Decentralised formation control and stability analysis for cooperative multi-vehicle manoeuvre

Multi-vehicle cooperative formation control problem is an important and typical topic of research on multi-agent system. This paper presents a formation stability conjecture to conceive a new methodology for solving the decentralised multi-vehicle formation control problem. It employs the “extension-decomposition-aggregation” scheme to transform the complex multi-agent control problem into a group of sub-problems which is able to be solved conveniently. Based on this methodology, it is proved that if all the individual augmented subsystems can be stabilised by using any approach, the overall formation system is not only asymptotically but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. Simulation study on 6-DOF aerial vehicles (Aerosonde UAVs) has been performed to verify the achieved formation stability result. The proposed multi-vehicle formation control strategy can be conveniently extended to other cooperative control problems of multi-agent systems.

Immune complex formation in human diabetic retina enhances toxicity of oxidized LDL towards retinal capillary pericytes

Recently it has been shown that levels of circulating oxidized LDL immune complexes (ox-LDL-IC) predict the development of diabetic retinopathy (DR). This study aimed to investigate whether ox-LDL-IC are actually present in the diabetic retina, and to define their effects on human retinal pericytes vs. ox-LDL. In retinal sections from people with type 2 diabetes, co-staining for ox-LDL and IgG was present, proportionate to DR severity, and detectable even in the absence of clinical DR. In contrast, no such staining was observed in retinas from non-diabetic subjects. In vitro, human retinal pericytes were treated with native (N-) LDL, ox-LDL, and ox-LDL-IC (0-200 mg protein/l), and measures of viability, receptor expression, apoptosis, ER and oxidative stresses, and cytokine secretion were evaluated. Ox-LDL-IC exhibited greater cytotoxicity than ox-LDL towards retinal pericytes. Acting through the scavenger (CD36) and IgG (CD64) receptors, low concentrations of ox-LDL-IC triggered apoptosis mediated by oxidative and ER stresses, and enhanced inflammatory cytokine secretion. The data suggest that IC formation in the diabetic retina enhances the injurious effects of ox-LDL. These findings offer new insights into pathogenic mechanisms of DR, and may lead to new preventive measures and treatments.

Human parietal and primary motor cortical interactions are selectively modulated during the transport and grip formation of goal-directed hand actions

Posterior parietal cortex (PPC) constitutes a critical cortical node in the sensorimotor system in which goal-directed actions are computed. This information then must be transferred into commands suitable for hand movements to the primary motor cortex (M1). Complexity arises because reach-to-grasp actions not only require directing the hand towards the object (transport component), but also preshaping the hand according to the features of the object (grip component). Yet, the functional influence that specific PPC regions exert over ipsilateral M1 during the planning of different hand movements remains unclear in humans. Here we manipulated transport and grip components of goal-directed hand movements and exploited paired-pulse transcranial magnetic stimulation (ppTMS) to probe the functional interactions between M1 and two different PPC regions, namely superior parieto-occipital cortex (SPOC) and the anterior region of the intraparietal sulcus (aIPS), in the left hemisphere. We show that when the extension of the arm is required to contact a target object, SPOC selectively facilitates motor evoked potentials, suggesting that SPOC-M1 interactions are functionally specific to arm transport. In contrast, a different pathway, linking the aIPS and ipsilateral M1, shows enhanced functional connections during the sensorimotor planning of grip. These results support recent human neuroimaging findings arguing for specialized human parietal regions for the planning of arm transport and hand grip during goal-directed actions. Importantly, they provide new insight into the causal influences these different parietal regions exert over ipsilateral motor cortex for specific types of planned hand movements

The Role of Water and Adsorbed Hydroxyls on Ethanol Electrochemistry on Pd: New Mechanism, Active Centers and Energetics for Direct Ethanol Fuel Cell Running in Alkaline Medium

