An adaptive tracking problem for a family of retarded time-delay plants

Most of the existing switching control techniques are developed specifically for finite-dimensional linear time-invariant (LTI) systems. In many practical applications, however, it is essential to take time delay into consideration in the modelling as the control system can be highly sensitive to delay. In this paper, a multi-model switching control algorithm is proposed for retarded time-delay systems. It is assumed that the plant is represented by a family of known multi-input multi-output, observable, LTI models with multiple delays in the states, and that corresponding to each model in the known family, there exists a high-performance finite-dimensional LTI controller. In addition, it is supposed that a bound on the magnitude of the external inputs and disturbances is available. It is then shown that the proposed switching controller can stabilize the uncertain system, and that under some mild conditions, output tracking can be achieved in the given problem setting. Copyright © 2007 John Wiley & Sons, Ltd.     

Characterization of rheological properties of systems containing sugar substitutes and carrageenan

The effects of addition of κ-carrageenan to solutions containing 40% (w/w) sugar substitute on the rheological properties of these systems were investigated at 25 °C using a rotational viscometer at rotational speeds of 6, 12, 30, and 60 rev min⁻¹. The flow behaviour of the solutions was adequately described by the power law model with or without yield stress. The consistency index ( K ) and the flow behaviour index ( n ) were determined from shear stress vs. shear rate data. The flow parameters of the solutions depended on the carrageenan concentration. The apparent viscosities of the systems decreased with increasing shear rate, indicating pseudoplastic behaviour. The final carrageenan concentration was found to be an effective factor controlling the degree of sliminess of the model food systems studied.     

Studies on the interactions of metal oxides and Na2 SO4 at 1100 and 1200 K in oxygen

The interaction of different metal oxides such as Co₃O₄, NiO, Al₂O₃, Cr₂O₃, Fe₂O₃ and SiO₂ with Na₂SO₄ at a temperature of 1100 and 1200 K in flowing oxygen has been studied. The thermogravimetric studies for each system were carried out as a function of Na₂SO₄ in the mixture. The presence of different constituents in the reaction products were identified by X-ray diffraction analysis and the morphologies of the reaction products were characterized using metallography and scanning electron microscopy (SEM). The formation of products was also investigated by thermodynamic computation of free energies of the reactions and the study of relevant equilibrium phase diagrams. The soluble species in the aqueous solutions of the reaction products were determined quantitatively using atomic absorption spectrophotometry. The high temperature interaction products usually contain a 3-phase structure namely, Na₂O·M₂O _x , M₂O _x and metal sulphide and/or metal sulphate. The formation of Na₂O·M₂O _x depends upon the solid state solubility of metal oxide in the molten salt at high temperatures. Under limited solubility conditions Na₂O·M₂O _x is invariably formed, but as soon as this condition is relaxed the oxide. M₂O _x , precipitates and forms a separate phase.     

State of Practice for Positive Moment Connections in Prestressed Concrete Girders Made Continuous

Precast bridges are often constructed as single span for dead load, but continuous for live load. A diaphragm connection is provided for negative moment continuity. However, the connection may also be subjected to positive moments due to time-dependent effects. Because these moments may be large enough to damage the diaphragm or even the girders, a positive moment connection is often provided. This paper reports on a study to determine the types of positive moment connections used across the country and to identify potential problems with these types of connections. A questionnaire survey was conducted to assess the state of practice for precast prestressed concrete bridges made continuous. The survey provides valuable information on this type of bridge and updates a previous survey on this subject.     

Intramuscular ceftriaxone compared with oral amoxicillin-clavulanate for treatment of acute otitis media in children

Two hundred and fifteen children aged 4 months 6 years with acute otitis media (AOM) were randomized to be treated either by a single i.m. injection of ceftriaxone, 50 mg/kg, with a second dose in the event of unsatisfactory response after 48 h or a history of recurrent AOM (109 patients) or amoxicillin clavulanate 12.5 mg tid (106 patients). The failure rate was similar in children treated by ceftriaxone and amoxicillin clavulanate, 4.6% and 4.7%, respectively (standard error for intergroup difference -2.87%, 95% confidence interval -5.62% to 5.87%). No significant differences between the groups were found in the dynamics of the resolution of the acute symptomatology, otoscopy findings, relapse rate at 30 days or tympanographic evidence of middle ear effusion at the scheduled visits on days 30, 60 and 90. Recurrence of AOM between days 31 and 90 was observed significantly in more children treated with amoxicillin clavulanate than with ceftriaxone--25 out of 84 (29.4%) versus 11 out of 81 (13.6%) (P = 0.012). Conclusion: Ceftriaxone injection(s) is as efficient at least as 10-day oral amoxicillin clavulanate for treatment of acute otitis media in children. Although not recommended as routine, ceftriaxone can be considered in the management of acute otitis media under special circumstances, particularly in cases when the ability to tolerate or absorb oral drugs is compromised, in children refusing or unable to take oral therapy or when the compliance is questionable.     

