Search results for "position"

LQG Control Design for Balancing an Inverted Pendulum Mobile Robot

2011

Author's version of an article published in the journal: Intelligent Control and Automation. Also available from the publisher at: http://dx.doi.org/10.4236/ica.2011.22019 The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system succe…

Filtering for Discrete Fuzzy Stochastic Time-Delay Systems with Sensor Saturation

2013

Published version of an article from the journal: Mathematical Problems in Engineering. Also available from Hindawi: http://dx.doi.org/10.1155/2013/146325 This paper addresses the H-infinity filtering problem for discrete fuzzy stochastic systems with time-varying delay and sensor saturation. Random noise depending on state and external disturbance is also taken into account. A decomposition approach is employed to solve the characteristic of sensor saturation. The scaled small gain (SSG) theorem is extended to the stochastic systems, which is employed to handle with the time-varying delay by transforming the original system into the form of an interconnected system consisting of two subsys…

Robust adaptive backstepping DP control of ROVs

2022

Dynamic positioning is an important control feature for an underwater remotely operated vehicle. This paper presents a nonlinear dynamic positioning controller suited for application to vehicles with model uncertainties, operating in environments with unpredictable disturbances, such as an aquaculture net cage. The proposed controller combines the backstepping approach with an adaptation term to ensure robustness. Using Lyapunov theory and Matrosov’s theorem the origin of the closed-loop system is proven to be: (i) globally asymptotically stable when assuming persistency of excitation, and (ii) stable and bounded, with the true position converging to the desired position if there is no pers…

Short-period volcanic gas precursors to phreatic eruptions: Insights from Poás Volcano, Costa Rica

2016

Texto completo del documento Volcanic eruptions involving interaction with water are amongst the most violent and unpredictable geologic phenomena on Earth. Phreatic eruptions are exceptionally difficult to forecast by traditional geophysical techniques. Here we report on short-term precursory variations in gas emissions related to phreatic blasts at Poás volcano, Costa Rica, as measured with an in situ multiple gas analyzer that was deployed at the edge of the erupting lake. Gas emitted from this hyper-acid crater lake approaches magmatic values of SO2/CO21–6 days prior to eruption. The SO2flux derived from magmatic degassing through the lake is measureable by differential optical absorpti…

Superconducting properties of Nb thin films deposited on porous silicon templates

2008

Porous silicon, obtained by electrochemical etching, has been used as a substrate for the growth of nanoperforated Nb thin films. The films, deposited by UHV magnetron sputtering on the porous Si substrates, inherited their structure made of holes of 5 or 10 nm diameter and of 10 to 40 nm spacing, which provide an artificial pinning structure. The superconducting properties were investigated by transport measurements performed in the presence of magnetic field for different film thickness and substrates with different interpore spacing. Perpendicular upper critical fields measurements present peculiar features such as a change in the H_c2(T) curvature and oscillations in the field dependenc…

Early and Longitudinal Humoral Response to the SARS-CoV-2 mRNA BNT162b2 Vaccine in Healthcare Workers: Significance of BMI, Adipose Tissue and Muscle…

2022

Background: This study aimed to investigate the early and longitudinal humoral response in Healthcare Workers (HCWs) after two doses of the BNT162b2 vaccine and to assess the association between metabolic and anthropometric parameters and the humoral response after vaccination. Methods: The study included 243 fully vaccinated HCWs: 25.50% previously infected with SARS-CoV-2 (with prior history of COVID-19—PH) and 74.40%—uninfected, seronegative before the first vaccination (with no prior history of COVID-19—NPH). IgG antibodies were measured, and sera were collected: prior to the vaccination, 21 days after the first dose, and 14 days and 8 months after the second dose. Res…

Nanofilm metal layers as vacuum quality sensors

2010

Abstract A monitoring device for vacuum quality is realized by lowest cost single use oxygen sensors for vacuum insulation panels. They use the pressure dependence of oxide layer growth thickness on electrically measured metal nanofilms. These films were manufactured by e-beam evaporation, characterized in terms of resistance change with subsequent modeling of underlying mechanisms.

Vēža ģenētiskās testēšanas laboratorijas izveide Rīgā

2016

Onkoloģiskā saslimšana ir mūsdienās viena no smagākajām diagnozēm, no kuras ik gadu mirst liels cilvēku skaits pasaulē un Latvijā. Katru gadu pieaug pacientu skaits, kuriem ir diagnosticēts kāds no ļaundabīgā audzēja veidiem. Onkoloģijas pacienti ir visas pasaules mēroga problēma, un arī Latvijā vēža pacientu skaita pieaugums ir epidēmijas līmenī pašlaik. Diemžēl Latvijā ir novērojama tendence, ka vēzis tiek diagnosticēts vēlajās tā stadijās. Vēža diagnosticēšana tā agrākajā stadijā nozīmē pacienta dzīvildzes rādītāju pagarinājumu vai pat slimības remisiju. Vēža ģenētika sniedz visaptverošu informāciju par vēža slimības attīstību, tās iespējamajām lokācijām un daudzos gadījumos ar ģenētiskā…

Valeurs de référence du valproate de sodium (CAS n°1069-66-5). Valeurs toxicologiques de référence par voie orale et inhalation, valeurs limites d’ex…

2021

Le site de Sanofi situé à Mourenx, dans le bassin industriel de Lacq (64), produit un médicament antiépileptique, la Dépakine®, dont le principe actif est le valproate de sodium (VPS). Ce site est une installation classée pour la protection de l’environnement (ICPE) soumise à autorisation au titre de l’article L.511-1 et suivants du Code de l’environnement. Les rejets dans l’environnement d’une telle installation sont encadrés par des limites établies sur la base d’une évaluation quantitative des risques sanitaires (EQRS). En 2017, Sanofi Chimie a réalisé une évaluation de l’impact sur la santé et l’environnement des rejets atmosphériques de valproate, en utilisant des valeurs toxicologique…

STUDY OF FATTY ACIDS PROFILE IN OVINE AND CAPRINE SICILIAN DAIRY BREED AND ASSOCIATION WITH POSSIBLE CANDIDATE GENES

In Sicilia, le razze bovine, ovine e caprine e le produzioni lattiero-casearie rappresentano una risorsa importante per l’economia del settore zootecnico. L’importanza economica del latte ovino e caprino è soprattutto legata per il primo alla sua trasformazione in prodotti lattiero-caseari, per il secondo al possibile utilisso per il consumo fresco. Per entrambe queste specie, il contenuto di grasso e proteine è importante tanto quanto la produzione di latte. L’individuazione dei geni responsabili delle caratteristiche quanti-qualitative del latte dei piccoli ruminanti permetterebbe quindi di aumentare l’efficienza del miglioramento genetico e di considerare nuovi obiettivi di selezione com…