Tracking Control of Wheeled Mobile Robots with Communication Delay and Data Loss

This paper considers the tracking control problem of a wheeled mobile robot under situation of communication delay and consecutive data packet dropouts in the feedback channel. A tracking controller in discrete-time domain for the case of ideal network condition is first derived, and then the networked predictive controller as well as two algorithms for dealing with communication delay and consecutive data packet dropouts are proposed. Simulation and experimental results verify the realizability and effectiveness of the proposed algorithms.

Direct Measurement of CO_2 Retention in Arable Soils with pH Above 6.5 During Barometric Process Separation Incubation

The barometric process separation(BaPS)technique is a well-established incubation method to simultaneously measure gross nitrification and respiration rates in soil.Its application,however,is still critical in soils with pH above 6.5.Here,a substantial part of microbial CO_2 production is retained in soil solution(CO_2,aq)due to shifts in the carbonate equilibrium.This may lead to substantial errors in gas balance calculation.Yet,utilization of the BaPS technique is only reliable if the critical term is adequately quantified.We present an easy,inexpensive,and direct method,the sterilization-CO_2-injection(SCI)method,to measure CO_2 retention during soil incubation.Sterilized soil was incubated in the BaPS system,and defined volumes of CO_2 were injected to stepwise increase CO_2partial pressure(p CO_2)inside the chamber and to analyse the physicochemical equilibration process.Five exemplary agricultural soils from Northeast China and Southwest Germany were used for method establishment,presenting pH values between 4.4 and 7.6 and carbonate contents between 0% and 3.9%.We observed that in soils with pH>6.5,70%–90% of the injected CO_2 was taken up by the soil until the equilibrium inside the chamber was re-established.As expected,in soils with low pH(<6.5),measured CO_2 retention was low.CO_2 retention patterns were sensitive to incubation temperature with tri-fold dissolution capacity at 5~?C compared to 25?C,but insensitive to variations in soil water content.The resulting soil-specific relationship between p CO_2 and CO_2,aq concentration allowed the quantification of CO_2,aq concentration as a function of headspace p CO_2.

Existence and asymptotic behavior of invasion wave solutions in temporally discrete diffusion systems with delays

This paper is concerned with the existence and asymptotic behavior of invasion wave solutions for a time-discrete delayed diffusion competitive system with non-quasimonotone conditions. The existence of invasion wave solution is investigated by applying upper lower solutions method and Schauder＇s fixed point theorem. Further, with the help of Ikeharas＇ theorem, we establish the exponential decay asymptotic behavior of traveling wave solutions at the minus/plus infinity.