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The purpose of this paper is to provide a summary of key aspects of a recently defended PhD thesis. It enables readers who may be interested in the thesis topic to gain an overview of that work and a link to the entire thesis through a URL link www.dropbox.com/s/1gikjlh6qw0v26u/Dissertation_Eduardo_Lopez_03122015.pdf?dl=0. The second purpose of this Thesis Research Note (TRN) is to explain the thesis author’s doctoral journey.

The methodology was rooted in critical realism using mixed research methods. The approach for the paper is to provide a reflective narrative to explain the lived experience of the authors throughout the candidate’s doctoral journey.

The theoretical implications of this study are the introduction of two new constructs (The Small Sins Allowed (SSA) and the Line of Impunity (LoI)) and the definition of these constructs as variables that affect corporate governance.

Although this study was intended to collect feedback regardless of geographical location, over 91 percent of responses came from the USA, Canada, and Latin America. For this reason, generalization beyond these boundaries requires further analysis.

The practical implications are related to the application of the two constructs (SSA and the LoI) into the daily corporate governance activities.

SSA and LoI, can be the foundation for renewed and vigorous corporate governance. SSA helps to establish a level above which adherence to ethical standards is expected. LoI aids in identifying ethical fault lines. Together they help to keep unethical behaviors under control.

The TRN provides a highly individualized account of a doctoral journey but it is intended to contribute to the growing body of TRNs published in this journal that in turn may inform decisions relating to candidates embarking on a doctoral journey.

Few modeling approaches exist for cycloidal rotors because they are a prototypal technology. Thus, the purpose of this study was to develop new models for their analysis and validation. These models were used to analyze cycloidal rotors and a helicopter that uses them instead of a tail rotor.

Three different models were developed to study the aerodynamic response of cycloidal rotors. They are a simplified analytical model resolved algebraically; a multibody model resolved numerically; and an unsteady computational fluid dynamics (CFD) model. The models were validated using data coming from three different experimental sources, each with rotor spans and radii of roughly 1 m. The CFD model was used to investigate the influence of rotor arms. The efficiency and the stability of the rotor in different configurations were studied. An aeroelastic multibody simulation was used to verify the influence of flexibility on the rotor response.

The analyses suggested that cycloidal rotors can increase the efficiency of a helicopter at high velocities while flexibility reduces it and may lead to instabilities.

These models do not consider the effect of boundary layer friction on the trailing vortices generated by the rotor blades.

These models allow a four-step aerodynamic optimization procedure. First, a range of optimized configurations is obtained by the analytical model. Second, the multibody model refines that range. Third, the CFD model detects eventual problematic blade interactions.

The models presented should serve researchers and industrials looking for a means to measure the performance of cycloidal rotors concepts. The results presented also guide an initial cycloidal rotor design.

A distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated dynamic model is characterized by underactuation. Because of the existence of more control inputs, in tilt-rotor UAVs, there is more flexibility in the solution of the associated nonlinear control problem. On the other side, the dynamic model of the tilt-rotor UAVs remains nonlinear and multivariable and this imposes difficulty in the drone's controller design. This paper aims to achieve simultaneously precise tracking of trajectories and minimization of energy dissipation by the UAV's rotors. To this end elaborated control methods have to be developed.

A solution of the nonlinear control problem of tilt-rotor UAVs is attempted using a novel nonlinear optimal control method. This method is characterized by computational simplicity, clear implementation stages and proven global stability properties. At the first stage, approximate linearization is performed on the dynamic model of the tilt-rotor UAV with the use of first-order Taylor series expansion and through the computation of the system's Jacobian matrices. This linearization process is carried out at each sampling instance, around a temporary operating point which is defined by the present value of the tilt-rotor UAV's state vector and by the last sampled value of the control inputs vector. At the second stage, an H-infinity stabilizing controller is designed for the approximately linearized model of the tilt-rotor UAV. To find the feedback gains of the controller, an algebraic Riccati equation is repetitively solved, at each time-step of the control method. Lyapunov stability analysis is used to prove the global stability properties of the control scheme. Moreover, the H-infinity Kalman filter is used as a robust observer so as to enable state estimation-based control. The paper's nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs. Finally, the nonlinear optimal control approach for UAVs with tilting rotors is compared against flatness-based control in successive loops, with the latter method to be also exhibiting satisfactory performance.

