Robust adaptive backstepping controller design for DC-DC buck converters with external disturbances

In modern power electronic systems, DC-DC converter is one of the main controlled power sources for driving DC systems. But the inherent nonlinear and time-varying characteristics often result in some difficulties mostly related to the control issue. This paper presents a robust nonlinear adaptive controller design with a recursive methodology based on the pulse width modulation (PWM) to drive a DC-DC buck converter. The proposed controller is designed based on the dynamical model of the buck converter where all parameters within the model are assumed as unknown. These unknown parameters are estimated through the adaptation laws and the stability of these laws are ensured by formulating suitable control Lyapunov functions (CLFs) at different stages. The proposed control scheme also provides robustness against external disturbances as these disturbances are considered within the model. One of the main features of the proposed scheme is that it overcomes the over-parameterization problems of unknown parameters which usually appear in some conventional adaptive methods. Finally, the effectiveness of the proposed control scheme is verified through the simulation results and compared to that of an existing adaptive backstepping controller. Simulation results clearly indicate the performance improvement in terms of a faster output voltage tracking response.

Heterozygous tx mice have an increased sensitivity to copper loading: implications for Wilson's Disease carriers

Wilson's disease carriers constitute 1% of the human population. It is unknown whether Wilsons disease carriers are at increased susceptibility to copper overload when exposed to chronically high levels of ingested copper. This study investigated the effect of chronic excess copper in drinking water on the heterozygous form of the Wilson’s disease mouse model – the toxic milk (tx) mouse. Mice were provided with drinking water containing 300 mg/l copper for 4–7, 8–11, 12–15 or 16–20 months. At the completion of the study liver, spleen, kidney and brain tissue were analyzed by atomic absorption spectroscopy to determine copper concentration. Plasma ceruloplasmin oxidase activity and liver histology were also assessed. Chronic copper loading resulted in significantly increased liver copper in both tx heterozygous and tx homozygous mice, while wild type mice were resistant to the effects of copper loading. Copper loading effects were greatest in tx homozygous mice, with increased extrahepatic copper deposition in spleen and kidney – an effect absent in heterozygote and wild type mice. Although liver histology in homozygous mice was markedly abnormal, no histological differences were noted between heterozygous and wild type mice with copper loading. Tx heterozygous mice have a reduced ability to excrete excess copper, indicating that half of the normal liver Atp7b copper transporter activity is insufficient to deal with large copper intakes. Our results suggest that Wilsons disease carriers in the human population may be at increased risk of copper loading if chronically exposed to elevated copper in food or drinking water.

Liver cell transplantation leads to repopulation and functional correction in a mouse model of Wilson's disease

Background and Aim: The toxic milk (tx) mouse is a non-fatal animal model for the metabolic liver disorder, Wilson's disease. The tx mouse has a mutated gene for a copper-transporting protein, causing early copper accumulation in the liver and late accumulation in other tissues. The present study investigated the efficacy of liver cell transplantation (LCT) to correct the tx mouse phenotype.

Methods: Congenic hepatocytes were isolated and intrasplenically transplanted into 3–4-month-old tx mice, which were then placed on various copper-loaded diets to examine its influence on repopulation by transplanted cells. The control animals were age-matched untransplanted tx mice. Liver repopulation was determined by comparisons of restriction fragment length polymorphism ratios (DNA and mRNA), and copper levels were measured by atomic absorption spectroscopy.

Results: Repopulation in recipient tx mice was detected in 11 of 25 animals (44%) at 4 months after LCT. Dietary copper loading (whether given before or after LCT, or both) provided no growth advantage for donor cells, with similar repopulation incidences in all copper treatment groups. Overall, liver copper levels were significantly lower in repopulated animals (538 ± 68 µg/g, n = 11) compared to non-repopulated animals (866 ± 62 µg/g, n = 14) and untreated controls (910 ± 103 µg/g, n = 6; P < 0.05). This effect was also seen in the kidney and spleen. Brain copper levels remained unchanged.

Conclusion: Transplanted liver cells can proliferate and correct a non-fatal metabolic liver disease, with some restoration of hepatic copper homeostasis after 4 months leading to reduced copper levels in the liver and extrahepatic tissues, but not in the brain.

