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Discrete-time Formation Control With Attitude Alignment: A Geometric Approach under Ergodic Products

IEEE Transactions on Control of Network Systems 2025年

作者： Li, Zhen Tang, Yang Zhang, Wenbing Fan, Yongqing Huang, Tingwen Xi-an University of Posts and Telecommunications School of Automation Xian710121 China East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process Shanghai200237 China Yangzhou University Department of Mathematics Jiangsu225002 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

Assuming agents possess sensing capabilities and dynamics relative to their body coordinate frames, this paper addresses a displacement-based strategy for discrete-time formation control through attitude synchronization. Unlike the Eulerian approximation, the first challenge lies in developing discrete-time models that capture both position and attitude motions, thereby complementing existing continuous-time systems with a discretized version. Then, two leader-following control protocols are designed, incorporating a jointly-connected topology to relax the connectivity requirements. The analysis of these systems often relies on the Lyapunov function, the existence of which may be hard to guarantee. Consequently, geometric properties of several polytopes are explored under the dynamic topologies and time-varying parameters. By extending the ergodicity results to leader-following scenarios, these properties are characterized as positively invariant sets. This invariance, which is independent of the existence of the Lyapunov function or the solvability of its associated criteria, provides a beneficial tool for analyzing time-variant systems. Utilizing this invariance and some mathematical techniques, the desired formation shape can be achieved in the cases where the attitudes of the followers synchronize with the leader. Finally, a numerical simulation validates the results. © 2014 IEEE.

关键词： Lyapunov functions

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Frontiers of CO_(2)Capture and Utilization(CCU)towards Carbon Neutrality

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Advances in Atmospheric Sciences 2022年第8期39卷 1252-1270页

作者： Lingyun ZHANG Yanfang SONG Jialin SHI Qun SHEN Deng HU Qiang GAO Wei CHEN Kien-Woh KOW Chengheng PANG Nannan SUN Wei WEI CAS Key Laboratory of Low-Carbon Conversion Science&Engineering Shanghai Advanced Research InstituteChinese Academy of SciencesShanghai 201210China Department of Chemical and Environmental Engineering Faculty of Science and EngineeringUniversity of Nottingham Ningbo ChinaNingbo 315100China Key Laboratory for Carbonaceous Wastes Processing and Process Intensification Research of Zhejiang Province University of Nottingham Ningbo ChinaNingbo 315100China New Materials Institute the University of Nottingham Ningbo ChinaNingbo 315100China School of Physical Science and Technology ShanghaiTech UniversityShanghai 201210China

CO_(2)capture,utilization,and storage(CCUS)technology is a rare option for the large-scale use of fossil fuels in a low-carbon way,which will definitely play a part in the journey towards carbon *** the CCUS nexus,CCU is especially interesting because these processes will establish a new“atmosphere-to-atmosphere”carbon cycle and thus indirectly offer huge potential in carbon *** study focuses on the new positioning of CCUS in the carbon neutrality scenario and aims to identify potential cutting-edge/disruptive CCU technologies that may find important application opportunities during the decarbonization of the energy and industrial *** this end,direct air capture(DAC),flexible metal-framework materials(MOFs)for CO_(2)capture,integrated CO_(2)capture and conversion(ICCC),and electrocatalytic CO_(2)reduction(ECR)were selected,and their general introduction,the importance to carbon neutrality,and most up-to-date research progress are summarized.

