Second-order sliding mode control for offshore container cranes

Open-sea stevedores of containers provide an alternative way to avoid port congestion. This process involves a mobile harbour equipped with a crane which loads/unloads containers from a large cargo ship. However, the presence of ocean waves and gusty winds can produce an excessive sway to the hoisting ropes of the crane system. This paper presents a second-order sliding mode controller for trajectory tracking and sway suppression of an offshore container crane. From the proposed control law, the asymptotic stability of the closed-loop system is guaranteed in the Lyapunov sense. Simulation results indicate that the developed control system can achieve high performance in trajectory tracking and swing angle suppression despite the presence of parameter variations and external disturbances as in the case of offshore cranes

Adaptive fuzzy sliding mode control for uncertain nonlinear underactuated mechanical systems

Sliding mode control has been shown to be a robust and effective control approach for stabilization of nonlinear systems. However the dynamic performance of the controller is a complex function of the system parameters, which is often uncertain or partially known. This paper presents an adaptive fuzzy sliding mode control for a class of underactuated nonlinear mechanical systems. An adaptive fuzzy system is used to approximate the uncertain parts of the underactuated system. The adaptive law is designed based on the Lyapunov method. The proof for the stability and the convergence of the system is presented. Robust performance of the adaptive fuzzy sliding mode control is illustrated using a gantry crane system. Simulation results demonstrate that the system output can track the reference signal in the presence of modelling uncertainties, external disturbances and parameter variation. © 2013 IEEE

Joint Optimization of Precoder and Decoder in Multiuser MIMO Systems

This paper considers the joint optimization of precoder and decoder for both uplink and downlink transmissions in multiuser multiple-input, multiple-output (MU-MIMO) systems. Focusing on the scenario when an improper constellation such as binary phase shift-keying (BPSK) or M-ary amplitude shift-keying (M-ASK) is employed, novel joint linear precoders and decoders are proposed to minimize the total mean squared error (TMSE) of the symbol estimation. The superiority of the proposed transceivers over the previously-proposed designs is thoroughly verified by simulation results

Observations of Shock Propagation through Turbulent Plasma in the Solar Corona

Eruptive activity in the solar corona can often lead to the propagation of shock waves. In the radio domain the primary signature of such shocks are type II radio bursts, observed in dynamic spectra as bands of emission slowly drifting toward lower frequencies over time. These radio bursts can sometimes have an inhomogeneous and fragmented fine structure, but the cause of this fine structure is currently unclear. Here we observe a type II radio burst on 2019 March 20th using the New Extension in Nançay Upgrading LOFAR, a radio interferometer observing between 10–85 MHz. We show that the distribution of size scales of density perturbations associated with the type II fine structure follows a power law with a spectral index in the range of α = −1.7 to −2.0, which closely matches the value of −5/3 expected of fully developed turbulence. We determine this turbulence to be upstream of the shock, in background coronal plasma at a heliocentric distance of ∼2 R⊙. The observed inertial size scales of the turbulent density inhomogeneities range from ∼62 Mm to ∼209 km. This shows that type II fine structure and fragmentation can be due to shock propagation through an inhomogeneous and turbulent coronal plasma, and we discuss the implications of this on electron acceleration in the coronal shock

Finding needles in haystacks: linking scientific names, reference specimens and molecular data for Fungi

DNA phylogenetic comparisons have shown that morphology-based species recognition often underestimates fungal diversity. Therefore, the need for accurate DNA sequence data, tied to both correct taxonomic names and clearly annotated specimen data, has never been greater. Furthermore, the growing number of molecular ecology and microbiome projects using high-throughput sequencing require fast and effective methods for en masse species assignments. In this article, we focus on selecting and re-annotating a set of marker reference sequences that represent each currently accepted order of Fungi. The particular focus is on sequences from the internal transcribed spacer region in the nuclear ribosomal cistron, derived from type specimens and/or ex-type cultures. Re-annotated and verified sequences were deposited in a curated public database at the National Center for Biotechnology Information (NCBI), namely the RefSeq Targeted Loci (RTL) database, and will be visible during routine sequence similarity searches with NR_prefixed accession numbers. A set of standards and protocols is proposed to improve the data quality of new sequences, and we suggest how type and other reference sequences can be used to improve identification of Fungi

Diagnosis of pericardial cysts using diffusion weighted magnetic resonance imaging: A case series

<p>Abstract</p> <p>Introduction</p> <p>Congenital pericardial cysts are benign lesions that arise from the pericardium during embryonic development. The diagnosis is based on typical imaging features, but atypical locations and signal magnetic resonance imaging sequences make it difficult to exclude other lesions. Diffusion-weighted magnetic resonance imaging is a novel method that can be used to differentiate tissues based on their restriction to proton diffusion. Its use in differentiating pericardial cysts from other pericardial lesions has not yet been described.</p> <p>Case presentation</p> <p>We present three cases (a 51-year-old Caucasian woman, a 66-year-old Caucasian woman and a 77-year-old Caucasian woman) with pericardial cysts evaluated with diffusion-weighted imaging using cardiac magnetic resonance imaging. Each lesion demonstrated a high apparent diffusion coefficient similar to that of free water.</p> <p>Conclusion</p> <p>This case series is the first attempt to investigate the utility of diffusion-weighted magnetic resonance imaging in the assessment of pericardial cysts. Diffusion-weighted imaging may be a useful noninvasive diagnostic tool for pericardial cysts when conventional imaging findings are inconclusive.</p

Limits on WWZ and WW\gamma couplings from p\bar{p}\to e\nu jj X events at \sqrt{s} = 1.8 TeV

We present limits on anomalous WWZ and WW-gamma couplings from a search for WW and WZ production in p-bar p collisions at sqrt(s)=1.8 TeV. We use p-bar p -> e-nu jjX events recorded with the D0 detector at the Fermilab Tevatron Collider during the 1992-1995 run. The data sample corresponds to an integrated luminosity of 96.0+-5.1 pb^(-1). Assuming identical WWZ and WW-gamma coupling parameters, the 95% CL limits on the CP-conserving couplings are -0.33<lambda<0.36 (Delta-kappa=0) and -0.43<Delta-kappa<0.59 (lambda=0), for a form factor scale Lambda = 2.0 TeV. Limits based on other assumptions are also presented.Comment: 11 pages, 2 figures, 2 table

Pleosporales

One hundred and five generic types of Pleosporales are described and illustrated. A brief introduction and detailed history with short notes on morphology, molecular phylogeny as well as a general conclusion of each genus are provided. For those genera where the type or a representative specimen is unavailable, a brief note is given. Altogether 174 genera of Pleosporales are treated. Phaeotrichaceae as well as Kriegeriella, Zeuctomorpha and Muroia are excluded from Pleosporales. Based on the multigene phylogenetic analysis, the suborder Massarineae is emended to accommodate five families, viz. Lentitheciaceae, Massarinaceae, Montagnulaceae, Morosphaeriaceae and Trematosphaeriaceae