In this paper, a challenging problem of full-state regulation control (FSRC) for an asymmetric underactuated surface vehicle (AUSV) suffering from disturbances is solved. The FSRC objective is ...divided into two subtasks, i.e., reaching trajectory (RT) guidance and tracking controller synthesis with underactuation and disturbances. The RT guidance is achieved by devising a circular orbit (CO) accurately passing through the desired full-state waypoint (FWP). Using a series of coordinate transformations, tracking error dynamics are shaped in a translation-rotation cascade form with respect to the CO-center frame. Using finite-time approach, lumped disturbances are accurately estimated by exact observers, which facilitate synthesizing surge and yaw controllers. By creating a new coordinate, translation subsystem is converted to a lower-triangular form. Combining with backstepping technique, cascade analysis and Lypunov approach, translation and rotation controllers are derived systematically, and render the entire closed-loop FSRC system globally asymptotically stable. Hence, the AUSV is regulated to the desired FWP. Simulation studies on a benchmark AUSV are conducted to demonstrate remarkable performance.
The Chevron case and the reforms to the General Process Code Orlando Iván Ronquillo Riera; Betzabeth Raquel Plaza Benavides; Gaspar Santos Manasés Esaúd
Dilemas contemporáneos: educación, política y valores,
06/2019, Letnik:
VI, Številka:
Special
Journal Article
Recenzirano
Odprti dostop
The objective of this article is to demonstrate the legal and political repercussions of the reforms to the COGEP (General Code of Processes) in the pertinent part of the recognition of international ...arbitration awards in Ecuador; for this, we have taken as reference the Chevron case, the same one that involves the Ecuadorian state and the Amazonian indigenous communities that have been in a legal battle against the North American oil company for decades.
The conducted research consists in the possibility of using the obtained data to build a modern model of state regulation of the fuel and energy complex. The research results can be used in the ...activities of interested state authorities, mainly at the federal level. The paper discusses the theoretical features of state regulation of the fuel and energy complex. The characteristic of the development of the fuel and energy complex of the Russian Federation is given. The paper studies the development of state regulation mechanisms in the fuel and energy complex of the Russian Federation. The problems of development of the fuel and energy complex of the Russian Federation are highlighted. Recommendations for improving interaction between the fuel and energy complex and the state are given.
Electrochemical oxygen evolution reaction (OER) kinetics are heavily correlated with hybridization of the transition metal d‐orbital and oxygen intermediate p‐orbital, which dictates the barriers of ...intermediate adsorption/desorption on the active sites of catalysts. Herein, a strategy is developed involving strain engineering and coordination regulation to enhance the hybridization of Ni 3d and O 2p orbitals, and the as‐synthesized Ni‐2,6‐naphthalenedicarboxylic acid metal–organic framework (DD‐Ni‐NDA) nanosheets deliver a low OER overpotential of 260 mV to reach 10 mA cm−2. By integrating an alkaline anion exchange membrane electrolyzer and Pt/C electrode, 200 and 500 mA cm−2 current densities are reached with cell voltages of 1.6 and 2.1 V, respectively. When loaded on a BiVO4 photoanode, the nanosheet enables highly active solar‐driven water oxygen. Structural characterizations together with theoretical calculations reveal that the spin state of the centre Ni atoms is regulated by the tensile strain and unsaturated coordination defects in DD‐Ni‐NDA, and such spin regulation facilitates spin‐dependent charge transfer of the OER. Molecular orbital hybridization analysis reveals the mechanism of OH* and OOH* adsorption energy regulation by changes in the DD‐Ni‐NDA spin state, which provides a deeper understanding of the electronic structure design of catalysts for the OER.
A dual defect engineering strategy is developed to simultaneously create tensile strain and unsaturated coordination defects. These defects in a Ni‐2,6‐naphthalenedicarboxylic acid metal–organic framework (DD‐Ni‐NDA) are created to modulate the spin state of Ni active sites and further optimize the adsorption energy of OH* and OOH* intermediates for accelerating OER kinetics, ensuring fast OER kinetics and enhanced OER activity.
The purpose of the article is to determine the current state, opportunities and prospects for the digitalization of the Russian system of (higher) education while maintaining the existing approach to ...state regulation of this process and developing a new (improved) approach to speed it up. For this purpose, in this study, a method is used to assess the degree of digitalization of the system of (higher) education. As a result, it was found that at present the greatest degree of digitalization is considered through the characteristics of additional indicators of the functioning of the system of (higher) education in modern Russia, such as the work of library resources, state and public control. At the same time, the degree of digitalization of the main indicators (educational and scientific activities of universities) is at a low level. At the same time, the digitalization infrastructure of the Russian system of (higher) education is sufficiently developed, which determines significant opportunities for the further development of this process. The final degree of digitalization of the Russian system of (higher) education is estimated at 25.8% and is very low. The reason for this problem lies in the insufficient state regulation of the process of digitalization of the Russian system (higher education).
The relevance of the study is determined by the need to solve the problem of the development of state regulation of the functioning of the agro-industrial complex in the context of digital ...transformation, as well as the development and justification of ways to improve its efficiency. The existing system of state regulation does not fully take into account the needs of the agro-industrial complex in the development of digital transformation and is not sufficiently focused on stimulating the introduction of digital technologies. The scientific novelty of the study is to clarify the methodology for evaluating the implementation of the state program for the introduction of the digital economy. To analyse the effect of the introduction of digital technologies in agriculture, we have clarified the methodology for calculating the efficiency assessment. We have proposed a new model for the successful transition to digital technology of agricultural enterprises.
In this work, bimetallic nanocomposites were synthesized by an emulsion hydrothermal method, and the electronic structure of the nanocomposite’s surface was adjusted to make it optimal by introducing ...different transition metal salts, providing more active adsorption sites for detecting heavy metal ions (HMIs). The results showed that different transition metal cations underwent redox reactions with Fe3+ at high temperature, resulting in generation of more Fe2+ as well as high valence transition metal ions. And this process formed more oxygen vacancies (OVs) on the material surface, enhancing the adsorption properties of HMIs. Among these nanocomposites, CoFe2O4 produced the most Fe2+ (Fe2+/Fe3+ = 1.29) and Co3+ (Co3+ = 44.0%) at a high temperature, suggesting the generation of the most active sites on the material surface. The corresponding modified electrode CoFe2O4 (CoFe2O4/GCE) also exhibited good electrochemical performance for simultaneously detecting Pb2+ and Cu2+, with the limit of detections of 3.94 and 8.27 nM, respectively. Compared with other nanocomposites, adsorption experiments showed that the CoFe2O4/GCE had the largest adsorption capacity of Pb2+ and Cu2+ (QPb2+=49.82 μC, QCu2+=48.88 μC). Therefore, this work showed that the interaction between metal ions in bimetallic nanomaterials can regulate the electronic structures of the material surface at high-temperature treatment, improve the adsorption capacity of nanomaterials, and lead to good electrochemical detection performance of HMIs.
Display omitted
•Oxygen-rich vacancy CoFe2O4 nanoparticles were synthesized by a facile emulsion template method.•A highly sensitive Pb2+ and Cu2+ electrochemical sensor was developed.•This highlights the role of oxidation state regulation of bimetals in electrochemical sensing.
PDF
