Stability of control systems with time delay

To find the approximate stability limit on the forward gain in control systems with small time delay, this note suggests approximating the exponential in the characteristic equation by the first few terms of its series and using the Routh–Hurwitz criterion. This approximation avoids all the time-consuming graphical work and gives a somewhat pessimistic maximum bound for the gain constant.

Sampling Period Selection of Control Application Connected to FlexRay Bus

Flexray is a high speed communication protocol designed for distributive control in automotive control applications. Control performance not only depends on the control algorithm but also on the scheduling constraints in communication. A balance between the control performance and communication constraints must required for the choice of the sampling rates of the control loops in a node. In this paper, an optimum sampling period of control loops to minimize the cost function, satisfying the scheduling constraints is obtained. An algorithm to obtain the delay in service of each task in a node of the control loop in the hyper period has been also developed. (C) 2015 The Authors. Published by Elsevier B.V.

Physical constraints, fundamental limits, and optimal locus of operating points for an inverted pendulum based actuated dynamic walker

The inverted pendulum is a popular model for describing bipedal dynamic walking. The operating point of the walker can be specified by the combination of initial mid-stance velocity (v(0)) and step angle (phi(m)) chosen for a given walk. In this paper, using basic mechanics, a framework of physical constraints that limit the choice of operating points is proposed. The constraint lines thus obtained delimit the allowable region of operation of the walker in the v(0)-phi(m) plane. A given average forward velocity v(x,) (avg) can be achieved by several combinations of v(0) and phi(m). Only one of these combinations results in the minimum mechanical power consumption and can be considered the optimum operating point for the given v(x, avg). This paper proposes a method for obtaining this optimal operating point based on tangency of the power and velocity contours. Putting together all such operating points for various v(x, avg,) a family of optimum operating points, called the optimal locus, is obtained. For the energy loss and internal energy models chosen, the optimal locus obtained has a largely constant step angle with increasing speed but tapers off at non-dimensional speeds close to unity.

Minuscule weight percent of graphene oxide and reduced graphene oxide modified Ag3PO4: new insight into improved photocatalytic activity

Designing and fabricating hybrid systems with a visible light active semiconductor as one of its components is an important research area for the development of highly efficient photocatalysts. Herein, we report visible-light driven photocatalytic activity of graphene oxide (GO) and controllably reduced GO (rGO) modified Ag3PO4 composites fabricated by an in situ method. Concentration of graphene derivatives in GO/rGO-Ag3PO4 composites was in the range of 0.13-0.52 wt% which is very minute compared to those reported previously. The optimal concentration of GO in Ag3PO4 with a kinetics (k = 1.23 +/- 0.04 min(-1)) for the degradation of rhodamine B is 0.26 wt%. GO-Ag3PO4 photocatalysts display an improved catalytic activity compared with pristine and rGOs modified Ag3PO4. In line with this, GO/rGO-Ag3PO4 composites show improved photocatalytic activity for the degradation of 2-chlorophenol compared with Degussa P-25. Our experiments with GO reduced to different extents show that, rGO with more polar functional groups exhibits a higher photocatalytic efficiency. The photocatalytic activity in the presence of different scavengers reveals that holes and O-2(-center dot) reactive species play major roles in the degradation phenomenon. In view of our experimental results and reported theoretical studies, a change in conduction band energy level and variation in the contribution of different charge orbitals (C 2p and O 2p) to the conduction band in the composite favours electron flow from graphene derivatives to the semiconductor, enhancing its photocatalytic response.

Comparison between weight loss of bends in a pneumatic conveyor and erosion rate obtained in a centrifugal erosion tester for the same materials

In order to find a link between results obtained from a laboratory erosion tester and tests carried out on a pneumatic conveyor, a comparison has been made between weight loss from bends on an industrial-scale pneumatic conveyor and erosion rates obtained in a small centrifugal erosion tester, for the same materials. Identical test conditions have been applied to both experiments so that comparable test results have been obtained. The erosion rate of mild steel commonly used as the wall material of conveyor pipes and pipe bends was determined individually on both test rigs. A relationship between weight loss from the bends and erosion rate determined from the tester has been developed. A discussion based on the results and their applicability to the prediction of wear in pneumatic conveyors concludes the paper. © 2004 Elsevier B.V. All rights reserved.

Additional information on the length-weight relationship of skipjack tuna from the Eastern Tropical Pacific Ocean

ENGLISH: Results of a study of the length-weight relationships of yellowfin (Neothunnus macropterus) and skipjack (Katsuwonus pelamis) tuna from several fishing areas of the Eastern Tropical Pacific Ocean have been published by Chatwin (1959). In that report, a very low exponential value of 2.6261 was obtained for skipjack from Area 14 (off northern Chile, see Chatwin, Figure 1). It was pointed out, however, that this estimate was based on two samples of fish with a very narrow range of total lengths, not representative of the range in the catch, and that it would be desirable to obtain a further estimate based on a larger range of total lengths. In addition, there proved to be significantly large differences among exponents for the areas sampled, precluding use of a single regression equation for all areas. Two important fishing areas remained unsampled (Areas 10 and 13, see Chatwin, Figure 1), and it appeared desirable to collect length-weight measurement data from them, so that estimating equations would be available for all areas. Subsequent to publication of Chatwin's study, samples of skipjack length-weight measurements were obtained from the desired areas. Estimates derived from these data, and their effects on the previous analysis are presented herein. SPANISH:Los resultados de un estudio sobre las relaciones entre la longitud y el peso del atún aleta amarilla (Neothunnus macropterus) y del barrilete (Katsuwonus pelamis) de las diferentes áreas de pesca en el Pacífico Oriental Tropical ya han sido publicados por Chatwin (1959). En ese informe se obtuvo un valor exponencial muy bajo de 2.626 para el barrilete del Area 14 (frente a la costa norte de Chile, ver Chatwin, Figura 1). Se hizo hincapié, sin embargo, en que esta estimación se basaba en dos muestras de peces con una amplitud muy estrecha de longitudes totales, no representativa de la amplitud en la pesca, y que sería deseable obtener una estimación adicional basada en una amplitud mayor de longitudes totales. Además, se comprobó que habian diferencias significativamente grandes entre los exponentes de las áreas muestreadas lo que impedía el usa de una sola ecuación de regresión para todas las áreas. Se quedaron sin muestrear dos importantes áreas de pesca (Areas 10 y 13, ver Chatwin, Figura 1) y pareció deseable recolectar datos de medidas de longitud y peso de estas áreas, de tal manera que hubiesen disponibles ecuaciones estimadoras para todas las áreas. Después de la publicación del estudio de Chatwin, so obtuvieron muestras de medidas de longitud y peso de barriletes de las áreas deseadas. Las estimaciones derivadas de estos datos y sus efectos sabre el análisis previo se dan en el presente informe.