So far, nonlinear model predictive control (NMPC) methods have been of questionable performance in treating the nonlinear optimal control problem for tilt-rotor UAVs because NMPC's convergence to optimum depends often on the empirical selection of parameters while also lacking a global stability proof. In the present paper, a novel nonlinear optimal control method is proposed for solving the nonlinear optimal control problem of tilt rotor UAVs. Firstly, by following the assumption of small tilting angles, the state-space model of the UAV is formulated and conditions of differential flatness are given about it. Next, to implement the nonlinear optimal control method, the dynamic model of the tilt-rotor UAV undergoes approximate linearization at each sampling instance around a temporary operating point which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. The linearization process is based on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms from the Taylor series, is considered to be a perturbation that is asymptotically compensated by the robustness of the control scheme. For the linearized model of the UAV, an H-infinity stabilizing feedback controller is designed. To select the feedback gains of the H-infinity controller, an algebraic Riccati equation has to be repetitively solved at each time-step of the control method. The stability properties of the control scheme are analysed with the Lyapunov method.

There are no research limitations in the nonlinear optimal control method for tilt-rotor UAVs. The proposed nonlinear optimal control method achieves fast and accurate tracking of setpoints by all state variables of the tilt-rotor UAV under moderate variations of the control inputs. Compared to past approaches for treating the nonlinear optimal (H-infinity) control problem, the paper's approach is applicable also to dynamical systems which have a non-constant control inputs gain matrix. Furthermore, it uses a new Riccati equation to compute the controller's gains and follows a novel Lyapunov analysis to prove global stability for the control loop.

There are no practical implications in the application of the nonlinear optimal control method for tilt-rotor UAVs. On the contrary, the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state-dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems which can be transformed to the linear parameter varying (LPV) form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions. The stability properties of the Galerkin series expansion-based optimal control approaches are still unproven.

The proposed nonlinear optimal control method is suitable for using in various types of robots, including robotic manipulators and autonomous vehicles. By treating nonlinear control problems for complicated robotic systems, the proposed nonlinear optimal control method can have a positive impact towards economic development. So far the method has been used successfully in (1) industrial robotics: robotic manipulators and networked robotic systems. One can note applications to fully actuated robotic manipulators, redundant manipulators, underactuated manipulators, cranes and load handling systems, time-delayed robotic systems, closed kinematic chain manipulators, flexible-link manipulators and micromanipulators and (2) transportation systems: autonomous vehicles and mobile robots. Besides, one can note applications to two-wheel and unicycle-type vehicles, four-wheel drive vehicles, four-wheel steering vehicles, articulated vehicles, truck and trailer systems, unmanned aerial vehicles, unmanned surface vessels, autonomous underwater vessels and underactuated vessels.

The proposed nonlinear optimal control method is a novel and genuine result and is used for the first time in the dynamic model of tilt-rotor UAVs. The nonlinear optimal control approach exhibits advantages against other control schemes one could have considered for the tilt-rotor UAV dynamics. For instance, (1) compared to the global linearization-based control schemes (such as Lie algebra-based control or flatness-based control), it does not require complicated changes of state variables (diffeomorphisms) and transformation of the system's state-space description. Consequently, it also avoids inverse transformations which may come against singularity problems, (2) compared to NMPC, the proposed nonlinear optimal control method is of proven global stability and the convergence of its iterative search for an optimum does not depend on initialization and controller's parametrization, (3) compared to sliding-mode control and backstepping control the application of the nonlinear optimal control method is not constrained into dynamical systems of a specific state-space form. It is known that unless the controlled system is found in the input–output linearized form, the definition of the associated sliding surfaces is an empirical procedure. Besides, unless the controlled system is found in the backstepping integral (triangular) form, the application of backstepping control is not possible, (4) compared to PID control, the nonlinear optimal control method is of proven global stability and its performance is not dependent on heuristics-based selection of parameters of the controller and (5) compared to multiple-model-based optimal control, the nonlinear optimal control method requires the computation of only one linearization point and the solution of only one Riccati equation.

Increasing focus on socially responsible investments (SRIs) and green projects in recent times, coupled with the arrival of COVID pandemic, are the main drivers of this study. The authors conduct a post-factum analysis of investor choice between sin and green investments before and through the COVID outbreak.

