In this work, a three degrees-of-freedom (3-DoF) static quadcopter unmanned aerial vehicle (UAV) test-rig of a pendulum-type configuration is custom-designed, developed, instrumented, and interfaced with a PC. The rig serves as a test bed to develop high-fidelity mathematical models as well as to investigate autopilot designs and real-time closed-loop controllers’ performances. The Simulink Desktop Real-Time software is employed for the quadcopter’s attitude signals acquisition and real-time implementation of closed-loop controllers on a target microcontroller hardware. The mathematical models for pitch, roll, and yaw axes are derived via the first principle and validated with the experimental linear system identification (SI) techniques. Subsequently, employing the multi-parameter root contour technique, the classical proportional integral derivative (PID) controllers are designed and implemented in real-time on the quadcopter UAV test rig. This served as a benchmark controller for comparing it with an integral-based linear quadratic regulator (LQR) controller. Further, to improve the transient response of the LQR controller, a novel robust integral-based LQR controller with a feedforward term (LQR-FF) is implemented, which shows much superior performance than the benchmark and basic LQR controller. This work thus will act as a precursor for a more complex 3-DoF autopilot design of an untethered quadcopter.

The cleavage of two single-crystal chlorites (a clinochlore and a penninite) has been studied using angle-resolved X-ray photoelectron spectroscopy (XPS). Both minerals cleaved in regions not typical of the bulk; the composition of the clinochlore was found to be especially non-uniform. The brucitic interlayer divided evenly between the pair of new surfaces exposed for two cleaves in the clinochlore, but was partitioned unequally in two cleaves in the penninite. The differences in apparent composition between the complementary pairs of surfaces are interpreted to show a marked preference of octahedral Al for the brucitic layer, in agreement with X-ray bulk structure refinements. For both chlorites, the layer charge was reduced in regions of easy cleavage, which also had a higher proportion of Si and less tetrahedral Al than the bulk chlorite. The percentages of tetrahedral aluminium deduced from the XPS surface analyses agreed satisfactorily with the percentages independently determined by consideration of the magnitude of anisotropy in the X-ray photoelectron diffraction (XPD) patterns. The XPD patterns from the clinochlore for rotation about axes parallel and antiparallel to the crystallographic a-axis were identical, showing that tetrahedral ordering was absent.

Phenol (benzenol) oxidation by three synthetic manganese oxides (buserite, manganite, and feitknechtite) has been studied in aerated, aqueous, acidified suspensions. The rate of reaction was pH dependent. Oxidation was greatly enhanced below pH 4, when diphenoquinone and p-benzoquinone were identified as the first products. Initial reaction rate was correlated with standard reduction potential (E°) of the oxides following the order: feitknechtite > manganite > buserite. A more gradual process of phenol oxidation after the initial reaction was influenced by electrochemical properties of the solution. High soluble manganese activity and increase in pH adversely affected reaction rates. Thus, the reactivity of the oxides was related to their stability and possibly the ability to readsorb Mn(II), following the order: buserite > manganite > feitknechtite. The results indicate that thermodynamic and electrochemical data for oxides and phenols are useful in predicting under which conditions phenols can be oxidized by a given system.

The technique of scanning force microscopy (SFM) was used to study the nanometer-scale structure of Cu(II)-exchanged hectorite thin films. Supporting data were also obtained from Electron Spin Resonance (ESR) and X-ray diffraction (XRD) techniques. The surfaces studied included pure Cu(II)-exchanged hectorite, Cu(II)-exchanged hectorite exposed to benzene and Cu(II)-exchanged hectorite exposed to aniline. SFM images of the unexposed Cu(II)-exchanged hectorite surface revealed a smooth surface composed of interlocking platelets. The lateral dimension of these platelets ranged from a few nm to about 1 μm. After exposure to refluxing benzene, the SFM showed that the platelets underwent vertical shifts in position. This is believed to have occurred from intercalated benzene that polymerized in the interlayer region. No SFM evidence was obtained for benzene polymerization on the surface of the hectorite. Hectorite films exposed to aniline at room temperature revealed a post-polymerization structure on the hectorite surface consisting of small polymer bundles. The diameter of these bundles was measured to be 300–3000 Å, similar to the structure seen on electropolymerized polyaniline films. Aniline polymerized on the surface of hectorite films at 180 °C revealed a structure similar to undoped n-methyl-pyrrolidinone (NMP) cast polyaniline films. In this case, the polymer bundles are only 300 Å in dimension on average. XRD and ESR data also indicated interlayer aniline polymerization in Cu(II) exchanged hectorite. Mechanistic considerations affecting these polymerization reactions are presented.

