A New Nonlinear Controller for Trajectory Tracking of the Longitudinal Dynamics of a Small Scale Helicopter

A nonlinear control scheme is proposed for the trajectory tracking problem of a small scale helicopter’s longitudinal dynamics. The control scheme is based on a control design procedure that constructs static feedback regulators for nonlinear systems which are linearizable by dynamic feedback. Besides, the flatness characteristics of the helicopter’s longitudinal dynamics are used to design the desired trajectory. The controller proposed is based on the longitudinal model of the small scale helicopter including the main rotor and stabilizer bar dynamics. Sufficient conditions are given to guarantee asymptotic convergence to zero of the tracking error and to keep the main rotor thrust always negative assuming that all the helicopter’s parameters are known and that all helicopter’s states are measured. Numerical simulations are given to show the performance of the controller in the presence of the main rotor and stabilizer bar dynamics.     

Comparative study of the physical aging of the epoxy systems BADGE n = 0/m‐XDA and BADGE n = 0/m‐XDA/PEI

The physical aging of the epoxy network consisting of a diglycidyl ether of bisphenol A, m‐xylylenediamine, and polyetherimide was studied by differential scanning calorimetry. The glass transition temperature and the variation of the specific heat capacities have been calculated using the method, based on the intersection of both enthalpy–temperature lines for glassy and liquid states. The apparent activation energy (E_H) was calculated using a single method that involved separate temperature and excess enthalpy dependency. All calorimetric data were compared with those obtained for the epoxy network without thermoplastic. thermoplastic. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 103: 3931–3935, 2006     

The effect of nanoclays on the nucleation,crystallization, and melting mechanisms of isotactic polypropylene

The influence of organomodified nanoclay (montmorillonite) on the crystallization and melting mechanisms of isotactic polypropylene (iPP) was studied. Films of both neat polymer and clay nanocomposites were prepared after molecular weight optimization through melt extrusion. Products exhibited the tactoidlike morphology since no compatibilizers were used. The effect of introduction of nanoclay within the polymer was studied through isothermal crystallization and linear heating. The results indicated that low nanoclay concentrations induce the formation of the β‐crystalline structure, its formation being inhibited with high nanoclay contents. Dynamic nonisothermal bulk crystallization experiments indicated that nanoclays act as nucleating agents of iPP. Isothermal, bulk crystallization studies indicated that the crystallization process (induction time and crystallization kinetics) is proportionally accelerated by the nanoclay presence. There was also an accelerated formation of secondary crystallization when nanoclays were present in high concentrations. POLYM. ENG. SCI., 47:1889–1897, 2007. © 2007 Society of Plastics Engineers     

Heterogeneously assisted oxidation of adsorbates from carbonmonoxide, methanol and ethanol by hydrogen peroxide solutions on platinum electrodes in sulphuric acid

The influence of hydrogen peroxide on the adsorption and oxidation of carbon monoxide, methanol and ethanol adlayers on porous Pt electrodes were studied in 2 M sulphuric acid solution by means of cyclic voltammetry and differential electrochemical mass spectrometry (DEMS). The oxidation of adsorbed species is observed at electrode potentials far less negative than those required for electrochemical adsorbate oxidation. The oxidation by H₂O₂ is dependent on its concentration in solution, as well as on the adsorbates and their coverages. In all cases the isolated adlayers are oxidised by dissolved H₂O₂. However, the presence of H₂O₂ during adsorption partially inhibits adlayer formation from CH₃OH and C₂H₅OH, but avoids almost completely the adsorption of carbon monoxide. The removal of the residues from the surface by dissolved hydrogen peroxide probably occurs through O_ad species formed during the heterogeneous decomposition reaction of H₂O₂ on Pt.     

