Synchronization of multiple rigid body systems: a survey

The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest since its wide applications in transportation, aerospace, and ocean exploration. Due to the non-Euclidean configuration space of attitudes and the inherent nonlinearity of the dynamics of rigid body systems, synchronization of multiple rigid body systems is quite challenging. This paper aims to present an overview of the recent progress in synchronization of multiple rigid body systems from the view of two fundamental problems. The first problem focuses on attitude synchronization, while the second one focuses on cooperative motion control in that rotation and translation dynamics are coupled. Finally, a summary and future directions are given in the conclusion

A tracer study in a vertical flow constructed wetland treating septage

Purpose: This study aims to investigate the hydraulic behaviour of a pilot-scale, two-staged, vertical flow constructed wetland (VFCW) for septage treatment, in terms of factors such as hydraulic retention time and hydraulic loading rate and its influence on the treatment dynamics. Because of intermittent feeding mode of VFCW systems and variation in its loading, its hydraulic behaviour is highly variable and need to be understood to optimize its treatment performance. Design/methodology/approach: Tracer test were carried out using bromide ion with varying hydraulic loading rates (HLR) of 6.82 cm/d, 9.09 cm/d and 11.40 cm/d (i.e. equivalent to 75 L/d, 100L/d and 125 L/d). Tracer data is then analysed using the Residence Time Distribution (RTD) method. Findings: RTD analysis showed that the increase in HLR increases the average hydraulic retention time (HRT). Subsequently, the increase in HLR results in a lower recovery of effluent, resulting in poor productivity in treatment. The study also showed that the removal of nitrogen and organic matter improved with increasing HRT. However, observations show no correlation between HRT and total solids removal. Originality/value: A performance evaluation method (by tracer) is proposed to understand the hydraulics of flow in constructed wetlands, which has not been widely studied. Additionally, the dynamics of treatment in VFCWs treating septage may also be revealed by the tracer method. The study can be applied to any constructed wetlands designed for treatment of wastewater, septage or sludge

Numerical simulation of transient force and eddy current loss in a 720-MVA power transformer

Author name used in this publication: S. L. HoAuthor name used in this publication: H. C. WongVersion of RecordPublishe

Calculation of eddy current field in the ascending flange for the bushings and tank wall of a large power transformer

Author name used in this publication: S. L. HoAuthor name used in this publication: K. W. E. Cheng2007-2008 > Academic research: refereed > Publication in refereed journalVersion of RecordPublishe

Research on the allelopathic potential of wheat

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Investigation of polymer bonded magnetic materials for power conversion

Author name used in this publication: K. W. E. ChengAuthor name used in this publication: C. Y. TangAuthor name used in this publication: D. K. W. ChengAuthor name used in this publication: H. WuAuthor name used in this publication: Y. LuPower Electronics Research Centre, Department of Electrical EngineeringRefereed conference paper2001-2002 > Academic research: refereed > Refereed conference paperVersion of RecordPublishe

Expression of aquaporin 5 in primary carcinoma and lymph node metastatic carcinoma of non‑small cell lung cancer

Aquaporin 5 (AQP5), a water channel protein, is highly expressed in non‑small cell lung cancer (NSCLC) tissues compared with adjacent normal tissues. AQP5 expression in lung cancer tissues is associated with a poor prognosis. The present study aimed to analyze the expression of AQP5 and investigate its role in primary and lymph node metastatic NSCLCs. An immunohistochemical labeled streptavidin-biotin method was used to determine the expression of AQP5 in 94 cases of NSCLC primary carcinoma, which included 51 cases accompanied by lymph node metastasis. The results revealed that the expression of AQP5 was significantly higher in adenocarcinomas compared with squamous cell carcinomas (P=0.002). In addition, the percentage of AQP5 expression in the primary carcinomas with lymph node metastasis was significantly higher compared with those without lymph node metastasis (P=0.024). However, no statistically significant difference in the percentage of AQP5 expression was observed between the metastatic and the primary carcinomas (P=0.377). The expression of AQP5 exhibited a correlation with the tumor‑node‑metastasis staging of NSCLC (P=0.027). The percentage of AQP5 expression in stage III and IV tumors was higher than that in stage I and II tumors. In addition, AQP5 expression was correlated with the survival rate of NSCLC patients (P=0.051). In conclusion, the results of the present study provide evidence for the AQP5‑facilitated incidence, progression and metastasis of NSCLC.published_or_final_versio