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

Robust Learning Control for Manipulators with Uncertainty Disturbances Based on Internal Model

In this paper, a disturbance controller is designed for making robotic system behave as a decoupled linear system according to the concept of internal model. Based on the linear system, the paper presents an iterative learning control algorithm to robotic manipulators. A sufficient condition for convergence is provided. The selection of parameter values of the algorithm is simple and easy to meet the convergence condition. The simulation results demonstrate the effectiveness of the algorithm..

内蒙古乌拉特中旗北部宝音图群研究

The Baoyintu Group, lies in Wulate-zhongqi, Inner Mongolia, is a set of medium-grade metamorphic rock series which undergoes complex deformations. It consists of pelite schist, greenschist, plagioclase amphibolite quartzite and marble. The pelite schist is the main rock type and contains the classic medium pressure metamorphic minerals. The author divided Baoyintu group into five assemblages, investigated the rock association and plotted geological section of each assemblage in this area. Based on the systemically study of structural geology, petrology, geochemistry and mineralogy, the author reconstructs the protolith, sedimentary environment and tectonic evolution, discusses the mesoscopic and microscopic structure, metamorphism, geochemistry characters and the correlation between porphyroblast growth and deformation-metamorphism. There are three phase deformations in the research area: the earliest one occurred as the Baoyintu group deformed and metamorphosed and the main structure pattern is tight fold within layers during the Dl, large scale reversed fold and two phase faults (Fl fault and F2 fault) during the D2, and superimposed fold and F3 fault during D3. The F3 trancate the Wenduermian group of Silurian. The second and third phase deformation are relate to the orogenic event of late period of early Paleozoic. According to the rock association ,characteristics of the rocks and research of geochemistry, we get some information of the sedimentary environment and tectonic evolution of Baoyintu group. The source rocks are a set of terrigenous deposits-volcanic formation which reflect the history of the tectonic setting: stable- active-restable. And there are two sedimentary cycle from first assemblage to fifth assemblage: from first assemblage to fourth assemblage is a course of progression and the fifth assemblage is a start of regression. We also get the information of the P-T-t path by studying petrographies and calculating temperature and pressure. The path is not similiat to any classic type. And the interpretation is different from the traditional opinion. The P-T-t path reflects the dynamic course of convergence and uplift, magma underplating, back-arc extension and convergence of continental margin. Applying the theory of deformation partitioning to this area, the author discuss the relationship between deformation and porphyroblast growth, and get the conclusion of the sequence of deformation and metamorphism. At the first time we measure the distribution of chemical composition within the porphyroblast by XRF, confirm the theory of deformation partitioning quantitative and get new understanding about growth phase of porphyroblast and growth mode of porphyroblast: porphyroblast grow in the manner as "rose flower", the growth is controlled by the deformation. The elements distribution in porphyroblast reflects the growth manner and indicate history of metamorphism and deformation. So, we can deduce the metmorphism and deformation from the elements distribution in porphyroblast.

Simultaneous chiral separation using a combinatorial molecular imprinting phase

Molecular imprinting chiral stationary phase against Cbz-L-Serine (Cbz-L-Ser) and Cbz-L-Alaine (Cbz-L-Ala) were prepared utilizing acrylamide + 2-vinylpyridine as combined basic functional monomers. Cross-selectivity was used to obtain simultaneous chiral separations of Cbz-DL-Ser and Cbz-DL-Ala by connecting two columns packed with Cbz-L-Ser and Cbz-L-Ala imprinted chiral stationary phase, respectively.

Oriented growth of MCM-22 zeolite films

MCM-22 zeolite films have been grown with layers vertical to the substrate under hydrothermal synthesis conditions, and characterized by X-ray diffraction and scanning electron microscopy.

Growth of zeolite KSO1 on calcined kaolin microspheres

Zeolite KSO1 was successfully synthesized on calcined kaolin microspheres (ca. 60-80 mu m) in situ, and characterized by powder X-ray diffraction, scanning electronic microscopy and nuclear magnetic resonance spectroscopy.