关键词： carbon neutrality carbon reduction decarbonization CO_(2) CCU

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Effect of carbon composition on permittivity performance of dielectric material from agricultural waste

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Materials Today: Proceedings 2024年 110卷 76-81页

作者： Rudraa Devi Giamasrow Azahani Natasha Azman Norazwina Zainol Mohamad Shaiful Abdul Karim Nurhafizah Abu Talip Yusof Faculty of Electrical & Electronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah 26600 Pekan Pahang Malaysia Faculty of Chemical & Process Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Lebuh Persiaran Tun Khalil Yaakob 26300 Kuantan Pahang Malaysia Centre for Research in Advanced Fluid & Processes (Fluid Centre) Universiti Malaysia Pahang Al-Sultan Abdullah Lebuh Persiaran Tun Khalil Yaakob 26300 Kuantan Pahang Malaysia

Agriculture in several nations, including Malaysia, yields abundant waste like timber, oil palm waste, rice husks , coconut fibers , municipal waste, sugarcane residues, and pineapple byproducts. Fabricating a dielectric material from agricultural waste could curtail waste, offering an eco-friendly option for non-recyclable dielectrics in electronics devices such as PCBs , antennas, and sensors, for example. This research highlights the development of a new dielectric material using agricultural waste sourced from pineapple leaves. Pineapple leaves are selected as the primary raw material due to their abundant waste, which is often underutilized, particularly in Malaysia. The dielectric material is fabricated by incorporating pineapple leaves as the base formulation. Then, the fabricated material is characterized by its permittivity value and loss tangent . The permittivity value signifies the material's capacity to absorb or store electromagnetic waves. The analysis includes carbon composition and permittivity values to assess the dielectric potential of these raw materials. Elemental carbon composition is determined through energy-dispersive X-ray (EDX) analysis. The fabricated dielectric material achieves its highest permittivity value at 3.31, with a carbon percentage of 78.05% and an oxygen percentage of 21.95% within 16 runs of the two-level factorial analysis (TLFA) method. These findings indicate that an increased carbon element content enhances permittivity as carbon effectively absorbs and stores electromagnetic signals. Conversely, an increased oxygen element content reduces permittivity due to expanded void space (porous structure), diminishing the material's absorbent or storage capacity for electromagnetic signals. In conclusion, this initial experiment demonstrates that the carbon content of the fabricated dielectric material, derived from waste pineapple leaves, significantly influences its permittivity value.

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The effect of particle size on physicochemical and thermal analysis of rice husk for explosion studies

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Materials Today: Proceedings 2024年 107卷 99-103页

作者： M.S.R. Mazilan S.Z. Sulaiman N.H. Semawi Fiona N.-F. How S.K. Abdul Mudalip R. Che Man Z.I.M. Arshad S.M. Shaarani Faculty of Chemical and Process Engineering Technology Universiti Malaysia Pahang 26300 Pahang Malaysia Department of Chemistry Kuliyyah of Science International Islamic University Malaysia IIUM Kuantan Campus Jalan Sultan Ahmad Shah Bandar Indera Mahkota 25200 Kuantan Pahang Darul Makmur Malaysia

The effect of rice husk particle size on physicochemical and thermal behaviour was studied for identify whether it has the potential to explode. The thermal degradation of the lignocellulosic constituent in rice husk was evaluated via thermogravimetric analysis (TGA). Rice husk morphology and elemental composition were evaluated via scanning electron microscopy with energy dispersive X-ray (SEM-EDX). Results showed that the rice husk samples were richer in cellulose than in lignin in terms of weight percent, indicating that they were combustible. Uncontrolled combustion propagation can lead to an explosion. However, the presence of ±5 wt% silicon in rice husk may reduce the explosion severity due to its low thermal conductivity. Furthermore, the smallest particle size, 71 µm recorded faster thermal degradation and more explosive as compared to 106, 160 and 250 µm. This preliminary data is very useful to improve the safety technique specifically for rice husk dust explosion protection, prevention, and mitigation.