First principles calculations with molecular dynamics are
utilized to simulate a simplified electrical double layer formed in the
active electric potential region during the electrocatalytic oxidation of
ethanol on Pd electrodes running in an alkaline electrolyte. Our
simulations provide an atomic level insight into how ethanol oxidation
occurs in fuel cells: New mechanisms in the presence of the simplified
electrical double layer are found to be different from the traditional
ones; through concerted-like dehydrogenation paths, both acetaldehyde
and acetate are produced in such a way as to avoid a variety of
intermediates, which is consistent with the experimental data obtained
from in situ FTIR spectroscopy. Our work shows that adsorbed OH on
the Pd electrode rather than Pd atoms is the active center for the
reactions; the dissociation of the C−H bond is facilitated by the
adsorption of an OH− anion on the surface, resulting in the formation
of water. Our calculations demonstrate that water dissociation rather than H desorption is the main channel through which
electrical current is generated on the Pd electrode. The effects of the inner Helmholtz layer and the outer Helmholtz layer are
decoupled, with only the inner Helmholtz layer being found to have a significant impact on the mechanistics of the reaction. Our
results provide atomic level insight into the significance of the simplified electrical double layer in electrocatalysis, which may be
of general importance.

North Atlantic marine radiocarbon reservoir ages through Heinrich event H4: A new method for marine age model construction

Cooling and sinking of dense saline water in the Norwegian–Greenland Sea is essential for the formation of North Atlantic Deep Water. The convection in the Norwegian–Greenland Sea allows for a northward flow of warm surface water and southward transport of cold saline water. This circulation system is highly sensitive to climate change and has been shown to operate in different modes. In ice cores the last glacial period is characterized by millennial-scale Dansgaard–Oeschger (D–O) events of warm interstadials and cold stadials. Similar millennial-scale variability (linked to D–O events) is evident from oceanic cores, suggesting a strong coupling of the atmospheric and oceanic circulations system. Particularly long-lasting cold stadials correlate with North Atlantic Heinrich events, where icebergs released from the continents caused a spread of meltwater over the northern North Atlantic and Nordic seas. The meltwater layer is believed to have caused a stop or near-stop in the deep convection, leading to cold climate. The spreading of meltwater and changes in oceanic circulation have a large influence on the carbon exchange between atmosphere and the deep ocean and lead to profound changes in the 14C activity of the surface ocean. Here we demonstrate marine 14C reservoir ages (R) of up to c. 2000 years for Heinrich event H4. Our R estimates are based on a new method for age model construction using identified tephra layers and tie-points based on abrupt interstadial warmings.

Collaborative evolution: the context surrounding the formation and the effectiveness of a school partnership in a divided community in Northern Ireland

This paper examines an initiative promoting collaboration between schools located in a city setting in Northern Ireland, which is broadly divided along ethnic and political lines. The schools involved, like the vast majority of schools in Northern Ireland, educate Protestant and Catholic children separately. This presents particular challenges for school collaboration as it implies the establishment of new, connected relationships in an education system, which is historically and contemporaneously more characterised by division. Since 2007, the schools in this study have been involved in an education initiative which promotes cross-sectoral shared learning in core areas of the curriculum with a view to promoting school improvement; the additional, indirect goal is also about improving community relations. However, over this period, the relationship between the institutions has deepened, leading schools to examine how they can sustain partnership and evolve collaborative practice. This paper explores how the partnership has evolved and assesses its effectiveness as a collaborative enterprise. The paper concludes by demonstrating how effective collaboration between schools in Northern Ireland mitigates the potentially negative impacts of educating children separately, but also how effective models of school collaboration are capable of providing enhanced learning opportunities for pupils and are also capable of developing the communities in which they are located.

Ran GTPase in Nuclear Envelope Formation and Cancer Metastasis

Ran is a small ras-related GTPase that controls the nucleocytoplasmic exchange of macromolecules across the nuclear envelope. It binds to chromatin early during nuclear formation and has important roles during the eukaryotic cell cycle, where it regulates mitotic spindle assembly, nuclear envelope formation and cell cycle checkpoint control. Like other GTPases, Ran relies on the cycling between GTP-bound and GDP-bound conformations to interact with effector proteins and regulate these processes. In nucleocytoplasmic transport, Ran shuttles across the nuclear envelope through nuclear pores. It is concentrated in the nucleus by an active import mechanism where it generates a high concentration of RanGTP by nucleotide exchange. It controls the assembly and disassembly of a range of complexes that are formed between Ran-binding proteins and cellular cargo to maintain rapid nuclear transport. Ran also has been identified as an essential protein in nuclear envelope formation in eukaryotes. This mechanism is dependent on importin-β, which regulates the assembly of further complexes important in this process, such as Nup107–Nup160. A strong body of evidence is emerging implicating Ran as a key protein in the metastatic progression of cancer. Ran is overexpressed in a range of tumors, such as breast and renal, and these perturbed levels are associated with local invasion, metastasis and reduced patient survival. Furthermore, tumors with oncogenic KRAS or PIK3CA mutations are addicted to Ran expression, which yields exciting future therapeutic opportunities

