Adaptive backstepping control of wheeled inverted pendulum with velocity estimator

In this paper, we introduce a backstepping control design of a wheeled inverted pendulum. Based on a second-order motion equation of the body angle, an adaptive integral backstepping controller is designed to stabilize the body angle. It is shown that the σ-modification rule in the adaptive update law guarantees the boundedness of the errors in estimating the time-varying signal that is an output of a linear system with every bounded input signal. Then, the stabilizing controller for the wheel angle is constructed by a PD-type positive feedback. The derived controller requires the full-state measurements. In the output feedback case, the K filter or the observer backstepping is needed. However, the structure of the controller becomes complicated. We propose a non-model-based differentiator based on the adaptive update law. Since the non-model-based differentiator does not require any knowledge of the dynamic structure of the signal, we can use it as a velocity estimator for unknown nonlinear systems. Therefore, we replaced the velocity measurement with the estimates by the non-model-based differentiator. Finally, simulation results for the proposed controller are presented.     

On the electrochemical activation of alkali-treated soft carbon for advanced electrochemical capacitors

The electrochemical activation process of the so-called “alkali-treated soft carbon” (ASC) has been examined in organic electrolyte solutions. SEM observation demonstrated that the edge plane of graphene structure of the ASC particle becomes rough after the activation, and XRD measurements indicated that the average lattice constant of graphene stacking in ASC increases after the activation process. Ex-situ ⁷Li NMR measurements proved that the insertion of cation (Li⁺) into the pore structure of ASC is associated with the activation process in the electrolyte dissolving Li salt. The pore-size distribution determined from N₂-gas adsorption for ASC electrodes before and after the electrochemical activation indicates that the pore structure becomes developed after the electrochemical polarization, especially in the pore-diameter range of 2–10 nm. A schematic model of the activation process has been presented, which includes electrochemical insertion of ions into the inside of the ASC.     

Enantioselective addition Of diketene to aldehydes promoted by chiral schiff base—titanium alkoxide complex. Application to asymmetric synthesis of potential inhibitors of HMG coenzyme reductase

Highly enantioselective addition of diketene to aldehydes was achieved by using novel Schiff base—titanium alkoxide complexes. Up to 92% ee of 5-hydroxy-3-oxoesters was obtained. This procedure provides an efficient method for the asymmetric synthesis of potential inhibitors of HMG coenzyme reductase.     

Thermal Stability,Optical Transmittance,and Refractive Index Dispersion of La2O3–Nb2O5–Al2O3 Glasses

La₂O₃–Nb₂O₅–Al₂O₃ high‐refractive‐index glasses were fabricated by containerless processing, and the glass‐forming region was determined. The thermal stability, density, optical transmittance, and the refractive index dispersion of these glasses were investigated. All the glasses were colorless and transparent in the visible to near infrared (NIR) region and had high refractive index with low wavelength dispersion. Some of these glasses were found to have significantly high glass‐forming ability. These results indicate that the ternary glasses are suitable for optical applications in the visible to NIR region. The effects of the substitution of Al₂O₃ for Nb₂O₅ on optical properties were discussed on the basis of the Drude–Voigt equation. It was suggested that the substitution of Al₂O₃ for Nb₂O₅ increased the molecular density and suppressed a decrease in the refractive index, even when both the average oscillator strength and inherent absorption wavelength decreased in La₂O₃–Nb₂O₅–Al₂O₃ glasses. These results are helpful for designing new optical glasses controlled to have a higher refractive index and lower wavelength dispersion.     

Bioavailability Studies and in vitro Profiling of the Selective Excitatory Amino Acid Transporter Subtype 1 (EAAT1) Inhibitor UCPH‐102

Although the selective excitatory amino acid transporter subtype 1 (EAAT1) inhibitor UCPH‐101 has become a standard pharmacological tool compound for in vitro and ex vivo studies in the EAAT research field, its inability to penetrate the blood–brain barrier makes it unsuitable for in vivo studies. In the present study, per os (p.o.) administration (40 mg kg^?1) of the closely related analogue UCPH‐102 in rats yielded respective plasma and brain concentrations of 10.5 and 6.67 μm after 1 h. Three analogue series were designed and synthesized to improve the bioavailability profile of UCPH‐102, but none displayed substantially improved properties in this respect. In vitro profiling of UCPH‐102 (10 μm ) at 51 central nervous system targets in radioligand binding assays strongly suggests that the compound is completely selective for EAAT1. Finally, in a rodent locomotor model, p.o. administration of UCPH‐102 (20 mg kg^?1) did not induce acute effects or any visible changes in behavior.     

Providing scalable NH-diverse iBGP route re-distribution to achieve sub-second switch-over time

The role of BGP inside an AS is to disseminate the routes learned from external peers to all routers of the AS. A straightforward, but not scalable, solution, is to resort to a full-mesh of iBGP sessions between the routers of the domain. Achieving scalability in the number of iBGP sessions is possible by using Route Reflectors (RR). Relying on a sparse iBGP graph using RRs however has a negative impact on routers’ ability to quickly switch to an alternate route in case of a failure. This stems from the fact that routers do not often know routes towards distinct next-hops, for any given prefix.In this paper, we propose a solution to build sparse iBGP topologies, where each BGP router learns two routes with distinct next-hops (NH) for each prefix. We qualify such iBGP topologies as NH-diverse. We propose to leverage the “best-external” option available on routers. By activating this option, and adding a limited number of iBGP sessions to the existing iBGP topology, we obtain NH-diverse iBGP topologies that scale, both in number of sessions and routing table sizes. We show that NH diversity enables to achieve sub-second switch-over time upon the failure of an ASBR or interdomain link. The scalability of our approach is confirmed by an evaluation on a research and a Service Provider network.