A method for linearizing a nonlinear system with six state variables and three control variables

A nonlinear system governed by x = f(x,u) with six state variables and three control variables is considered in this project. A set of transformations from (x,u) - space to (z,v) - space is defined such that the linear tangent model is independent of the operating point in the z-space. Therefore, it is possible to design a control law satisfying all operating points in the transformed space. An algorithm to construct the above transformations and to obtain the associated linearized system is described in this report. This method is applied to a rigid body using pole placement for the control law. Results are verified by numerical simulation. Closed loop poles in x-space using traditional local linearization are compared with those pole placements in the z-space

Design and fabrication of SNAP-8 auxiliary loop heat exchangers Final report

Design and fabrication of prototype auxiliary loop heat exchanger for SNAP

Parallel processing architecture for computing inverse differential kinematic equations of the PUMA arm

In advanced robot control problems, on-line computation of inverse Jacobian solution is frequently required. Parallel processing architecture is an effective way to reduce computation time. A parallel processing architecture is developed for the inverse Jacobian (inverse differential kinematic equation) of the PUMA arm. The proposed pipeline/parallel algorithm can be inplemented on an IC chip using systolic linear arrays. This implementation requires 27 processing cells and 25 time units. Computation time is thus significantly reduced

Effect of alendronate on post-traumatic osteoarthritis induced by anterior cruciate ligament rupture in mice.

IntroductionPrevious studies in animal models of osteoarthritis suggest that alendronate (ALN) has antiresorptive and chondroprotective effects, and can reduce osteophyte formation. However, these studies used non-physiologic injury methods, and did not investigate early time points during which bone is rapidly remodeled prior to cartilage degeneration. The current study utilized a non-invasive model of knee injury in mice to investigate the effect of ALN treatment on subchondral bone changes, articular cartilage degeneration, and osteophyte formation following injury.MethodsNon-invasive knee injury via tibial compression overload or sham injury was performed on a total of 90 mice. Mice were treated with twice weekly subcutaneous injections of low-dose ALN (40 μg/kg/dose), high-dose ALN (1,000 μg/kg/dose), or vehicle, starting immediately after injury until sacrifice at 7, 14 or 56 days. Trabecular bone of the femoral epiphysis, subchondral cortical bone, and osteophyte volume were quantified using micro-computed tomography (μCT). Whole-joint histology was performed at all time points to analyze articular cartilage and joint degeneration. Blood was collected at sacrifice, and serum was analyzed for biomarkers of bone formation and resorption.ResultsμCT analysis revealed significant loss of trabecular bone from the femoral epiphysis 7 and 14 days post-injury, which was effectively prevented by high-dose ALN treatment. High-dose ALN treatment was also able to reduce subchondral bone thickening 56 days post-injury, and was able to partially preserve articular cartilage 14 days post-injury. However, ALN treatment was not able to reduce osteophyte formation at 56 days post-injury, nor was it able to prevent articular cartilage and joint degeneration at this time point. Analysis of serum biomarkers revealed an increase in bone resorption at 7 and 14 days post-injury, with no change in bone formation at any time points.ConclusionsHigh-dose ALN treatment was able to prevent early trabecular bone loss and cartilage degeneration following non-invasive knee injury, but was not able to mitigate long-term joint degeneration. These data contribute to understanding the effect of bisphosphonates on the development of osteoarthritis, and may support the use of anti-resorptive drugs to prevent joint degeneration following injury, although further investigation is warranted

New modelling technique for aperiodic-sampling linear systems

A general input-output modelling technique for aperiodic-sampling linear systems has been developed. The procedure describes the dynamics of the system and includes the sequence of sampling periods among the variables to be handled. Some restrictive conditions on the sampling sequence are imposed in order to guarantee the validity of the model. The particularization to the periodic case represents an alternative to the classic methods of discretization of continuous systems without using the Z-transform. This kind of representation can be used largely for identification and control purposes.Comment: 19 pages, 0 figure

Effect of varying dietary zinc levels and environmental temperature on the growth performance, feathering score and feather mineral concentration in commercial broilers

This study aimed to investigate the effects of dietary zinc (Zn), environmental temperatures and Zn× temperature interaction on growth, feathering score and mineral composition of broilers. A total of 256 d-old Avian male broiler chicks were randomly allocated to a 4×2 factorial arrangement with four corn-soybean meal basal diets (containing 44 mg Zn/kg) supplemented with 0, 40, 60 mg/kg Zn (Diets 1, 2 and 3, respectively; 0.8% Ca for these three diets) and non-Zn supplementation, 1.6% Ca (Diet 4)and two temperature conditions (low: 26, 24, 22°C vs. high: 30, 28, 26°C). All birds were given feathering coverage scores for back, breast, wing, under-wing and tail. The wing and tail were further evaluated for the occurrence and severity of defect feathers. Feathers were then pooled for mineral composition analysis. The results showed that in high temp erature conditions, broilers fed Zn-unsupplemented, 0.8% Ca ration (Diet 1) had significantly(p<0.05) lower ADFI and ADG (wk 1-6) than birds under low temperature conditions. However, when the birds were fed 40 and 60 mg/kg Zn supplementation (Diets 2 and 3), the ADFI and ADG in both temperature conditions were not significantly different. In low temperature conditions, the ADFI, ADG (p<0.05), all feather coverage (p<0.01) and tail defect scores (p<0.001) of birds fed Diet 4 (excess Ca) were significantly poorer than those fed Diet 1. More Ca (p<0.05) was retained in the feathers of broilers fed Diet 4 under high temperature conditions. Broilers fed the Zn-unsupplemented ration (D iet 1) had significantly higher feather phosphorus (p<0. 01) and potassium (p<0.05) concentrations than those fed the 60 mg/kg Zn-supplemented ration (Diet 3). A reduction of feather phosphorus (p<0.01) and potassium (p<0.05) and higher manganese (p<0.05) concentrations were observed in Diet 4 broilers as compared to those fed Diet 1.Under high temperature conditions, broilers had lower iron (p<0.05) and higher manganese (p<0.05) concentrations in feathers. Broilers kept in high temperature conditions had a higher Zn requirement and 40 mg/kg Zn supplementation was sufficient for the birds to achieve optimum growth. Suppl emental Zn ameliorated the adverse effect of high temperature on growth and occurrence of tail feather defects. Excess Ca disrupted Zn metabolism to exert a detrimental effect on growth performance and normal feathering and this was elucidated in the birds kept in low temperature conditions

Diminished Alveolar Microvascular Reserves in Type 2 Diabetes Reflect Systemic Microangiopathy

OBJECTIVE—Alveolar microvascular function is moderately impaired in type 1 diabetes, as manifested by restriction of lung volume and diffusing capacity (DLCO). We examined whether similar impairment develops in type 2 diabetes and defined the physiologic sources of impairment as well as the relationships to glycemia and systemic microangiopathy

Collapse of stamps for soft lithography due to interfacial adhesion

Collapse of elastomeric elements used for pattern transfer in soft lithography is studied through experimental measurements and theoretical modehng. The objective is to identify the driving force for such collapse. Two potential driving forces, the self-weight of the stamp and the interfacial adhesion, are investigated. An idealized configuration of periodic rectangular grooves and flat punches is considered. Experimental observations demonstrate that groove collapse occurs regardless of whether the gravitational force promotes or suppresses such collapse, indicating that self-weight is not the driving force. On the other hand, model predictions based on the postulation that interfacial adhesion is the driving force exhibit excellent agreement with the experimentally measured collapse behavior. The interfacial adhesion energy is also evaluated by matching an adhesion parameter in the model with the experimental data.open546