Ferromagnetic Quantum Critical Point in CePd2_2P2_2 with Pd →\rightarrow Ni Substitution

An investigation of the structural, thermodynamic, and electronic transport properties of the isoelectronic chemical substitution series Ce(Pd$_{1-x}$Ni$_x$)$_2$P$_2$ is reported, where a possible ferromagnetic quantum critical point is uncovered in the temperature - concentration ($T-x$) phase diagram. This behavior results from the simultaneous contraction of the unit cell volume, which tunes the relative strengths of the Kondo and RKKY interactions, and the introduction of disorder through alloying. Near the critical region at $x_{\rm{cr}}$ $\approx$ 0.7, the rate of contraction of the unit cell volume strengthens, indicating that the cerium $f$-valence crosses over from trivalent to a non-integer value. Consistent with this picture, x-ray absorption spectroscopy measurements reveal that while CePd$_2$P$_2$ has a purely trivalent cerium $f$-state, CeNi$_2$P$_2$ has a small ($<$ 10 \%) tetravalent contribution. In a broad region around $x_{\rm{cr}}$, there is a breakdown of Fermi liquid temperature dependences, signaling the influence of quantum critical fluctuations and disorder effects. Measurements of clean CePd$_2$P$_2$ furthermore show that applied pressure has a similar initial effect to alloying on the ferromagnetic order. From these results, CePd$_2$P$_2$ emerges as a keystone system to test theories such as the Belitz-Kirkpatrick-Vojta model for ferromagnetic quantum criticality, where distinct behaviors are expected in the dirty and clean limits.Comment: 9 pages, 8 figure

Fate and transport of volatile organic compounds in glacial till and groundwater at an industrial site in Northern Ireland

Volatile organic compound (VOC) contamination of subsurface geological material and groundwater was discovered on the Nortel Monkstown industrial site, Belfast, Northern Ireland. The objectives of this study were to (1) investigate the characteristics of the geological material and its influences on contaminated groundwater flow across the site using borehole logs and hydrological evaluations, and (2) identify the contaminants and examine their distribution in the subsurface geological material and groundwater using chemical analysis. This report focuses on the eastern car park (ECP) which was a former storage area associated with trichloroethene (TCE) degreasing operations. This is where the greatest amount of volatile organic compounds (VOCs), particularly TCE, were detected. The study site is on a complex deposit of clayey glacial till with discontinuous coarser grained lenses, mainly silts, sands and gravel, which occur at 0.45-7.82 m below ground level (bgl). The lenses overall form an elongated formation that acts as a small unconfined shallow aquifer. There is a continuous low permeable stiff clayey till layer beneath the lenses that performs as an aquitard to the groundwater. Highest concentrations of VOCs, mainly TCE, in the geological material and groundwater are in these coarser lenses at similar to 4.5-7 m bgl. Highest TCE measurements at 390,000 mu g L-1 for groundwater and at 39,000 mu g kg(-1) at 5.7 m for geological material were in borehole GA19 in the coarse lens zone. It is assumed that TCE gained entrance to the subsurface near this borehole where the clayey till was thin to absent above coarse lenses which provided little retardation to the vertical migration of this dense non-aqueous phase liquid (DNAPL) into the groundwater. However, TCE is present in low concentrations in the geological material overlying the coarse lens zone. Additionally, VOCs appear to be associated with poorly drained layers and in peat &lt; 3.0 m bgl in the ECP. Some indication of natural attenuation as VOCs degradation products vinyl chloride (VC) and dichloromethane (DCM) also occur on the site

A Comparative Analysis of Control Methods Applied to Horizontal 2 DOF Robotic Arms

Robotic arm joint control is a well-explored field in the literature, given the need for accurate and robust path planning and execution for industrial robots. This paper explores various filtering control algorithms and compares their performance on a 2 degrees of freedom (DOF) horizontal robotic arm through an extensive simulation. The dynamics of a horizontal 2 DOF robot are outlined as well as the derivation of the models for the filters tested. The classic PID controller performance is used as the baseline and tested against the sliding mode control filter, sliding mode control filter with integral action, and Plestan sliding mode control filter. The performance of the various filters is benchmarked against combinations of variable payload, friction, noise, and saturation conditions

