viability and the production of tissue constructs with dimensional stability and shape fidelity. Among the several types of bioinks, hydrogels are extremely appealing as they have many similarities with the extracellular matrix, providing a highly hydrated environment for cell proliferation and tunability in terms of mechanical and rheological properties. Hydrogels derived from natural polymers, and polysaccharides, in particular, are an excellent platform to mimic the extracellular matrix, given their low cytotoxicity, high hydrophilicity, and diversity of structures. In fact, polysaccharide-based hydrogels are trendy materials for 3D bioprinting since they are abundant and combine adequate physicochemical and biomimetic features for the development of novel bioinks. Thus, this review portrays the most relevant advances in polysaccharide-based hydrogel bioinks for 3D bioprinting, focusing on the last five years, with emphasis on their properties, advantages, and limitations, considering polysaccharide families classified according to their source, namely from seaweed, higher plants, microbial, and animal (particularly crustaceans) origin.