Robot robust path tracking

A new discontinuous robust control law for a rigid manipulator with bounded parameter uncertainties to track a desired trajectory, is presented. Global exponential stability is proved by the use of a natural Lyapunov function based on a transformation of the manipulator's differential equation due to Slotine and Li [2]. Convergence is to a sliding mode along which the tracking error is reduced at an arbitrary exponential rate. It is also shown how adaptation of bounds on uncertainties, and parameter adaptation, can be incorporated. For a continuous approximation of the discontinuous control law,practical stability (essentially, global uniform ultimate boundedness) of the tracking error is proved. Simulation results for the continuous control law exhibit excellent robust tracking.     

Structural and electrophysiological analysis of annexin V mutants. Mutagenesis of human annexin V, an in vitro voltage-gated calcium channel, provides information about the structural features of the ion pathway, the voltage sensor and the ion selectivity filter

Annexin V binds to phospholipids in a calcium-dependent manner and exhibits calcium channel activity in vitro. We prepared a variety of mutants yielding information about the structure-function relationship of the ion channel activity. All mutants were characterized by X-ray crystallography, electron microscopy and electrophysiological measurements. Their structures are insignificantly changed whereas their electrophysiological properties are drastically different. Glu95, located in the central hydrophilic pore of the molecule, is crucial for the ion selectivity filter as its exchange leads to reduced calcium and increased sodium conductance. The removal of Glu17, located on the protein surface and far from the ion conduction pathway, leads to the appearance of a second conductance level of 9 pS in addition to the conductance level of about 30 pS in the wild-type molecule. This was also the case for Glu78, which is part of a weak calcium binding site. The exchange of Glu17 and Glu78 produced a mutant retaining only the smaller conductance level. We conclude that these two residues influence the angle between the two halves of the molecule, which determines the diameter of the ion conduction pathway, thereby leading to the occurrence of a second conductance level.     

Local synthesis of immunoglobulins in neuropathies

It is essential to know how the immune system acts in different neurological diseases, some of them non very well known or of unknown etiology at all. It was applied Reiber and Felgenhauer's formula in 56 patients with different diseases. IgA, IgM, IgG and albumin were quantified in sera and cerebrospinal fluid by simple immunodiffusion. It was observed more frequent IgG local synthesis and IgA in this sample.     

Calorimetric output power measurements on a CW 20 kW 7.16 GHzmicrowave transmitter

A calorimetric measurement technique developed for NASA's Deep Space Network (DSN) transmitters that does not require data on the coolant's thermal parameters is described. Calibration of the measurement system is achieved by measuring the DC input power to the klystron and relating coolant temperature increase to this known power dissipation. Agreement between calorimetric and electrical measurements of total system power was good, the difference being less than 2%. The operation of the system was not greatly affected by the composition of the coolant, which was varied from pure water to 40% ethylene glycol by mass. Good accuracy was also shown at output power levels, which varied over a 3.6:1 range     

A new airmass independent formulation for the Linke turbidity coefficient

We propose a new formulation for the Linke turbidity coefficient with the objective of removing its dependence upon solar geometry. In the process, we also develop two new simple clear sky models for global and direct normal irradiance.     

Performance degradation in feedback control due to constraints

In this note, we present a method to characterize the degradation in performance that arises in linear systems due to constraints imposed on the magnitude of the control signal to avoid saturation effects. We do this in the context of cheap control for tracking step signals.     

Optimization of semiochemical-based trapping ofMetamasius hemipterus sericeus (Olivier) (Coleoptera: Curculionidae)

Response of adults of the West Indian sugarcane weevil,Metamasius hemipterus sericeus, to various semiochemical treatments and physical trap designs was studied in southern Florida in field-grown banana and Canary Island date palms. Ethyl acetate released alone at 860–1007 mg/day was as effective for the capture ofM. h. sericeus as a combination of ethyl acetate (844–919 mg/day), ethyl propionate (348–362 mg/day), and ethyl butyrate (117–137 mg/day) and in one trial was more effective than fermenting sugarcane (250 g), ethyl propionate alone (353–384 mg/day), ethyl butyrate alone (123–174 mg/day), or no treatment. Ethyl acetate released alone at 675–683 mg/day was as attractive as 250 g of fermenting sugarcane or the racemic blend of the male-produced aggregation pheromones [(±)-5-methyl-nonan-4-ol and (±)-2-methyl-heptan-4-ol (8:1 ratio) “metalure”] at 3 mg/day. Weevil counts increased with binary combinations of ethyl acetate, sugarcane, and/or metalure over these treatments alone and the ternary combination was two to three times more effective than any of the binary treatments. Attraction to ethyl acetate released alone at 777 mg/day with metalure was greater than to the hydrolysis products of ethyl acetate (ethanol and/or acetic acid each released at about 6–8 mg/day) with metalure. Weevil counts from traps baited with 250 g of sugarcane and metalure increased with increasing dose of ethyl acetate to about 400 mg/day and then appeared to plateau. Ethyl acetate (about 700 mg/day) and metalure increased weevil counts in traps with increasing amounts of sugarcane (0–2 kg). Molasses (45 g) + water (158 ml) substitutes for sugarcane were about as effective for capturingM. h. sericeus as 250 g of fermenting sugarcane [all treatments with ethyl acetate (847 mg/day) and metalure]. Early experiments used a lethal pitfall trap. We demonstrated that several alternative trap designs were more effective than the lethal pitfall trap for capturing weevils. Color and height (on ground vs. 1 m on pole) did not affect trap efficacy when baited with the ternary combination of ethyl acetate (672–825 mg/day), sugarcane (250 g), and metalure.     

Modelling and Simulation of a Direct Contact Rotary Dryer

A mathematical model able to predict solid and drying gas temperature and moisture content axial profiles along a direct contact rotary dryer was developed. The study was focused on the drying kinetics based on phenomenological models. Two different drying mechanisms in the decreasing drying rate period were tested: proponional to the unbound moisture content and moisture diffusion inside the particle. Experimental data collected in a pilot-scale direct contact rotary dryer was used to validate the model. Soya and fish meals were used as drying material.