Photoelectron spectroscopy of ammonia via a fast predissociative state

We report a study on resonance enhanced multiphoton ionization photoelectron spectroscopy (REMPI-PES) involving the fast predissociative (A) over tilde state of ammonia, using nano- and femtosecond lasers. The multiphoton scheme involves (1 + 1), (2 + 2), (2 + 2) + 1 and (2 + 2) + 2 photon processes. We have found a progression of stretching vibrations nu(1) in the PE spectrum when pumping NH3 (A) over tilde upsilon(2) = 0, 1 and 3 as intermediate states. The stretching vibration intensity distributions in the photoelectron spectrum are calculated by using the Chebychev method of the wavepacket propagation. The femtosecond spectrum shows a similar feature to the nanosecond spectrum. However, high laser power also causes band broadening and shifting effect as well as above threshold multiphoton ionization.

Reversible regeneration of molybdenum carbonyl species on an alumina thin film

The thin alumina film-supported metallic molybdenum model catalyst was prepared by thermal decomposition of MO(CO)6, and CO chemisorption on the catalyst was investigated in-situ by thermal desorption spectroscopy (TDS) and X-ray photoelectron spectroscopy (XPS). The results showed that a molybdenum-carbonyl-like species was formed on the alumina surface at low temperature by high coordination of CO with the surface metallic molybdenum nanoparticles, indicating a reversible regeneration of molybdenum carbonyl on the alumina surface. CO chemisorption on the model catalyst surface caused the Mo 3d XPS peak to shift toward higher binding energy. The formed molybdenum carbonyl species appeared at about 240 K in the TDS. The supported metallic molybdenum nanoparticles were quite different from the bulk molybdenum in chemical properties, which indicated a prominent particle-size effect of the clusters.

Saying isn't necessarily believing: influencing self-theories in computing

Simon, B., Hanks, B., Murphy, L., Fitzgerald, S., McCauley, R., Thomas, L., and Zander, C. 2008. Saying isn't necessarily believing: influencing self-theories in computing. In Proceeding of the Fourth international Workshop on Computing Education Research (Sydney, Australia, September 06 - 07, 2008). ICER '08. ACM, New York, NY, 173-184.

Influence of blood donation on O-2 uptake on-kinetics, peak O-2 uptake and time to exhaustion during severe-intensity cycle exercise in humans

Thatcher, Rhys, et al., 'Influence of blood donation on O-2 uptake on-kinetics, peak O-2 uptake and time to exhaustion during severe-intensity cycle exercise in humans', Experimental Physiology (2006) 91(3) pp.499-509 RAE2008

Occupational lead neurotoxicity: Improvement in behavioural effects after reduction of exposure.

To evaluate critical exposure levels and the reversibility of lead neurotoxicity a group of lead exposed foundry workers and an unexposed reference population were followed up for three years. During this period, tests designed to monitor neurobehavioural function and lead dose were administered. Evaluations of 160 workers during the first year showed dose dependent decrements in mood, visual/motor performance, memory, and verbal concept formation. Subsequently, an improvement in the hygienic conditions at the plant resulted in striking reductions in blood lead concentrations over the following two years. Attendant improvement in indices of tension (20% reduction), anger (18%), depression (26%), fatigue (27%), and confusion (13%) was observed. Performance on neurobehavioural testing generally correlated best with integrated dose estimates derived from blood lead concentrations measured periodically over the study period; zinc protoporphyrin levels were less well correlated with function. This investigation confirms the importance of compliance with workplace standards designed to lower exposures to ensure that individual blood lead concentrations remain below 50 micrograms/dl.

