Trajectory tracking of a class of under-actuated thrust-propelled vehicle with uncertainties and unknown disturbances

This paper deals with the problem of designing a controller for a thrust-propelled vehicle which steers the vehicle to track a 3D spatial path, while effective compensation for both time-varying disturbances and uncertainties is achieved as well. Taking advantage of extraction algorithm, we separate the design for the translational and rotational dynamics. A back-stepping-based controller and a sliding mode controller are, respectively, designed for the translational and rotational dynamics in succession. The stability of the control framework is established through Lyapunov analysis. A numerical simulation is also included in the paper to render the effectiveness of the proposed control scheme.     

Chemical composition and biological activities of Iranian Achillea wilhelmsii L. essential oil: a high effectiveness against Candida spp. and Escherichia strains

In the case of Achillea wilhelmsii, 30 compounds were identified representing 94.48% of the total oil with a yield of 0.82% w/w. The major constituents of the oil were described as α-thujene (6.11%), α-pinene (5.11%), sabinene (5.23%), p-cymene (7%), 1,8-cineole (6%), linalool (10%), camphor (8.43%), thymol (18.98%) and carvacrol (20.13%). A. wilhelmsii oil exhibited higher antibacterial and antifungal activities with a high effectiveness against Escherichia coli and Candida albicans with the lowest minimum inhibitory concentration and minimum bactericidal concentration/minimum fungicidal concentration value (2 ± 0.0–2 ± 0.0 g/mL, 1 ± 0.5–1 ± 0.5 g/mL), respectively. Results showed that A. wilhelmsii oil exhibits a higher activity in each antioxidant system with a special attention for β-carotene bleaching test (IC₅₀: 19 μg/mL) and reducing power (EC₅₀: 10 μg/mL). Antioxidant activity-guided fractionation of the oil was carried out by TLC-bioautography screening and fractionation resulted in the separation of main antioxidant compounds which were identified as thymol (65%) and carvacrol (19%). In conclusion, these results support the use of the essential oil and its main compounds for their antioxidant properties and antimicrobial activity.     

An experimental study on particle formation in emulsifier-free emulsion polymerization of styrene

Particle formation in polymerization of styrene induced within two stratified layers of a monomer and water containing an initiator was studied in the absence of emulsifiers and stirring. A polymerization-induced decrease of interfacial surface tension was observed. The particle size distribution was characterized by dynamic light scattering during polymerization. The results confirm particle nucleation through spontaneous emulsification process.     

Mild bromination of unreactive aromatic compounds

N,N,N′,N′-Tetrabromobenzene-1,3-disulfonamide and poly(N,N′-dibromo-N-ethylene-benzene-1,3-disulfonamide) in concentrated H₂SO₄ can be used as efficient reagents for the mild bromination of unreactive arenes at room temperature, under solvent-free conditions, in good yields.     

Efficient synthesis of 1-carbamatoalkyl-2-naphthols using Brønsted acidic ionic liquid as reusable catalyst

Efficient synthesis of 1-carbamatoalkyl-2-naphthols can be carried out in the presence of halogen-free Brønsted acidic ionic liquid, synthesized from 1,4-diaza-bicyclo[2.2.2]octane (DABCO) and 1,4-butanesulfonate. A wide range of aldehydes and carbamates easily undergo condensation with 2-naphthol to afford the desired products in good to excellent yields. The present methodology offers several advantages, such as a simple work-up procedure and short reaction times. The catalyst can be recycled and reused without substantial reduction in catalytic activities.     

AAPH-mediated antioxidant reactions of secoisolariciresinol and SDG

Secoisolariciresinol (SECO ) is the major lignan found in flaxseed (Linum usitatissimum L.) and is present in a polymer that contains secoisolariciresinol diglucoside (SDG ). SECO, SDG and the polymer are known to have a number of health benefits, including reduction of serum cholesterol levels, delay in the onset of type II diabetes and decreased formation of breast, prostate and colon cancers. The health benefits of SECO and SDG may be partially attributed to their antioxidant properties. To better understand their antioxidant properties, SECO and SDG were oxidized using 2,2'-azobis(2-amidinopropane), an in vitro model of radical scavenging. The major lignan radical-scavenging oxidation products and their formation over time were determined. SDG was converted to four major products, which were the result of a phenoxyl radical intermediate. One of these products, a dimer of SDG, decomposed under the reaction conditions to form two of the other major products, and . SECO was converted to five major products, two of which were also the result of a phenoxyl radical intermediate. The remaining products were the result of an unexpected alkoxyl radical intermediate. The phenol oxidation products were stable under the reaction conditions, whereas two of the alcohol oxidation products decomposed. In general, only one phenol group on the lignans was oxidized, suggesting that the number of phenols per molecule may not predict radical scavenging antioxidant ability of lignans. Finally, SECO is a superior antioxidant to SDG, and it may be that the additional alcohol oxidation pathway contributes to its greater antioxidant ability.     

On stem covers and the universal central extensions of Lie crossed modules

In this article, we investigate stem covers and the universal central extensions of Lie crossed modules. In particular, a cover for the direct sum of two Lie crossed modules in term of given covers of them will be constructed. Using the results obtained, we give some properties of covers and the universal relative central extensions of pairs of Lie algebras.     

On the minimaxness and coatomicness of local cohomology modules

Czechoslovak Mathematical Journal - Let R be a commutative Noetherian ring, I an ideal of R and M an R-module. We wish to investigate the relation between vanishing, finiteness, Artinianness,...