MIMO nonlinear PID predictive controller

A class of nonlinear generalised predictive controllers (NGPC) is derived for multi-input multi-output (MIMO) nonlinear systems with offset or steady-state response error. The MIMO composite controller consists of an optimal NGPC and a nonlinear disturbance observer. The design of the nonlinear disturbance observer to estimate the offset is particularly simple, as is the associated proof of overall nonlinear closed-loop system stability. Moreover, the transient error response of the disturbance observer can be arbitrarily specified by simple design parameters. Very satisfactory performance of the proposed MIMO nonlinear predictive controller is demonstrated for a three-link nonlinear robotic manipulator example

Self-pulsation dynamics in narrow stripe semiconductor lasers

In this paper, we address the physical origin of self-pulsation in narrow stripe edge emitting semiconductor lasers. We present both experimental time-averaged polarization-resolved near-field measurements performed with a charged-coupled device camera and picosecond time resolved near-field measurements performed with a streak camera. These results demonstrate dynamic spatial-hole burning during pulse formation and evolution. We conclude from these experimental results that the dominant process which drives the self-pulsation in this type of laser diode is carrier induced effective refractive index change induced by the spatial-hole burning

Data acquisition system for NASA LaRC impact dynamics research facility

A data system is designed to permit the simultaneous recording of 90 data channels on one 28 track magnetic tape recorder using a constant bandwidth FM multiplexing technique. Dynamic signals from transducers located in the test aircraft are amplified and fed to voltage controlled oscillators where they are converted to discrete FM signals. The signals from each group of five VCO's are fed to a mixer/distribution amplifier where they are combined into one composite signal and recorded, using direct recording techniques, on one magnetic tape recorder track. Millivolt signals from the recorders reproduce heads are amplified to one volt and then electronically switched to an FM demultiplexing system where appropriate frequency discrimination and signal filtering recover the original analog information

Root anatomical traits contribute to deeper rooting of maize under compacted field conditions

© The Author(s) 2020. To better understand the role of root anatomy in regulating plant adaptation to soil mechanical impedance, 12 maize lines were evaluated in two soils with and without compaction treatments under field conditions. Penetrometer resistance was 1–2 MPa greater in the surface 30 cm of the compacted plots at a water content of 17–20% (v/v). Root thickening in response to compaction varied among genotypes and was negatively associated with rooting depth at one field site under non-compacted plots. Thickening was not associated with rooting depth on compacted plots. Genotypic variation in root anatomy was related to rooting depth. Deeper-rooting plants were associated with reduced cortical cell file number in combination with greater mid cortical cell area for node 3 roots. For node 4, roots with increased aerenchyma were deeper roots. A greater influence of anatomy on rooting depth was observed for the thinner root classes. We found no evidence that root thickening is related to deeper rooting in compacted soil; however, anatomical traits are important, especially for thinner root classes

New anemometer has fast response, measures dynamic pressure directly

A simple anemometer having a fast response to high frequency wind fluctuations by direct measurement of two drag-force components in orthogonal planes is described. It may be used to determine wind profiles to extensive heights and would be helpful in takeoff and landing of light planes

Gas Sorption and Luminescence Properties of a Terbium(III)-Phosphine Oxide Coordination Material with Two-Dimensional Pore Topology

The structure, stability, gas sorption properties and luminescence behaviour of a new lanthanide-phosphine oxide coordination material are reported. The polymer PCM-15 is based on Tb(III) and tris(p-carboxylated) triphenylphosphine oxide and has a 5,5-connected net topology. It exhibits an infinite three-dimensional structure that incorporates an open, two-dimensional pore structure. The material is thermally robust and remains crystalline under high vacuum at 150 degrees C. When desolvated, the solid has a CO2 BET surface area of 1187 m(2) g(-1) and shows the highest reported uptake of both O-2 and H-2 at 77 K and 1 bar for a lanthanide-based coordination polymer. Isolated Tb(III) centres in the as-synthesized polymer exhibit moderate photoluminescence. However, upon removal of coordinated OH2 ligands, the luminescence intensity was found to approximately double; this process was reversible. Thus, the Tb(III) centre was used as a probe to detect directly the desolvation and resolvation of the polymer.Welch Foundation F-1738, F-1631National Science Foundation 0741973, CHE-0847763Chemistr

Species of Coccidia (Apicomplexa: Eimeriidae) in Shrews from Alaska, U.S.A., and Northeastern Siberia, Russia, with Description of Two New Species

Fecal samples (n = 636) from 10 species of shrews collected in Alaska (n = 540) and northeastern Siberia (n = 96) were examined for the presence of coccidia (Apicomplexa: Eimeriidae). Five distinct oocyst morphotypes were observed. Three types were consistent with oocysts of previously recognized coccidia species from other shrew hosts. These were Eimeria inyoni, E. vagrantis, and Isospora brevicauda, originally described from the inyo shrew (Sorex tenellus), dusky shrew (S. monticolus), and northern short-tailed shrew (Blarina brevicauda), respectively. We found 5 new host records for E. inyoni, 3 for E. vagrantis, and 3 for I. brevicauda. The 2 additional oocyst morphotypes, both from the tundra shrew (Sorex tundrensis), are putative new species. Sporulated oocysts of Eimeria beringiacea n. sp. are subspheroidal, 17.7 × 15.6 μm (14-24 × 13-20 μm) with a length (L)/width (W) ratio of 1.1 (1.0-1.4); these lack a micropyle (M), an oocyst residuum (OR), and a polar granule (PG). Sporocysts are ellipsoidal, 10.3 × 6.1 μm (7-14 × 4-8 μm), with a L/W ratio of 1.7 (1.3–2.3) and have a Stieda body (SB), Substieda body (SSB), and sporocyst residuum (SR). Oocysts of Eimeria tundraensis n. sp. are spheroidal to subspheroidal, 24.8 × 23.5 μm (23-26 × 22-25 μm), with a L/W ratio of 1.1 (1.0-1.2); these lack a M and OR, but a single PG is present. Sporocysts are elongate ellipsoidal, 15.4 × 8.3 μm (13-17 × 7-9 μm), with a L/W ratio of 1.9 (1.4-2.1) and have a SB, SSB, and SR