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Synthesis of a novel terpolymer of (BA -co- SMA -co- MA) as pour point depressants to improve the flowability of the Malaysian crude oil

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Materials Today: Proceedings 2021年 42卷 28-32页

作者： Ibrahim Elganidi Basem Elarbe Norhayati Abdullah Norida Ridzuan Faculty of Chemical & Process Engineering Technology Universiti Malaysia Pahang 26300 Gambang Pahang Malaysia

During the extraction of crude oil, the reservoir temperature is much higher than the surface temperature especially when the oil is transported cross subsea. Therefore, the flow of virgin oil gets impeded due to the precipitation of wax on the inner wall of pipelines when the temperature decreased below the wax appearance temperature (WAT) and the flow stops if the temperature falls below the pour point. Polymeric pour point depressants (PPD) have received considerable attention as a wax control approach to enhance the flowability of waxy crude oil. The aim of the current study is to synthesize a novel PPD of benhely acrylate-co-stearyl methacrylate-co-maleic anhydride (BA-co-SMA-co-MA) to improve the viscosity of Malaysian crude oil using free radical polymerization. The effect of polymerization parameters, such as reaction temperature, initiator concentration, experimental duration, and monomer concentration on the yield of the synthesized polymer was evaluated statistically with a one-factor-at-a-time (OFAT) approach. The performance of the prepared PPD was evaluated to determine its effects on the viscosity of crude oil using Brookfield DV-III viscometer. The experimental results showed that the optimum conditions to obtain the highest yield were at the reaction time of 8 h, initiator concentration of 1.5 wt%, reaction temperature of 100 °C, and monomers ratio of (BA:SMA: MA) 1:1:1. At the optimum conditions, the prepared terpolymer reduces the viscosity of crude oil from 7.2 mPa.s to 3.2 mPa.s at 30 °C using 1500 ppm. The significant reduction in the apparent viscosity indicated improvement in the low-temperature flow properties of the crude oil after applying the synthesized PPD.

关键词： Wax deposition Pour point depressants Viscosity reduction Reaction parameters Wax inhibitor

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Assessing the Ecological Effects of Imidazolium Hydrogen Sulfate and Morpholinium Tetrafluoroborate Ionic Liquids on Mixed Culture Growth

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Macromolecular Symposia 2025年第1期414卷

作者： Rahman, Nurul Aliaa Abdullah, Syamsul Bahari Zain, Salwanis Md. Samsudin, Ahmad Salihin Omar, Suhaila Bustam, Mohamad Azmi Rahman, Roshanida A. Idris, Alamin Yussof, Hafizuddin Wan Faculty of Chemical and Process Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Lebuhraya Tun Razak Pahang Kuantan26300 Malaysia Faculty of Industrial Sciences and Technology Universiti Malaysia Pahang Al-Sultan Abdullah Lebuhraya Tun Razak Pahang Kuantan26300 Malaysia Department of Biotechnology Kuliyyah of Science International Islamic University of Malaysia Bandar Indera Mahkota Pahang Kuantan25200 Malaysia Department of Chemical Engineering Universiti Teknologi PETRONAS Perak Bandar Seri Iskandar32610 Malaysia Faculty of Chemical and Energy Engineering Universiti Teknologi Malaysia Johor UTM Skudai 81310 Malaysia Department of Natural Science Mid Sweden University Sundsvall852 30 Sweden

Nowadays, ionic liquids (ILs) have extensive applications in biotechnology and are classified as green solvents. However, there are significant concerns over the effect of ILs on microorganism growth, especially towards mixed microorganisms. This study sets out to investigate the effect of synthesized ILs, particularly imidazolium hydrogen sulfate [IM][HSO4] and morpholinium tetrafluoroborate [MOR][BF4], towards mixed culture microorganisms, mainly identified as Bacillus cereus, Bacillus thuringiensis, and Pseudallescheria boydii. The toxicity effect of both ILs is assessed through the disk diffusion method. Moreover, the ecological effects of mixed culture growth on ILs are analyzed by conducting the growth inhibition test in fermentation liquid media. This study reveals that the growth of mixed culture microorganisms started to decline after 4 and 5 h of injecting the [IM][HSO4] and [MOR][BF4], respectively. This shows that mixed culture microorganisms have a longstanding growth and the least inhibition effect after being exposed to [MOR][BF4] rather than [IM][HSO4]. Similar findings are observed regarding the inhibitory effects, with [MOR][BF4] showing a smaller inhibition zone compared to [IM][HSO4]. This finding clearly indicates that imidazolium based ILs are more toxic than morpholinium based ILs. The present study lays the groundwork for further experimental investigation on [MOR][BF4] towards mixed culture microorganisms through the structural characteristics, explicitly focusing on using ILs without the alkyl chain. © 2025 Wiley-VCH GmbH.

