Interval Observer-based Fault Detection and Isolation for Quadrotor UAV with Cable-Suspended Load

This paper proposes an actuator fault detection and isolation (FDI) scheme for quadrotor unmanned aerial vehicle (UAV) with cable-suspended load. First, a linear parametervarying (LPV) model of quadrotor UAV is established, in which the effects of cable-suspended load are considered. Then, a state boundary-based FDI design is systemically presented. A bank of interval observers is constructed to build the preliminary upper and lower boundaries of system states under healthy conditions, where Hinf H-/performance is applied to enhance its robustness against disturbances and sensitivity to faults. Furthermore, a novel updating strategy is further proposed to periodically adjust state boundaries to cope with the effects of varying wind disturbances. Finally, based on the QDrone platform, experimental tests under random faults are carried out to verify the effectiveness and performance of the proposed scheme

Infinity norm bounds for the inverse of SDD1+ SDD_1^{+} matrices with applications

A new subclass of nonsingular $H$-matrix named $SDD_1^{+}$ matrices is studied in this paper. The relationships between $SDD_1^{+}$ matrices and other subclasses of nonsingular $H$-matrices are analyzed by numerical examples. Moreover, the infinity norm bounds of the inverse for $SDD_1^{+}$ matrices are derived in two different methods. As applications, two error bounds of the linear complementarity problems ($LCP$) for $SDD_1^{+}$ matrices are given. Finally, the effectiveness of corresponding results is illustrated by numerical examples

A Multiphase Strategy for Realizing Green Cathodoluminescence in 12CaO·7Al2O3–CaCeAl3O7:Ce3+,Tb3+ Conductive Phosphor

A multiphase strategy is proposed and successfully applied to make the insulating green phosphor CaCeAl3O7:Tb3+ conductive in the form of 12CaO·7Al2O3–CaCeAl3O7:Ce3+,Tb3+. The phosphor shows bright green-light emission with a short lifetime (2.51 ms) under low-voltage electron beam excitation (3 kV). The green photo- and cathodoluminescence from 5D4–7FJ (J = 6, 5, 4, 3) transitions of Tb3+ are significantly enhanced in comparison with pure C12A7:Tb3+. It was confirmed that this enhancement is the consequence of the joint effects of energy transfer from Ce3+ to Tb3+ and broadening of the absorption spectrum of Ce3+ due to the existence of multiple phases. In particular, under 800 V electron beam excitation, cathodoluminescence is improved by the modified electrical conductivity of the phosphor. When compared to the commercial Zn2SiO4:Mn2+ with a long luminescence lifetime of 11.9 ms, this conductive green phosphor has greater advantage for fast displays

Coordination of H2O2 on praseodymia nanorods and its application in sensing cholesterol

The advancement of functional nanomaterials has promoted the development of biomarker sensors underpinning promising analytical tools for a range of bioanalytes such as cholesterol. In this work, we established a light-on fluorescent probe for cholesterol in human serum by coordination of H2O2 on the surface of praseodymia nanorods (Pr6O11 NRs). The distinctive interactions of various nucleotides and H2O2 with praseodymia were examined, whereby good fluorescent quenching and recovery capability were observed. A highly sensitive and selective cholesterol detection was achieved in serum samples with a detection limit of 0.1 mu M and recovery of 97.2-101.3%, respectively, due to the high oxygen mobility of praseodymia. The result suggests strong potential for work towards a key probe for a portable clinical test system for cholesterol as well as other H2O2-deriving biomarkers, potentially addressing the ever-increasing demand for the prevention of cardiovascular disease. (C) 2022 Vietnam National University, Hanoi. Published by Elsevier B.V.This work was supported by the Natural Science Foundation of Shandong Province (Grant ZR2017LB028) , Key R&D Program of Shandong Province (Grant 2018GSF118032) , and Fundamental Research Funds for the Central Universities (Grant 18CX02125A) in China. The project with reference number of ENE2017-82451-C3-2-R from Ministry of Science, Innovation and Universities of Spain is also acknowledged. This work has been co-financed by the 2014-2020 ERDF Operational Programme and by the Department of Economy, Knowledge, Business and University of the Regional Government of Andalusia with reference number of FEDER-UCA18-107316

Abatement of Toluene by Reverse-Flow Nonthermal Plasma Reactor Coupled with Catalyst