Motion Control of a Differential Drive Mobile Robot Considering Voltage and Current Limits

The mobile robot trajectory tracking problem, whereby a controller is responsible for ensuring a robot follows a predetermined trajectory is investigated in this work. Several different algorithms are implemented as the controller for a differential drive wheeled robot in this study, and their performances are examined across different operating conditions using several performance measures. Specifically, we implement proportional, integral, and derivative controls, as well as sliding-mode control and model predictive control, and observe their control performance in ideal, tuned operating conditions, as well as in the face of varying levels of sensor noise, actuator saturation due to voltage and current constraints, or wheel slippage in one or both wheels. Background on the kinematic model of the differential drive wheeled robot as well as the implementation and tuning of the controllers are included in this work. Furthermore, we present a discussion of the advantages and limitations of each controller in the face of varying circumstances for the task of controlling a differential drive wheeled robot

Control of Mobile Robots for Collision Avoidance

From fully autonomous warehouses to farms lacking labour; the presence of mobile robots has increased significantly. These mobile robots are commonly found in the industrial sector, where they are typically used in automating tasks. While traversing through work environments, these mobile robots must be capable of avoiding and efficiently circumnavigating both moving and stationary obstacles. To help mitigate these issues, control engineering methods are usually utilized. In this paper, we analyze two different types of mobile robots, namely holonomic and non-holonomic robots. In addition, we utilize three different control methods, namely, model predictive control (MPC), nonlinear model predictive control (NMPC), and virtual force method (VFM). Conclusively, we perform a comparative analysis of all three control methods using a variety of quantitative metrics

Sliding Mode Controller and Filter Applied to a Pneumatic McKibben Muscle Actuator

In this paper, a robust and stable control strategy is applied to a Festo fluidic muscle actuator, with the objective of trajectory following control. A complete model of this system is not available which leads to unmodeled dynamics and uncertainties. Furthermore, full-state feedback is required for this type of control. However, in practice not all of the states are measurable or available due to cost or availability of instruments, thus a full-state observer is required. The Smooth Variable Structure Filter (SVSF) is a recently introduced robust predictor-corrector method used for state and parameter estimation, and has a form that is able to provide full-state information. In this regard, a new strategy that combines Sliding Mode Control (SMC) with the SVSF is used to control this system. The estimated states from the SVSF are used by the sliding mode controller to obtain a discontinuous control signal. This signal drives the plant to follow a desired state trajectory required by the pneumatic McKibben muscle actuator. Simulation results were generated based on a realistic desired trajectory. The results of the SMC-SVSF control strategy are compared with a tuned PID controller. The described control strategy is able to overcome the nonlinearities present in the system, has a fast response time, and is robust to modeling uncertainties and measurement noise. Copyright © 2010 by ASME

Sliding mode control of a pneumatic muscle actuator system with a PWM strategy

In this paper, a sliding mode control (SMC) strategy is applied to a pulse width modulation (PWM)-driven pneumatic muscle actuator system using high speed on/off solenoid valves. Servo-pneumatic systems with PWM-driven on/off valves can be used instead of expensive servo valves to decrease complexity, weight, and cost of servo-pneumatic systems. Due to the highly nonlinear nature of pneumatics, the system is difficult to model accurately which leads to unmodelled dynamics and uncertainties. In this paper, a robust and nonlinear SMC approach is implemented in order to control the system with sufficient accuracy. A nonlinear model is developed in a single-input single-output form by studying the flow, pressure, and force dynamics of the system. The SMC strategy is applied to three different system configurations: single on/off valve, two on/off valves, and a servo valve. The performance and effectiveness of these configurations are investigated under sinusoidal tracking at different frequencies. The robustness of the controllers is studied by varying the inertia of the system and by applying external disturbances to the system. © 2014 Taylor & Francis

