Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

Inhibition effect of butan-1-ol on the corrosion behavior of austenitic stainless steel (Type 304) in dilute sulfuric acid

The electrochemical behavior of austenitic stainless steel (Type 304) in 3 M sulfuric acid with 3.5% recrystallized sodium chloride at specific concentrations of butan-1-ol was investigated with the aid of potentiodynamic polarization, open circuit measurement and weight loss technique. Butan-1-ol effectively inhibited the steel corrosion with a maximum inhibition efficiency of 78.7% from weight-loss analysis and 80.9% from potentiodynamic polarization test at highest concentration studied. Adsorption of the compound obeyed the Freundlich isotherm. Thermodynamic calculations reveal physiochemical interactions and spontaneous adsorption mechanism. Surface characterizations showed the absence of corrosion products and topographic modifications of the steel. Statistical analysis depicts the overwhelming influence and statistical significance of inhibitor concentration on the inhibition performance.     

Advances in bonding and properties of inorganic systems from relativistic calculations in Latin America

The inclusion of relativistic effects to understand chemical structures and related properties brings to the scientific community challenging study cases, showing the rich diversity of chemical behavior of the different elements along the periodic table. The results highlighted here represent applications of relativistic methodologies to study the nature of bonding and a prediction of optical and magnetic properties of meaningful chemical entities containing heavy atoms, all made in Latin America. The good agreement between calculated and experimental observables in many molecular and cluster-like systems ratifies that relativistic methods are appropriate to describe these entities realistically. We expect to enhance our knowledge in these methodologies, currently included in doctoral programs in our region.     

Benchmarking the accuracy of coverage-dependent models: adsorption and desorption of benzene on Pt (1 1 1) and Pt3Sn (1 1 1) from first principles

Bimetallic catalysts have demonstrated properties favorable for upgrading biofuel through catalytic hydrodeoxygenation. However, the design and optimization of such bimetallic catalysts requires the ability to construct accurate, predictive models of these systems. To generate a model that predicts the kinetic behavior of benzene adsorbed on Pt (1 1 1) and a Pt₃Sn (1 1 1) surface alloy (Pt₃Sn (1 1 1)), the adsorption of benzene was studied for a wide range of benzene coverages on both surfaces using density functional theory (DFT) calculations. The adsorption energy of benzene was found to correlate linearly with benzene coverage on Pt (1 1 1) and Pt₃Sn (1 1 1); both surfaces exhibited net repulsive lateral interactions. Through an analysis of the d-band properties of the metal surface, it was determined that the coverage dependence is a consequence of the electronic interactions between benzene and the surface. The linear coverage dependence of the adsorption energy allowed us to quantify the influence of the lateral interactions on the heat of adsorption and temperature programmed desorption (TPD) spectra using a mean-field model. A comparison of our simulated TPD to experiment showed that this mean-field model adequately reproduces the desorption behavior of benzene on Pt (1 1 1) and Pt₃Sn (1 1 1). In particular, the TPD correctly exhibits a broadening desorption peak as the initial coverage of benzene increases on Pt (1 1 1) and a low temperature desorption peak on Pt₃Sn (1 1 1). However, due to the sensitivity of the TPD peak temperature to the desorption energy, precise alignment of experimental and theoretical TPD spectra demands an accurate calculation of the adsorption energy. Therefore, an analysis of the effect of the exchange-correlation functional on TPD modeling is presented. Through this work, we show the necessity of incorporating lateral interactions into theoretical models in order to correctly predict experimental behavior.     

Active stress as a local regulator of global size in morphogenesis

While a general consensus exists that the morphogenesis of living organisms has its roots in genetically encoded information, there is a big debate about the physical mechanisms that actually mediate its control. In embryo development, cells stop proliferating at homeostasis, a target state in terms of physical conditions that can represent, for instance, the shape and size of an organ. However, while control of mitosis is local, the spatial dimension of a tissue is a global information. How do single cells get aware of that at the same time? Which is their communication mechanism? While morphogen factors are demonstrated to play a key role in morphogenesis, and in particular for shape emergence, they seem unable to produce a global control on size by themselves and, conversely, many recent experiments suggest that active mechanics plays a role. Here we focus on a paradigmatic larval structure: the imaginal disc that will become the wing of the fruit fly. By a formalization of theoretical conjectures in terms of simple mathematical models, we show that inhomogeneous stress, likely dictated by morphogenetic patterns, is an admissible mechanism to convey locally the global information of organ size.     