A New Mechanism for Hydroxyl Radical Production in Irradiated Nanoparticle Solutions

The absolute yield of hydroxyl radicals per unit of deposited X-ray energy is determined for the first time for irradiated aqueous solutions containing metal nanoparticles based on a “reference” protocol. Measurements are made as a function of dose rate and nanoparticle concentration. Possible mechanisms for hydroxyl radical production are considered in turn: energy deposition in the nanoparticles followed by its transport into the surrounding environment is unable to account for observed yield whereas energy deposition in the water followed by a catalytic-like reaction at the water-nanoparticle interface can account for the total yield and its dependence on dose rate and nanoparticle concentration. This finding is important because current models used to account for nanoparticle enhancement to radiobiological damage only consider the primary interaction with the nanoparticle, not with the surrounding media. Nothing about the new mechanism appears to be specific to gold, the main requirements being the formation of a structured water layer in the vicinity of the nanoparticle possibly through the interaction of its charge and the water dipoles. The massive hydroxyl radical production is relevant to a number of application fields, particularly nanomedicine since the hydroxyl radical is responsible for the majority of radiation-induced DNA damage.

A Model to Understand the Oxygen Vacancy Formation in Zr-Doped CeO2:Electrostatic Interaction and Structural Relaxation

Using density functional theory with the inclusion of on-site Coulomb Correction, the O vacancy formation energies of CexZr1-xO2 solid solutions with a series of Ce/Zr ratios are calculated, and a model to understand the results is proposed. It consists of electrostatic and structural relaxation terms, and the latter is found to play a vital role in affecting the O vacancy formation energies. Using this model, several long-standing questions in the field, such as why ceria with 50% ZrO2 usually exhibit the best oxygen storage capacity, can be explained. Some implications of the new interpretation are also discussed.

Novel decentralised formation control for unmanned vehicles

This paper proposes a new methodology for solving the unmanned multi-vehicle formation control problem. It employs a unique “extension-decomposition-aggregation” scheme to transform the overall complex formation control problem to a group of sub-problems which work via boundary interactions. The H∞ robust control strategy is applied to design the decentralised formation controllers to reject the interactions and work jointly to maintain the stability of the overall formation. Simulation studies have been performed to verify its performance and effectiveness.

Investigation of chip formation and fracture toughness in orthogonal cutting of UD-CFRP

Features of chip formation can inform the mechanism of a machining process. In this paper, a series of orthogonal cutting experiments were carried out on unidirectional carbon fiber reinforced polymer (UD-CFRP) under cutting speed of 0.5 m/min. The specially designed orthogonal cutting tools and high-speed camera were used in this paper. Two main factors are found to influence the chip morphology, namely the depth of cut (DOC) and the fiber orientation (angle 휃), and the latter of which plays a more dominant role. Based on the investigation of chip formation, a new approach is proposed for predicting fracture toughness of the newly machined surface and the total energy consumption during CFRP orthogonal cutting is introduced as a function of the surface energy of machined surface, the energy consumed to overcome friction, and the energy for chip fracture. The results show that the proportion of energy spent on tool-chip friction is the greatest, and the proportions of energy spent on creating new surface decrease with the increasing of fiber angle.

