A switched controller for an underactuated underwater vehicle

We present a switched control law for stabilizing an underactuated underwater vehicle (UUV) moving in a horizontal plane in a neutrally buoyant condition. The control law consists of a sequential series of control actions, each of which achieves a certain objective, finally resulting in the system being moved to the origin. Finite-time controllers are employed at each stage to achieve the desired objective. Simulation results are presented to validate the control law.     

Using discrete optimization algorithms to find minimum energy configurations of slender cantilever beams with non-convex energy functions

This paper deals with a new solution technique for approximately solving certain variational problems in elasticity by using discrete optimization techniques that were originally used in information theory. This allows us to easily and approximately solve large deformation buckling problems for slender cantilever beams (including post-buckling behavior) as well as problems where the strain energy function is non-convex.The core idea is to quantize or discretize the variables describing the possible configurations of the body. This, when combined with the fact that the variational problem has an inherent Markov structure allows us to use computationally efficient search techniques based on dynamic programming (equivalent to finding the shortest path in a weighted directed graph) to find optimal solutions within the quantized state space. The results can be used in two ways: (1) directly as a fast approximate solution to the variational problem (2) As a means for finding very good (nearly minimum energy) initial configurations for application of conventional minimization techniques, which might otherwise fail because of a poor starting configurations which are far from the global minimum. We demonstrate both these uses in the paper.     

Population Genetic Structure and Marker Trait Associations Using Morphological,Phytochemical and Molecular Parameters in <Emphasis Type="Italic">Habenaria edgeworthii</Emphasis>—a Threatened Medicinal Orchid of West Himalaya,India

Habenaria edgeworthii Hook. f. ex Collett is an important terrestrial orchid used in different Ayurvedic formulations. In the present study, variations among morphological, phytochemical and molecular markers were assessed. A significant difference was observed among populations using morphological traits. Inter-simple sequence repeat (ISSR) data revealed lower genetic diversity at population level (He = 0.207) as compared to species level (He = 0.334). Analysis of molecular variance (AMOVA) indicates 74 % variation among populations and 26 % within population. Tuber extracts showed significantly (p < 0.05) higher total phenolics and flavonoids among the populations. Antioxidant activity determined by 2,2′-azinobis(3-ethylbenzothiazoline-6-sulfonic acid) (ABTS) radical scavenging, 1,1-diphenyl-2-picrylhydrazyl (DPPH) radical scavenging and ferric reducing antioxidant power (FRAP) assays exhibited considerable antioxidant potential. Furthermore, the associations between molecular and morphological and phytochemical attributes were studied using multiple regression analysis (MRA). Several ISSR fragments were associated with some morphological and phytochemical traits. These ISSR fragments can be useful for breeding programme of the species when no other genetic information, such as linkage maps and quantitative trait loci, is available.     

Synthesis and characterization of K2NiF4-type phases Ln0.5Sr1.5Mn0.5Fe0.5O4 (Ln = La, Nd, Gd, and Dy)

A systematic investigation of layered perovskite oxides with general formula Ln_0.5Sr_1.5Mn_0.5Fe_0.5O₄ (Ln?=?La, Nd, Gd, and Dy) has been undertaken mainly to understand their structural, magnetic, as well as electrical behavior. The materials were prepared by the ceramic method. X-ray data have been analyzed by using program Checkcell and the variations of various parameters are explained. It has been concluded that not only A-site cation radius, <r _A>, but also the size variance factor (σ ²) influence electrical and magnetic properties. A systematic study of electrical resistivity of all the four materials was undertaken as a function of temperature to understand the conduction mechanism. On analyzing the electrical resistivity data, it has been concluded that variable range hopping model is found to fit well. The magnetic studies suggest that the phases are antiferromagnetic and this behavior could arise from Mn⁴⁺–O–Mn⁴⁺, and Fe³⁺–O–Fe³⁺ superexchange interaction.     

Cu(II)-catalyzed olefin migration and Prins cyclization: highly diastereoselective synthesis of substituted tetrahydropyrans

Metal-ligand complexes of Cu(OTf)(2) with an appropriate bisphosphine ligand have been shown to effectively catalyze the formation of substituted tetrahydropyrans via a sequential olefin migration and Prins-type cyclization. This methodology provides convenient access to a variety of functionalized tetrahydropyrans in excellent diastereoselectivities and good to excellent yields.     

Jacobson's conjecture and modules over fully bounded Noetherian rings

The object of this paper is to investigate finitely generated modules and injective modules over fully bounded Noetherian rings. Our main results on f.g. modules (Theorems 3.1 and 3.4) provide an analog of the Jordan-Holder Theorem and seem to be new even for commutative Noetherian rings. They imply the validity of Jacobson's conjecture for fully bounded Noetherian rings. The main result on injectives (Theorem 5.3) describes f.g. submodules of an indecomposible injective and shows how it can be built from indecomposible injectives over certain Artinian rings.     

Structural and photoluminescence studies on europium-doped lithium tetraborate(Eu:Li_2B_4O_7) single crystal grown by microtube Czochralski(μT-Cz) technique

Rare earth europium(Eu(3+))-doped lithium tetraborate(Eu:Li_2B_4O_7) crystal is grown from its stoichiometric melt by microtube Czochralski pulling technique(μT-Cz) for the first time. The grown crystals are subjected to powder x-ray diffraction(PXRD) analysis which reveals the tetragonal crystal structure of the crystals. UV–vis–NIR spectral analysis is carried out to study the optical characteristics of the grown crystals. The crystal is transparent in the entire visible region, and the lower cutoff is observed to be at 304 nm. The existence of BO_3 and BO_4 bonding structure and the molecular associations are analyzed by Fourier transform infrared(FTIR) spectroscopy. The results of excitation and emission-photoluminescence spectra of europium ion incorporated in lithium tetraborate(LTB) single crystal reveal that the observations of peaks at 258,297, and 318 nm in the excitation spectra and peaks at 579, 591, 597, 613, and 651 nm are observed in the emission spectra.The chromaticity coordinates are calculated from the emission spectra, and the emission intensity of the grown crystal is characterized through a CIE 1931(Commission International d'Eclairage) color chromaticity diagram.     

An overview of innovation in industrial drying: current status and R&D needs

Over the past three decades there has been nearly exponential growth in drying R&D on a global scale. Although thermal drying had always been the workhorse of almost all major industrial sectors, the need for and opportunities in basic as well as industrial research became clear only after the energy crisis of the early 1970s. Although the price of oil did drop subsequently the awareness of the significance of improving the drying operation to save energy, improve product quality as well as reduce environmental effect remained and indeed has flourished over recent years. New drying technologies, better operational strategies and control of industrial dryers, as well as improved and more reliable scale-up methodologies have contributed to better cost-effectiveness and better quality dried products. Yet there is no universally or even widely applicable drying theory on the horizon. Most mathematical models of drying remain product-equipment specific for a variety of reasons. In this paper, we examine the role of innovation in drying in various industrial sectors, e.g. paper, wood, foods, agriculture, waste management, etc. Progress made over the past three decades and the challenges ahead are outlined. Some areas in need of further research are identified. Examples of intensification of innovation in dryer designs via mathematical modeling are discussed. Finally, the need for closer interaction between academia and industry is stressed as the key to successful drying R&D in the coming decade.