Distributed stabilization control of rigid formations with prescribed orientation

Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed orientations in both 2-D and 3-D spaces. The proposed controllers involve the commonly-used gradient descent control for shape stabilization, and an additional term to control the directions of certain relative position vectors associated with certain chosen agents. In this control framework, we show the minimal number of agents which should have knowledge of a global coordinate system (2 agents for a 2-D rigid formation and 3 agents for a 3-D rigid formation), while all other agents do not require any global coordinate knowledge or any coordinate frame alignment to implement the proposed control. The exponential convergence to the desired rigid shape and formation orientation is also proved. Typical simulation examples are shown to support the analysis and performance of the proposed formation controllers.Comment: This paper was submitted to Automatica for publication. Compared to the submitted version, this arXiv version contains complete proofs, examples and remarks (some of them are removed in the submitted version due to space limit.

Sonochemical Degradation of Perfluorooctane Sulfonate (PFOS) and Perfluorooctanoate (PFOA) in Landfill Groundwater: Environmental Matrix Effects

Perfluorinated chemicals such as perfluorooctane sulfonate (PFOS) and perfluorooctanoic acid (PFOA) are environmentally persistent and recalcitrant to most conventional chemical and microbial treatment technologies. In this paper, we show that sonolysis is able to decompose PFOS and PFOA present in groundwater beneath a landfill. However, the pseudo first-order rate constant for the sonochemical degradation in the landfill groundwater is reduced by 61 and 56% relative to MilliQ water for PFOS and PFOA, respectively, primarily due to the presence of other organic constituents. In this study, we evaluate the effect of various organic compounds on the sonochemical decomposition rates of PFOS and PFOA. Organic components in environmental matrices may reduce the sonochemical degradation rates of PFOS and PFOA by competitive adsorption onto the bubble−water interface or by lowering the average interfacial temperatures during transient bubble collapse events. The effect of individual organic compounds depends on the Langmuir adsorption constant, the Henry’s law constant, the specific heat capacity, and the overall endothermic heat of dissociation. Volatile organic compounds (VOCs) are identified as the primary cause of the sonochemical rate reduction for PFOS and PFOA in landfill groundwater, whereas the effect of dissolved natural organic matter (DOM) is not significant. Finally, a combined process of ozonation and sonolysis is shown to substantially recover the rate loss for PFOS and PFOA in landfill groundwater

Enclosure for thermoelectric refrigerator and method

An enclosed structure is provided for use with a refrigerator having a door assembly. The enclosed structure preferably contains superinsulation materials and a plurality of matching drawers. The enclosed structure preferably includes corner joints which minimize thermal energy transfer between adjacent superinsulation panels. The refrigerator may include a cooling system having a thermoelectric device for maintaining the temperature within the refrigerator at selected values. If desired, a fluid cooling system and an active gasket may also be provided between the door assembly and the enclosed structure. The fluid cooling system preferably includes a second thermoelectric device to maintain the temperature of fluid flowing through the active gasket at a selected value. The drawers associated with the refrigerator may be used for gathering, processing, shipping and storing food or other perishable items

Reductive defluorination of aqueous perfluorinated alkyl surfactants : effects of ionic headgroup and chain length

Perfluorinated chemicals (PFCs) are distributed throughout the environment. In the case of perfluorinated alkyl carboxylates and sulfonates, they can be classified as persistent organic pollutants since they are resistant to environmentally relevant reduction, oxidation, and hydrolytic processes. With this in mind, we report on the reductive defluorination of perfluorobutanoate, PFBA (C_3F_7CO_2−), perfluorohexanoate, PFHA (C_5F_(11)CO_2−), perfluorooctanoate, PFOA (C_7F_(15)CO_2−), perfluorobutane sulfonate, PFBS (C_4F_9SO_3−), perfluorohexane sulfonate, PFHS (C_6F_(13)SO_3−), and perfluorooctane sulfonate, PFOS (C_8F_(17)SO_3−) by aquated electrons, eaq−, that are generated from the UV photolysis (λ = 254 nm) of iodide. The ionic headgroup (-SO_3− vs -CO_2−) has a significant effect on the reduction kinetics and extent of defluorination (F index = −[F−]_(produced)/[PFC]_(degraded)). Perfluoroalkylsulfonate reduction kinetics and the F index increase linearly with increasing chain length. In contrast, perfluoroalkylcarboxylate chain length appears to have a negligible effect on the observed kinetics and the F index. H/F ratios in the gaseous fluoro-organic products are consistent with measured F indexes. Incomplete defluorination of the gaseous products suggests a reductive cleavage of the ionic headgroup occurs before complete defluorination. Detailed mechanisms involving initiation by aquated electrons are proposed

Spatiotemporal Mapping of Photocurrent in a Monolayer Semiconductor Using a Diamond Quantum Sensor

The detection of photocurrents is central to understanding and harnessing the interaction of light with matter. Although widely used, transport-based detection averages over spatial distributions and can suffer from low photocarrier collection efficiency. Here, we introduce a contact-free method to spatially resolve local photocurrent densities using a proximal quantum magnetometer. We interface monolayer MoS2 with a near-surface ensemble of nitrogen-vacancy centers in diamond and map the generated photothermal current distribution through its magnetic field profile. By synchronizing the photoexcitation with dynamical decoupling of the sensor spin, we extend the sensor's quantum coherence and achieve sensitivities to alternating current densities as small as 20 nA per micron. Our spatiotemporal measurements reveal that the photocurrent circulates as vortices, manifesting the Nernst effect, and rises with a timescale indicative of the system's thermal properties. Our method establishes an unprecedented probe for optoelectronic phenomena, ideally suited to the emerging class of two-dimensional materials, and stimulates applications towards large-area photodetectors and stick-on sources of magnetic fields for quantum control.Comment: 19 pages, 4 figure

