FINITE-TIME STABILITY ANALYSIS OF DISCRETE TIME-DELAY SYSTEMS USING DISCRETE CONVOLUTION OF DELAYED STATES

Finite-time stability for the linear discrete-time system with state delay was investigated in this article. Stability of the system was analyzed using both the Lyapunov-like approach and the discrete Jensen’s inequality. A novel Lyapunov-like functional with a discrete convolution of delayed states was proposed and used for the derivation of the sufficient stability conditions of the investigated system. As a result, the novel stability conditions guarantee that the states of the systems do not exceed the predefined boundaries on a finite time interval. The proposed methodology was illustrated with a numerical example. A computer simulation was performed for the analysis of the dynamical behavior of this system

THE WINDER DANCER POSITION CONTROL MODEL USING DIFFERENT PID CONTROL STRUCTURES AND MICROLOGIX PLC

In the cable industry, improper regulation of the winding speed of the conductor cable, i.e. the position of the tensioner (dancer) leads to improper stretching of the conductor, which significantly affects the characteristics of the final product. Winding speed control is directly related to tensioning which is an additional problem. This paper presents a system for control a cable winding device using a linear PID controller with and without control signal limitation. The system parameters were determined using integral time-weighted absolute error (ITAE) criteria and realized using a conventional PLC controller

DIGITAL MODEL PREDICTIVE CONTROL OF THE THREE TANK SYSTEM BASED ON LAGUERRE FUNCTIONS

The application of the model predictive control (MPC) based on discrete-time Laguerre functions is presented in this paper. A nonlinear three-tank hydraulic system is used as an object to which the proposed algorithm is applied. The paper also presents the method of For the verification of the proposed control method, digital simulations are performed using Matlab.linearization of the nonlinear system, as well as the procedure for the controller design

FUZZY LOGIC-BASED CONTROL OF THREE-DIMENSIONAL CRANE SYSTEM

The control of three-dimensional (3D) crane system represents one of the most widely challenging control problems. 3D crane system is used for lifting and moving loads horizontally, as well as lowering and realizing the gripper to the original position. In this paper fuzzy logic-based control of three-dimensional crane (3D) system is presented. Hence the system produces oscillations during moving loads, the main objective of the designed controller is to control the swing angle. As a plant for controller design, the bond graph model of 3D crane system is used. To verify the effectiveness of the proposed control method, several digital simulations with concrete values of parameters are performed using Matlab. The simulations results show that the proposed fuzzy logic control produce better performance in regard to the reduction of undesired oscillations.Key words: bond graph, 3D crane, Dymola, fuzzy control, modeling and simulation, Matlab/Simulin

A NEW TYPE OF DISCRETE EULER-LAGRANGE EQUATION WITH APPLICATIONS IN OPTIMAL CONTROL

A new type of discrete Euler-Lagrange equation, suitable for generalization, is presented in this paper. Several forms of this equation can be found in references. They have different differential operators as well as combinations of them. The equation given in this paper uses only one differential operator providing easy generalizations of Euler-Lagrange equation. In the paper, generalizations for the case of more variables and more ordered differences in the functional which is optimized, are derived. The application in determining optimal control of a discrete system is also given

DATA DENOISING PROCEDURE FOR NEURAL NETWORK PERFORMANCE IMPROVEMENT

This paper will present training data denoising procedure for neural network performance improvement. Performance improvement will be measured by evaluation criterion which is based on a training estimation error and signal strength factor. Strength factor will be obtained by applying denoising method on a default training signal. The method is based on a noise removal procedure performed on the original signal in a manner which is defined by the proposed algorithm. Ten different processed signals are obtained from the performed method on a default noisy signal. Those signals are then used as a training data for the nonlinear autoregressive neural network learning phase. Empirical comparisons are made at the end, and they show that the proposed denoising procedure is an effective way to improve network performances when the training set possesses the significant noise component

Contamination, risk, and source apportionment of potentially toxic microelements in river sediments and soil after extreme flooding in the Kolubara River catchment in Western Serbia

Climate change is contributing to an increase in extreme weather events. This results in a higher river flooding risk, causing a series of environmental disturbances, including potential contamination of agricultural soil. In Serbia, the catastrophic floods of 2014 affected six river basins, including the Kolubara River Basin, as one of the larger sub-catchments of the large regional Sava River Basin, which is characterized by large areas under agricultural cultures, various geological substrates, and different types of industrial pollution. The main aim of this study was to establish the sources of potentially toxic elements in soil and flood sediments and the effect of the flood on their concentrations. Field sampling was performed immediately after water had receded from the flooded area in May 2014. In total, 36 soil samples and 28 flood sediment samples were collected. After acid digestion (HNO3), concentrations of the most frequent potentially toxic elements (PTE) in agricultural production (As, Cd, Cr, Cu, Ni, Pb, Zn) and Co which are closely related to the geological characteristics of river catchments, were analyzed. The origin, source, and interrelations of microelements, as well as BACKGROUND: values of the PTE of the river catchment, the pollution index (Pi), enrichment factor (Ef), and geological index (Igeo), were determined, using statistical methods such as Pearson correlations, principal component analysis (PCA), and multiple linear regression (MLRA). The content of the hot acid-extractable forms of the elements, PCA, and MLRA revealed a heavy geological influence on microelement content, especially on Ni, Cr, and Co, while an anthropogenic influence was observed for Cu, Zn, and Cd content. This mixed impact was primarily related to mines and their impact on As and Pb content. The pseudo-total concentrations of all the analyzed elements did not prove to be a danger in the catchment area, except for Cu in some samples, indicating point-source pollution, and Ni, whose pseudo-total content could be a limiting factor in agricultural production. For the Ef, the Ni content in 59% soil and 68% flood sediment samples is classified into influence classes. The similar pseudo-total contents of the elements studied in soil samples and flood sediment and their origin indicate that the long-term soil formation process is subject to periodic flooding in the Kolubara River Basin without any significant changes taking place. This implies that floods are not an endangering factor in terms of the contamination of soil by potentially toxic elements in the explored area