Effects of environmental colour on mood: a wearable LifeColour capture device

Colour is everywhere in our daily lives and impacts things like our mood, yet we rarely take notice of it. One method of capturing and analysing the predominant colours that we encounter is through visual lifelogging devices such as the SenseCam. However an issue related to these devices is the privacy concerns of capturing image level detail. Therefore in this work we demonstrate a hardware prototype wearable camera that captures only one pixel - of the dominant colour prevelant in front of the user, thus circumnavigating the privacy concerns raised in relation to lifelogging. To simulate whether the capture of dominant colour would be sufficient we report on a simulation carried out on 1.2 million SenseCam images captured by a group of 20 individuals. We compare the dominant colours that different groups of people are exposed to and show that useful inferences can be made from this data. We believe our prototype may be valuable in future experiments to capture colour correlated associated with an individual's mood.Colour is everywhere in our daily lives and impacts things like our mood, yet we rarely take notice of it. One method of capturing and analysing the predominant colours that we encounter is through visual lifelogging devices such as the SenseCam. However an issue related to these devices is the privacy concerns of capturing image level detail. Therefore in this work we demonstrate a hardware prototype wearable camera that captures only one pixel - of the dominant colour prevelant in front of the user, thus circumnavigating the privacy concerns raised in relation to lifelogging. To simulate whether the capture of dominant colour would be sufficient we report on a simulation carried out on 1.2 million SenseCam images captured by a group of 20 individuals. We compare the dominant colours that different groups of people are exposed to and show that useful inferences can be made from this data. We believe our prototype may be valuable in future experiments to capture colour correlated associated with an individual's mood.

A mechanistic study of anodic formation of porous InP

When porous InP is anodically formed in KOH electrolytes, a thin layer ~40 nm in thickness, close to the surface, appears to be unmodified. We have investigated the earlier stages of the anodic formation of porous InP in 5 mol dm-3 KOH. TEM clearly shows individual porous domains which appear triangular in cross-section and square in plan view. The crosssections also show that the domains are separated from the surface by a ~40 nm thick, dense InP layer. It is concluded that the porous domains have a square-based pyramidal shape and that each one develops from an individual surface pit which forms a channel through this near-surface layer. We suggest that the pyramidal structure arises as a result of preferential pore propagation along the <100> directions. AFM measurements show that the density of surface pits increases with time. Each of these pits acts as a source for a pyramidal porous domain, and these domains eventually form a continuous porous layer. This implies that the development of porous domains beneath the surface is also progressive in nature. Evidence for this was seen in plan view TEM images. Merging of domains continues to occur at potentials more anodic than the peak potential, where the current is observed to decrease. When the domains grow, the current density increases correspondingly. Eventually, domains meet, the interface between the porous and bulk InP becomes relatively flat and its total effective surface area decreases resulting in a decrease in the current density. Quantitative models of this process are being developed.

Assessment of dietary background exposure of the Irish adult population to dioxins and PCBs particularly taking into account additional exposure due to the 2008 Irish dioxin food contamination incident