Degradation of rhodamine B photocatalyzed by Eu-doped CdS nanowires illuminated by visible radiation

CdS nanowires doped with different contents of Eu dopant were synthesized by solvothermal method. XRD, SEM, TEM and Raman analyses certified that the as-synthesized samples were hexagonal CdS uniform nanowires. The pure CdS nanowires were 1–3 ?μm long and 80 ?nm diameter with the 1st and 2nd order longitudinal phonon modes at 298 and 594 ?cm^?1. The 3% Eu-doped CdS wires were 800 ?nm–2.5 ?μm long and 75 ?nm diameter with the 1st and 2nd order longitudinal phonon modes at 296 and 593 ?cm^?1. CdS nanowires grew along the [001] direction due to the surface energy effect. The photocatalytic properties of CdS and Eu-doped CdS nanowires were investigated for the degradation of rhodamine B (RhB) illuminated by visible radiation. In this research, Eu dopant played the role in promoting the photocatalytic kinetics because Eu³⁺ ions act as an electron acceptor to promote charge separation and photocatalytic activity. Both ^●OH and ^●O₂^? were the main active radicals used to transform RhB molecules into CO₂, H₂O and other intermediates.     

基于EKF的水下LD通信精对准控制算法

高速激光通信中接收机与光斑中心很难处于精对准状态,导致水下光通信链路难以稳定建立.首先采用蒙特卡洛仿真统计法分析激光光子在海水中传输的接收光强分布规律,再通过实验对接收端的光斑图像进行采样分析,利用曲线拟合得到接收器位置与接收光强的关系.仿真与实验结果表明:光束经过25 m的水下传输,接收光强分布仍近似为高斯分布.采用非线性估计算法(扩展卡尔曼滤波)与基本状态控制反馈理论,根据接收光强度估计接收器当前位置与最大光强处的距离,通过反馈算法实现接收端与光斑中心的主动跟踪对准.算法仿真结果显示,接收端对准误差在2 mm以下,稳定后接收效率超过98%.     

One-dimensional displacement of active matter on curved substrates

We analytically find the diffusion of overdamped active Brownian particles (ABPs) constrained to move along curved one-dimensional channels. The autonomous motion of these particles is achieved by a projection of their internal propulsion force along the channels' long section. In particular, the diffusion of ABPs moving on one-dimensional channels with a form of a circle, an ellipse, and a limacon of second order is analysed. To characterise the effect of substrate's geometry and self-propulsion on their diffusion, analytical expressions for the ABPs short- and long-time variances, as well as their steady angular probability density functions are offered. Curvature effects are found to reduce the time an ABP reaches its steady state. Our theoretical results are validated using Brownian dynamics simulations. This model may be relevant for experiments dealing with catalytic driven systems, bacteria, and tumour cell dispersion in one-dimensional channels.     

Recent advances on the use of active anodes in environmental electrochemistry

Active anodes, especially those consisting of metal mixed oxides (MMOs) containing Ru and/or Ir oxides, have been applied in the treatment of wastewater, especially when chloride ions are present. Their characteristics continuously drive the study of applications of these materials, be they in the degradation of different organic molecules, the preparation of new electrode materials and in the association of various processes to increase pollutant removal. Thus, this brief review aims to present some of the recent advances in the application of active anode materials in environmental electrochemistry. Focussing on the 2018–2020 period, it is possible to note many applied studies, using commercially available materials, covering a wide range of target pollutants. Still other studies aim to modify the catalyst surfaces to increase the mineralization capacity, and the use of these anodes in the production of free chlorine species to mediate indirect organic reduction is observed.