A new mobile robot control approach via fusion of control signals.

This paper proposes an alternative approach to address the problem of coordinating behaviors in mobile robot navigation: fusion of control signals. Such approach is based on a set of two decentralized information filters, which accomplish the data fusion involved. Besides these two fusion engines, control architectures designed according to this approach also embed a set of different controllers that generate reference signals for the robot linear and angular speeds. Such signals are delivered to the two decentralized information filters, which estimate suitable overall reference signals for the robot linear and angular speeds, respectively. Thus, the background for designing such control architectures is provided by the nonlinear systems theory, which makes this approach different from any other yet proposed. This background also allows checking control architectures designed according to the proposed approach for stability. Such analysis is carried out in the paper, and shows that the robot always reaches its final destination, in spite of either obstacles along its path or the environment layout. As an example, a control architecture is designed to guide a mobile robot in an experiment, whose results allows checking the good performance of the control architecture and validating the design approach proposed as well.     

Feedback tuning of bifurcations

The present paper studies a feedback regulation problem that arises in at least two different biological applications. The feedback regulation problem under consideration may be interpreted as an adaptive control problem for tuning bifurcation parameters, and it has not been studied in the control literature. The goal of the paper is to formulate this problem and to present some preliminary results.     

Kinetic model for water/oil absorption of mesquite gum (Prosopis juliflora) and gum arabic (Acacia senegal)

The water and oil uptake of mesquite and arabic gums in powdered form was studied at temperatures of 23, 35 and 45°C. A previously proposed equation to predict osmotic equilibrium was tested using the experimental data with both gums and a good statistical fit was obtained. Mesquite gum showed the highest water and oil absorption at all temperatures studied. Temperature dependence of the reciprocal of the S₁ and WL_∞ were determined using an Arrhenius equation. The activation energy for water and oil absorption for gum arabic was 21.98 and 39.57 kJ mol⁻¹, compared to that of mesquite gum having values of 15.79 and 46.16 kJ mol⁻¹, respectively. A second order kinetic model was obtained for water and oil absorption for both gums.     

A typology of propagation of changes on the structure of a multiregional economic system: the case of the European Union, 1975–1985

The effects of structural change in all sectors of some regions in multiregional input-output systems are explored in this paper. For each region, the changes in direct inputs are decomposed into a matrix of intraregional changes and a matrix of interregional backward linkage changes. This distinction provides for a decomposition of changes in the Leontief inverse into a sum of matrices representing the matrices of intraregional and interregional fields of influence of changes. In turn, this process facilitates the identification of changes in gross outputs that may be traced to changes in intra- and interregional structural changes. The analysis is applied to the European input-output tables for 1975 and 1985.This paper was presented at the 1996 annual meeting of the Western Regional Science Association     

The effect of the addition of chemical materials on the sintering of biomass ash

In this work the use of chemical materials (additives) in order to reduce the biomass ash sintering tendency is investigated. A total of seven additives (kaolin, limestone, lime, dolomite, calcined dolomite, ophite and alumina) and silica utilised as reference material were mixed in different proportions with the ash of five different biomasses, and then a laboratory sintering test was performed on the mixtures to determine the effect of the additives on the sintering. The biomasses studied in this work were: thistle biomass, brassica carinata biomass, barley straw, almond shell and orujillo (olive oil extraction residue). The sintering decrease among the additives was studied using X-ray diffraction.Kaolin, lime, calcined dolomite and ophite are proved to be suitable to reduce the biomass sintering in all the considered cases. Dolomite, limestone and, particularly, the tabular alumina, offer poorer results. The dilution of the biomass ash is considered the main process involved in the decrease of the sintering for most of the additives, with the exception of kaolin whose chemical reactions could be more important than the dilution effect.     

Spatially resolved infrared spectroscopy: a novel technique for in situ study of spatial surface coverage during CO oxidation on supported catalysts

A spatially resolved infrared (IR) imaging technique to monitor the linear adsorbed CO coverage on supported catalyst surface combining an IR bandpass filter and an IR thermography camera has been developed. Images acquired during the CO adsorption/desorption and ignition indicate that the technique provides an excellent method to image the change of surface coverage with a spatial resolution. It is expected that the combination of infrared thermography with spatially resolved imaging of surface coverage will provide a deeper insight in the dynamics of spatio-temporal patterns on heterogeneous catalysts.     

Effect of sodium nitroprusside on compound action potential thresholds in the gerbil cochlea

OBJECTIVE: Trials that do not allow rejection of the null hypothesis of no treatment effect may have had an inappropriate design. Trials are virtually never assessed for correlation between responses to different treatment modalities. METHODS: Using a hypothetical example and several published studies we examine the influence of correlation levels between treatment modalities on the sensitivity of testing. RESULTS: The level of correlation between responses to different treatment modalities is a major determinant of the sensitivity both of crossover and parallel group clinical trials. CONCLUSIONS: It is very relevant to assess a priori correlation levels between responses to the different treatment modalities of a trial. If a negative correlation is anticipated, a crossover design is likely to lack sensitivity. If a positive correlation is anticipated a parallel-group design seems less appropriate, because it would lack the extra sensitivity of accounting for the positive correlation. Both designs would seem suitable for approximately zero correlations (e.g. comparison vs baseline or vs placebo under the assumption that the number of placebo responders is negligible.     

A remark on bilinear systems and moduli spaces of instantons

Explicit equations are given for the moduli space of framed instantons as a quasi-affine variety, based on the representation theory of noncommutative power series, or equivalently, the minimal realization theory of bilinear systems.     

Microplastic and other anthropogenic microparticles in water and sediments of Lake Simcoe

Microplastics (plastic particles <5 mm in size) have been reported in ecosystems worldwide and have been shown to cause adverse negative impacts on organisms. This study provides the first report of microplastics and other anthropogenic microparticles in the surface waters and sediments of Lake Simcoe in Ontario, Canada, a popular recreational and fishing lake. Surface waters (low volume grabs and manta trawls) and sediments were sampled from eight sites to determine microparticle abundances and character (size, morphology, material identity). Concentrations ranged from 0 to 0.7 particles/L in surface water grab samples, 0.4–1.3 particles/m³ in manta trawl samples, and 8.3–1070 particles/kg in sediment samples. Spectroscopic analysis confirmed that 72% of particles were anthropogenic, with 64% unambiguously identified as microplastics. However, confirmed microplastic concentrations were approximately 6–7 times lower than unadjusted counts in sediments, demonstrating the importance of verifying and adjusting reported values. Fibers were only quantified and characterized in surface water grab samples and sediments, and were the most common morphology, accounting for 82% and 89% of anthropogenic particles, respectively. Fragments were most common in manta trawl samples (75%, excluding fibers) and consisted predominantly of polyethylene (41%) and polypropylene (22%). The influence of proximity to urban centers and prevailing winds on the distribution of microplastics was apparent in surface water manta trawls. Microplastics and other anthropogenic microparticles are present in Lake Simcoe but at lower abundances than at locations impacted by larger population centers in other large freshwater lakes such as Lakes Ontario and Erie of the Great Lakes.