Chronological changes in tissue copper, zinc and iron in the toxic milk mouse and effects of copper loading

The toxic milk (tx) mouse is a rodent model for Wilson disease, an inherited disorder of copper overload. Here we assessed the effect of copper accumulation in the tx mouse on zinc and iron metabolism. Copper, zinc and iron concentrations were determined in the liver, kidney, spleen and brain of control and copper-loaded animals by atomic absorption spectroscopy. Copper concentration increased dramatically in the liver, and was also significantly higher in the spleen, kidney and brain of control tx mice in the first few months of life compared with normal DL mice. Hepatic zinc was increased with age in the tx mouse, but zinc concentrations in the other organs were normal. Liver and kidney iron concentrations were significantly lower at birth in tx mice, but increased quickly to be comparable with control mice by 2 months of age. Iron concentration in the spleen was significantly higher in tx mice, but was lower in 5 day old tx pups. Copper-loading studies showed that normal DL mice ingesting 300 mg/l copper in their diet for 3 months maintained normal liver, kidney and brain copper, zinc and iron levels. Copper-loading of tx mice did not increase the already high liver copper concentrations, but spleen and brain copper concentrations were increased. Despite a significant elevation of copper in the brain of the copper-loaded tx mice no behavioural changes were observed. The livers of copper-loaded tx mice had a lower zinc concentration than control tx mice, whilst the kidney had double the concentration of iron suggesting that there was increased erythrocyte hemolysis in the copper-loaded mutants.

Lipid composition of cashmere goat fibres

This study examined the differences in the chemical composition, particularly fatty acids, of the lipid extracted from the fibre of bucks, does and castrated goats. The study provides a more detailed understanding of the chemical composition of buck fibre lipid and how it varies throughout the year, and also details the effect of body region and nutrition on the production and chemical composition of lipid from buck fibre. Lipid was extracted with either petroleum ether (non-polar) or chloroform/methanol azeotrope (polar) and analysed by gas chromatography and gas chromatography-mass spectrometry. The more polar solvent system extracted larger amounts of lipid and more of each individual fatty acid. The following buck specific ethyl branched fatty acids were identified: 2-ethylhexanoic, 4-ethylhexanoic, 2-ethyloctanoic, 4-ethyloctanoic, 6-ethyloctanoic, 2-ethyldecanoic, 4-ethyldecanoic, 2-ethyldodecanoic, 6-ethyldodecanoic, 4-ethyldodecanoic, 2-ethyltetradecanoic, 6-ethyltetradecanoic, 4-ethyltetradecanoic, 2-ethylhexadecanoic and 4-ethyloctadecanoic acids. Of these buck specific fatty acids only 4-ethylhexanoic (T), 4-ethyloctanoic, 4-ethyldecanoic, 4-ethyldodecanoic, 6-ethyldodecanoic (T), 4-ethyltetradecanoic, 2-ethylhexadecanoic (T) and 4-ethylhexadecanoic acids have been previously identified or tentatively identified (T) in buck fibre extracts. This shows that the chemical composition of buck fibre lipid is more complex than previously reported, and that it may be more difficult than previously thought to artificially duplicate the odour of the buck. Buck fibre samples had lower average concentrations of 2-methylpropanoic, 2-methylbutanoic, iso-pentadecanoic, anteiso-pentadecanoic, iso-hexadecanoic, anteiso-heptadecanoic, iso-octadecanoic and anteiso-nonadecanoic acids as compared with fibre samples from does, spayed does, or wethers that were castrated at one month of age. The reduced concentrations of these fatty acids in buck fibre extracts were likely to be due to the synthesis of ethyl branched derivatives of iso and anteiso fatty acids. Buck fibre samples had higher concentrations of benzoic acid as compared with fibre samples from does, spayed does, or wethers that were castrated at one month of age. The significance of these results is that non buck specific fatty acids may also make a contribution to the odour of bucks. When fibre samples were collected at various times throughout the year, it was found that the bucks had increased amounts of lipid and ethyl branched fatty acids in fibre samples shorn from March to September, as compared with fibre samples shorn in November and January. The increase in the amount of lipid and ethyl branched fatty acids corresponded with both the rutting period of the buck and the period when the buck odour was increased. This suggests that ethyl branched fatty acids could be pheromones. The variation in lipid content and fatty acid composition was also examined between fibre samples collected from different body regions of the buck during April, as alterations in sebaceous gland activity around the neck during rutting have been reported. It was found that the average amount of lipid in the neck region of the bucks was not statistically higher than the average amounts in the midside and hind regions. However, the ethyl branched fatty acid concentrations were statistically higher in the fibre from around the neck as compared with the fibre from the other body regions, which is consistent with the odour of the buck being most pronounced around the head and neck region. The lipid content and composition of fibre samples from bucks fed high and low quality diets (lucerne and pangola grass, respectively) was examined to determine the effect of nutrition on buck specific components. The high quality diet increased the amount of lipid and ethyl branched fatty acids in fibre samples collected in April from the neck, midside and hind regions, as compared with fibre samples from the corresponding body regions from bucks fed the low quality diet. Thus it may be possible for the pheromone levels of bucks to be increased by simply providing them with good nutrition. The lipid content and ethyl branched fatty acid concentrations of fibre samples increased earlier in the year for the lucerne fed bucks as compared with the pangola grass fed bucks. The lucerne fed bucks had increased concentrations of ethyl branched fatty acids in fibre samples shorn during December to June (6 months) whereas the pangola grass fed bucks had increased concentrations of ethyl branched fatty acids in fibre samples shorn during April to August (4 months). These observations show that good nutrition can result in both the earlier production of ethyl branched fatty acids and an extended period when ethyl branched fatty acids are produced. This suggests that nutrition can be used to manipulate pheromone levels in the buck. The period when the ethyl branched fatty acids were increased corresponded with the period when the plasma luteinizing hormone (LH) and testosterone concentrations, odour and sebaceous gland volume of the bucks were increased, which supports the assumption that ethyl branched fatty acids are involved in odour production and act as pheromones.