A passive investor is introduced who seeks maximum risk-adjusted return and/or investment variance. When presented an opportunity to add sin and/or green investments to her initial one-asset market-only investment position, she views and handles this issue as a portfolio problem (MPT). She estimates value-at-risk (VaR) and conditional-value-at-risk (CVaR) for portfolios to account for downside risk.

Green investments offer better overall risk-return optimization in spite of major inter-period differences in return-risk dynamics and substantial downside risk. Portfolios optimized for minimum variance perform just as well as the ones optimized for minimum downside risk. Return and risk have settled at higher levels since the onset of COVID, resulting in shifting the efficient frontier towards north-east in the return-risk space.

The study contributes to the literature in two ways: One, it examines investor choice between sin and green investments during a global health emergency and views this choice against the one made during normal times. Two, instead of using the principles of modern portfolio theory (MPT) explicitly for diversification, the study uses them to identify investor preference for one over the other investment type. This has not been widely done thus far.

Gives introductory remarks about chapter 1 of this group of 31 papers, from ISEF 1999 Proceedings, in the methodologies for field analysis, in the electromagnetic community. Observes that computer package implementation theory contributes to clarification. Discusses the areas covered by some of the papers ‐ such as artificial intelligence using fuzzy logic. Includes applications such as permanent magnets and looks at eddy current problems. States the finite element method is currently the most popular method used for field computation. Closes by pointing out the amalgam of topics.

As the excessive lifting force can lead to catwalk rollover and well site accidents, the lifting process boundary conditions and structural parameters have a significant effect lifting force, it is important to analysis the structural parameters on the maximum lifting force in the lifting process of power catwalk.

A new model is proposed to analyze the influence of structure parameters on its lifting force for lifting power catwalk in this paper, and the geometric and dynamic equations are established according to the different boundary conditions in different stages. In addition, the establishment of dynamics equations is based on D'Alembert's principle. To solve the model, dynamic analysis software is developed, which uses c # call MATLAB to solve the geometric and dynamic equations. The maximum lifting force is analyzed and optimized according to the software, the influence of structural parameters on the maximum lifting force is obtained and the correctness of the optimization is proved by experiments.

The best value of offset e is 0. The length of L22 should as small as possible while the installation size of the end of the conveying arm are guaranteed. The length of L1 should as small as possible while ensuring the not exceed the maximum value. The maximum lifting force remain the same in the second phase, the maximum lifting force decreases with the increase of Lcp, Lcpshould as small as possible. The maximum pressure of the hydraulic oil dropped by an average of 13.62% under optimized parameters.

This paper provides a theoretical basis for the selection of hydraulic winch, which also provides the theoretical basis and data support for the design and optimization of the structural parameters of the power catwalk.

This research has industrial applications in SJ Petroleum Machinery CO.LTD, SINOPEC (China) .CANRIG, North Rig, TESCO, Sichuan HONGHUA petroleum equipment CO.LTD of CNPC., Baoji Oil field Machinery CO.LTD, SJ Petroleum Machinery Co. LTD of SINOPEC, Yantai Jereh Oilfield Services Group CO.LTD, Nanyang clips oil equipment (group) CO. LTD, etc are the likely users.

A new model is proposed to analyze the lifting force of lifting power catwalk. The model takes into account the inertia force of the structure, development of dynamics software and analysis and optimization of structural parameters. The maximum lifting force is analyzed and optimized according to the software, the influence of structural parameters on the maximum lifting force is obtained and the correctness of the optimization is proved by experiments.

Discusses the 27 papers in ISEF 1999 Proceedings on the subject of electromagnetisms. States the groups of papers cover such subjects within the discipline as: induction machines; reluctance motors; PM motors; transformers and reactors; and special problems and applications. Debates all of these in great detail and itemizes each with greater in‐depth discussion of the various technical applications and areas. Concludes that the recommendations made should be adhered to.

In recent years little has been published on the mathematical theory of vertical flight, though more intelligent work is being done on the subject by various engineers than, probably, at any previous time. In this and a following article, to be published next month, one of the leading exponents of the helicopter, in a specialised and highly ingenious form, covers the whole field of sustentation, ascent, descent and the thorny problem of stability more completely than has ever hitherto been attempted