Hybrid Decentralized Nonlinear Control System for Manipulation Robot with Input Saturations

The paper is devoted to consideration of the problem of constructing a discrete-continuous decentralized nonlinear combined control system for two-link robotic manipulator with restrictions in control signals. The mathematical model of the manipulator is presented as a two-channel dynamic plant with nonlinear cross-links. As methods for solving this problem V. M. Popov’s hyperstability criterion and the conditions of L-dissipativity are used. With the help of simulation, the quality of the proposed control system is shown. The results obtained in article may be useful for construction the control systems for manipulators with many degrees of freedom and also for control various mechanical systems.

Evaluation of environmental impacts for future influent scenarios using a model-based approach

Changes in dilution of wastewater to a treatment plant due to infiltration or surface runoff can have a great impact on treatment process performance. This paper presents a model-based approach in which realistic influent scenarios are generated and used as inputs to a dynamic plant-wide process model of the wastewater treatment plant. The simulated operation is subsequently evaluated using life-cycle assessment (LCA) to quantify the environmental impacts of the future influent scenarios. The results show that increased infiltration led to higher environmental impact per kg nitrogen removed. The increase in surface runoff had a minor impact.