Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

How to convert a Word file to PDF using Adobe Acrobat on an iSolutions workstation.

This PowerPoint provides a step-by-step guide to the process of converting a document (such as your thesis) from Word to PDF.

The creation of a Terena Mermaid on an Environmental lesson: a case of Teacher Professional Development

Monogr??fico con el t??tulo: " Formaci??n de profesores. Perspectivas de Brasil, Colombia, Espa??a y Portugal"

A regime-dependent balanced control variable based on potential vorticity

In this paper it is argued that rotational wind is not the best choice of leading control variable for variational data assimilation, and an alternative is suggested and tested. A rotational wind parameter is used in most global variational assimilation systems as a pragmatic way of approximately representing the balanced component of the assimilation increments. In effect, rotational wind is treated as a proxy for potential vorticity, but one that it is potentially not a good choice in flow regimes characterised by small Burger number. This paper reports on an alternative set of control variables which are based around potential vorticity. This gives rise to a new formulation of the background error covariances for the Met Office's variational assimilation system, which leads to flow dependency. It uses similar balance relationships to traditional schemes, but recognises the existence of unbalanced rotational wind which is used with a new anti-balance relationship. The new scheme is described and its performance is evaluated and compared to a traditional scheme using a sample of diagnostics.

Global climate and ocean circulation on an aquaplanet ocean-atmosphere general circulation model

A low resolution coupled ocean-atmosphere general circulation model OAGCM is used to study the characteristics of the large scale ocean circulation and its climatic impacts in a series of global coupled aquaplanet experiments. Three configurations, designed to produce fundamentally different ocean circulation regimes, are considered. The first has no obstruction to zonal flow, the second contains a low barrier that blocks zonal flow in the ocean at all latitudes, creating a single enclosed basin, whilst the third contains a gap in the barrier to allow circumglobal flow at high southern latitudes. Warm greenhouse climates with a global average air surface temperature of around 27C result in all cases. Equator to pole temperature gradients are shallower than that of a current climate simulation. Whilst changes in the land configuration cause regional changes in temperature, winds and rainfall, heat transports within the system are little affected. Inhibition of all ocean transport on the aquaplanet leads to a reduction in global mean surface temperature of 8C, along with a sharpening of the meridional temperature gradient. This results from a reduction in global atmospheric water vapour content and an increase in tropical albedo, both of which act to reduce global surface temperatures. Fitting a simple radiative model to the atmospheric characteristics of the OAGCM solutions suggests that a simpler atmosphere model, with radiative parameters chosen a priori based on the changing surface configuration, would have produced qualitatively different results. This implies that studies with reduced complexity atmospheres need to be guided by more complex OAGCM results on a case by case basis.

Sonogashira coupling on an extended gold surface in vacuo: reaction of phenylacetylene with iodobenzene on Au(111)

Temperature-programmed reaction measurements supported by scanning tunneling microscopy have shown that phenylacetylene and iodobenzene react on smooth Au(111) under vacuum conditions to yield biphenyl and diphenyldiacetylene, the result of homocoupling of the reactant molecules. They also produce diphenylacetylene, the result of Sonogashira cross-coupling, prototypical of a class of reactions that are of paramount importance in synthetic organic chemistry and whose mechanism remains controversial. Roughened Au(111) is completely inert toward all three reactions, indicating that the availability of crystallographically well-defined adsorption sites is crucially important. High-resolution X-ray photoelectron spectroscopy and near-edge X-ray absorption fine structure spectroscopy show that the reactants are initially present as intact, essentially flat-lying molecules and that the temperature threshold for Sonogashira coupling coincides with that for C−I bond scission in the iodobenzene reactant. The fractional-order kinetics and low temperature associated with desorption of the Sonogashira product suggest that the reaction occurs at the boundaries of islands of adsorbed reactants and that its appearance in the gas phase is rate-limited by the surface reaction. These findings demonstrate unambiguously and for the first time that this heterogeneous cross-coupling chemistry is an intrinsic property of extended, metallic pure gold surfaces: no other species, including solvent molecules, basic or charged (ionic) species are necessary to mediate the process.