Geochemical sediment of the tropical Pinang River, Malaysia was carried out with the aim at documenting elemental concentrations and pollution level assessment. Concentration of selected heavy metals (Cu, Cd, Cr, Pb, ...Geochemical sediment of the tropical Pinang River, Malaysia was carried out with the aim at documenting elemental concentrations and pollution level assessment. Concentration of selected heavy metals (Cu, Cd, Cr, Pb, Zn and Mn), rare earth elements, TOC and grain size distribution of sediments were determined at 100 m sampling interval along the river. Sediment size showed a positive correlation with ∑REE and Mn and medium correlations with TOC, Zn, Cu, Cr and Pb contents showing enrichment in the clay size fraction. Results of enrichment factor and geoaccumulation index showed that most of the elemental sources were natural (especially REE) and mostly likely represented background values. However, pollution load index revealed the higher levels of Cr, Cd, Zn and Pb, and, therefore, indicating to the anthropogenic sources (i.e. fishing activities) especially in the downstream locations. Thus, the Pinang River is classified as moderately to highly polluted.展开更多
In this paper, a nonlinear robust adaptive controller is proposed for gear transmission servo system (GTS) containing a sandwiched deadzone due to improper gear meshing. The controller is robust to dynamic uncertainti...In this paper, a nonlinear robust adaptive controller is proposed for gear transmission servo system (GTS) containing a sandwiched deadzone due to improper gear meshing. The controller is robust to dynamic uncertainties and can compensate the effect caused by the sandwiched nonlinearity which is separated from the control input through drive compliance. The proposed design methodology does not require an adaptive inverse deadzone function and does not require the knowledge of its parameter and only the knowledge of upper bounds is required.展开更多
文摘Geochemical sediment of the tropical Pinang River, Malaysia was carried out with the aim at documenting elemental concentrations and pollution level assessment. Concentration of selected heavy metals (Cu, Cd, Cr, Pb, Zn and Mn), rare earth elements, TOC and grain size distribution of sediments were determined at 100 m sampling interval along the river. Sediment size showed a positive correlation with ∑REE and Mn and medium correlations with TOC, Zn, Cu, Cr and Pb contents showing enrichment in the clay size fraction. Results of enrichment factor and geoaccumulation index showed that most of the elemental sources were natural (especially REE) and mostly likely represented background values. However, pollution load index revealed the higher levels of Cr, Cd, Zn and Pb, and, therefore, indicating to the anthropogenic sources (i.e. fishing activities) especially in the downstream locations. Thus, the Pinang River is classified as moderately to highly polluted.
文摘In this paper, a nonlinear robust adaptive controller is proposed for gear transmission servo system (GTS) containing a sandwiched deadzone due to improper gear meshing. The controller is robust to dynamic uncertainties and can compensate the effect caused by the sandwiched nonlinearity which is separated from the control input through drive compliance. The proposed design methodology does not require an adaptive inverse deadzone function and does not require the knowledge of its parameter and only the knowledge of upper bounds is required.