PS1-10afx at z = 1.388: Pan-STARRS1 Discovery of a New Type of Superluminous Supernova

We present the Pan-STARRS1 discovery of PS1-10afx, a unique hydrogen-deficient superluminous supernova (SLSN) at redshift z = 1.388. The light curve peaked at z P1 = 21.7 mag, making PS1-10afx comparable to the most luminous known SNe, with Mu = -22.3 mag. Our extensive optical and near-infrared observations indicate that the bolometric light curve of PS1-10afx rose on the unusually fast timescale of ~12 days to the extraordinary peak luminosity of 4.1 × 1044 erg s-1 (M bol = -22.8 mag) and subsequently faded rapidly. Equally important, the spectral energy distribution is unusually red for an SLSN, with a color temperature of ~6800 K near maximum light, in contrast to previous hydrogen-poor SLSNe, which are bright in the ultraviolet (UV). The spectra more closely resemble those of a normal SN Ic than any known SLSN, with a photospheric velocity of ~11, 000 km s-1 and evidence for line blanketing in the rest-frame UV. Despite the fast rise, these parameters imply a very large emitting radius (gsim 5 × 1015 cm). We demonstrate that no existing theoretical model can satisfactorily explain this combination of properties: (1) a nickel-powered light curve cannot match the combination of high peak luminosity with the fast timescale; (2) models powered by the spindown energy of a rapidly rotating magnetar predict significantly hotter and faster ejecta; and (3) models invoking shock breakout through a dense circumstellar medium cannot explain the observed spectra or color evolution. The host galaxy is well detected in pre-explosion imaging with a luminosity near L*, a star formation rate of ~15 M ⊙ yr-1, and is fairly massive (~2 × 1010 M ⊙), with a stellar population age of ~108 yr, also in contrast to the young dwarf hosts of known hydrogen-poor SLSNe. PS1-10afx is distinct from known examples of SLSNe in its spectra, colors, light-curve shape, and host galaxy properties, suggesting that it resulted from a different channel than other hydrogen-poor SLSNe.

Ultraluminous Supernovae as a New Probe of the Interstellar Medium in Distant Galaxies

We present the Pan-STARRS1 discovery and light curves, and follow-up MMT and Gemini spectroscopy of an ultraluminous supernova (ULSN; dubbed PS1-11bam) at a redshift of z = 1.566 with a peak brightness of M UV ≈ -22.3 mag. PS1-11bam is one of the highest redshift spectroscopically confirmed SNe known to date. The spectrum exhibits broad absorption features typical of previous ULSNe (e.g., C II, Si III), and strong and narrow Mg II and Fe II absorption lines from the interstellar medium (ISM) of the host galaxy, confirmed by an [O II]λ3727 emission line at the same redshift. The equivalent widths of the Fe II λ2600 and Mg II λ2803 lines are in the top quartile of the quasar intervening absorption system distribution, but are weaker than those of gamma-ray burst intrinsic absorbers (i.e., GRB host galaxies). We also detect the host galaxy in pre-explosion Pan-STARRS1 data and find that its UV spectral energy distribution is best fit with a young stellar population age of τ* ≈ 15-45 Myr and a stellar mass of M * ≈ (1.1-2.6) × 109 M ⊙ (for Z = 0.05-1 Z ⊙). The star formation rate inferred from the UV continuum and [O II]λ3727 emission line is ≈10 M ⊙ yr-1, higher than in previous ULSN hosts. PS1-11bam provides the first direct demonstration that ULSNe can serve as probes of the ISM in distant galaxies. The depth and red sensitivity of PS1 are uniquely suited to finding such events at cosmologically interesting redshifts (z ~ 1-2); the future combination of LSST and 30 m class telescopes promises to extend this technique to z ~ 4.

New source of MeV negative ion and neutral atom beams

The scenario of "electron-capture and -loss" was recently proposed for the formation of negative ion and neutral atom beams with MeV kinetic energies. However, it does not explain why the formation of negative ions in a liquid spray is much more efficient than with an isolated atom. The role of atomic excited states in the charge-exchange processes is considered, and it is shown that it cannot account for the observed phenomena. The processes are more complex than the single electron-capture and -loss approach. It is suggested that the shell effects in the electronic structure of the projectile ion and/or target atoms may influence the capture/loss probabilities.