Sources of variation contributing to production and quality attributes of Kyrgyz cashmere in Osh and Naryn provinces : implications for industry development

We aimed to quantify the sources of variation contributing to the production and quality of cashmere produced in five districts in Osh and Naryn provinces of Kyrgyzstan. In early spring 2008 mid-side cashmere samples were taken from 719 cashmere adult females, and 41 cashmere adult males and castrates. Samples came from 53 villages and a total of 156 farmers’ flocks. For 91 goats from 33 farmers in 13 villages of two districts that had been sampled earlier, cashmere was combed from the goat at the time of a second visit (end of April 2008) when the cashmere would normally be harvested. Following standard cashmere objective measurement, data were examined using general linear modelling to quantify the effects of potential determinants. The mean fibre diameter (MFD) of cashmere differed between provinces (Osh 15.7 μm, Naryn 16.7 μm; P = 4.4 × 10−20). About 42% of the cashmere was <16 μm, 48% was 16.0–18.0 μm and 9.5% was >18.0 μm. Most of the cashmere samples were coloured (81%), with 63% black and 19% white. The percentage of cashmere samples that were white declined as MFD increased (26% < 14 μm to 11% of >18 μm). The primary determinants of cashmere MFD of individual goats were age of goat (range 1.46 μm, P = 1.8 × 10−12) and farm (range 6.5 μm, P = 1.7 × 10−14). The lesser effects detected for sex (range 0.9 μm, P = 0.026) and colour of cashmere (range 1.8 μm, P = 0.023) were based on small sample sizes and are unreliable. Age of goat had important affects on fibre diameter variation (up to 1.7% in coefficient of variation, P = 5.8 × 10−6) and fibre curvature (2.5–5°/mm, P = 2.1 × 10−4). By far the greatest effect on fibre curvature was cashmere MFD (P = 3.0 × 10−104) with a smaller effect of sex (about 5°/mm, P = 3.0 × 10−6). Village effects were detected on fibre diameter variability (range 4.5% in coefficient of variation, P = 0.027) and fibre curvature (range 15°/mm, P = 1.6 × 10−7). There was a strong negative association between increasing MFD and declining fibre curvature (−5.11 ± 0.181°/mm per 1 μm; P = 7.1 × 10−121; r2 = 0.51). Average combed cashmere weight was 164 g, the clean cashmere content was 0.661 and median clean cashmere production was 110 g per goat (range 60–351 g). Combed cashmere production increased with altitude of the village, probably related to different moulting times as spring temperatures warmed up later in higher altitude villages up to 3200 masl. Measurements of combed cashmere MFD were coarser than the mid-side samples taken earlier in the year. There are farmers and cashmere goats in the sampled districts of Kyrgyzstan which produce the finest qualities of commercial cashmere as the vast majority of cashmere is fine, has low variation in fibre diameter and has fibre crimping (curvature) typical of Chinese and Mongolian cashmere. There is substantial scope to increase the production and commercial value of cashmere produced by Kyrgyz goats. In particular, some villages and farmers need to change their buck selection practices if they wish to produce acceptable cashmere. Farmers should separate their finer and white cashmere prior to sale.

Make a DIY mathematics trail.

A mathematics trail is an excellent activity. A mathematics trail might be something that students make themselves, possibly for other students to use, or for a Family Maths occasion, or for a community event. Presenting the making of a mathematics trail as an opportunity for inquiry-based learning (which is probably similar to, but not the same as passing the buck) could save the teacher a lot of time in preparing the trail. Pedagogically, it shifts some of the where-is-the-mathematics-in-this? type of thinking to the students - activating the maths curse and stimulating their own creativity! (Catchy expressions such as "ownership", "constructivism" and "student-centred" also spring to mind).

Future Asian space : introduction

At the turn of this century, the rise of urban development had become a global phenomenon. Rapid urbanization had been at its most dramatic since the Industrial Revolution. With the emergence of global economies, innovative technologies, communication, global migration, rise of population, etc., as well as growing awareness of climate and environmental issues, our world is once again challenged to rethink its future with great urgency. All aspects of our lives are unpredictably becoming altered at an incredible pace and complexity that, indeed, one may argue that "nothing about cities in the 21st century is insignificant. These numerous and unpredictable changes affect everyone, both in the developed and developing regions of the world. In fact, as David N. Buck argues, the speed of change is so rapid that old definitions of developed and developing worlds do not seem to be relevant anymore.