Structure-specified H∞ loop shaping control for balancing of bicycle robots: A particle swarm optimization approach

In this paper, the particle swarm optimization (PSO) algorithm was used to design the structure-specified H∞ loop shaping controllers for balancing of bicycle robots. The structure-specified H∞ loop shaping controller design normally leads to a complex optimization problem. PSO is an efficient meta-heuristic search which is used to solve multi-objectives and non-convex optimizations. A model-based systematic procedure for designing the particle swarm optimization-based structure-specified H∞ loop shaping controllers was proposed in this research. The structure of the obtained controllers are therefore simpler. The simulation and experimental results showed that the robustness and efficiency of the proposed controllers was gained when compared with the proportional plus derivative (PD) as well as conventional H∞ loop shaping controller. The simulation results also showed a better efficiency of the developed control algorithm compared to the Genetic Algorithm based one

Accounting conservatism and banking expertise on board of directors

Previous studies show mixed evidence of the role of banking expertise on the board of directors on accounting conservatism. In this paper, we add to this growing literature by providing an innovative way to measure banking expertise based on life-time working history in banks of all individual directors on the board. We find that accounting conservatism is negatively affected by banking expertise on the board. Also, the results indicate that banking expertise on the board has a more pronounced impact on accounting conservatism when firms have high bankruptcy risk and when firms have high financial leverage. The evidence has some implications for boards of directors

Comprehensive design and whole-cavity simulation of a multi-beam inductive output tube using a 3rd harmonic drive on the grid

In this paper, we discuss the design and whole-cavity simulation of a Multi-Beam Inductive Output Tube (MBIOT) that uses a 3rd harmonic component to the drive voltage on the grid. High-efficiency inductive output tubes (IOTs) are typically characterized by efficiencies up to 70 - 75%. However, the achievement of efficiencies greater than 80% would substantially reduce the operating costs of next-generation accelerators. To achieve this goal, we consider the addition of a 3rd harmonic component to the drive signal on the grid. We anticipate that the MBIOT will be used to provide the rf power to drive RF linacs. We discuss and model an 8-beam MBIOT with a 700 MHz resonant cavity using beams with a voltage of 35 kV and an average current of 7.25 A yielding a perveance of about 1.1 microP. We simulate this MBIOT using the NEMESIS simulation code which has been extended using a three-dimensional Poisson solver based upon the Petsc package from Argonne National Laboratory. The effect of the 3rd harmonic on the efficiency is greatest when the phase of the 3rd harmonic is shifted by pi radians with respect to the fundamental drive signal and with 3rd harmonic powers greater than about 50% of the fundamental drive power. For the present example, we show that efficiencies approaching 82% are possible. Designs for the MBIOT input coupler, grids and output cavity have been developed based on these simulations and will be discussed.Comment: 12 pages, 30 figure

The Proteus Navier-Stokes code

An effort is currently underway at NASA Lewis to develop two- and three-dimensional Navier-Stokes codes, called Proteus, for aerospace propulsion applications. The emphasis in the development of Proteus is not algorithm development or research on numerical methods, but rather the development of the code itself. The objective is to develop codes that are user-oriented, easily-modified, and well-documented. Well-proven, state-of-the-art solution algorithms are being used. Code readability, documentation (both internal and external), and validation are being emphasized. This paper is a status report on the Proteus development effort. The analysis and solution procedure are described briefly, and the various features in the code are summarized. The results from some of the validation cases that have been run are presented for both the two- and three-dimensional codes

Instantaneous frequency measurement system using optical mixing in highly nonlinear fiber

A broadband photonic instantaneous frequency measurement system utilizing four-wave mixing in highly nonlinear fiber is demonstrated. This new approach is highly stable and does not require any high-speed electronics or photodetectors. A first principles model accurately predicts the system response. Frequency measurement responses from 1 to 40 GHz are demonstrated and simple reconfiguration allows the system to operate over multiple bands

A case of hepatic cyst-induced internal jugular venous thrombosis

• Echocardiography can demonstrate hepatic cyst–induced right atrial compression. • Hepatic cyst–induced blood flow stasis can cause internal jugular venous thrombus. • Laparoscopic deroofing of hepatic cysts is a safe and effective treatment

