Discrete model reference adaptive control of continuous-time linear multi-input multi-output systems via multirate sampled-data controllers

The use of multirate sampled-data controllers for linear multivariable time-invariant systems with unknown parameters is investigated. Such controllers contain periodically time-varying elements and a multirate sampling mechanism with different sampling periods at each system input. Their application to unknown continuous-time linear multi-input, multi-output systems results in a sampled closedloop system for which an arbitrary discrete-time transfer function matrix can be assigned, as is shown in the present paper. The contribution of the present paper is twofold: the use of multirate sampled-data controllers in the area of model reference adaptive control; and the application, for the first time, of periodically varying controllers for model reference adaptive control of multi-input, multi-output systems.The work described in this paper has been partialy funded by the General Secretariat for Research and Technology of the Greek Ministry of Industry, Research, and Technology and by the Heracles General Cement Company of Greece.     

Heuristic optimization methods for motion planning of autonomous agricultural vehicles

In this paper, two heuristic optimization techniques are tested and compared in the application of motion planning for autonomous agricultural vehicles: Simulated Annealing and Genetic Algorithms. Several preliminary experimentations are performed for both algorithms, so that the best neighborhood definitions and algorithm parameters are found. Then, the two tuned algorithms are run extensively, but for no more than 2000 cost function evaluations, as run-time is the critical factor for this application. The comparison of the two algorithms showed that the Simulated Annealing algorithm achieves the better performance and outperforms the Genetic Algorithm. The final optimum found by the Simulated Annealing algorithm is considered to be satisfactory for the specific motion planning application.     

Solution-phase synthesis of an aminomethyl-substituted biaryl library via sequential amine N-alkylation and Suzuki cross-coupling

Described herein is the semiautomated preparation of a 20-member aminomethyl-substituted biaryl library. The two-step solution-phase synthesis was achieved via sequential N-alkylation of various amines with either 3- or 4-bromobenzyl bromide and Suzuki cross-coupling of the resultant aryl bromides with various boronic acids.     

Solid-phase synthesis of a tyrphostin ether library

The solid-phase synthesis of a 4500-member (30 x 15 x 10) tyrphostin library is demonstrated utilizing the Irori-directed sorting system. Fmoc-protected PL-Rink resin was used as the solid support. After Fmoc-deprotection, aryl aldehydes were attached to the resin through reductive amination. Acylation of the resulting secondary amines with cyanoacetic acid was followed by a Knoevenagel condensation with phenolic aldehydes. Mitsunobu coupling of primary alcohols to the resin-bound phenols yielded the final library of compounds 1.