Manipulability of leader–follower networks with the rigid-link approximation

This paper introduces the notion of manipulability to mobile, multi-agent networks as a tool to analyze the instantaneous effectiveness of injecting control inputs at certain, so-called leader nodes in the network. Effectiveness is interpreted to characterize how the movements of the leader nodes translate into responses among the remaining follower nodes. This notion of effectiveness is a function of the interaction topologies, the agent configurations, and the particular choice of inputs used to influence the network. In fact, classic manipulability is an index used in robotics to analyze the singularity and efficiency of configurations of robot-arm manipulators. To define similar notions for leader–follower networks, we use a rigid-link approximation of the follower dynamics and, under this assumption, we prove that the instantaneous follower velocities can be uniquely determined from that of the leaders’, which allows us to define a meaningful and computable manipulability index for the leader–follower networks. This paper examines the property of the proposed index in simulation and with real mobile robots, and demonstrates how the index can be used to find effective interaction topologies.     

Flexural and tensile moduli of polypropylene nanocomposites and comparison of experimental data to Halpin‐Tsai and Tandon‐Weng models

This research focuses on the reinforcing efficiency of nanomateterials and the role of the reinforcement's dispersion and orientation on the nanocomposite's flexural and tensile moduli. Polypropylene‐based composites reinforced with (i) exfoliated graphite nanoplatelets, xGnP?, (ii) vapor grown carbon fibers, (iii) PAN‐based carbon fibers, (iv) highly structured carbon black and (v) montmorillonite clay were fabricated by extrusion and injection molding. It was found that graphite platelets are the best reinforcement in terms of flexural modulus whereas PAN‐based carbon fibers cause the largest improvement in the tensile modulus. The difference in the reinforcing efficiency during the flexural and tensile testing is attributed to (i) the degree of fiber alignment along the flow direction during injection molding, which is higher in the thinner tensile specimens than in the flex specimens; and (ii) the different deformation modes of the two tests. The importance of good dispersion of the reinforcements within the polymer matrix and of perfect contact between the two phases is emphasized comparing the experimental modulus data to theoretical predictions made using the Halpin‐Tsai and the Tandon‐Weng models. POLYM. ENG. SCI., 47:1796–1803, 2007. © 2007 Society of Plastics Engineers     

Preparation of zinc ferrite in the presence of carbon material and its application to hot-gas cleaning

In order to develop an efficient absorbent of H₂S in coal gasification, zinc ferrite (ZnFe₂O₄) was prepared in the presence of carbon materials such as activated carbon (AC), activated carbon fiber (ACF), and Yallourn coal (YL). The absorption behavior of absorbents for H₂S was examined using a fixed-bed flow type reactor equipped with a quadrupole mass spectrometer.Carbon material-supported ZnFe₂O₄ exhibited larger desulfurization capacity for H₂S than unsupported ferrites. They could efficiently remove H₂S from 4000 ppm levels in a simulated coal gasification gas to less than 1 ppm at 500 °C. The absorption capacity of H₂S with ZnFe₂O₄/AC, ZnFe₂O₄/ACF, and ZnFe₂O₄/YL exhibited nearly 100% of stoichiometric amount of loaded metal species. They could be regenerated by an air oxidation in O₂-Ar (50 vol%) at 450 °C for 30 min. The regenerated ferrite can be used for repeated absorption of H₂S with a very slight decrease in the absorption capacity.     

Antitumor activity of synthetic alkylphospholipids with or without PAF activity

1-O-Octadecyl-2-O-methyl-sn-glycero-3-phosphocholine (ET-18-OMe) has been reported to possess definite antitumor activity in vivo. Twenty-two alkyl lysophospholipid analogs were chemically synthesized, and their antitumor activity against mouse experimental tumors (Sarcoma 180, MM46, P388) was examined. Among them, 1-O-octadecyl-2-O-acetoacetyl-rac-glycerol-3-phosphocholine was found to show antitumor activity similar to ET-18-OMe with less acute toxicity. Intravenous injection of the ET-18-OMe withsn-3 configuration retarded the subcutaneous growth of Sarcoma 180 cells effectively, while the growth inhibition by thesn-1 isomer was much less effective. This stereospecificity was similar to that observed in their activities as platelet-activating factor (PAF) agonists. The acetoacetyl compound, another PAF agonist, showed similar stereospecific antitumor action in vivo. These findings suggest that some alkyl lysophospholipids may activate host cells to a cytostatic stage against tumor cells in vivo through binding to a PAF receptor. Our preliminary results indicated that the responsible cells under these conditions might be primarily immature macrophages present in the bone marrow. No appreciable or even adverse stereospecificity was observed in the different sets of experiments where the activity of ET-18-OMe against MM46 tumor cells in vivo or the direct cytotoxicity against human promyelocytic leukemia HL-60 cells in vitro was examined. Under, some conditions, the antitumor activity of ET-18-OMe in vivo may be revealed through direct cytotoxicity and/or modulation of the host defense system by “nonspecific” mechanisms. Some alkylphospholipids without PAF activity may also show antitumor activity through similar, “nonspecific” mechanisms.     