Length-weight relationships of the anchoveta, Cetengraulis mysticetus, in the Gulf of Panama

ENGLISH: Knowledge of the length-frequency distribution and the length-weight relationships of the anchoveta is essential for converting the catch statistics of that species from pounds to numbers of fish. Such conversions are necessary for various types of investigations, especially those involving estimation of the population size and mortality rates. The analysis of the results of a recent tagging program conducted with anchovetas in the Gulf of Panama (Bayliff, 1965) requires that such conversions be made. Length-frequency data for the anchoveta have already been collected and published (Howard and Landa, 1958; Bayliff, 1964). The present report deals with length-weight data from fish collected in various .areas of the Gulf of Panama in all months of the year and in several different years. Opportunity is thus afforded to compare the length-weight relationships of fish of different year classes in different areas, months, and years. SPANISH: El conocimiento de la distribución de la frecuencia de longitud y de las relaciones entre la longitud y el peso de la anchoveta es esencial en las estadísticas de captura de esta especie para la conversión de peso en libras a número de peces. Estas conversiones son necesarias para varios tipos de investigación, especialmente las que se refieren a la estimación del tamaño de la población y de las tasas de mortalidad. Estas conversiones se requieren para analizar los resultados de un programa reciente de marcación de anchovetas en el Golfo de Panamá (Bayliff, 1965). Los datos de la frecuencia de longitud de la anchoveta ya han sido recolectados y publicados (Howard y Landa, 1958; Bayliff, 1964). El presente informe trata de los datos de longitud y peso de los peces recolectados en varias áreas del Golfo de Panamá durante todos los meses del año y durante varios años. Esto ofrece la oportunidad de comparar las relaciones entre la longitud y el peso de peces pertenecientes a varias clases anuales en áreas, meses y años diferentes.

A comparative assessment of the methods of control of water hyacinth infestation with regards to fish production

Water hyacinth (Eichhornia crassipes) has been subject of three control methods since its arrival into the Nigerian freshwater lagoon system in 1984 - mechanical, chemical and biological. An assessment of these three methods seems to suggest that mechanical and chemical control methods, both of which being costly, must be applied either solely or integrated to combat the present level of considerable infestation in Nigeria. The biological control methods are advisable for slow, sustained control and can only cope with low levels of infestation. It is thus concluded that the preliminary control method should be mechanical or chemical to effectively abate the nuisance plant, followed by biological control once infestation levels have been sufficiently reduced

On the methods of determining size/weight characteristics of food organisms of fish. (Determination of the length of Copepoda in larval stages by egg-laying females of the free living freshwater Copepoda). [Translation from: Voprosy Ikhtiologii 14, 182-194, 1960. ]

As is known, copepods play an important role in the nutrition of fish. Therefore with a view to facilitating research on the study of the quantitative side of feeding, there have recently appeared a considerable number of papers devoted to the development of methods for determining the wet. weight of these crustaceans. For the further facilitating of research in the nutrition of fish it would be of great interest to clarify the problem, is there not some kind of rule in the growth of the crustaceans during metamorphosis, and if there is such a rule is it not possible, to determine the length of the larvae at each stage, not by measuring them, but by using the formulae derived on the basis of these rules. This article examines the growth curves of different species of freshwater Copepoda, obtained on the basis of experimental observations in cultures or by way of measurement of mass material at all stages of development in samples from water-bodies. The authors study in particular the ratio of the mean diameter of the eggs to the mean length of the egg-bearing females.

Length-weight relationship of fishes caught by trawl off Alexandria, Egypt

This paper presents the length-weight relationship parameters (a and b) for 29 fish species, belonging to 16 families, taken by otter trawl fishing from Egyptian Mediterranean waters. The b values obtained ranged from 2.50 to 3.44 (with a mean of 2.926).

Length-weight relationships of commercially important marine fishes and shellfishes of the southern coast of Karnataka, India

The parameters of the length-weight relationship of the form W = aLb are presented for 51 species of commercially important marine fishes and shellfishes caught along the southern coast of Karnataka, India. Samples from commercial (trawl, purse seines, gill nets) and artisanal gears were taken during August 1999 to May 2001. The ‘b’ value ranged between 1.942 and 3.616 with a mean of 2.80, standard deviation of 0.32, and mode of 3.

Length-weight relationships of major carps in Kaptai Lake, Bangladesh

Length-weight relationships and condition factors are presented for Indian major carp Catla catla, Labeo rohita, L. calbasu and Cirrhinus mrigala (Cyprinidae) in a reservoir of Bangladesh (Kaptai Lake).