Optimal input design for hydrodynamic derivatives estimation of nonlinear dynamic model of AUV

Input design has a dominant role in developing the dynamic model of an autonomous underwater vehicle (AUV) through system identification. Optimal input design is the process of generating informative inputs that can be used to provide a good-quality dynamic model of AUV. In this paper, amplitude-modulated pseudo-random binary signal (APRBS) inputs are optimally designed in order to estimate the hydrodynamic derivatives of an AUV’s nonlinear dynamic model. The input controls are designed so as to minimize uncertainty in estimating hydrodynamic derivatives. The employed approach can design multiple inputs and apply constraints on an AUV system’s inputs and outputs. The genetic algorithm is utilized to solve the constraint optimization problem. The presented algorithm is used for designing the input signals of Hydrolab300 AUV, and the estimation obtained by these inputs is compared with that of zigzag maneuver. According to the results, the designed APRBS inputs improve the uncertainties that exist in estimating hydrodynamic derivatives better than zigzag inputs.     

Klein Gordon Oscillators in Commutative and Noncommutative Phase Space with Psudoharmonic Potential in the Presence and Absence Magnetic Field

We study the Klein-Gordon oscillator in commutative, noncommutative space, and phase space with psudoharmonic potential under magnetic field hence the other choice is studying the Klein-Gordon equation oscillator in the absence of magnetic field. In this work, we obtain energy spectrum and wave function in different situations by NU method so we show our results in tables.     

Voltammetric determination of hydroxylamine in water samples using a 1-benzyl-4-ferrocenyl-1H-[1,2,3]-triazole/carbon nanotube-modified glassy carbon electrode

A modified glassy carbon electrode has been constructed using a 1-benzyl-4-ferrocenyl-1H-[1,2,3]-triazole along with multiwalled carbon nanotubes. The electrochemical behaviour of modified electrode has been investigated by cyclic voltammetry. Electrocatalytic activity of the modified electrode was investigated for the oxidation of hydroxylamine in 0.1 M phosphate-buffered solution of pH 8. The modified electrode showed electrocatalytic response to the oxidation of hydroxylamine at the potential of 330 mV. The linear range and detection limit for the detection of hydroxylamine in the optimum condition were found to be 4.0?×?10^?7 to 6.75?×?10^?4 M and 28.0?±?1.0 nM, respectively. Finally, the method was employed for the determination of hydroxylamine in water samples.     

The clique numbers of regular graphs of matrix algebras are finite

Let F be a field, char(F)≠2, and SGL_n(F), where n is a positive integer. In this paper we show that if for every distinct elements x,yS, x+y is singular, then S is finite. We conjecture that this result is true if one replaces field with a division ring.     

Nonsmooth Optimization Techniques on Riemannian Manifolds

We present the notion of weakly metrically regular functions on manifolds. Then, a sufficient condition for a real valued function defined on a complete Riemannian manifold to be weakly metrically regular is obtained, and two optimization problems on Riemannian manifolds are considered. Moreover, we present a generalization of the Palais–Smale condition for lower semicontinuous functions defined on manifolds. Then, we use this notion to obtain necessary conditions of optimality for a general minimization problem on complete Riemannian manifolds.     

Dynamic dairy facility location and supply chain planning under traffic congestion and demand uncertainty: A case study of Tehran

In this paper, dynamic dairy facility location and supply chain planning are studied through minimizing the costs of facility location, traffic congestion and transportation of raw/processed milk and dairy products under demand uncertainty. The proposed model dynamically incorporates possible changes in transportation network, facility investment costs, monetary value of time and changes in production process. In addition, the time variation and the demand uncertainty for dairy products in each period of the planning horizon is taken into account to determine the optimal facility location and the optimal production volumes. Computational results are presented for the model on a number of test problems. Also, an empirical case study is conducted in order to investigate the dynamic effects of traffic congestion and demand uncertainty on facility location design and total system costs.     