Telsonius nycteridonis , Strasser 1976

<i>Telsonius nycteridonis</i> Strasser, 1976 <p>Figs 53E, 54I</p> Material examined <p> <b>Lectotype</b> (here designated)</p> <p> GREECE – <b>Macedonia •</b> ♂; Nycteridon Cave, village Petralona; 10 Oct. 1974; P. Beron and V. Beškov leg.; “ <i>Telsonius</i> n. g. <i>nycter</i>. n. sp. Holotype ♂; Grotte ‘Spilja nycteridon’, v. Petralona, distr. Salonique, Grèce du Nord; 10.10.1974; P. Beron, V. Beškov leg.”; NMNHS 10810 (alcohol material, body in four pieces), NMNHS 10810 a (microscopic slide labeled as “ Holotypus ”, with gnathochilarium, leg-pairs 1 and 2, legs 3 and 4), NMNHS 10810 b (microscopic slide labeled as “ Holotypus ”, with right gonopods, part of body ring 7 and one antenna).</p> Remarks <p> On the labels of the vial and on the two microscopic slides of the lectotype male of <i>Telsonius nycteridonis</i>, Strasser clearly indicated “ holotypus ”, but he did not designate a holotype in the original description of the species (Strasser 1976). According to ICZN 72.4.7: “The mere citation of “Type” or equivalent expression, in a published work other than that in which the nominal species-group taxon is established, or in an unpublished catalogue of a museum, or on a label, is not necessarily evidence that a specimen is or is fixed as any of the kinds of types referred to in this Chapter”. The designation of the holotype and paratypes is only valid if it appears in the original description of the species. Since this is not the case with <i>Telsonius nycteridonis</i>, the type male of this species in NMNHS is to be considered as a syntype which we herewith designate as the lectotype to fix the taxonomy of this species.</p>Published as part of <i>Antić, Dragan Ž. & Reip, Hans S., 2020, The millipede genus Leucogeorgia Verhoeff, 1930 in the Caucasus, with descriptions of eleven new species, erection of a new monotypic genus and notes on the tribe Leucogeorgiini (Diplopoda: Julida: Julidae), pp. 1-106 in European Journal of Taxonomy 713</i> on pages 90-93, DOI: 10.5852/ejt.2020.713, <a href="http://zenodo.org/record/4020752">http://zenodo.org/record/4020752</a&gt

Leucogeorgia golovatchi Antić & Reip 2020, sp. nov.

