A nonlinear disturbance observer for robotic manipulators

A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DOs, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, sensorless torque control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator. Both simulation and experimental results show the NDO works well

Optimal control of nonlinear systems: a predictive control approach

A new nonlinear predictive control law for a class of multivariable nonlinear systems is presented in this paper. It is shown that the closed-loop dynamics under this nonlinear predictive controller explicitly depend on design parameters (prediction time and control order). The main features of this result are that an explicitly analytical form of the optimal predictive controller is given, on-line optimisation is not required, stability of the closed-loop system is guaranteed, the whole design procedure is transparent to designers and the resultant controller is easy to implement. By establishing the relationship between the design parameters and time-domain transient, it is shown that the design of an optimal generalised predictive controller to achieve desired time-domain specifications for nonlinear systems can be performed by looking up tables. The design procedure is illustrated by designing an autopilot for a missile

"Convertible Bond Underpricing: Renegotiable Covenants, Seasoning and Convergence"

We investigate the long-standing puzzle on the underpricings of convertible bonds. We hypothesize that the observed underpricing is induced by the possibility that a convertible bond might renegotiate on some of its covenants, e.g., an imbedded put option, in financial difficulties. Consistent with our hypothesis, we find that the initial underpricing is larger for lower rated bonds. The underpricing worsens if the issuer experiences subsequent financial difficulties. However, conditional on no rating downgrades, our main empirical result shows that convertible bond prices do converge to their theoretical prices within two years. This seasoning period is shorter for higher rated convertible bonds.

Convertible Bond Underpricing: Renegotiable Covenants, Seasoning and Convergence (Published in "Management Science", Vol. 53, No. 11, November 2007, pp. 1793.1814. )

We investigate the long-standing puzzle on the underpricings of convertible bonds. We hypothesize that the observed underpricing is induced by the possibility that a convertible bond might renegotiate on some of its covenants, e.g., an imbedded put option, in financial difficulties. Consistent with our hypothesis, we find that the initial underpricing is larger for lower rated bonds. The underpricing worsens if the issuer experiences subsequent financial difficulties. However, conditional on no rating downgrades, our main empirical result shows that convertible bond prices do converge to their theoretical prices within two years. This seasoning period is shorter for higher rated convertible bonds.

OGEE v2: an update of the online gene essentiality database with special focus on differentially essential genes in human cancer cell lines

OGEE is an Online GEne Essentiality database. To enhance our understanding of the essentiality of genes, in OGEE we collected experimentally tested essential and non-essential genes, as well as associated gene properties known to contribute to gene essentiality. We focus on large-scale experiments, and complement our data with text-mining results. We organized tested genes into data sets according to their sources, and tagged those with variable essentiality statuses across data sets as conditionally essential genes, intending to highlight the complex interplay between gene functions and environments/experimental perturbations. Developments since the last public release include increased numbers of species and gene essentiality data sets, inclusion of non-coding essential sequences and genes with intermediate essentiality statuses. In addition, we included 16 essentiality data sets from cancer cell lines, corresponding to 9 human cancers; with OGEE, users can easily explore the shared and differentially essential genes within and between cancer types. These genes, especially those derived from cell lines that are similar to tumor samples, could reveal the oncogenic drivers, paralogous gene expression pattern and chromosomal structure of the corresponding cancer types, and can be further screened to identify targets for cancer therapy and/or new drug development. OGEE is freely available at http://ogee.medgenius.info

The State-of-Art of Underwater Vehicles - Theories and Applications

An autonomous underwater vehicle (AUV) is an underwater system that contains its own power and is controlled by an onboard computer. Although many names are given to these vehicles, such as remotely operated vehicles (ROVs), unmanned underwater vehicles (UUVs), submersible devices, or remote controlled submarines, to name just a few, the fundamental task for these devices is fairly well defined: The vehicle is able to follow a predefined trajectory. AUVs offer many advantages for performing difficult tasks submerged in water. The main advantage of an AUV is that is does not need a human operator. Therefore it is less expensive than a human operated vehicle and is capable of doing operations that are too dangerous for a person. They operate in conditions and perform task that humans are not able to do efficiently, or at all (Smallwood & Whitcomb, 2004; Horgan & Toal, 2006; Caccia, 2006)

Neutron Activation Analysis of Microleakage Around a Hydrophobic Composite Restorative

Neutron activation analysis with dysprosium as a tracer was employed to determine quantitatively the microleakage around the restorations of an experimental hydrophobic composite, as well as a commercial composite. Only a negligible uptake of tracer was obtained for the experimental composite, whereas a five-fold uptake was recorded for the commercial composite. Capillary penetration of fluid around a restoration could be greatly reduced by using a hydrophobic composite.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/68248/2/10.1177_00220345800590090901.pd

Perceived coach autonomy support and athlete burnout : the role of athletes’ experiential avoidance

Researchers have found that perceived coach autonomy support is negatively related to athlete burnout. However, whether offering such support would be helpful for all athletes or only athletes with certain characteristics is unknown. Following the notion of autonomous goal regulation suggested in self-determination theory, the authors propose that having autonomy support from coaches will be more strongly associated with a decrease in athlete burnout among athletes with lower experiential avoidance than among those with higher experiential avoidance. Experiential avoidance is a tendency to escape, avoid, or modify the frequency of uncomfortable experiences. A total of 141 collegiate student athletes completed surveys at two time points over three months. The results indicate that perceived coach autonomy support is negatively related to athlete burnout. Furthermore, the negative relationship between perceived coach autonomy support and decreased athlete burnout is stronger when experiential avoidance is low rather than high. When the three dimensions of burnout were analyzed individually (i.e., emotional and physical exhaustion, reduced sense of accomplishment and sport devaluation), only emotional and physical exhaustion and overall score were significant. The implications and applications of these results are discussed from an interactionist perspective

Spin symmetry in Dirac negative energy spectrum in density-dependent relativistic Hartree-Fock theory

The spin symmetry in the Dirac negative energy spectrum and its origin are investigated for the first time within the density-dependent relativistic Hartree-Fock (DDRHF) theory. Taking the nucleus $^{16}$O as an example, the spin symmetry in the negative energy spectrum is found to be a good approximation and the dominant components of the Dirac wave functions for the spin doublets are nearly identical. In comparison with the relativistic Hartree approximation where the origin of spin symmetry lies in the equality of the scalar and vector potentials, in DDRHF the cancellation between the Hartree and Fock terms is responsible for the better spin symmetry properties and determines the subtle spin-orbit splitting. These conclusions hold even in the case when significant deviations from the G-parity values of the meson-antinucleon couplings occur.Comment: 13 pages, 7 figures, 1 table, accepted by Eur. Phys. J.