Nonlinear bilateral teleoperation: Stability analysis

Abstract

The aim of this work was to evaluate the concentrations of polycyclic aromatic hydrocarbons (PAHs) in soils to which solid shale materials (SSMs) were added as soil conditioners. The SSMs were derived from the Petrosix pyrolysis process developed by Petrobras (Brazil). An improved ultrasonic agitation method was used to extract the PAHs from the solid samples (soils amended with SSMs), and the concentrations of the compounds were determined by gas chromatography coupled to mass spectrometry (GC-MS). The procedure provided satisfactory recoveries, detection limits, and quantification limits. The two-, three-, and four-ring PAHs were most prevalent, and the highest concentration was obtained for phenanthrene (978 19 g kg 1 in a pyrolyzed shale sample). The use of phenanthrene/anthracene and fluoranthene/pyrene ratios revealed that the PAHs were derived from petrogenic rather than pyrogenic sources. The measured PAH concentrations did not exceed national or international limit values, suggesting that the use of SSMs as soil conditioners should not cause environmental damage.[Figure not available: see fulltext.] " 2014, Springer International Publishing Switzerland.",,,,,,"10.1007/s10661-014-4123-9",,,"http://hdl.handle.net/20.500.12104/41346","http://www.scopus.com/inward/record.url?eid=2-s2.0-84919904556&partnerID=40&md5=5efab44096d2203991b6f4ab1c03d5f5",,,,,,"1",,"Environmental Monitoring and Assessment",,,,"187",,"Scopus

WOS",,,,,,"Environment; GC-MS analysis; PAHs; Soil; Solid shale by-products",,,,,,"Evaluation of PAH contamination in soil treated with solid by-products from shale pyrolysis",,"Article" "44974","123456789/35008",,"N?no, E., Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain, Department of Computer Science, University of Guadalajara, Guadalajara, Mexico; Basínez, L., Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain",,"Nuno, E.

Basanez, L.",,"2009",,"This paper aims to take a first step towards the unification of the stability analysis for teleoperators with timedelays. It proposes a general Lyapunov-like function that, upon slight modification, allows to analyze the stability of different control schemes, ranging from constant to variable time delays, with or without the scattering transformation and with or without position tracking. It also presents design examples of the corresponding Lyapunov-like function for some schemes based on PD controllers and on the scattering transformation for variable time-delays. " 2009 IEEE.