Synthesis and characterization of 2-(2-benzhydrylnaphthyliminomethyl)pyridylnickel halides: formation of branched polyethylene

A series of 2-(2-benzhydrylnaphthyliminomethyl)pyridine derivatives (L1–L3) was prepared and used to synthesize the corresponding bis-ligated nickel(II) halide complexes (Ni1–Ni6) in good yield. The molecular structures of representative complexes, namely the bromide Ni3 and the chloride complex Ni6, were confirmed by single crystal X-ray diffraction, and revealed a distorted octahedral geometry at nickel. Upon activation with either methylaluminoxane (MAO) or modified methylaluminoxane (MMAO), all nickel complex pre-catalysts exhibited high activities (up to 2.02 × 10⁷ g(PE) mol⁻¹(Ni) h⁻¹) towards ethylene polymerization, producing branched polyethylene of low molecular weight and narrow polydispersity. The influence of the reaction parameters and the nature of the ligands on the catalytic behavior of the title nickel complexes were investigated

Variable sampling-time nonlinear model predictive control of satellites using magneto-torquers

Satellite control using magneto-torquers represents a control challenge combined with strong nonlinearity, variable dynamics and partial controllability. An automatic differentiation-based nonlinear model predictive control (NMPC) algorithm is developed in this work to tackle these issues. Based on the previously developed formulation of NMPC, a novel variable sampling-time scheme is proposed to provide a better trade-off between transient control performance and closed-loop stability. More specifically, a small sampling time is adopted to improve the response speed when the satellite is far away from the desired position, and a large sampling time is employed for the closed-loop stability when the satellite is around its equilibrium position. This scheme also significantly reduces the online computational burden associated with fixed sampling-time NMPC where a large prediction horizon has to be adopted in order to the ensure closed-loop stability. The proposed approach is demonstrated through nonlinear simulation of a specific satellite case with satisfactory results obtained

Automatic differentiation based nonlinear model predictive control of satellites using magneto-torquers

Satellite control using magneto-torquers represents a control challenge combined with strong nonlinearity, variable dynamics and partial controllability. An automatic differentiation based nonlinear model predictive control (NMPC) algorithm is developed in this work to tackle these issues. Based on the previously developed formulation of NMPC, a novel variable sampling time scheme is proposed to combine with the NMPC algorithm so that both control performance, particularly the response speed when the satellite is far away from the desired position, and the closed-loop stability when the satellite is at its equilibrium position can be comfortably satisfied. The proposed approach is demonstrated through nonlinear simulation of a specific satellite case with satisfactory results obtained

Anti-disturbance fault tolerant initial alignment for inertial navigation system subjected to multiple disturbances

Modeling error, stochastic error of inertial sensor, measurement noise and environmental disturbance affect the accuracy of an inertial navigation system (INS). In addition, some unpredictable factors, such as system fault, directly affect the reliability of INSs. This paper proposes a new anti-disturbance fault tolerant alignment approach for a class of INSs sub- jected to multiple disturbances and system faults. Based on modeling and error analysis, stochastic error of inertial sensor, measurement noise, modeling error and environmental disturbance are formulated into different types of disturbances described by a Markov stochastic process, Gaussian noise and a norm-bounded variable, respectively. In order to improve the accuracy and reliability of an INS, an anti-disturbance fault tolerant filter is designed. Then, a mixed dissipative/guarantee cost performance is applied to attenuate the norm-bounded disturbance and to optimize the estimation error. Slack variables and dissipativeness are introduced to reduce the conservatism of the proposed approach. Finally, compared with the unscented Kalman filter (UKF), simulation results for self-alignment of an INS are provided based on experimental data. It can be shown that the proposed method has an enhanced disturbance rejection and attenuation performance with high reliability

Comparison of fiber-based Sagnac interferometers for self-switching of optical pulses

Abstract Self-switching of ultrashort optical pulses in a gain-distributed nonlinear amplifying fiber loop mirror (NALM) is investigated numerically in the soliton regime. Switching characteristics of this device is compared to those of the nonlinear optical loop mirror (NOLM) and the conventional NALM that uses a lumped gain. We show that, as compared with the NOLM or the conventional NALM, the gain-distributed NALM can produce higher-quality pulses and permits more efficient pulse compression. We also show that the gain-distributed NALM has several advantages over the conventional NALM such as sharpened switching edges, flattened switching peak, and robustness to gain variations

Expression and prognostic significance of Golgiglycoprotein73 (GP73) with Epithelial-mesenchymal transition (EMT) related molecules in Hepatocellular Carcinoma (HCC)

BACKGROUND: Hepatocellular carcinoma (HCC) is the fifth most common cancer and the third cause of cancer-related deaths, worldwide. It is essential to develop an effective prognostic biomarker and determine the mechanisms underlying HCC invasion and metastasis. AIMS: This study aimed to investigate the expression of Golgi glycoprotein73 (GP73) and Epithelial-mesenchymal transition (EMT) molecules such as E-cadherin and Vimentin in HCC. We also evaluated the prognostic value of GP73 in HCC. METHODS: Immunohistochemistry (IHC) was used to determine the expression of GP73 and EMT molecules in 75 HCC specimens and the corresponding paracarcinomatous liver (PCL) tissues. Spearman’s correlation test was used to analyze the correlation of GP73 and EMT molecules. Clinicopathological features of the HCC patients were also analyzed. Univariate survival analysis was performed by the Kaplan–Meier method and differences among the groups were analyzed by the Log-rank test. RESULTS: GP73 expression in HCC was higher compared with PCL tissues (χ( 2 ) = 73.60, P < 0.05). EMT molecules were also detected in HCC and PCL tissues. GP73 was negatively correlated with E-cadherin (r = − 0.49, P < 0.05), but positively correlated with Vimentin (r = 0.46, P < 0.05) in HCC. GP73 was correlated with the clinicopathological features including Edmondson grade, vascular invasion and TNM stage (P < 0.05), which was also associated with overall survival (OS) (P < 0.05). CONCLUSIONS: GP73 was negatively with E-cadherin and positively correlated with Vimentin. It might be associated with aggressive behavior of HCC and had influence on patients’ OS. Further research is needed to determine the potential of GP73. VIRTUAL SLIDES: The virtual slide(s) for this article can be found here: http://www.diagnosticpathology.diagnomx.eu/29 vs/1504046946108618; http://med.motic.com/MoticGallery/Slide?id=3b6a037e-f60e-4c68-9106-41e790de9431&user=2C69F0D6-A478-4A2B-ABF0-BB36763E8025; http://med.motic.com/MoticGallery/Slide?id=a25b5b32-b613-47b0-9f8b-e1e67a95d1bf&user=2C69F0D6-A478-4A2B-ABF0-BB36763E8025

Robust Synchronization of Incommensurate Fractional-Order Chaotic Systems via Second-Order Sliding Mode Technique

A second-order sliding mode (SOSM) controller is proposed to synchronize a class of incommensurate fractional-order chaotic systems with model uncertainties and external disturbances. Based on the chattering free SOSM control scheme, it can be rigorously proved that the dynamics of the synchronization error is globally asymptotically stable by using the Lyapunov stability theorem. Finally, numerical examples are provided to illustrate the effectiveness of the proposed controller design approach