Fundamental Limits to Coherent Photon Generation with Solid-State Atomlike Transitions

Coherent generation of indistinguishable single photons is crucial for many quantum communication and processing protocols. Solid-state realizations of two-level atomic transitions or three-level spin-$\Lambda$ systems offer significant advantages over their atomic counterparts for this purpose, albeit decoherence can arise due to environmental couplings. One popular approach to mitigate dephasing is to operate in the weak excitation limit, where excited state population is minimal and coherently scattered photons dominate over incoherent emission. Here we probe the coherence of photons produced using two-level and spin-$\Lambda$ solid-state systems. We observe that the coupling of the atomic-like transitions to the vibronic transitions of the crystal lattice is independent of driving strength and detuning. We apply a polaron master equation to capture the non-Markovian dynamics of the ground state vibrational manifolds. These results provide insight into the fundamental limitations for photon coherence from solid-state quantum emitters, with the consequence that deterministic single-shot quantum protocols are impossible and inherently probabilistic approaches must be embraced.Comment: 16 pages [with supplementary information], 8 figure

Control system for thermoelectric refrigerator

Apparatus including a power supply (202) and control system is provided for maintaining the temperature within an enclosed structure (40) using thermoelectric devices (92). The apparatus may be particularly beneficial for use with a refrigerator (20) having superinsulation materials (46) and phase change materials (112) which cooperate with the thermoelectric device (92) to substantially enhance the overall operating efficiency of the refrigerator (20). The electrical power supply (202) and control system allows increasing the maximum power capability of the thermoelectric device (92) in response to increased heat loads within the refrigerator (20). The electrical power supply (202) and control system may also be used to monitor the performance of the cooling system (70) associated with the refrigerator (20)

Polycistronic Delivery of IL-10 and NT-3 Promotes Oligodendrocyte Myelination and Functional Recovery in a Mouse Spinal Cord Injury Model.

One million estimated cases of spinal cord injury (SCI) have been reported in the United States and repairing an injury has constituted a difficult clinical challenge. The complex, dynamic, inhibitory microenvironment postinjury, which is characterized by proinflammatory signaling from invading leukocytes and lack of sufficient factors that promote axonal survival and elongation, limits regeneration. Herein, we investigated the delivery of polycistronic vectors, which have the potential to coexpress factors that target distinct barriers to regeneration, from a multiple channel poly(lactide-co-glycolide) (PLG) bridge to enhance spinal cord regeneration. In this study, we investigated polycistronic delivery of IL-10 that targets proinflammatory signaling, and NT-3 that targets axonal survival and elongation. A significant increase was observed in the density of regenerative macrophages for IL-10+NT-3 condition relative to conditions without IL-10. Furthermore, combined delivery of IL-10+NT-3 produced a significant increase of axonal density and notably myelinated axons compared with all other conditions. A significant increase in functional recovery was observed for IL-10+NT-3 delivery at 12 weeks postinjury that was positively correlated to oligodendrocyte myelinated axon density, suggesting oligodendrocyte-mediated myelination as an important target to improve functional recovery. These results further support the use of multiple channel PLG bridges as a growth supportive substrate and platform to deliver bioactive agents to modulate the SCI microenvironment and promote regeneration and functional recovery. Impact statement Spinal cord injury (SCI) results in a complex microenvironment that contains multiple barriers to regeneration and functional recovery. Multiple factors are necessary to address these barriers to regeneration, and polycistronic lentiviral gene therapy represents a strategy to locally express multiple factors simultaneously. A bicistronic vector encoding IL-10 and NT-3 was delivered from a poly(lactide-co-glycolide) bridge, which provides structural support that guides regeneration, resulting in increased axonal growth, myelination, and subsequent functional recovery. These results demonstrate the opportunity of targeting multiple barriers to SCI regeneration for additive effects

Sonochemical Degradation of Perfluorooctane Sulfonate (PFOS) and Perfluorooctanoate (PFOA) in Groundwater: Kinetic Effects of Matrix Inorganics

Ultrasonic irradiation has been shown to effectively degrade perfluorinated chemicals (PFCs) such as perfluorooctane sulfonate (PFOS) and perfluorooctanoate (PFOA) in aqueous solution. Reduced PFC sonochemical degradation rates in organic-rich groundwater taken from beneath a landfill, however, testify to the negative kinetic effects of the organic groundwater constituents. In this study, the PFOX (X = S or A) sonochemical degradation rates in a groundwater sample with organic concentrations about 10 times lower than those in the groundwater taken from beneath a landfill are found to be 29.7% and 20.5% lower, respectively, than the rates in Milli-Q water, suggesting that inorganic groundwater constituents also negatively affect PFC sonochemical kinetics. To determine the source of the groundwater matrix effects, we evaluate the effects of various inorganic species on PFOX sonochemical kinetics. Anions over the range of 1−10 mM show Hofmeister effects on the sonochemical degradation rates of PFOX, k_(ClO_4)^(−PFOX) > k_(NO_3)^(−PFOX) ~ k_(Cl^−)^(−PFOX) ≥ k_(MQ)^(−PFOX) > k_(HCO_3)^(−PFOX) ~ k_(SO_(4)^(2−)^(−PFOX). In contrast, common cations at 5 mM have negligible effects. Initial solution pH enhances the degradation rates of PFOX at 3, but has negligible effects over the range of 4 to 11. The observed inorganic effects on sonochemical kinetics are hypothesized to be due to ions’ partitioning to and interaction with the bubble−water interface. Finally, it is shown that the rate reduction in the groundwater in this study is primarily due to the presence of bicarbonate and thus can be fully rectified by pH adjustment prior to sonolysis