Chronic widespread bodily pain is increased among individuals with history of fracture:findings from UK Biobank

Acknowledgments This work was supported by grants from the Medical Research Council, British Heart Foundation, Arthritis Research UK, National Osteoporosis Society, International Osteoporosis Foundation, NIHR Southampton Biomedical Research Centre, University of Southampton and University Hospital Southampton NHS Foundation Trust, and NIHR Musculoskeletal Biomedical Research Unit, University of Oxford. This research has been conducted using the UK Biobank Resource. Compliance with ethical standards.Peer reviewedPublisher PD

Analysis of serum inflammatory mediators identifies unique dynamic networks associated with death and spontaneous survival in pediatric acute liver failure

Background: Tools to predict death or spontaneous survival are necessary to inform liver transplantation (LTx) decisions in pediatric acute liver failure (PALF), but such tools are not available. Recent data suggest that immune/inflammatory dysregulation occurs in the setting of acute liver failure. We hypothesized that specific, dynamic, and measurable patterns of immune/inflammatory dysregulation will correlate with outcomes in PALF. Methods: We assayed 26 inflammatory mediators on stored serum samples obtained from a convenience sample of 49 children in the PALF study group (PALFSG) collected within 7 days after enrollment. Outcomes were assessed within 21 days of enrollment consisting of spontaneous survivors, non-survivors, and LTx recipients. Data were subjected to statistical analysis, patient-specific Principal Component Analysis (PCA), and Dynamic Bayesian Network (DBN) inference. Findings: Raw inflammatory mediator levels assessed over time did not distinguish among PALF outcomes. However, DBN analysis did reveal distinct interferon-gamma-related networks that distinguished spontaneous survivors from those who died. The network identified in LTx patients pre-transplant was more like that seen in spontaneous survivors than in those who died, a finding supported by PCA. Interpretation: The application of DBN analysis of inflammatory mediators in this small patient sample appears to differentiate survivors from non-survivors in PALF. Patterns associated with LTx pre-transplant were more like those seen in spontaneous survivors than in those who died. DBN-based analyses might lead to a better prediction of outcome in PALF, and could also have more general utility in other complex diseases with an inflammatory etiology. Copyright: © 2013 Azhar et al

Early predictors of impaired social functioning in male rhesus macaques (Macaca mulatta)

Autism spectrum disorder (ASD) is characterized by social cognition impairments but its basic disease mechanisms remain poorly understood. Progress has been impeded by the absence of animal models that manifest behavioral phenotypes relevant to ASD. Rhesus monkeys are an ideal model organism to address this barrier to progress. Like humans, rhesus monkeys are highly social, possess complex social cognition abilities, and exhibit pronounced individual differences in social functioning. Moreover, we have previously shown that Low-Social (LS) vs. High-Social (HS) adult male monkeys exhibit lower social motivation and poorer social skills. It is not known, however, when these social deficits first emerge. The goals of this study were to test whether juvenile LS and HS monkeys differed as infants in their ability to process social information, and whether infant social abilities predicted later social classification (i.e., LS vs. HS), in order to facilitate earlier identification of monkeys at risk for poor social outcomes. Social classification was determined for N = 25 LS and N = 25 HS male monkeys that were 1–4 years of age. As part of a colony-wide assessment, these monkeys had previously undergone, as infants, tests of face recognition memory and the ability to respond appropriately to conspecific social signals. Monkeys later identified as LS vs. HS showed impairments in recognizing familiar vs. novel faces and in the species-typical adaptive ability to gaze avert to scenes of conspecific aggression. Additionally, multivariate logistic regression using infant social ability measures perfectly predicted later social classification of all N = 50 monkeys. These findings suggest that an early capacity to process important social information may account for differences in rhesus monkeys’ motivation and competence to establish and maintain social relationships later in life. Further development of this model will facilitate identification of novel biological targets for intervention to improve social outcomes in at-risk young monkeys