Preparation of new materials by heterogeneous modification of cellulose

O presente trabalho teve como principal objectivo estudar a modificação química heterogénea controlada de fibras de celulose com diferentes reagentes de modo a alterar as suas propriedades de superfície, em especial em termos da criação de um carácter hidrofóbico e lipofóbico, preservando, sempre que possível, as suas propriedades mecânicas e, consequentemente, abrindo novas perspectivas de aplicação. O desenvolvimento do trabalho envolveu três abordagens principais, envolvendo, em cada caso, o estudo de diferentes condições reaccionais. Na primeira abordagem foram utilizados como reagentes de modificação compostos perfluorados, nomeadamente o anidrido trifluoroacético (TFAA), o cloreto de 2,3,4,5,6-pentafluorobenzoílo (PFBz) e o cloreto de 3,3,3- trifluoropropanoílo (TFP), para promover a acilação heterogénea da superfície das fibras. A segunda estratégia usada consistiu na preparação de híbridos de celulose do tipo orgânico-inorgânico classe-II, através da modificação das fibras de celulose com o (3-isocianatopropil)trietoxissilano (ICPTEOS), um reagente organossilano bifuncional. A ligação às fibras de celulose foi efectuada através das funções isocianato e, posteriormente, os grupos etoxissilano foram sujeitos a tratamentos de hidrólise ácida, como tal ou na presença de outros siloxanos, nomeadamente o tetraetoxissilano (TEOS) e o 1H,1H,2H,2Hperfluorodeciltrietoxissilano (PFDTEOS). Finalmente, a última abordagem foi baseada na modificação das fibras com triclorometilssilano (TCMS), através de uma reacção gás-sólido, que dispensou assim o uso de solventes orgânicos. A ocorrência de modificação química foi em cada caso confirmada por Espectroscopia de Infravermelho com Transformada de Fourier e Reflectância Total Atenuada (FTIR-ATR), Análise Elementar (EA) e determinação de ângulos de contacto. Adicionalmente, e dependendo de cada caso específico, diversas outras técnicas foram empregues na caracterização aprofundada dos materiais preparados, nomeadamente Ressonância Magnética Nuclear CPMAS no Estado Sólido (RMN), Espectroscopia de Difracção de Raios-X (XRD), Análise Termogravimétrica (TGA), Espectrometria de Massa de Iões Secundários com Análise de Tempo de Vôo (ToF-SIMS), Espectroscopia Fotoelectrónica de Raios-X (XPS) e Microscopia Electrónica de Varrimento (SEM). Relativamente à acilação das fibras de celulose com reagentes perfluorados, o sucesso da reacção foi comprovado por FTIR-ATR, EA, XPS e ToF-SIMS. Neste contexto, obtiveram-se fibras modificadas possuindo graus de substituição (DS) compreendidos entre 0.006 e 0.39. Verificou-se por XRD que, em geral, mesmo para os valores de DS mais elevados, a cristalinidade das fibras não foi afectada, indicando que a modificação foi limitada às camadas mais superficiais das mesmas ou a regiões amorfas das suas camadas mais internas. Adicionalmente, observou-se por ToF-SIMS que a distribuição dos grupos perfluorados à superfície das fibras foi, de facto, bastante heterogénea. Todos os derivados de celulose perfluorados apresentaram elevada hidrofobicidade e lipofobicidade, tendo-se atingido ângulos de contacto com água e diiodometano de 126º e 104º, respectivamente. Um aspecto interessante relativo a estes materiais é que a elevada omnifobicidade foi observada mesmo para valores de DS muito reduzidos, não se mostrando significativamente afectada pelo aumento dos mesmos. Em consonância, verificou-se por XPS que a cobertura da superfície das fibras de celulose com grupos perfluorados aumentou apenas ligeiramente com o aumento do DS, apontando para a esterificação de camadas mais internas das fibras, associada, neste caso, predominantemente aos seus domínios amorfos. No que diz respeito à estabilidade hidrolítica destes derivados, obtiveram-se dois tipos distintos de comportamento. Por um lado, as fibras de celulose trifluoroacetiladas são facilmente hidrolisáveis em meio neutro, e, por outro, as fibras pentafluorobenzoiladas e trifluoropropanoiladas mostram-se bastante resistentes face a condições de hidrólise em meio neutro e ácido (pH 4), podendo, contudo, ser