Measurement of 5-day biochemical oxygen demand without sample dilution or bacterial and nutrient enhancement

A direct method for measuring the 5-day biochemical oxygen demand (BODS) of aquaculture samples that does not require sample dilution or bacterial and nutrient enrichment was evaluated. The regression coefficient (R-2) between the direct method and the standard method for the analyses of 32 samples from catfish ponds was 0.996. The slope of the regression line did not differ from 1.0 or the Y-intercept from 0.0 at P = 0.05. Thus, there was almost perfect agreement between the two methods. The control limits (three standard deviations of the mean) for a standard solution containing 15 mg/L each of glutamic acid and glucose were 17.4 and 20.4 mg/L. The precision of the two methods, based on eight replicate analyses of four pond water samples did not differ at P = 0.05. (c) 2005 Elsevier B.V All rights reserved.

Stabilization of Uncertain Nonholonomic Dynamic Systems with Bounded Inputs

The sliding mode approach and the multi-step control strategy are exploited to propose a stabilizing controller for uncertain nonholonomic dynamic systems with bounded inputs. This controller can stabilize the system to an arbitrarily small neighborhood about its equilibrium in a finite time .Its application to a nonholonomic wheeled mobile robot is described. Simulation result shows that the proposed controller is effective