Modelling Li+ Ion Battery Electrode Properties

We formulated two detailed models for an electrolytic cell with particulate electrodes based on a lithium atom concentration dependent Butler-Volmer condition at the interface between electrode particles and the electrolyte. The first was based on a dilute-ion assumption for the electrolyte, while the second assumed that Li ions are present in excess. For the first, we used the method of multiple scales to homogenize this model over the microstructure, formed by the small lithium particles in the electrodes. For the second, we gave rigorous bounds for the effective electrochemical conductivity for a linearized case. We expect similar results and bounds for the "full nonlinear problem" because variational results are generally not adversely affected by a sinh term. Finally we used the asymptotic methods, based on parameters estimated from the literature, to attain a greatly simplified one-dimensional version of the original homogenized model. This simplified model accounts for the fact that diffusion of lithium atoms within individual electrode particles is relatively much faster than that of lithium ions across the whole cell so that lithium ion diffusion is what limits the performance of the battery. However, since most of the potential drop occurs across the Debye layers surrounding each electrode particle, lithium ion diffusion only significantly affects cell performance if there is more or less complete depletion of lithium ions in some region of the electrolyte which causes a break in the current flowing across the cell. This causes catastrophic failure. Providing such failure does not occur the potential drop across the cell is determined by the concentration of lithium atoms in the electrode particles. Within each electrode lithium atom concentration is, to leading order, a function of time only and not of position within the electrode. The depletion of electrode lithium atom concentration is directly proportional to the current being drawn off the cell. This leads one to expect that the potential of the cell gradually drops as current is drawn of it. We would like to emphasize that all the homogenization methods employed in this work give a systematic approach for investigating the effect that changes in the microstructure have on the behaviour of the battery. However, due to lack of time, we have not used this method to investigate particular particle geometries

Readiness of Digital Transformation in Vietnamese Universities

The impact of the Covid-19 pandemic on Viet Nam higher education has both highlighted and accelerated the digital transformation agenda at universities. National level policy has also shaped and driven forward the digital transformation agenda. Positive and rapid progress has been made to date. Some universities were actively engaged in this process prior to Covid-19 through the transformation of institutional processes and systems, engaging in a range of collaborative partnerships focused on digital transformation nationally, regionally and internationally and providing a range of support for students and staff. However, a range of challenges remain both nationally and in particular for those institutions that have only recently embarked on digital transformation. The report presents a snapshot of the current state, and potential, of digital transformation in Viet Nam higher education and current collaboration with UK universities to support the digital transformation agenda. A holistic approach to address national issues accompanied by increased support to ensure that all HEIs, and their staff and students, are actively involved and supported appropriately in this process is key. Ensuring that support is equitably distributed is also key to ensure that all universities are able to effectively embark on their own digital transformation journey and participate in a range of collaborations. This report makes a series of recommendations and also suggests a series of recommendations for collaboration to support different types of activity between UK and Viet Nam universities

The Role of Sulfur Dioxide in Stratospheric Aerosol Formation Evaluated by Using in situ Measurements in the Tropical Lower Stratosphere

Stratospheric aerosols (SAs) are a variable component of the Earth\u27s albedo that may be intentionally enhanced in the future to offset greenhouse gases (geoengineering). The role of tropospheric-sourced sulfur dioxide (SO2) in maintaining background SAs has been debated for decades without in situ measurements of SO2 at the tropical tropopause to inform this issue. Here we clarify the role of SO2 in maintaining SAs by using new in situ SO2 measurements to evaluate climate models and satellite retrievals. We then use the observed tropical tropopause SO2 mixing ratios to estimate the global flux of SO2 across the tropical tropopause. These analyses show that the tropopause background SO2 is about 5 times smaller than reported by the average satellite observations that have been used recently to test atmospheric models. This shifts the view of SO2 as a dominant source of SAs to a near-negligible one, possibly revealing a significant gap in the SA budget. ©2017. American Geophysical Union