Irish monitoring data on PCDD/Fs, DL-PCBs and Marker PCBs were collated and combined with Irish Adult Food Consumption Data, to estimate dietary background exposure of Irish adults to dioxins and PCBs. Furthermore, all available information on the 2008 Irish pork dioxin food contamination incident was collated and analysed with a view to evaluate any potential impact the incident may have had on general dioxin and PCB background exposure levels estimated for the adult population in Ireland. The average upperbound daily intake of Irish adults to dioxins Total WHO TEQ (2005) (PCDD/Fs & DLPCBs) from environmental background contamination, was estimated at 0.3 pg/kg bw/d and at the 95th percentile at 1 pg/kg bw/d. The average upperbound daily intake of Irish adults to the sum of 6 Marker PCBs from environmental background contamination ubiquitous in the environment was estimated at 1.6 ng/kg bw/d and at the 95th percentile at 6.8 ng/kg bw/d. Dietary background exposure estimates for both dioxins and PCBs indicate that the Irish adult population has exposures below the European average, a finding which is also supported by the levels detected in breast milk of Irish mothers. Exposure levels are below health based guidance values and/or Body Burdens associated with the TWI (for dioxins) or associated with a NOAEL (for PCBs). Given the current toxicological knowledge, based on biomarker data and estimated dietary exposure, general background exposure of the Irish adult population to dioxins and PCBs is of no human health concern. In 2008, a porcine fat sample taken as part of the national residues monitoring programme led to the detection of a major feed contamination incidence in the Republic of Ireland. The source of the contamination was traced back to the use of contaminated oil in a direct-drying feed operation system. Congener profiles in animal fat and feed samples showed a high level of consistency and pinpointed the likely source of fuel contamination to be a highly chlorinated commercial PCB mixture. To estimate additional exposure to dioxins and PCBs due to the contamination of pig and cattle herds, collection and a systematic review of all data associated with the contamination incident was conducted. A model was devised that took into account the proportion of contaminated product reaching the final consumer during the 90 day contamination incident window. For a 90 day period, the total additional exposure to Total TEQ (PCDD/F &DL-PCB) WHO (2005) amounted to 407 pg/kg bw/90d at the 95th percentile and 1911 pg/kg bw/90d at the 99th percentile. Exposure estimates derived for both dioxins and PCBs showed that the Body Burden of the general population remained largely unaffected by the contamination incident and approximately 10 % of the adult population in Ireland was exposed to elevated levels of dioxins and PCBs. Whilst people in this 10 % cohort experienced quite a significant additional load to the existing body burden, the estimated exposure values do not indicate approximation of body burdens associated with adverse health effects, based on current knowledge. The exposure period was also limited in time to approximately 3 months, following the FSAI recall of contaminated meat immediately on detection of the contamination. A follow up breast milk study on Irish first time mothers conducted in 2009/2010 did not show any increase in concentrations compared to the study conducted in 2002. The latter supports the conclusion that the majority of the Irish adult population was not affected by the contamination incident.

Stair na Gaeilge i gContae Thiobraid Árann 1700-1901

Stair na Gaeilge i gCo. Thiobraid Árann i rith na tréimhse 1700-1901 atá á ríomhadh sa tráchtas seo. Tar éis a cúlra agus a comhthéacs a shuíomh i gCaibidil a hAon, déantar scríobhaithe an cheantair a áireamh, fara tráchtaireacht orthu, i gCaibidil a Dó. I gCaibidlí a Trí agus a Ceathair, féachtar ar thionchar na hEaglaisí Caitlicí agus Eaglais na hÉireann (i measc eaglaisí Protastúnacha eile) ar an dteangain. I gCaibidil a Cúig, faightear spléachadh ar ghnéithe éagsúla de shaíocht an chontae, ag tabhairt léargais ar tháirgí na scríobhaithe, ar leabhair a clóbhualadh sa réigiún, agus ar fhilí móra na háite, leithéidí Liam Daill Uí Ifearnáin, ag sonrú limistéir faoi leith, an t-oirdheisceart, mar shampla. Léirítear éifeacht na gcumann Gaelach agus na ndíograiseoirí iomadúla a bhain leo. Ábhar suime, leis, feidhm na Gaeilge sna cúirteanna dlí. Tugtar faisnéis i gCaibidil a Sé ar fhianaise cuairteoirí ar an Ghaeilge mar urlabhra i dTiobraid Árann. Is anseo chomh maith a deintear anailís ar Dhaonáirimh na mblianta 1861-1901, le mórchuid adhmaid á baint as ceann 1901 go háirithe. Breactar as ainmneacha sagart agus múinteoirí le Gaeilge, agus tráchtar ar aicmí suntasacha eile, na póilíní agus na saighdiúirí a raibh an teanga sin ina mbéal acu. Tugtar le chéile dá réir na snáithíní difriúla eolais ar an dúiche ar bhealach nár tharla cheana don gcontae casta fairsing seo le haghaidh na tréimhse atá idir lámha ag an saothar.