An improved algorithm for solving a multi-period facility location problem

An exact algorithm for the multi-period facility location problem is proposed that efficiently integrates mixed-integer and dynamic programming methods. Two simplification procedures are introduced to reduce the size of the general multi-period facility location problem substantially. Because the proposed algorithm utilizes dynamic programming to obtain the optimal sequence over the entire planning horizon, many near-optimal solutions also become available that are extremely useful for postoptimality analysis. The solution method is tested and compared with a well-known procedure on several problems with varying conditions. The comparisons appear very promising, and the required CPU times by the proposed method are substantially reduced.     

Simultaneous mass and heat transfer under mixed convection along a vertical cone

Steady laminar binary mixed convection flow along a vertical circular cone under the combined buoyancy effects of thermal and species diffusion is studied analytically. The analysis is confined to mass diffusion processes with low concentration levels. In the analysis the surface of the cone is assumed to be at a uniform temperature and uniform concentration. Numerical results for the local Sherwood number, local Nusselt number and local friction factor are presented. Representative temperature, concentration and velocity profiles are also shown. The analysis covers the diffusion of common gases and vapours into air. Considerations are given to the situations where the buoyancy forces assist and oppose the forced convection flow for various possible combinations of the thermal and species diffusion processes.     

Fast parallel Preconditioned Conjugate Gradient algorithms for robot manipulator dynamics simulation

In this paper fast parallel Preconditioned Conjugate Gradient (PCG) algorithms for robot manipulator forward dynamics, or dynamic simulation, problem are presented. By exploiting the inherent structure of the forward dynamics problem, suitable preconditioners are devised to accelerate the iterations. Also, based on the choice of preconditioners, a modified dynamic formulation is used to speedup both serial and parallel computation of each iteration. The implementation of the parallel algorithms on two interconnected processor arrays is discussed and their computation and communication complexities are analyzed. The simulation results for a Puma Arm are presented to illustrate the effectiveness of the proposed preconditioners. With a faster convergence due to preconditioning and a faster computation of iterations due to parallelization, the developed parallel PCG algorithms represent the fastest alternative for parallel computation of the problem withO(n) processors.     

Intelligent non-linear modelling of an industrial winding process using recurrent local linear neuro-fuzzy networks

This study deals with the neuro-fuzzy (NF) modelling of a real industrial winding process in which the acquired NF model can be exploited to improve control performance and achieve a robust fault-tolerant system. A new simulator model is proposed for a winding process using non-linear identification based on a recurrent local linear neuro-fuzzy (RLLNF) network trained by local linear model tree (LOLIMOT), which is an incremental tree-based learning algorithm. The proposed NF models are compared with other known intelligent identifiers, namely multilayer perceptron (MLP) and radial basis function (RBF). Comparison of our proposed non-linear models and associated models obtained through the least square error (LSE) technique (the optimal modelling method for linear systems) confirms that the winding process is a non-linear system. Experimental results show the effectiveness of our proposed NF modelling approach.     

Optimal Development of Agricultural Sectors in the Basin Based on Economic Efficiency and Social Equality

The limitation of freshwater resources and the growing demand for water, make the issue of water resource development planning and water allocation among stakeholders even more important. Ideally, water allocation should be economically efficient and socially equitable. In this study, a water allocation model is presented in an integrated framework that considers the interaction of water supply and demand according to economic and social factors. To achieve this, a reliability-based multi-objective optimization - simulation approach has been employed. The objective functions of the problem are: 1) maximizing GDP from agricultural sectors and 2) maximizing social equality in different provinces of the basin (measured using the Williamson coefficient). The fair development and allocation among the shared provinces in the basin can reduce conflicts in the region. Karkheh basin has been considered as a case study and decision variables of the problem are area under cultivation of agricultural development sectors in different provinces. The results show that, without harming the income of the agricultural sector, the spatial distribution of development projects can be done in such a way that equality (according to income level and the number of people working in each province) is achieved. One of the solutions of Pareto front compared to previous studies shows that, in addition to an increase of about 12% of the objective function 1 (GDP), the value of the objective function 2 (Williamson coefficient) decreased from 1.19 to 0.98. This indicates a decrease in income inequality among the provinces of the basin.