Robust control of variable speed autonomous underwater vehicle

Set point tracking control of autonomous underwater vehicle (AUV) via robust model predictive control (RMPC) is considered. Input-constrained RMPC with integral action, which has been developed in our previous work, is used to control the AUV in this study. In order to derive a RMPC control rule, non-linear dynamics of AUV with six degree of freedom is linearized at certain operating points. So, horizontal and vertical plane dynamics of system are represented by linear models which have polytopic uncertainties. Since the derived control rule will be used in real time, the computation time should be reduced. To overcome this computational time problem and get rid of trial–error step of Algorithm 1, a new algorithm is proposed here. The simulations are carried out using the control rule based on this algorithm and these results are presented.     

Efficient Binary Tomographic Reconstruction

Tomographic reconstruction of a binary image from few projections is considered. A novel heuristic algorithm is proposed, the central element of which is a nonlinear transformation ψ(p)=log(p/(1?p)) of the probability p that a pixel of the sought image be 1-valued. It consists of backprojections based on ψ(p) and iterative corrections. Application of this algorithm to a series of artificial test cases leads to exact binary reconstructions, (i.e., recovery of the binary image for each single pixel) from the knowledge of projection data over a few directions. Images up to 10⁶ pixels are reconstructed in a few seconds. A series of test cases is performed for comparison with previous methods, showing a better efficiency and reduced computation times.     

Characterization of Maximum Likelihood Solutions to Image Reconstruction in Photon Emission Tomography

For photon emission tomography, the maximum likelihood (ML) estimator for image reconstruction is generally solution to a nonlinear equation involving the vector of measured data. No explicit closed-form solution is known in general for such a nonlinear ML equation, and numerical resolution is usually implemented, with a very popular iterative method formed by the expectation-maximization algorithm. The numerical character of such resolutions usually makes it difficult to obtain a general characterization of the performance of the ML solution. We show that the nonlinear ML equation can be replaced by an equivalent system of two dual linear equations nonlinearly coupled. This formulation allows us to exhibit explicit (to some extent) forms for the solutions to the ML equation, in general conditions corresponding to the various possible configurations of the imaging system, and to characterize their performance with expressions for the mean-squared error, bias and Cramér-Rao bound. The approach especially applies to characterize the ML solutions obtained numerically, and offers a theoretical framework to contribute to better appreciation of the capabilities of ML reconstruction in photon emission tomography.     

Syndiotactic Polystyrene/Organoclay Nanocomposites: Synthesis via In Situ Coordination‐Insertion Polymerization and Preliminary Characterization

Summary: Syndiotactic polystyrene (sPS)/organophilic clay nanocomposites were obtained by in situ coordination‐insertion polymerization of styrene. Two cationic surfactants (alkylammonium and alkylphosphonium) were used for the intercalation of montmorillonite (MMT). For each organically modified clay, three protocols were performed using an MAO‐activated hemi‐metallocene catalyst, in order to compare the influence of experimental conditions on the composite microstructure and on its thermal stability. The microstructures of nanocomposites were investigated by wide angle X‐ray scattering and DSC. Partially exfoliated or intercalated materials were obtained in all cases and a decrease of crystallinity is observed. Thermal properties were also studied by DSC and thermogravimetric analysis. The presence of clay does not have a strong influence on the sPS thermal transitions but the thermal decomposition process of the material was slowed down in the presence of few organoclay percents, particularly in the degradation beginning. The influence of these two organically modified clays on the thermal stability of the material is discussed.

Gel and suspension formed from the combination of cloisite with toluene (left) and styrene (right), respectively.     

Activities of MFI-Supported Rhenium Catalysts for the Aromatization of Methane: Effect of Cationic Form of the Inorganic Carrier

MFI type inorganic carrier was used in two different cationic forms, hydrogen and calcium respectively. MFI-supported molybdenum and rhenium catalysts were prepared. The activities of the catalysts were compared for the aromatization reaction of methane. Higher activity values were attained with the catalysts supported on HZSM-5. Aromatics were also observed with the catalysts supported on CaZSM-5, despite their deficiency in acid sites. Highly dispersed rhenium is expected to be formed with the use of the inorganic carrier in calcium form. On the other hand, lower reaction rates were observed with rhenium supported on CaZSM-5, in spite of the improved dispersion of the active rhenium species on this catalyst. This was interpreted in terms of the critical role of the acid sites in the conversion of methane to aromatics, compared to the improved dispersion of the active metal.     

