Adaptive vehicle posture and height synchronization control of active air suspension systems with multiple uncertainties

This paper addresses the tasks of height and posture motion control for an electronically controlled active air suspension (AAS) system. A mathematical model of a vehicle body with AAS system is established to describe the dynamic characteristics and then formulated into a multi-input multi-output nonlinear system by considering parametric uncertainties and unmodelled dynamics. Based on this mathematical model, a synchronization control strategy is proposed to adjust the heights of adjacent AASs simultaneously, driving the pitch and roll angles closely to an arbitrarily neighborhood of zero, achieving global uniform ultimate boundedness. The proposed controller is robust to parametric uncertainties and external disturbances. A projection operator is utilized to limit the estimated parameters to their corresponding prescribed bounds in finite time. A co-simulation is conducted by combining a virtual vehicle plant with ASS system in AMEsim with the proposed synchronization controller in MATLAB/Simulink. Simulation results demonstrate that the proposed synchronization controller is effective and robust.     

Design and experimental validation of a nonlinear controller for underactuated surface vessels

Nonlinear Dynamics - This paper addresses the problem of trajectory tracking control of an underactuated surface vessel moving in a two-dimensional space in the presence of unknown disturbances. In...     

Determining elemental strontium distribution in rat bones treated with strontium ranelate and strontium citrate using 2D micro-XRF and 3D dual energy K-edge subtraction synchrotron imaging

Strontium-based medications, such as strontium ranelate, have been suggested to have therapeutic effects in patients with osteoporosis. Strontium salts available off-shelf in stores across North America are assumed to provide similar effects as strontium ranelate and thus should lead to similar distributions of elemental strontium incorporated in bone. The objective of this study was to compare the spatial distribution of strontium in animal bones following the administration of strontium ranelate and strontium citrate. Seventeen-week-old Sprague–Dawley rats were split into three groups over 10 weeks and given 625 mg/kg/day of strontium ranelate and 676 mg/kg/day of strontium citrate; the control group received no additional supplementary strontium. The humeri were collected from all animals, and strontium distribution was mapped using 2D micro-XRF and 3D dual energy K-edge subtraction (KES) imaging. 2D and 3D elemental mapping methods demonstrated that strontium delivered during treatment by both salts had the same spatial distribution. 3D elemental strontium maps of treated animal bones showed that strontium was largely observed in the trabecular regions under the epiphyseal (growth) plate. The thickness of the strontium layers in both the strontium ranelate and strontium citrate sample was not significantly different (p = .9201). 2D micro-XRF and 3D dual-energy KES images effectively elucidated the spatial distribution of elemental strontium in calcified tissue. These methods provide a novel approach to evaluating the potential efficacy of strontium supplements in the treatment of osteoporosis.     

Impact of drifts in the ASDEX upgrade upper open divertor using SOLPS-ITER

SOLPS-ITER L-mode-like simulations with the full set of currents and drift velocities activated, and fluid neutrals have been carried out to interpret experimental results obtained in AUG. Drifts are critical to quantitatively reproduce the experimental results; however, simulations without drifts can also reproduce some trends qualitatively. The magnitude and dependence of the peak heat flux onto both targets on the upstream collisionality are, in general, in quantitative agreement within uncertainties with infrared thermography measurements in favourable field direction. The onset of power detachment is observed. In unfavourable toroidal field direction, a more symmetrical inner/outer target solution with regards to the power distribution is predicted, in agreement with experimental observations. However, also in unfavourable toroidal field direction, insufficient power is dissipated in the simulations and therefore q_{peak, inn} is overpredicted by up to a factor of 4 and q_{peak, out} by up to a factor of 1.5. The largest contribution to the sources due to radial transport in the energy balance equation is the radial divergence of the energy flux due to V_{E × B}.     

Theories in polymer science - helpful or inhibiting?

Theories in polymer science play an important role in how experiments are designed and results interpreted. Three areas of polymer chemistry are focussed on: step growth polymerization, particularly predictions of equal reactivity of functional groups; free radical chain polymerization with emphasis on structural irregularities and the consequences of these structures for previous theories; free radical copolymerization and the many models at present under discussion aimed at providing a theoretical basis for predicting the outcome of such copolymerization. The question of whether or not we as polymer chemists have been helped or hindered by theory is addressed.     

Free radical entry in emulsion polymerizations

Measurements of the rate coefficients characterising the entry of free radicals into seed particles in styrene emulsion polymerizations has allowed the rate determining step for entry to be identified. This was found to be the rate of production of oligomeric species in the aqueous phase by monomer addition to the primary free radicals. Once formed the subsequent diffusion of these species to the latex particles (and their incorporation within these particles) is relatively fast, contrary to the assumptions of the previous diffusion controlled theories. The experimental results imply that the entering free radicals contain only two or three monomer units. Thermodynamic considerations show that such species should be both water soluble and surface active. Similar conclusions have been reached for other sparingly water soluble monomers, such as butyl acrylate and butyl methacrylate.     

17O NMR spectroscopy: Proton–oxygen coupling in simple alcohols at natural abundance

¹⁷O NMR data are reported for 3-pentanol ( 1 ), cyclopentanol ( 2 ), cyclohexanol ( 3 ), and cycloheptanol ( 4 ). The ¹⁷O NMR signals for 1–4 appeared as doublets, shown to arise from proton–oxygen coupling (¹J_OH = 76 ± 3 Hz) by proton decoupling experiments. The effect of concentration, temperature, and solvent was examined in detail for 2 . Proton—oxygen coupling was observed at low concentrations, decreased at lower temperatures, and was sensitive to solvent.     

Acceptorless dehydrogenative synthesis of primary amides from alcohols and ammonia

The highly desirable synthesis of the widely-used primary amides directly from alcohols and ammonia via acceptorless dehydrogenative coupling represents a clean, atom-economical, sustainable process. Nevertheless, such a reaction has not been previously reported, and the existing catalytic systems instead generate other N-containing products, e.g., amines, imines and nitriles. Herein, we demonstrate an efficient and selective ruthenium-catalyzed synthesis of primary amides from alcohols and ammonia gas, accompanied by H₂ liberation. Various aliphatic and aromatic primary amides were synthesized in high yields, with no observable N-containing byproducts. The selectivity of this system toward primary amide formation is rationalized through density functional theory (DFT) calculations, which show that dehydrogenation of the hemiaminal intermediate into primary amide is energetically favored over its dehydration into imine.

An efficient and selective synthesis of primary amides from alcohols and ammonia, with H₂ evolution, has been achieved by an unprecedented acceptorless dehydrogenative process catalyzed by a pyridine-based PNN–ruthenium pincer complex.     

A new non-synchronous preparative counter-current centrifuge—the next generation of dynamic extraction/chromatography devices with independent mixing and settling control,which offer a step change in efficiency

A new and significantly more robust design of non-synchronous coil planet centrifuge is introduced where the degree of mixing between two immiscible phases can be changed independently from the “g” field required to separate out the phases. A hypothesis that an optimum ratio between the speed of the bobbin and the speed of the rotor can be found to optimise the efficiency of the separation for a given force field is upheld for an intermediate polarity phase system. This paves the way for extensive further research to find the optimum non-synchronous conditions for a range of different phase systems that are desirable for the separation of large molecules, proteins and biologics but can tend to emulsify in the standard “J” type centrifuge systems currently available and routinely in use for aqueous organic phase systems. A step change of up to 30% in resolution and 90% in plate efficiency is demonstrated.