Adaptive fuzzy formation control for a swarm of nonholonomic differentially driven vehicles

In this paper, an adaptive fuzzy robust H ^∞ controller is proposed for formation control of a swarm of differential driven vehicles with nonholonomic dynamic models. Artificial potential functions are used to design the formation control input for kinematic model of the robots and matrix manipulations are used to transform the nonholonomic model of each differentially driven vehicle into equivalent holonomic one. The main advantage of the proposed controller is the robustness to input nonlinearity, external disturbances, model uncertainties, and measurement noises, in a formation control of a nonholonomic robotic swarm. Moreover, robust stability proof is given using Lyapunov functions. Finally, simulation results are demonstrated for a swarm formation problem of a group of six unicycles, illustrating the effective attenuation of approximation error and external disturbances, even in the case of robot failure.     

Phase-referenced Doppler optical coherence tomography in scattering media

We present a fiber-based, low-coherence interferometer that significantly reduces phase noise by incorporating a second, narrowband, continuous-wave light source as a phase reference. By incorporating this interferometer into a Doppler OCT system, we demonstrate significant velocity noise reduction in reflective and scattering samples using processing techniques amenable to real-time implementation. We also demonstrate 90% suppression of velocity noise in a flow phantom.     

Determination of 30 elements in colorectal biopsies by sector field inductively coupled plasma mass spectrometry: method development and preliminary baseline levels

An analytical procedure applicable to restricted sample sizes was developed and applied to the analysis of 30 chemical elements in colorectal biopsies of healthy patients. Acidic microwave digestion processed 相似文献   

Comparative study of heavy metal and trace element accumulation in edible tissues of farmed and wild rainbow trout (Oncorhynchus mykiss) using ICP-OES technique

The objective of this research was to determine the differences between farmed and wild rainbow trout in terms of heavy metal and trace element accumulation in edible tissues. The samples were analyzed for As, Ba, Cd, Co, Cr, Cu, Fe, Mn, Mo, Ni, Pb, Se, Sr and Zn by inductively coupled plasma-optical emission spectrometry (ICP-OES); and for Hg by cold vapor atomic absorption spectrometry (CVAAS). The results were expressed as μg/g of dry weight. With the exception of Ba and Sr, liver had significantly higher heavy metal and trace element concentrations compared to the muscle in farmed or wild fish. Higher levels of Ba, Cr, Fe, Mn and Zn, as well as lower levels of Cu and Sr were found in tissues of wild rainbow trout compared to its farmed relative. Levels of Cd in 41.6% of farmed fish samples and 45.8% of wild fish samples exceeded the European Commission regulation. Regarding the Pb, concentrations in 50% of farmed fish samples and 62.5% of wild ones were above the European Commission limit. However, levels of Hg and As in all of the examined samples were lower than the legislated limits. The differences in heavy metal and trace element accumulation observed between farmed and wild fish were probably related to the differences in their environmental conditions and dietary element concentrations.     

Effects of acute gamma irradiation on physiological traits and flavonoid accumulation of Centella asiatica

In the present study, two accessions of Centella asiatica (CA03 and CA23) were subjected to gamma radiation to examine the response of these accessions in terms of survival rate, flavonoid contents, leaf gas exchange and leaf mass. Radiation Sensitivity Tests revealed that based on the survival rate, the LD(50) (gamma doses that killed 50% of the plantlets) of the plantlets were achieved at 60 Gy for CA03 and 40 Gy for CA23. The nodal segments were irradiated with gamma rays at does of 30 and 40 Gy for Centella asiatica accession 'CA03' and 20 and 30 Gy for accession 'CA23. The nodal segment response to the radiation was evaluated by recording the flavonoid content, leaf gas exchange and leaf biomass. The experiment was designed as RCBD with five replications. Results demonstrated that the irradiated plantlets exhibited greater total flavonoid contents (in eight weeks) significantly than the control where the control also exhibited the highest total flavonoid contents in the sixth week of growth; 2.64 ± 0.02 mg/g DW in CA03 and 8.94 ± 0.04 mg/g DW in CA23. The total flavonoid content was found to be highest after eight weeks of growth, and this, accordingly, stands as the best time for leaf harvest. Biochemical differentiation based on total flavonoid content revealed that irradiated plantlets in CA23 at 20 and 30 Gy after eight weeks contained the highest total flavonoid concentrations (16.827 ± 0.02; 16.837 ± 0.008 mg/g DW, respectively) whereas in CA03 exposed to 30 and 40 Gy was found to have the lowest total flavonid content (5.83 ± 0.11; 5.75 ± 0.03 mg/g DW). Based on the results gathered in this study, significant differences were found between irradiated accessions and control ones in relation to the leaf gas. The highest PN and gs were detected in CA23 as control followed by CA23 irradiated to 20Gy (CA23G20) and CA23G30 and the lowest PN and gs were observed in CA03 irradiated to 40Gy (CA03G40). Moreover, there were no significant differences in terms of PN and gs among the irradiated plants in each accession. The WUE of both irradiated accessions of Centella asiatica were reduced as compared with the control plants (p < 0.01) while Ci and E were enhanced. There were no significant differences in the gas exchange parameters among radiated plants in each accession. Moreover, malondialdehyde (MDA) of accessions after gamma treatments were significantly higher than the control, however, flavonoids which were higher concentration in irradiated plants can scavenge surplus free radicals. Therefore, the findings of this study have proven an efficient method of in vitro mutagenesis through gamma radiation based on the pharmaceutical demand to create economically superior mutants of C. asiatica. In other words, the results of this study suggest that gamma irradiation on C. asiatica can produce mutants of agricultural and economical importance.     

Flavonoid and leaf gas exchange responses of Centella asiatica to acute gamma irradiation and carbon dioxide enrichment under controlled environment conditions

The study was couducted to investigate the effects of gamma irradiation and CO? on flavonoid content and leaf gas exchange in C.asiatica. For flavonoid determination, the design was a split split plot based on Randomized Complete Block Design (RCBD). For other parameters, the designs were split plots. Statistical tests revealed significant differences in flavonoid contents of Centella asiatica leaves between different growth stages and various CO? treatments. CO? 400, G20 (400 = ambient CO?; G20 = Plants exposed to 20 Gy) showed 82.90% higher total flavonoid content (TFC) in the 5th week than CO? 400 as control at its best harvest time (4th week). Increasing the concentration of CO? from 400 to 800 μmol/mol had significant effects on TFC and harvesting time. In fact, 800 μmol/mol resulted in 171.1% and 66.62% increases in TFC for control and irradiated plants, respectively. Moreover, increasing CO? concentration reduced the harvesting time to three and four weeks for control and irradiated plants, respectively. Enhancing CO? to 800 μmol/mol resulted in a 193.30% (CO? 800) increase in leaf biomass compared to 400 μmol/mol and 226.34% enhancement in irradiated plants (CO? 800, G20) [800 = Ambient CO?; G20 = Plants exposed to 20 Gy] than CO? 400, G20. In addition, the CO? 800, G20 had the highest amount of flavonoid*biomass in the 4th week. The results of this study indicated that all elevated CO? treatments had higher PN than the ambient ones. The findings showed that when CO? level increased from 400 to 800 μmol/mol, stomatal conductance, leaf intercellular CO? and transpiration rate had the tendency to decrease. However, water use efficiency increased in response to elevated CO? concentration. Returning to the findings of this study, it is now possible to state that the proposed method (combined CO? and gamma irradiation) has the potential to increase the product value by reducing the time to harvest, increasing the yield per unit area via boosting photosynthesis capacity, as well as increasing biochemicals (flavonoids) per gram DM.