Absorption of chlorine into aqueous sodium carbonate solutions and desorption of carbon dioxide

The absorption of pure chlorine into aqueous sodium carbonate solutions accompanied by the desorption of carbon dioxide was studied both theoretically and experimentally. The absorption rates of chlorine and the desorption rates of carbon dioxide were measured at 25°C using a baffled agitated vessel operated batchwise. The experimental results were analyzed with the chemical absorption theory based on the Lévěque model. The measured absorption and desorption rates were in good agreement with the theoretical predictions.     

Intercalation and exfoliation of clay nanoplatelets in epoxy‐based nanocomposites: TEM and XRD observations

Diglycidyl ether of bisphenol A (DGEBA) and diglycidyl ether of bisphenol F (DGEBF) reinforced with organo‐montmorillonite clay nanoplatelets were investigated using anhydride‐ and amine‐curing agents. The sonication technique was used to process epoxy/clay nanocomposites. The basal spacing of clay nanoplatelets was observed by wide‐angle X‐ray scattering (WAXS), small‐angle X‐ray scattering (SAXS) techniques, and transmission electron microscopy. It was found that the basal spacing of clay nanoplatelets in epoxy matrix was expanded after mixing with either DGEBA/DGEBF or methyltetrahydrophthalic‐anhydride (MTHPA) curing agent. The sonication technique provided larger d‐spacing of clay nanoplatelets. Because of the different curing temperatures, MTHPA‐cured epoxy/clay nanocomposites produced more expanded d‐spacing of clay nanoplatelets modified with methyl, tallow, bis(2‐hydroxyethyl) quaternary ammonium (MT2EtOH) than triethylenetetramine‐cured nanocomposites. Depending on the selection of curing agent and organic modification for clay nanoplatelets, the d‐spacing was expanded to be up to 8.72 nm. POLYM. ENG. SCI., 46:452–463, 2006. © 2006 Society of Plastics Engineers     

Crosslinked acrylic pressure sensitive adhesives. 3. Effect of adherend on film formation

The reaction of isocyanate in pressure sensitive adhesive (PSA) films adhered on to various adherends having different surface tensions was monitored by depth profiling using attenuated total reflectance Fourier transform infrared (ATR-FTIR) spectroscopy.In the latter stages of crosslinking reaction, unreacted isocyanate and its derivatives exist more in the bulk of the PSA than in the interfaces between PSA and adherends which are Teflon sheet and PE film having relatively lower surface tensions. In the case of using stainless steel having relatively higher surface tension as adherend, opposite segregation was observed compared to Teflon and PE.From X-ray photoelectron spectroscopy (XPS), it was revealed that N atoms exist more in surface than in bulk when stainless steel is used as adherend. We conclude that polyisocyanates migrate in the PSA film in order to minimize the magnitude of interfacial free energy between the PSA and the adherend, which leads to the change of surface tension of PSA film.     

Self-organized porous TiO2 and ZrO2 produced by anodization

The present work investigates the electrochemical formation of self-organized high aspect ratio TiO₂ and ZrO₂ nanotube layers. The formation and growth of a self-organized porous layer can be achieved directly by anodization without any templates in fluoride containing electrolytes. The morphology of the porous layers is affected by the electrochemical conditions such as the electrolyte composition, the pH and the exact polarization treatment (such as the potential sweep rate from the open-circuit potential to the anodizing potential). For Ti, nanotube layers are formed with diameters varying from approx. 20 nm to 100 nm and lengths from approx. 0.25 μm to 2.5 μm depending on the electrolytes and pH. On the other hand, for Zr, tubes of 50 nm in diameter and up to approx. 17 μm in length can be grown—a key parameter in this case is the potential sweep rate. The large difference between Ti and Zr in the achievable thickness of nanotube layers indicates a difference in the growth mechanism which may be based on the different chemical dissolution rates of electrochemically formed oxides.     

In situ observation of initial rust formation process on carbon steel under Na2SO4 and NaCl solution films with wet/dry cycles using synchrotron radiation X-rays

Atmospheric corrosion of steel proceeds under thin electrolyte film formed by rain and dew condensation followed by wet and dry cycles. It is said that rust layer formed on steel as a result of atmospheric corrosion strongly affects the corrosion behavior of steel. The effect of environmental corrosiveness on the formation process and structure of the rust layer is, however, not clear to date. In this study, in situ observation of the rusting process of a carbon steel covered with a thin film of Na₂SO₄ or NaCl solution was performed under a wet/dry repeating condition by X-ray diffraction spectroscopy with white X-rays obtained from synchrotron radiation. The present in situ experiments successfully detected initial process of the rust formation. In the early cycles, the rust constituents were not well crystallized yet, but the presence of Fe(OH)₂ and Fe(OH)₃ was confirmed. In the subsequent cycles, two different solutions resulted in difference in preferential phase of the rust constituents. α-FeOOH was preferentially formed in the case of the Na₂SO₄ solution film, whereas β-FeOOH appeared only under the NaCl solution film.