This paper proposes an improved method of integral backstepping for real time control of a laboratory helicopter with variable speed rotors known as the Two-Rotor Aero-dynamic System (TRAS). The coupled system is decomposed into the horizontal subsystem (HS) and the vertical subsystem (VS) and traditional backstepping, augmented with direct integral action is designed for each subsystem. The transient response to both constant and time varying references is then simultaneously improved by modifying an already proposed method called dual boundary conditional integration. A switching technique is also employed to enhance the tracking response of the undamped HS for its bi-directional motor which exhibits jerking effects. Experimental results show that the proposed approach yields improved transient and tracking performance when compared to previously proposed methods exploiting conditional integration earlier proposed for improving the transient response of controlled nonlinear systems with integral action. The results also show the robustness of the proposed method in the presence of the coupling effects and additional external disturbance applied to the system in the form of a wind gust.
In this paper, the energy efficiency of the widespread application of backstepping control to a class of nonlinear motion systems is investigated. A Switched Step Integral Backstepping Control (SSIBC) scheme is introduced to improve immunity to measurement noise and to increase the energy efficiency of conventional backstepping in practice. The SSIBC is realized by switching between two candidate controllers obtained at different steps of the iterative backstepping design process. A bi-state dependent hysteresis rule is developed to supervise stable switching between the different regimes in the presence of noise. The proposed method is experimentally verified on a MIMO twin rotor laboratory helicopter involving coupled nonlinear dynamics, inaccessible states and uncertainties. Experimental results show that in addition to a reduction in power consumption, the SSIBC reduces saturation of the control signal and visible motor jerking in contrast with conventional backstepping. Additional comparisons with a previously proposed optimized decoupling PID controller also show significant improvement in precision achieved with higher energy efficiency. Experimental results obtained with the introduction of an external disturbance into the system also show the robustness of the proposed SSIBC.
In this present experimental study, geopolymer cement is developed using high calcium fly ash and used in the production of one-part alkali-activated binders. At 8-16 percent of the total precursor materials, the HCFA was activated with anhydrous sodium metasilicate powder and cured in ambient condition. Five mixtures of one-part geopolymer paste were intended at a steady w/b proportion. Density, flowability, setting time, compressive strength, splitting tensile strength and molar ratio impact were envisaged. It was observed that the setting time of the designed one-part geopolymer paste decreases with higher activator content. The experimental findings showed that the resistance of one-part geopolymer cement paste increases with comparatively greater activator content. However, raising the granular activator beyond 12 percent by fly ash weight decreases the strength and workability of the established one-part geopolymer cement. The optimum mix by weight of the fly ash was discovered to be 12 percent (i.e. 6 percent Na2O). At 28 days of curing, one-part alkali-activated paste recorded the greatest compressive strength of almost 50 MPa. The density of the one-part geopolymer paste is nearly the same regardless of the mixes. Microstructural assessment by FESEM, FTIR and XRD has shown that the established geopolymer paste includes quartz, pyrrhotite, aluminosilicate sodium and hydrate gels of calcium aluminosilicate. Based on the experimental information acquired, it can be deduced that the strength growth of one-part geopolymer cement is similar to that of Portland cement.
The issue of environmental pollution has been worsened by the emergence of new contaminants whose morphology is yet to be fully understood . Several techniques have been adopted to mitigate the pollution effects of these emerging contaminants, and bioremediation involving plants, microbes, or enzymes has stood out as a cost-effective and eco-friendly approach. Enzyme-mediated bioremediation is a very promising technology as it exhibits better pollutant degradation activity and generates less waste. However, this technology is subject to challenges like temperature, pH, and storage stability, in addition to recycling difficulty as it is arduous to isolate them from the reaction media. To address these challenges, the immobilization of enzymes has been successfully applied to ameliorate the activity, stability, and reusability of enzymes. Although this has significantly increased the uses of enzymes over a wide range of environmental conditions and facilitated the use of smaller bioreactors thereby saving cost, it still comes with additional costs for carriers and immobilization. Additionally, the existing immobilization methods have their individual limitations. This review provides state-of-the-art information to readers focusing on bioremediation using enzymes. Different parameters such as: the sustainability of biocatalysts, the ecotoxicological evaluation of transformation contaminants, and enzyme groups used were reviewed. The efficacy of free and immobilized enzymes, materials and methods for immobilization, bioreactors used, challenges to large-scale implementation, and future research needs were thoroughly discussed.
Students of the health sciences are the future frontliners to fight pandemics. The students' participation in COVID-19 response varies across countries and are mostly for educational purposes. Understanding the determinants of COVID-19 vaccine acceptability is necessary for a successful vaccination program. This study aimed to investigate the factors associated with COVID-19 vaccine acceptance among health sciences students in Northwest Nigeria. The study was an online self-administered cross-sectional study involving a survey among students of health sciences in some selected universities in Northwest Nigeria. The survey collected pertinent data from the students, including socio-demographic characteristics, risk perception for COVID-19, and willingness to accept the COVID-19 vaccine. Multiple logistic regression was used to determine the predictors of COVID-19 vaccine acceptance. A total of 440 responses with a median (interquartile range) age of 23 (4.0) years were included in the study. The prevalence of COVID-19 vaccine acceptance was 40.0%. Factors that independently predict acceptance of the vaccine were age of 25 years and above (adjusted odds ratio, aOR, 2.72; 95% confidence interval, CI, 1.44-5.16; p = 0.002), instructions from heads of institutions (aOR, 11.71; 95% CI, 5.91-23.20; p<0.001), trust in the government (aOR, 20.52; 95% CI, 8.18-51.51; p<0.001) and willingness to pay for the vaccine (aOR, 7.92; 95% CI, 2.63-23.85; p<0.001). The prevalence of COVID-19 vaccine acceptance among students of health sciences was low. Older age, mandate by heads of the institution, trust in the government and readiness to pay for the vaccine were associated with acceptance of the vaccine. Therefore, stakeholders should prioritize strategies that would maximize the vaccination uptake.