关键词： Bacteriology

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Improvement in potassium ion batteries electrodes: Recent developments and efficient approaches

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Journal of Energy Chemistry 2021年第11期30卷 307-337,I0007页

作者： Syed Musab Ahmed Guoquan Suo Wei Alex Wang Kai Xi Saad Bin Iqbal School of Materials Science and Engineering Shaanxi University of Science and TechnologyXi’an 710021ShaanxiChina Beijing Key Laboratory of Bio-inspired Energy Materials and Devices School of Space and EnvironmentBeihang UniversityBeijing 100191China Cambridge Graphene Centre Department of EngineeringUniversity of CambridgeCambridge CB30FAUK Department of Chemical and Energy Engineering Faculty of Process and System EngineeringOtto-von-Guericke UniversitätMagdeburg 39106Germany

Demand for efficient and continuous application for high-grid energy storage systems involves the study towards novel battery technologies. Hence, considering the vast naturally available resources of potassium all over the world and its encouraging intercalation chemistries, it has recently enticed attention in electrochemical energy storage industry in the form of potassium ion batteries (PIBs). The major factor in this K+ based battery, is to develop efficient approaches to manufacture electrode substance to intercalate its big size potassium ions with considerable voltage, kinetics, charge/discharge capacity, capacity retention, cost, etc. This study contributes in the recent developments of anode and cathode materials for PIBs, including several electrode materials in regards to synthesis, structure, electrochemical performance, and K-storage mechanisms. Finally, the review contributes to provide helpful sources for the increasing number of scientists working in this industry regarding its critical issues and challenges and also to indicate the future direction of electrode materials in PIBs.

关键词： Potassium ion batteries Efficient approaches Recent developments

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Hydrogen storage in MgH2 catalyzed by Fe nanoparticles and hollow silica spheres

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Fuel 2025年 400卷

作者： Saeid, Mohammed Faraj Abdulkadir, B.A. Ismail, M. Setiabudi, H.D. Faculty of Chemical & Process Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Lebuh Persiaran Tun Khalil Yaakob Pahang Gambang26300 Malaysia Centre for Research in Advanced Fluid & Processes Universiti Malaysia Pahang Al-Sultan Abdullah Lebuh Persiaran Tun Khalil Yaakob Pahang Gambang26300 Malaysia Energy Storage Research Group Faculty of Ocean Engineering Technology and Informatics Universiti Malaysia Terengganu Kuala Nerus Terengganu21030 Malaysia