In order to make full use of the heat in nonthermal plasma systems and decrease the generation of by-products, a reverse-flow nonthermal plasma reactor coupled with catalyst was used for the abatement of toluene. In this study, the toluene degradation performance of different reactors was compared under the same conditions. The mechanism of toluene abatement by nonthermal plasma coupled with catalyst was explored, combined with the generation of ozone (O3), NO2, and organic by-products during the reaction process. It was found that a long reverse cycle time of the reactor and a short residence time of toluene decreased the internal reactor temperature, which was not beneficial for the degradation of toluene. Compared with the dielectric barrier discharge (DBD) reactor, toluene degradation efficiency in the double dielectric barrier discharge (DDBD) reactor was improved at the same discharge energy level, but the concentrations of NO2 and O3 in the effluent were relatively high; this was improved after the introduction of a catalyst. In the reverse-flow nonthermal plasma reactor coupled with catalyst, the CO2 selectivity was the highest, while the selectivity and amount of NO2 was the lowest and aromatics, acids, and ketones were the main gaseous organic by-products in the effluent. The reverse-flow DBD-catalyst reactor was successful in decreasing organic by-products, while the types of organic by-products in the DDBD reactor were much more than those in the DBD reactor

Catalytic Oxidation of Chlorobenzene over Pd-TiO2 /Pd-Ce/TiO2 Catalysts

A series of Pd-TiO2/Pd-Ce/TiO2 catalysts were prepared by an equal volume impregnation method. The effects of different Pd loadings on the catalytic activity of chlorobenzene (CB) were investigated, and the results showed that the activity of the 0.2%-0.3% Pd/TiO2 catalyst was optimal. The effect of Ce doping enhanced the catalytic activity of the 0.2% Pd-0.5% Ce/TiO2 catalyst. The characterization of the catalysts using BET, TEM, H2-TPR, and O2-TPD showed that the oxidation capacity was enhanced, and the catalytic oxidation efficiency was improved due to the addition of Ce. Ion chromatography and Gas Chromatography-Mass Spectrometer results showed that small amounts of dichlorobenzene (DCB) and trichlorobenzene (TCB) were formed during the decomposition of CB. The results also indicated that the calcination temperature greatly influenced the catalyst activity and a calcination temperature of 550 °C was the best. The concentration of CB affected its decomposition, but gas hourly space velocity had little effect. H2-TPR indicated strong metal–support interactions and increased dispersion of PdO in the presence of Ce. HRTEM data showed PdO with a characteristic spacing of 0.26 nm in both 0.2% Pd /TiO2 and 0.2% Pd-0.5% Ce/TiO2 catalysts. The average sizes of PdO nanoparticles in the 0.2% Pd/TiO2 and 0.2% Pd-0.5% Ce/TiO2 samples were 5.8 and 4.7 nm, respectively. The PdO particles were also deposited on the support and they were separated from each other in both catalysts

Defect-Rich Regulatory Activity Strategy: Disordered Structure for Enhanced Catalytic Interfacial Reaction of Chlorobenzene

In contrast to previous defect engineering methods, the preparation of amorphous materials can obtain abundant defect sites through a simple way, which is expected to effectively degrade Volatile Organic Compounds (VOCs) under milder conditions. However, in-depth and systematic studies in this area are still lacking. Novel types of amorphous CeMn x catalysts with abundant defects were prepared through simple hydrothermal synthesis and used for Cl-VOCs catalysis for the first time. Experimental characterizations and DFT calculations proved that Ce doping induced MnO2 lattice distortion, which led to the transformation of CeMn x into an amorphous structure and the formation of abundant defect sites. It was observed that CeMn0.16 was able to eliminate chlorobenzene (CB) at 200 degrees C, and the CO(2 )yields and the selectivity of inorganic chlorine was significantly higher than that of MnO2. The O-18 isotope kinetic experiments revealed that the interfacial reaction process followed the MVK mechanism. The large number of oxygen vacancies accelerated the migration of lattice oxygen from the interior to the exterior, enhancing the ability to trap gas-phase oxygen. Mn4+ acted as the main active center to participate in CB catalysis, and the resulting reactive oxygen species (ROS) and Mn3+-[O2-]-Ce4+ further accelerated the entire oxidation cycle