Impregnation of X Zeolite with Alkaline Hydroxide During the Synthesis

Enhancement of the basic properties of the X zeolite with FAU framework has been carried out during synthesis, without further treatment such as ion-exchange or impregnation. Control of the washing stage enables retention of the optimum amount of alkaline hydroxides, which increases the basic catalytic activity of X zeolite in the alkylation of toluene. This alkaline hydroxides neither affect the FAU framework nor the silicon/aluminium molar ratio of the X zeolite. The optimum (Na + K)/Al molar ratio of the improved catalyst was 1.06 corresponding to a washing volume of 200 mL. This X zeolite presented better catalytic activity than a cesium-zeolite prepared by ion-exchange. The presence of hydroxysodalite impurity in the X zeolite increased the amount of impregnated alkaline hydroxides but not the catalytic activity. The present study shows that it is possible to increase the basic properties of the X zeolite directly in the synthesis process.     

MCM-41 Heterogenized Chiral Amines as Base Catalysts for Enantioselective Michael Reaction

Cinchonidine and cinchonine have been grafted onto pure silica MCM-41. It has been shown that both supported alkaloids are active catalysts for the Michael addition of ethyl 2-oxocyclopentanecarboxylate and methyl vinyl ketone, anchored cinchonidine being more active and enantioselective than anchored cinchonine. The study of the influence of the polarity of the solvent and reaction temperature on the optical induction shows that there is not a direct correlation between solvent polarity and enantioselectivity, and the maximum optical yield was obtained between 278 and 273 K.     

Fracture properties of epoxy/poly(styrene‐co‐allylalcohol) blends

The epoxy/polystyrene system is characterized by a poor adhesion between the constituent phases, which determines its mechanical properties. The adhesion can be improved via blends based on epoxy resin and random copolymers, poly(styrene‐co‐allylalcohol) (PS‐co‐PA). In this work, the influence of PS‐co‐PA content and the good adhesion between the phases on the tensile properties and the fracture toughness achieved through instrumented Charpy tests have been investigated. The tensile strength and the deformation at break showed an increase in the PS‐co‐PA content while the Young's modulus remained the same. The tensile fracture surfaces revealed that the improvement of these magnitudes was mainly due to a crack deflection mechanism. Also, the fracture toughness of the blends was superior to that of the pure epoxy resin. The main operating toughening mechanism was crack deflection. The fractographic analysis showed that ～ 80% of the particles were broken, and the crack tended to divert from its original path through the broken PS‐co‐PA particles. The remaining particles were detached from the epoxy resin, and the holes left suffered plastic deformation. Analytical models were used to predict successfully the toughness due to these mechanisms. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2007     

Reciprocal Tree-Like Fractal Structures

Sometimes the complex structures of nature inspire human constructions. Gothic construction has shown that forces can cross space along intricate paths that may even be arbitrary if correctly dimensioned. In some way, ribbed structures are like trees where the branches conduct forces instead of sap; they operate as branches and trunks descending by fractal ways. Here we discuss reciprocal tree-like fractal structures and the difficulty in their design and erection and solutions for constructive details, as well as the possible analytical questions and automatic generation by means of proper software. The results are shown in the design of the Natural Interpretation Centre in Melilla where we have proposed two connected trees like shown at figures included below.     

Foams based on low density polyethylene/hectorite nanocomposites: Thermal stability and thermo‐mechanical properties

Novel polymer nanocomposite foams made by a two step compression molding method are analyzed in this article. Nanocomposites of low density polyethylene and an organo‐modified hectorite were first melt compounded and then foamed using a compression molding method. To study the influence of the presence and the amount of hectorite in both mechanical and thermal properties, samples with 3% and 7% content of hectorite were prepared. Polyethylene crystalline characteristics and thermal stability of the samples were studied by differential scanning calorimetry (DSC) and thermogravimetric analysis (TGA), respectively. Mechanical properties of foams and solid nanocomposites were analyzed by using dynamical mechanical analysis (DMA). Thermal expansion of the samples was analyzed by thermomechanical analysis. The results indicate that the exfoliation of hectorite platelets was achieved after the foaming process, but not during the melt mixing step. Foams with hectorite nanoparticles exhibit improved thermal stability and mechanical properties when compared with neat polymeric foams. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2007