Theory and practice of reversing control on multiply-articulated vehicles

A path-tracking controller is presented for automating the reversing of multiply-articulated vehicles. This uses a state feedback approach and steers the wheels of the front axle to ensure that the rearmost vehicle unit tracks a specified path. Linear closed-loop analysis is performed and shows that the controller is stable for vehicles with up to six trailers. The controller is implemented on three full-size experimental heavy vehicles: a ‘tractor–semitrailer’, a ‘B-double’ vehicle and a ‘B-triple’ vehicle, which have one trailer, two trailers and three trailers respectively. Experimental results are presented and the controller performance is evaluated. All test vehicles were able to track the paths to within 400 mm of the desired path. This research was funded by the Engineering and Physical Sciences Research Council (EPSRC) and Volvo Trucks through an Industrial CASE award. The authors would like to acknowledge Leo Laine and Carl-Johan Hoel from Volvo Trucks for their collaboration and contributions to the research.This is the author accepted manuscript. The final version is available from Sage via http://dx.doi.org/10.1177/095440701559691

Nitrogen Oxide Concentrations in Natural Waters on Early Earth

A key challenge in origins-of-life studies is estimating the abundances of species relevant to the chemical pathways proposed to have contributed to the emergence of life on early Earth. Dissolved nitrogen oxide anions (NO$_{X}^{-}$), in particular nitrate (NO$_{3}^{-}$) and nitrite (NO$_{2}^{-}$), have been invoked in diverse origins-of-life chemistry, from the oligomerization of RNA to the emergence of protometabolism. Recent work has calculated the supply of NO$_{X}^{-}$ from the prebiotic atmosphere to the ocean, and reported steady-state [NO$_{X}^{-}$] to be high across all plausible parameter space. These findings rest on the assumption that NO$_{X}^{-}$ is stable in natural waters unless processed at a hydrothermal vent. Here, we show that NO$_{X}^{-}$ is unstable in the reducing environment of early Earth. Sinks due to UV photolysis and reactions with reduced iron (Fe$^{2+}$) suppress [NO$_{X}^{-}$] by several orders of magnitude relative to past predictions. For pH$=6.5-8$ and $T=0-50^\circ$C, we find that it is most probable that NO$_{X}^{-}$]$<1~\mu$M in the prebiotic ocean. On the other hand, prebiotic ponds with favorable drainage characteristics may have sustained [NO$_{X}^{-}$]$\geq 1~\mu$M. As on modern Earth, most NO$_{X}^{-}$ on prebiotic Earth should have been present as NO$_{3}^{-}$, due to its much greater stability. These findings inform the kind of prebiotic chemistries that would have been possible on early Earth. We discuss the implications for proposed prebiotic chemistries, and highlight the need for further studies of NO$_{X}^{-}$ kinetics to reduce the considerable uncertainties in predicting [NO$_{X}^{-}$] on early Earth.Comment: In review for publication at Geochemistry, Geophysics, and Geosystems (G-cubed). Comments, questions, and criticism solicited; please contact corresponding author at [email protected]. SI at: https://web-cert.mit.edu/sukrit/Public/nox_si.pdf. GitHub at: https://github.com/sukritranjan/no

Simulation study of pressure and temperature dependence of the negative thermal expansion in Zn(CN)(2)

12 pages, 16 figures12 pages, 16 figures12 pages, 16 figures12 pages, 16 figure

A spectral survey of an ultra-hot Jupiter: Detection of metals in the transmission spectrum of KELT-9 b

Context: KELT-9 b exemplifies a newly emerging class of short-period gaseous exoplanets that tend to orbit hot, early type stars - termed ultra-hot Jupiters. The severe stellar irradiation heats their atmospheres to temperatures of $\sim 4,000$ K, similar to the photospheres of dwarf stars. Due to the absence of aerosols and complex molecular chemistry at such temperatures, these planets offer the potential of detailed chemical characterisation through transit and day-side spectroscopy. Studies of their chemical inventories may provide crucial constraints on their formation process and evolution history. Aims: To search the optical transmission spectrum of KELT-9 b for absorption lines by metals using the cross-correlation technique. Methods: We analyse 2 transits observed with the HARPS-N spectrograph. We use an isothermal equilibrium chemistry model to predict the transmission spectrum for each of the neutral and singly-ionized atoms with atomic numbers between 3 and 78. Of these, we identify the elements that are expected to have spectral lines in the visible wavelength range and use those as cross-correlation templates. Results: We detect absorption of Na I, Cr II, Sc II and Y II, and confirm previous detections of Mg I, Fe I, Fe II and Ti II. In addition, we find evidence of Ca I, Cr I, Co I, and Sr II that will require further observations to verify. The detected absorption lines are significantly deeper than model predictions, suggesting that material is transported to higher altitudes where the density is enhanced compared to a hydrostatic profile. There appears to be no significant blue-shift of the absorption spectrum due to a net day-to-night side wind. In particular, the strong Fe II feature is shifted by $0.18 \pm 0.27$ km~s$^{-1}$, consistent with zero. Using the orbital velocity of the planet we revise the steller and planetary masses and radii.Comment: Submitted to Astronomy and Astrophysics on January 18, 2019. Accepted on May 3, 2019. 26 pages, 11 figure