Bioaccessibility and reliable human health risk assessment of heavy metals in typical abandoned industrial sites of southeastern China

Heavy metal pollution caused by a large number of abandoned industrial sites cannot be underestimated, but its human health risks have not been accurately assessed. This study investigated the pollution of heavy metals in soils of the typical abandoned industrial sites in southeastern China. Based on the bioaccessibility of different heavy metals (Pb, Ni, Cu, Zn, Cd, Cr) in the industrial soils, the human health risks were accurately evaluated, and the controlling factors were quantitatively assessed. The results showed that the heavy metals in each typical abandoned industrial sites had a high degree of spatial heterogeneity. Among them, Cd was the most susceptible to relevant discrete input from external factors such as human activities, followed by Zn, Pb, Cr, Ni and Cu. The bioaccessible concentration of heavy metals by the physiological-based extraction test (PBET) had a good correlation (R2 = 0.58 ∼ 0.86) with its bioavailable concentration by diethylenetriaminepentaacetic acid (DTPA) extraction. The regression model based on soil parameters had great potential to predict the bioaccessibility of heavy metals in abandoned industrial sites (R2 = 0.49 ∼ 0.95). The total concentration of heavy metals, Fe, soil texture and pH were the controlling factors of the metal bioaccessibility. Compared with the total concentration, the hazard index (HI) and carcinogenic risk (CR) values calculated based on gastrointestinal bioaccessibility were decreased by 39.0∼77.9% and 68.2∼79.9% in adults, and 45.3∼88.0% and 73.9∼83.5% in children, respectively. This work provides a feasible theoretical basis for reliable assessment of the human health risks of heavy metals in the abandoned industrial sites in the future

Numerical simulation study on impact factors to dynamic filtration loss

Abstract During drilling operations, naturally, fractured formations are prone to show serious mud losses, which hinder drilling and increase nonproductive time and costs. The influencing factors of dynamic fluid loss are important for optimizing drilling parameters, reducing drilling fluid loss, and protecting oil and gas reservoirs. In this study, we simulated the dynamic filtration loss of drilling fluid during drilling under formation conditions using commercial software CMG (Computer Modelling Group). The effects of filtration time, filtrate viscosity, pressure difference, internal filter cake permeability, and external filter cake permeability on filtration loss were investigated. The simulation results showed that the permeability of the external mud cake is an important factor to control the fluid loss, and the pressure consumed by the external mud cake with low permeability can account for more than 90% of the total pressure difference. When the permeability of the external mud cake is high, the permeability of the internal mud cake also has a significant influence on the dynamic fluid loss. Under formation conditions, the dynamic fluid loss of radial fluid loss is still proportional to the filtration time and pressure difference, and inversely proportional to the filtrate viscosity of drilling fluid. Under the simulated conditions, the pressure will quickly transfer to the boundary, and the formation pressure at the same position in the formation will gradually increase, while the increase is relatively small with a constant filtration rate. The results of this paper can be used to the real site for drilling optimization. This numerical analysis method can be easily applied to filtrate loss analysis, formation damage area calculation, and other radial flow-related study

In Vitro Bioaccessibility and Health Risk Assessment of Arsenic and Zinc Contaminated Soil Stabilized by Ferrous Sulfate: Effect of Different Dietary Components

Iron-based materials have good stability in reducing the mobility and toxicity of heavy metals, but the behavior and human health risks of heavy metals could be affected by dietary components. This study investigated the effect of typical diets (lettuce, cooked rice and apples) on the bioaccessibility and morphological changes of arsenic (As) and zinc (Zn) in contaminated site after stabilization by ferrous sulfate (FeSO4). The results showed that the bioaccessibility of As and Zn were increased in a co-digestion system of food. The augmented effect on As bioaccessibility mainly occurred in the gastric phase: apple > lettuce > cooked rice (p apple > cooked rice (p 4 weakened the dissolution effect of dietary components on As bioaccessibility, and reduced As bioaccessibility in the gastric and intestinal phases by 34.0% and 37.9% (p 4 reduced the hazard quotient (HQ) and carcinogenic risk (CR) values of the contaminated soil by 33.97% and 33.59%, respectively. This study provides a reference for a better understanding of more realistic strategies to modulate exposure risks of heavy metal-contaminated sites