Optimization of cadmium adsorption from aqueous solutions by functionalized graphene and the reversible magnetic recovery of the adsorbent using response surface methodology

Novel functionalized graphene adsorbent was prepared and characterized using different techniques. The prepared adsorbent was applied for the removal of cadmium ions from aqueous solution. A response surface methodology was used to evaluate the simple and combined effects of the various parameters, including adsorbent dosage, pH, and initial concentration. Under the optimal conditions, the cadmium removal performance of 70% was achieved. A good agreement between experimental and predicted data in this study was observed. The experimental results revealed of cadmium adsorption with high linearity follow Langmuir isotherm model with maximum adsorption capacity of 502 mg g^?1, and the adsorption data fitted well into pseudo‐second order model. Thermodynamic studies showed that adsorption process has exothermic and spontaneous nature. The recommended optimum conditions are: cadmium concentration of 970 mg L^?1, adsorbent dosage of 1 g L^?1, pH of 6.18, and T = 25 °C. The magnetic recovery of the adsorbent was performed using a magnetic surfactant to form a noncovalent magnetic functionalized graphene. After magnetic recovery of the adsorbent both components (adsorbent and magnetic surfactant) were recycled by tuning the surface charges through changing the pH of the solution. Desorption behavior studied using HNO₃ solution indicated that the adsorbent had the potential for reusability.     

Ag3[PMo12O40]: An efficient and green catalyst for the synthesis of highly functionalized pyran‐annulated heterocycles via multicomponent reaction

A facile, efficient and eco‐friendly catalytic protocol was developed for the synthesis of medicinally important pyran‐annulated heterocycles via multicomponent reaction (MCR). Cyclocondensation of differently substituted aromatic aldehydes, malononitrile/ethyl cyanoacetate and various β‐dicarbonyl compounds in the presence of Ag₃[PMo₁₂O₄₀]?nH₂O as heterogeneous catalyst, in EtOH–H₂O, afforded diverse pyran‐fused chromene analogues. The merits observed for this approach were it being conducted via MCR, using commercially available or easily accessible starting materials in the presence of a green and easily separable heterogeneous and reusable catalyst, and affording high yields of desired products in very short reaction times with high purity in one‐pot fashion, thus providing a superior alternative approach for the synthesis of pyran‐annulated heterocycles.     

Finely dispersed palladium on silk‐fibroin as an efficient and ligand‐free catalyst for Heck cross‐coupling reaction

A palladium–fibroin complex (Pd/Fib.) was prepared by the addition of sonicated fibroin fiber in water to palladium acetate solution. Pd (OAc)₂ was absorbed by fibroin and reduced with NaBH₄ at room temperature to the Pd(0) nanoparticles. Powder‐X‐ray diffraction, scanning electron microscopy–energy‐dispersive X‐ray spectroscopy, Fourier transform‐infrared, CHN elemental analysis and inductively coupled plasma‐atomic emission spectroscopy were carried out to characterize the Pd/Fib. catalyst. Catalytic activity of this finely dispersed palladium was examined in the Heck coupling reaction. The catalytic coupling of aryl halides (‐Cl, ‐Br, ‐I) and olefins led to the formation of the corresponding coupled products in moderate to high yields under air atmosphere. A variety of substrates, including electron‐rich and electron‐poor aryl halides, were converted smoothly to the targeted products in simple procedure. Heterogeneous supported Pd catalyst can be recycled and reused several times.     

Protic ionic liquid [TMG][Ac] as an efficient,homogeneous and recyclable catalyst for Boc protection of amines

An efficient and practical protocol for the chemoselective N-Boc protection of various structurally different aryl, aliphatic and heterocyclic amines was carried out with (Boc)₂O using protic 1, 1, 3, 3-tetra-methylguanidinium acetate (10 mol%) as recyclable catalyst under solvent free condition at ambient temperature. No competitive side reactions (isocyanate, urea and N, N-di-Boc) were observed. α-Amino alcohols afforded the N-Boc-derivative without oxazolidinone formation.