A web-based platform for biosignal visualization and annotation

With the advent of wearable sensing and mobile technologies, biosignals have seen an increasingly growing number of application areas, leading to the collection of large volumes of data. One of the difficulties in dealing with these data sets, and in the development of automated machine learning systems which use them as input, is the lack of reliable ground truth information. In this paper we present a new web-based platform for visualization, retrieval and annotation of biosignals by non-technical users, aimed at improving the process of ground truth collection for biomedical applications. Moreover, a novel extendable and scalable data representation model and persistency framework is presented. The results of the experimental evaluation with possible users has further confirmed the potential of the presented framework.     

Surface analysis and adsorption behavior of caffeine as an environmentally friendly corrosion inhibitor at the copper/aqueous chloride solution interface

Abstract

Corrosion inhibitors based on environmentally friendly and harmless products are currently being studied and developed. The corrosion inhibition properties of caffeine (1,3,7-trimethylxanthine) on copper corrosion in aqueous chloride solution (3.5?wt.% NaCl) are analysed here using stationary and transient electrochemical methods, and a theoretical study based on density functional theory is carried out. Caffeine is a very competitive compared to the chemical inhibitors that are often used for copper protection. Electrochemical and impedance experiments reveal that the protective efficiency of caffeine reaches a value of 96% at a concentration of 10^?2?mol L^?1. Based on these results, the Langmuir model appears to be the best representation of the adsorption of caffeine onto the copper surface. Scanning electron microscopy coupled with energy-dispersive X-ray spectroscopy and X-ray diffraction (XRD) were used to determine the surface morphology and the chemical composition of the copper surface in chloride media, in the absence and presence of caffeine. The results show the development of a mechanism of corrosion inhibition. In order to confirm the correlation between the inhibitory effect and the molecular structure of caffeine, quantum chemical parameters are used to calculate its electronic properties.     

Cure kinetics of an epoxy/liquid aromatic diamine modified with poly(ether imide)

The cure kinetics and mechanisms of an epoxy oligomer based on diglycidyl ether of bisphenol A (DGEBA), polymerized with a liquid aromatic diamine based on diethyl toluene diamine (DETDA 80), and its blends with poly(ether imide) (PEI) at concentrations of 0–15 wt % were studied with differential scanning calorimetry under dynamic and isothermal conditions. The kinetic analyses were performed with a phenomenological approach. The reaction mechanism of the blends remained the same as that of the neat epoxy. However, the addition of PEI had a marked effect on the cure kinetics in the DGEBA/DETDA 80 system. The rate of reaction decreased with an increase in the thermoplastic content. Diffusion control was incorporated to describe the cure behavior of the blends in the latter stages. Greater diffusion control was observed as the PEI concentration increased and the cure temperature decreased. Polymer blends based on this epoxy/liquid aromatic diamine had not been previously studied from a kinetic viewpoint. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 96: 660–672, 2005     

Spectroscopic and electrical properties of 3-alkyl pyrrole-pyrrole copolymers

Three types of copolymers composed of pyrrole and 3-alkyl pyrroles (with alkyl being pentyl, nonyl and undecyl) have been synthesized. A strong linear dependency of the alkyl chain length on the as-prepared copolymer physical properties is demonstrated via (a) DSC (for phase transition temperatures and enthalpy changes) and (b) UV-vis (for wavelengths of the polaronic and bipolaronic electronic transitions, and ratio of the corresponding absorbances). A trend in the copolymers' doping level vs alkyl chain length is also estimated, via IR, by taking the ratio of band intensities of the stretching modes of the polaronic and bipolaronic species. The copolymers are found to be soluble in organic solvents and their solutions can be cast onto glass substrates or metals resulting in thin films, which can be used as the electroactive component of Schottky diodes. The electrical properties of these diodes are also found to be dependent on increasing 3-alkyl chain length.