Nonlinear vehicle side-slip estimation with friction adaptation

A nonlinear observer for estimation of the longitudinal velocity, lateral velocity, and yaw rate of a vehicle, designed for the purpose of vehicle side-slip estimation, is modified and extended in order to work for different road surface conditions. The observer relies on a road-tire friction model and is therefore sensitive to changes in the adhesion characteristics of the road surface. The friction model is parametrized with a single friction parameter, and an update law is designed. The adaptive observer is proven to be uniformly globally asymptotically stable and uniformly locally exponentially stable under a persistency-of-excitation condition and a set of technical assumptions, using results related to Matrosov's theorem. The observer is tested on recorded data from two test vehicles and shows good results on a range of road surfaces.     

A theorem for UGAS and ULES of (passive) nonautonomous systems: robust control of mechanical systems and ships

The main contribution of this paper is a theorem to guarantee uniform global asymptotic stability (UGAS) and uniform local exponential stability (ULES) for a class of nonlinear non‐autonomous systems which includes passive systems. These properties (and a uniform local Lipschitz condition) guarantee robustness of stability while weaker properties, like uniform global stability plus global convergence, do not. Our main result is then used in the tracking control problem of mechanical systems and ships. We use an adaptive backstepping design and prove UGAS of the closed‐loop tracking error system, in particular, we obtain that both the tracking and parameter estimation errors converge uniformly globally to zero. Copyright © 2001 John Wiley & Sons, Ltd.     

Numerosity discrimination of repetitive visual stimuli by mildly retarded adolescents and normal children.

Compared 20 male and 20 female retarded adolescents with 40 younger normals matched for sex and ma on a visual numerosity task. Sequential light flashes of 300, 500, and 700 msec. Occurring in multiple loci were presented in trains of 3-38 flashes. Error frequency and magnitude scores were significantly (p     

Visual perception of sequential numerosity by normals and retardates.

Presented sequences of 2-10 50-msec light flashes at interstimulus intervals (ISIs) of 100, 200, 300, 400, 500, and 600 msec. for multiple- and single-locus conditions to 20 educable retardates and 20 equal MA normals. Numerosity discrimination of the younger, normal children was more accurate at all ISIs (p     

Faecal contamination of greywater and associated microbial risks

The faecal contamination of greywater in a local treatment system at Viby?sen, north of Stockholm, Sweden was quantified using faecal indicator bacteria and chemical biomarkers. Bacterial indicator densities overestimated the faecal load by 100-1000-fold when compared to chemical biomarkers. Based on measured levels of coprostanol, the faecal load was estimated to be 0.04 g person(-1) day(-1). Prevalence of pathogens in the population and the faecal load were used to form the basis of a screening-level quantitative microbial risk assessment (QMRA) that was undertaken for rotavirus, Salmonella typhimurium, Campylobacter jejuni, Giardia lamblia and Cryptosporidium parvum. The different exposure scenarios simulated--direct contact, irrigation of sport fields and groundwater recharge--gave unacceptably high rotavirus risks (0.04 < Pinf < 0.60) despite a low faecal load. The poor reduction of somatic coliphages, which were used as a virus model, in the treatment was one main reason and additional treatment of the greywater is suggested. Somatic coliphages can under extreme circumstances replicate in the wastewater treatment system and thereby underestimate the virus reduction. An alternative QMRA method based on faecal enterococci densities estimated similar risks as for rotavirus. Growth conditions for Salmonella in greywater sediments were also investigated and risk modelling based on replication in the system increased the probability of infection from Salmonella 1000-fold, but it was still lower than the risk of a rotavirus infection.     