The Chemistry of Interstellar OH+, H2O+, and H3O+: Inferring the Cosmic Ray Ionization Rates from Observations of Molecular Ions

We model the production of OH+, H2O+, and H3O+ in interstellar clouds, using a steady state photodissociation region code that treats the freeze-out of gas species, grain surface chemistry, and desorption of ices from grains. The code includes PAHs, which have important effects on the chemistry. All three ions generally have two peaks in abundance as a function of depth into the cloud, one at A_V<~1 and one at A_V~3-8, the exact values depending on the ratio of incident ultraviolet flux to gas density. For relatively low values of the incident far ultraviolet flux on the cloud ({\chi}<~ 1000; {\chi}= 1= local interstellar value), the columns of OH+ and H2O+ scale roughly as the cosmic ray primary ionization rate {\zeta}(crp) divided by the hydrogen nucleus density n. The H3O+ column is dominated by the second peak, and we show that if PAHs are present, N(H3O+) ~ 4x10^{13} cm^{-2} independent of {\zeta}(crp) or n. If there are no PAHs or very small grains at the second peak, N(H3O+) can attain such columns only if low ionization potential metals are heavily depleted. We also model diffuse and translucent clouds in the interstellar medium, and show how observations of N(OH+)/N(H) and N(OH+)/N(H2O+) can be used to estimate {\zeta}(crp)/n, {\chi}/n and A_V in them. We compare our models to Herschel observations of these two ions, and estimate {\zeta}(crp) ~ 4-6 x 10^-16 (n/100 cm^-3) s^-1 and \chi/n = 0.03 cm^3 for diffuse foreground clouds towards W49N

Angle selective backscattered electron contrast in the low-voltage scanning electron microscope: simulation & experiment for polymers

Recently developed detectors can deliver high resolution and high contrast images of nanostructured carbon based materials in low voltage scanning electron microscopes (LVSEM) with beam deceleration. Monte Carlo Simulations are also used to predict under which exact imaging conditions purely compositional contrast can be obtained and optimised. This allows the prediction of the electron signal intensity in angle selective conditions for back-scattered electron (BSE) imaging in LVSEM and compares it to experimental signals. Angle selective detection with a concentric back scattered (CBS) detector is considered in the model in the absence and presence of a deceleration field, respectively. The validity of the model prediction for both cases was tested experimentally for amorphous C and Cu and applied to complex nanostructured carbon based materials, namely a Poly(N-isopropylacrylamide)/Poly(ethylene glycol) Diacrylate (PNIPAM/PEGDA) semi-interpenetration network (IPN) and a Poly(3-hexylthiophene-2,5-diyl) (P3HT) film, to map nano-scale composition and crystallinity distribution by avoiding experimental imaging conditions that lead to a mixed topographical and compositional contrast

Exercise intervention in brain injury: a pilot randomized study of Tai Chi Qigong

Objective: To examine the effects of a brief Tai Chi Chuan Qigong (‘Qigong’) exercise intervention on individuals with traumatic brain injury. Design: A single-centre randomized controlled trial pilot study. Setting: A registered charity day centre in the community. Subjects: Twenty individuals with traumatic brain injury. Intervention: Intervention participants attended a Qigong exercise session for one hour per week over eight weeks. Control participants engaged in non-exercise-based social and leisure activities for the same intervention period. Measures: Outcome was assessed at baseline and post intervention using the General Health Questionnaire-12, the Physical Self-Description Questionnaire and the Social Support for Exercise Habits Scale, to measure perceived mood, self-esteem, flexibility, coordination, physical activity and social support. Results: Groups were comparable at baseline. After the intervention, mood was improved in the exercise group when compared with controls (U ¼ 22.0, P ¼ 0.02). Improvements in self-esteem (Z ¼ 2.397, P ¼ 0.01) and mood (Z ¼ –2.032, P ¼ 0.04) across the study period were also evident in the exercise group only. There were no significant differences in physical functioning between groups. In view of the sample size, these findings are inconclusive. Conclusions: This study provides preliminary evidence that a brief Qigong exercise intervention programme may improve mood and self-esteem for individuals with traumatic brain injury. This needs to be tested in a large-scale randomized trial

About ergodicity in the family of limacon billiards

By continuation from the hyperbolic limit of the cardioid billiard we show that there is an abundance of bifurcations in the family of limacon billiards. The statistics of these bifurcation shows that the size of the stable intervals decreases with approximately the same rate as their number increases with the period. In particular, we give numerical evidence that arbitrarily close to the cardioid there are elliptic islands due to orbits created in saddle node bifurcations. This shows explicitly that if in this one parameter family of maps ergodicity occurs for more than one parameter the set of these parameter values has a complicated structure.Comment: 17 pages, 9 figure