Hydrogen is a promising clean energy carrier, but its practical use is limited by storage challenges. Solid-state storage, particularly using magnesium hydride (MgH2), offers high capacity, though its application is hindered by high decomposition temperatures and slow dehydrogenation kinetics. To increase the storage capacities of MgH2, this study explored the influence of iron (Fe) doped on hollow silica spheres (HSS). Different amount of Fe was doped into the HSS and characterized using different physicochemical characterization techniques. The results show that Fe was successfully incorporated into the MgH2, with the 7 wt% Fe-HSS sample (7Fe-HSS) exhibiting the most significant improvements. The onset dehydrogenation temperature of pure MgH2 was 420 °C, while ball-milled MgH2 exhibited a reduced onset temperature of 350 °C. MgH2 doped with 3 wt%, 5 wt%, 7 wt%, and 10 wt% Fe-HSS showed onset temperatures of 359 °C, 345 °C, 320 °C, and 335 °C, respectively. The MgH2 doped with Fe nanoparticles, exhibited a similar onset dehydrogenation temperature of 320 °C. The 7Fe-HSS sample decreased the dehydrogenation temperature by 105 °C compared to pure MgH2 and by 30 °C compared to ball-milled MgH2. In terms of hydrogen absorption, the 7Fe-HSS composite absorbed 6.09 wt% H2 in 2 min at 320 °C, compared to 4.66 wt% for ball-milled MgH2, 4.49 wt% for MgH2-HSS, and 4.45 wt% for MgH2-Fe nanoparticles. Over 60 min, the 7Fe-HSS sample desorbed 4.85 wt% H2 at 320 °C, significantly higher than the 0.4 wt% desorbed by ball-milled MgH2, 3.37 wt% by MgH2-HSS, and 4.23 wt% by MgH2-Fe nanoparticles. The hydrogen absorption capacities at 20 min for MgH2-Fe nanoparticles, MgH2-HSS, 3 wt%, 5 wt%, 7 wt%, and 10 wt% Fe-HSS were 4.45 wt%, 4.49 wt%, 4.74 wt%, 5.24 wt%, 6.09 wt%, and 5.17 wt%, respectively. The 7Fe-HSS composite exhibited the highest absorption and desorption rates, with a capacity of 6.09 wt% in 2 min. Additionally, the desorption capacity for the MgH2-Fe nanoparticles, MgH2-

关键词： Gas absorption

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Physical characterization of propolis encapsulated vitamin E TPGS as nanomedicine

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Materials Today: Proceedings 2022年 48卷 807-810页

作者： Yee Tong Kong Rajaletchumy Veloo Kutty Faculty of Chemical and Process Engineering Technology College of Engineering Technology Universiti Malaysia Pahang 26300 Kuantan Pahang Malaysia Center of Excellence for Advanced Research in Fluid Flow Universiti Malaysia Pahang 26300 Kuantan Pahang Malaysia

CAPE found in propolis has become the subject of research interest as it has various medicinal benefits such as antiviral, anti-inflammatory, antioxidant, anticancer and immunomodulatory properties [1] . In this study, propolis obtained in Kuantan, Pahang is encapsulated using biodegradable polymer, vitamin E TPGS as a drug delivery system whereas TPGS-CAPE is used as a control. The findings show the physical characterization of propolis loaded vitamin E TPGS polymeric micelles which includes size, polydispersity index, zeta potential, shape and morphology and encapsulation efficiency.

关键词： Propolis Caffeic acid phenethyl ester vitamin E TPGS Nanomedicine Drug delivery system

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Textile Waste Streams: A Case Study of the Czech Republic

SSRN

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SSRN 2024年

作者： Shtukaturova, Anastasia Jiří, Kropáč Šomplák, Radovan Pavlas, Martin Šyc, Michal Institute of Chemical Process Fundamentals the Czech Academy of Sciences Rozvojová 1 Prague165 00 Czech Republic Faculty of Environmental Technology University of Chemistry and Technology in Prague Technická 5 Prague166 28 Czech Republic Faculty of Mechanical Engineering Brno University of Technology Brno Technická 2 Královo Pole Brno61669 Czech Republic

The constantly growing population, standard of living, and phenomenon of fast fashion caused a worldwide increase in textile consumption, including in the Czech Republic. In 2020, based on the Circular Economy Action Plan, the Czech Republic introduced a new waste management law with significant changes to textile waste collection and treatment. As a basis for optimising these systems, we conducted a material flow analysis to determine the current state of textile waste streams. Our material flow analysis clearly identified all the textile waste flows and methods of treatment, alongside the sixfold growth of post-consumer textile waste generation over the period of 2010-2021, and highlighted landfilling and recycling as the most commonly used methods for textile waste utilisation. Therefore, our analysis clearly indicated significant potential for recycling and optimising the collection system, especially with the upcoming mandatory collection of used textiles in 2025 and ban on landfilling recoverable materials in 2030. © 2024, The Authors. All rights reserved.

关键词： Recycling

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