facilmente hidrolisadas em meio alcalino (pH 9 e 12, para derivados do PFBz e do TFP, respectivamente). Na segunda abordagem verificou-se a ocorrência de reacção por FTIR-ATR e EA. Em geral, a modificação química com ICPTEOS ocorre predominantemente nas zonas mais superficiais das fibras de celulose ou em regiões amorfas. Contudo, em condições reaccionais mais severas (maior quantidade de reagente e tempo de reacção), esta atingiu também regiões cristalinas, afectando, consequentemente, a estrutura cristalina das fibras, como verificado por XRD. Por RMN de 29Si observou-se que após reacção com o ICPTEOS já existiam indícios de alguma hidrólise dos grupos etoxissilano, e que a sua subsequente condensação parcial tinha levado à formação de uma película inorgânica em redor das fibras (verificado por SEM), constituída maioritariamente por estruturas lineares, com uma contribuição mais modesta de estruturas “diméricas” e outras mais ramificadas. Consequentemente, este revestimento inorgânico transformou as fibras de celulose em materiais híbridos com elevada hidrofobicidade (ângulos de contacto com água entre 103-129º). A hidrólise ácida dos restantes grupos etoxissilano, como tal ou na presença de TEOS, originou híbridos de celulose com elevada hidrofilicidade, sendo impossível medirem-se os ângulos de contacto com água dos produtos finais, devido à presença maioritária de grupos silanol (Si-OH) e ligações Si-O-Si à superfície, os quais contribuíram para o consequente aumento de energia de superfície. No entanto, quando a hidrólise foi realizada na presença de PFDTEOS, obtiveram-se materiais híbridos com elevada hidrofobicidade e lipofobicidade (ângulos de contacto com água e diiodometano de 140º e 134º, respectivamente), devido à combinação da presença de grupos perfluorados e micro- e nano-rugosidades na superfície das fibras de celulose, conforme confirmado por SEM. Finalmente, a última abordagem permitiu preparar materiais derivados de celulose altamente hidrofóbicos e lipofóbicos (ângulos de contacto com água e diiodometano de 136º e 109º, respectivamente) por um processo simples, envolvendo tempos de tratamento tão curtos como 0.5 min. Este comportamento omnifóbico foi gerado pelo efeito sinergético entre a diminuição de energia de superfície das fibras, devido à presença de grupos metilo dos resíduos de TCMS ligados a estas, e a condensação dos resíduos de TCMS na forma de micro- e nano-partículas inorgânicas, que levou à criação de um revestimento rugoso à superfície das fibras, conforme observado por RMN de 29Si e SEM, respectivamente. A pré-humidificação das fibras de celulose demonstrou desempenhar um importante papel de “acelerador” dos processos de hidrólise e condensação das moléculas de TCMS. Nestas condições, o tempo de tratamento foi um dos parâmetros mais relevantes, pois para tempos de tratamento muito curtos (0.5 min) os materiais resultantes não apresentaram quaisquer diferenças a nível de propriedades físico-químicas em relação ao substrato de partida (a humidade em excesso consumiu todo o TCMS antes que este conseguisse reagir com os grupos hidroxilo das fibras de celulose), possuindo, por exemplo, valores de ângulos de contacto com água idênticos. Para tempos de tratamento mais longos, como 30 min, os materiais finais apresentaram a maior quantidade de componentes inorgânicos, tal como verificado por EA e TGA. Assim, o controlo da humidade das fibras é imperativo para se poder moldar as propriedades finais dos produtos. Esta última abordagem é particularmente promissora uma vez que tem como base um sistema simples e “verde” que pode ser facilmente implementado. Em conclusão, este trabalho permitiu demonstrar que a modificação química heterogénea controlada das fibras de celulose representa uma iniciativa promissora para a preparação de novos materiais obtidos a partir de recursos renováveis, com propriedades interessantes e passíveis de ser potencialmente aplicados em diferentes áreas. Para além do mais, as estratégias de modificação estudadas podem também ser precursoras de novos estudos que possam vir a ser desenvolvidos dentro do mesmo âmbito.