A Multi-Layered Potential Field Method for Multi-Agent Navigation,Searching and Tracking

Collaborating multi-agent systems can handle complex tasks with several or changing mission objectives. We developed a potential field method that allows various information layers to influence the control over a group of vehicles. The gradient of the potential field is the driving force for local action, whereas the global waypoint is determined by the minimum of the agent's potential field. The driving force to the global waypoint is a virtual spring-mass-damper system that pulls the agent towards its waypoint, restricted by the local gradient of the agent's potential field. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Active vibration control for structural-acoustic coupling system of a 3-D vehicle cabin model

This paper presents an active vibration control system for use with structural-acoustic coupling system using piezoelectric actuators and piezoelectric sensors. For modelling a complicated 3-D vehicle cabin model, the structural-acoustic coupling system is analyzed by combining the structural data from modal testing with the acoustic data from the finite element method. Through the structural-acoustic analysis program, the control plate and the control modes are selected, which are most effective for attenuating its noise. A robust LQG controller with two sensor signal filters is designed to remove the experimental problems such as the spillover effect due to uncontrolled modes. The robust LQG controller for the structural-acoustic coupling system can reduce the interior noise of the cavity as well as the structural vibration of the cabin.     

Tuning the Selectivity of Biodegradable Antimicrobial Cationic Polycarbonates by Exchanging the Counter‐Anion

There is a growing interest in modern healthcare to develop systems able to fight antibiotic resistant bacteria. Antimicrobial cationic biodegradable polymers able to mimic antimicrobial peptides have shown to be effective against both Gram‐positive and Gram‐negative bacteria. In these systems, the hydrophilic–hydrophobic ratio and the cationic charge density play a pivotal role in defining the killing efficiency. Nevertheless, many of these antimicrobial polymers show relatively low selectivity as defined by the relative toxicity to mammalian cells or hemolysis relative to pathogens. In this study, a series of polycarbonates containing pendant quaternary ammoniums are used to understand the role of different counter‐anions including chloride, citrate, malonate, benzoate, acetate, lactate and trifluoroacetate, and the antibiotic penicillin on antimicrobial efficacy and selectivity. Interestingly, it is found that in spite of the strong antimicrobial activity of trifluoroacetate and benzoate anions, they prove to be much less hemolytic than chloride anion. It is believed that the proper selection of the anion could enhance the potential of antimicrobial polymers to fight against clinically relevant pathogenic infections, while concurrently mitigating harmful side effects.

     

p-Minors of a doubly stochastic matrix at which the permanent achieves a minimum

The author proves that if A is a matrix at which the permanent achieves a local minimum relative to the set of n x n doubly stochastic matrices, then for a_ij=0,

$\text{per A (i|j)?per A}$

.     

Trace level perchlorate analysis by ion chromatography-mass spectrometry

Perchlorate is commonly used as an oxidant in solid fuel propellant for rockets and missiles. Recently perchlorate contamination was found in many aquifers associated with Colorado River and other sites. Perchlorate was also found at elevated level in crops that use contaminated water for irrigation. Ion chromatography with conductivity detection could be used to measure perchlorate levels in drinking and wastewaters as per United States Environmental Protection Agency method 314, but at lower levels and with complexity of the matrix there could be false positive and/or false negative. This study was done to demonstrate the detection of perchlorate with lower detection limit with high ionic matrix by ion chromatography-mass spectrometry.     

A general and versatile approach to thermally generated N-heterocyclic carbenes

The synthesis of N-heterocyclic carbene (NHC) adducts by condensation of diamines with appropriately substituted benzaldehydes is described. This simplified approach provides the NHC adduct without first having to generate the carbene followed by its protection. These adducts undergo thermal deprotection to generate N-heterocyclic carbene in situ. Adduct decomposition temperatures were investigated as a function of catalyst structure by using thermal analysis and spectroscopic techniques. Importantly, unlike adducts derived from chloroform, the new pentafluorobenzene-based adducts are more readily prepared and are stable at room temperature. The utility of these adducts as organic catalyst precursors for living ring-opening polymerization (ROP) of lactide, transesterification reactions, and the synthesis of N-heterocyclic carbene ligated organometallic complexes is also described.     

Measurement of perchlorate in water by use of an 18O-enriched isotopic standard and ion chromatography with mass spectrometric detection

A novel analytical method has been developed for the determination of 4-tert.-octylphenol (OP) and 4-nonylphenol (NP) in laboratory animal feed samples, which involves stir bar sorptive extraction (SBSE) followed by liquid desorption (LD) and column-switching liquid chromatography-mass spectrometry (CS-LC-MS) with solid-phase extraction (SPE). The method required correction by stable isotopically labeled surrogate standards, deuterium 4-tert.-octylphenol (OP-d) and [2H5] 4-(1-methyl)octylphenol (m-OP-d5). A feed sample was homogenized with methanol by ultrasonication. After centrifugation, the supernatant was subjected to extraction for 120 min at room temperature (25 degrees C) using a stir bar coated with polydimethylsiloxane. After the extraction, the analyte was desorbed from the stir bar by LD using acetonitrile. Then, the liquid sample was analyzed by CS-LC-MS with SPE. The average recoveries from laboratory feed samples spiked with OP and NP at 20 ng g(-1) were 99.5 and 103.8%, respectively, with correction using the added surrogate standards. The limits of quantification were 1 ng g(-1) for OP and 5 ng g(-1) for NP in feed sample. The measurement of OP and NP in commercial laboratory animal feed samples resulted in the detection of sub ng g(-1) NP     

Radiation resistance and molecular structure of poly(arylene ether sulfone)s

The radiation resistance of a series of aromatic polysulfones comprising alternating units of diphenyl sulfone and various aromatic diols has been investigated by measuring volatile products, soluble fractions and electron spin resonance (ESR) spectra. The yields of radicals at 77 K observed by ESR and of SO₂ at 423 K have indicated that biphenol gives enhanced resistance to Y radiation, and tetramethyl bisphenol-A decreased resistance, relative to bisphenol-A, bisphenol-S and hydroquinone. The protective effect of bisphenol was confirmed by lower scission and crosslinking yields determined from the soluble fractions after high doses.