Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements

The problem of robust finite-time trajectory tracking of nonholonomic mobile robots with unmeasurable velocities is studied. The contributions of the paper are that: first, in the case that the angular velocity of the mobile robot is unmeasurable, a composite controller including the observer-based partial state feedback control and the disturbance feed-forward compensation is designed, which guarantees that the tracking errors converge to zero in finite time. Second, if the linear velocity as well as the angular velocity of mobile robot is unmeasurable, with a stronger constraint, the finite-time trajectory tracking control of nonholonomic mobile robot is also addressed. Finally, the effectiveness of the proposed control laws is demonstrated by simulation.

The effect of acoustic mode on time-resolved temperature measurements in a Rijke-tube pulse combustor

Radial profiles are reported of average and rms temperature in a propane flame for the first, second, and third acoustic modes at four different axial positions above the burner in a Rijke-tube combustor. Selected plots of the power spectral density (PSD) of temperature fluctuations are also reported. These radial profiles are then compared to similar ones made in the same flame, but in the absence of the acoustic field. Visual observations and photographs of the flame showed a remarkable change in flame height and structure with the onset of acoustic oscillations. This reduction in flame length, caused by the enhanced mixing due to the acoustic velocity fluctuations, gave rise to higher and lower average and rms temperatures near or well above the burner, respectively. In general, the PSD plots had a broad frequency content. The general trend was a decrease in magnitude with an increase in frequency. All cases presented broad-band peaks at around 5 Hz related to the flame flickering phenomenon. Preferred frequencies were observed in the oscillating PSD plots related to the fundamental frequency as well as subharmonics in the tube. (C) 2000 Elsevier B.V. Ltd. All rights reserved.

Electron time-of-flight measurements in sulfur interpreted via an extra surface mobility channel

Time-of-flight measurements were carried out in orthorhombic sulfur for various fields, ranging from -2 to -20 kV/cm. No dependence of the mobility with the electric field was found but the current, normalized by the initial current, showed an electric field dependence at small times, decaying faster for larger electric field. After the failure of the usual models in explaining the resultsincluding the assumption of depth-dependent density of trapsa model assuming an extra mobility channel near the surface provided a reasonable set of parameters independent of the electric field. The measurements were carried out at 8.5, 29, 53, 68, and 79°C. © 1988 The American Physical Society.

Time-resolved Z-scan and thermal lens measurements in Er+3 and Nd+3 doped fluoroindate glasses

In rare earth ion doped solids, a resonant non-linear refractive index, n2, appears when the laser pumps one of the ion excited states and the refractive index change is proportional to the excited state population. In these solids there are usually thermal and non-thermal lensing effects, where the non-thermal one is due to the polarizability difference, Δα, between excited and ground states of the ions. We have used the time resolved Z-scan and a mode-mismatched thermal lens technique with an Ar+ ion laser in Er+3 (20ZnF2-20SrF2-2NaF-16BaF2-6GaF3-(36 - x)InF3-xErF3, with x= 1, 2, 3 and 4 mol%) and Nd+3 (20SrF2-16BaF2-20ZnF2-2GdF3-2NaF-(40 - x)InF3-xNdF3, with x = 0.1, 0.25, 0.5-1 mol%) doped fluoroindate glasses. In both samples we found that the non-linear refraction is due to the thermal effect, while the non-thermal effect is negligible. This result indicates that in fluoride glasses Δα is very small (less than 10-26 cm3). We also measured the imaginary part of the non-linear refractive index (n″2) due to absorption saturation.

Proposal of a dedicated telemetry device for real-time and remote measurements

This work aims to demonstrate an application of telemetry for monitoring process variables. The authors developed the prototype of a dedicated device capable of multiplexing, encoding and transmitting real-time data signals via amplitude-shift keying modulation to remotely located device(s). The prototype development is described in details, enabling the reproduction of the proposed telemetry system for a three-phase motor as well as for other devices. Furthermore, the proposed device has an easy implementation by using of accessible components and low cost, also presenting a tutorial and educational purpose. © 2011 IEEE.

Repeatability of nerve fiber layer thickness measurements in patients with glaucoma and without glaucoma using spectral-domain and time-domain OCT

The aim of this work is to assess the repeatability of spectral-domain-OCT (SD-OCT) retinal nerve fiber layer thickness (RNFL) thickness measurements in a non-glaucoma group and patients with glaucoma and to compare these results to conventional time-domain-OCT (TD-OCT).

Reliable gene expression measurements from degraded RNA by quantitative real-time PCR depend on short amplicons and a proper normalization

Quantitative reverse transcriptase real-time PCR (QRT-PCR) is a robust method to quantitate RNA abundance. The procedure is highly sensitive and reproducible as long as the initial RNA is intact. However, breaks in the RNA due to chemical or enzymatic cleavage may reduce the number of RNA molecules that contain intact amplicons. As a consequence, the number of molecules available for amplification decreases. We determined the relation between RNA fragmentation and threshold values (Ct values) in subsequent QRT-PCR for four genes in an experimental model of intact and partially hydrolyzed RNA derived from a cell line and we describe the relation between RNA integrity, amplicon size and Ct values in this biologically homogenous system. We demonstrate that degradation-related shifts of Ct values can be compensated by calculating delta Ct values between test genes and the mean values of several control genes. These delta Ct values are less sensitive to fragmentation of the RNA and are unaffected by varying amounts of input RNA. The feasibility of the procedure was demonstrated by comparing Ct values from a larger panel of genes in intact and in partially degraded RNA. We compared Ct values from intact RNA derived from well-preserved tumor material and from fragmented RNA derived from formalin-fixed, paraffin-embedded (FFPE) samples of the same tumors. We demonstrate that the relative abundance of gene expression can be based on FFPE material even when the amount of RNA in the sample and the extent of fragmentation are not known.