<i>Leucogeorgia golovatchi</i> sp. nov. <p>urn:lsid:zoobank.org:act: AFC4B93A-128A-4FF6-9E97-726F4DDE4CA1</p> <p>Figs 22–24, 56, 58</p> Diagnosis <p> This species belongs to the group of <i>Leucogeorgia</i> spp. with neither modified mouthparts nor teeth on the mesomeral claw (vs teeth present in <i>L. abchasica</i>, <i>L. borealis</i> sp. nov., <i>L. gioi</i> sp. nov., <i>L. oculata</i> sp. nov. and <i>L. satunini</i>). <i>Leucogeorgia golovatchi</i> sp. nov. differs from <i>L. lobata</i> sp. nov. by the absence of a strongly developed lobe on the mesomeral lamella (vs presence of a strongly developed lobe in <i>L. lobata</i> sp. nov.). <i>Leucogeorgia golovatchi</i> sp. nov. differs from <i>L. prometheus</i> sp. nov. by both a shorter mesomeral claw and a long solenomere clearly exceeding the height of the mesomeral lamella (vs a longer mesomeral claw and a short solenomere not exceeding the height of the mesomeral lamella in <i>L. prometheus</i> sp. nov.). Additionally, <i>L. golovatchi</i> sp. nov. clearly differs from all other congeners by having strongly developed ventral lobes on body ring 2 in both sexes (vs absence of such lobes in all other congeners).</p> Etymology <p>This new species is dedicated to Sergei Golovatch, one of the collectors, a well-known diplopodologist worldwide, and our good friend and colleague. His collection of millipedes from the Caucasus, now in ZMUM, is one of the largest and most complete. Noun in the genitive case.</p> Material examined <p> <b>Holotype</b></p> <p> CENTRAL-WEST GEORGIA – <b>Racha-Lechkhumi</b> • ♂; Ambrolauri District, near Gogoleti, Tsakhi (= Gogoleti) Cave; 42.54° N, 42.90° E; 30 Jul. 1939; J. Birstein leg.; ZMUM.</p> <p> <b>Paratypes</b></p> <p> CENTRAL-WEST GEORGIA – <b>Racha-Lechkhumi</b> • 8 ♂♂, 1 ♀, 6 juvs; same collection data as for holotype; ZMUM • 1 ♂; same collection data as for holotype; IZB • 1 ♂; same collection data as for holotype; SMNG; • 7 ♂♂, 3 ♀♀, 7 juvs (mainly fragmented); same collection data as for holotype but 9 Aug. 1974; S.I. Golovatch leg.; ZMUM.</p> Description <p>SIZE AND NUMBER OF BODY RINGS. Holotype male 25 mm long, vertical diameter of largest body ring 1.6 mm, body with 50 podous rings + 1 apodous ring + telson. Paratype males 22–29 mm long, vertical diameter of largest body ring 1.3–1.8 mm, body with 43–52 podous rings + 0–2 apodous rings + telson. Paratype females 21–29 mm long, vertical diameter of largest body ring 1.3–1.8 mm, body with 46–50 podous rings + 1 apodous ring + telson.</p> <p>COLOUR (Fig. 22). Yellowish white in alcohol.</p> <p>HEAD (Figs 22B, 23C). Without ommatidia. Frontal setae absent. Labrum with three labral teeth, four supralabral setae and 15 labral setae. Gnathochilarium with rhomboid promentum. Lamellae linguales with 5+5 setae, stipites with 3+3 distolateral and 11+11 medial setae. Antennae 2.3 mm long in holotype</p> <p>male, their length ca 140% of vertical diameter of largest body ring. Lengths of antennomeres I–VIII (in mm): 0.12 (I), 0.47 (II), 0.41 (III), 0.4 (IV), 0.46 (V), 0.29 (VI), 0.12 (VII) and 0.03 (VIII). Length/width ratio of antennomeres I–VII: 0.8 (I), 3 (II), 3 (III), 2.7 (IV), 2.4 (V), 1.6 (VI) and 0.9 (VII). Antennomeres</p> <p>V and VI each with a terminal corolla of large sensilla basiconica bacilliformia; antennomere VII with a terminal corolla of small sensilla basiconica bacilliformia.</p> <p>BODY RINGS (Fig. 22 D–F). Entire metazonal area with longitudinal striations. Length of midbody setae ca 5% of vertical diameter of rings. Body ring 2 with strongly developed ventral lobes (Fig. 22B, E–F), rounded in lateral view.</p> <p>TELSON (Fig. 22C). Epiproct with a very short and blunt preanal process, covered with dorsal and lateral setae. Paraprocts rounded, with numerous setae. Hypoproct without any modifications.</p> <p>LEGS IN MALES. First pair of legs modified, hook-shaped (Figs 23 A–B, 24D–E), with three complete podomeres; coxa with one seta; prefemur with 8–10 setae; femur, postfemur and tibiotarsus coalesced; femur with 2–3 setae; postfemur with one seta. Tibiotarsus with a short distal lobe (tarsal remnant). Tip slightly tuberculated. Postfemoral and tibial ventral pads well-developed on anterior legs, then gradually disappearing towards posterior legs.</p> <p>PENES (Fig. 24C). In form of a short trapezoid, apically with two small subtriangular lobes.</p> <p>VENTRAL MARGIN OF MALE BODY RING 7 (Fig. 22G). Small, rounded in lateral view.</p> <p>GONOPODS (Figs 23D, 24 A–B). Promere (p) long and slender, with a flagellum (f); apical part with poorly denticulated margins; basal half with two developed ridges. Mesomere (m) with a slender mesomeral claw (mc) lacking teeth; mesomeral lamella (ml) gradually decreasing in height posteriad, distal margin serrate, posterior part finely fimbriate. Opisthomere (o) bipartite. Anterior branch of o with a solenomere (s) with a long tip exceeding posterior part of lamella, and a well-developed and fimbriate velum (v). Posterior branch of o in form of a shield-like protective lamella (pl). Mesomere and opisthomere connected basally with an accessory membrane (am).</p> Distribution <p>Known only from its type locality (Fig. 58, orange triangle).</p>Published as part of <i>Antić, Dragan Ž. & Reip, Hans S., 2020, The millipede genus Leucogeorgia Verhoeff, 1930 in the Caucasus, with descriptions of eleven new species, erection of a new monotypic genus and notes on the tribe Leucogeorgiini (Diplopoda: Julida: Julidae), pp. 1-106 in European Journal of Taxonomy 713</i> on pages 37-41, DOI: 10.5852/ejt.2020.713, <a href="http://zenodo.org/record/4020752">http://zenodo.org/record/4020752</a&gt