Calcium phosphate nucleation on surface-modified PTFE membranes

Highly porous PTFE membranes are currently being used in facial reconstructive surgery. The present study aims at improving this biomaterial through creating a more bioactive surface by introducing ionic groups onto the surface. The unmodified PTFE membrane does not induce inorganic growth after immersion in simulated body fluid (SBF) for up to 4 weeks. Copolymeric grafting with acrylic acid (AAc) by means of gamma irradiation and subsequent in vitro testing in SBF reveals that this copolymer initially acts as an ion-exchange material and subsequently induces growth of a calcium phosphate phase (Ca/P=2.7) when large amounts (15%) of pAAc are introduced onto the membrane surface. This copolymer is not expected to function well from a biomaterials perspective since SEM showed the pores on the surface to be partly blocked. In contrast, the surface of monoacryloxyethyl phosphate (MAEP)-modified samples is altered at a molecular level only. Yet the modified materials are able to induce calcium phosphate nucleation when the external surface coverage is 44% or above. The initial inorganic growth on these membranes in SBF has a (Ca+Mg)/P ratio of 1.1 (presumably Brushite or Monetite). The secondary growth, possibly calcium-deficient apatite or tricalcium phosphate, has a (Ca+Mg)/P ratio of 1.5. This result is a promising indicator of a bioactive biomaterial.     

Bioaccumulation, biotransformation, and biochemical effects of brominated diphenyl ethers in juvenile lake trout (Salvelinus namaycush)

Juvenile lake trout (Salvelinus namaycush) were exposed to three dietary concentrations (0, approximately 2.5, and approximately 25 ng/g per BDE congener) of 13 BDE congeners (3-10 Br atoms) in the laboratory for 56 days, followed by 112 days of clean food, to examine bioaccumulation parameters and potential biochemical effects. The bioaccumulation of BDEs by the trout was highly influenced by biotransformation, via debromination, which resulted in bioaccumulation parameters that were much different than would be expected based on studies of chlorinated organic compounds (e.g., PCBs). Half-lives (t1/2's) for some BDE congeners (e.g., BDE-85 and -190) were much lower than expected based on their Kow, which was likely due to biotransformation, whereas t1/2's of other BDE congeners (e.g., BDE-66, -77, -153, and -154) were much longer than anticipated based on Kow. This was likely because the metabolites of BDE formed via debromination had the same chemical structure of these BDE congeners, which supplemented measured concentrations. The detection of three BDE congeners (an unknown penta, BDE-140, and an unknown hexa) in the fish that were not present in the food or in the control fish provide further evidence forthe debromination of BDEs. Half-lives of BDEs ranged from 38 +/- 9 to 346 +/- 173 days and biomagnification factors ranged from 1.6 (BDE-190) to 45.9 (BDE-100), but these bioaccumulation parameters need to be viewed with caution because they were highly influenced by debromination and relative abundance of individual BDEs that the fish were exposed to. CYP1A enzyme activity, measured as EROD, and free tri-iodothyronine (T3) concentrations in the plasma of lake trout varied significantly throughout the experiment but were not related to BDE exposure. In contrast, plasma levels of thyroxine levels (T4) were lower in both groups of PBDE-exposed fish compared with control fish after 56 days of exposure, and after 168 days in the high dose, suggesting that PBDEs may influence thyroid homeostasis at levels that are higher than what is normally found in the environment.     

Processing of Aluminum Dross: The Birth of a Closed Industrial Process

This is the history of a modern aluminum dross recycling company, from its beginnings in the last years of the twentieth century to the present day. The vision of the founders was to build a local recycling plant and take full responsibility for sensitive environmental issues by recycling aluminum dross locally rather than shipping it abroad. The paper tells the history of the company from the environmental perspective, and gives an overview of some of the challenges and the decisions that followed from this vision, for instance the selection of technology. The company developed a closed industrial process for the recycling of aluminum dross, and the paper discusses some of their laboratory experiments and industrial trials. An important milestone has now been reached as the process in its present form is recognized by the environmental authorities in the country. Furthermore, it seems realistic that in the near future the final product from this process will be comparable to the product delivered in the processing of salt cake in specialized chemical plants, but at a fraction of the cost.