The degree of flocculation of aqueous suspensions of microcrystalline goethite was measured in salts of monovalent, divalent and trivalent cations at pH 6.0–6.5 over a range of ionic strengths using light scattering measurements at 650 nm. Varying concentrations of soluble humic material as well as the organic ligands, salicylate and citrate, were tested for their effect on flocculation. It was found that KCl and NaCl induced flocculation at lower ionic strength than CaCl2, while AlCl3 favored dispersion at all ionic strengths tested. The simple organic ligands promoted flocculation at low concentration, with citrate having a more pronounced effect than salicylate. At higher concentrations, these ligands reversed their effect, inducing a more dispersed state of the oxide. The organic ligand effect on dispersibility was modified by the particular metal cation present, with Ca2+ being more conducive to flocculation than K+. Soluble humic materials affected goethite flocculation in a qualitatively similar way to that of the simple organic ligands, that is low concentrations favored flocculation while high concentrations induced dispersion. This dispersing effect was partially suppressed by the presence of Ca2+, and completely suppressed by Al3+. Thus, soluble humic substances at relatively high concentrations appear to have a marked dispersing effect on goethite in the absence of polyvalent cations, and a strongly flocculating effect in their presence.

The results can be explained qualitatively by a simple oxide surface charge model, in which chemi-sorption of multivalent cations or organic ligands alters the surface charge. Reactions that increase the magnitude of positive or negative surface charge favor dispersion, while those that reduce the magnitude of charge favor flocculation.

Technical limitations have restricted investigations of rhizosphere mineralogy. Various analytical techniques were applied to assess root-mineral associations and dynamics in natural soils under corn production. Soil samples were collected between four and five weeks after planting and included rhizospheric and non-rhizospheric soils, and undisturbed block samples containing corn root systems. Analytical techniques were applied and included; X-ray diffraction, optical microscope, SEM, EDXRA with SEM, transmission electron microscope (TEM), electron energy loss spectra with TEM, high-resolution transmission electron microscope (HRTEM) and microanalysis with HRTEM. The mineralogy of the rhizosphere differed from that of the bulk soil. Within the rhizosphere, minute platy particles which were mostly vermiculitic minerals, were particularly concentrated near or on root surfaces. These platy mineral particles were not attached to the entire area, but only to certain areas of root surfaces. Therefore, we report quantitative evidence for mineralogical changes in the rhizosphere in soil environments.

A synergistic effect of reductant and complexant is observed in the dissolution of goethite by dithionite and citrate or EDTA. The rate data are interpreted using the surface complexation approach to describe the interface of the reacting oxide. Adsorption of both S2O42− (D) and complexant (L) generates three surface complexes that define the dissolution behavior: ≡ Fe-D, ≡ Fe-L, and dimeric surface complexes. The initial rate increases at lower pH values because of increased surface complexation conditional formation constants. At pH values below 4, however, the fast decomposition of S2O42− gives rise to a rapid depletion of reductant, and total dissolution is not observed. It is shown that for best analytical results in soil analysis, EDTA is a better complexant than citrate; the iron extracted in one dithionite-EDTA treatment at pH 5–6, under N2 at 315 K is not increased by increasing the number of extractions, and is equivalent to the total extractable iron found by previous procedures.

The structural transformation of dioctahedral 2:1 layer silicates (illite, montmorillonite, glauconite, and celadonite) during a dehydoxylation-rehydroxylation process has been studied by X-ray diffraction. thermal analysis, and infrared spectroscopy. The layers of the samples differ in the distribution of the octahedral cations over the cis- and trans-sites as determined by the analysis of the positions and intensities of the 11l, 02l reflections, and that of the relative displacements of adjacent layers along the a axis (c cos ß/a), as well as by dehydroxylation-temperature values. One illite, glauconite, and celadonite consist of trans-vacant (tv) layers; Wyoming montmorillonite is composed of cis-vacant (cv) layers, whereas in the other illite sample tv and cv layers are interstratified. The results obtained show that the rehydroxylated Al-rich minerals (montmorillonite, illites) consist of tv layers whatever the distribution of octahedral cations over cis- and trans-sites in the original structure. The reason for this is that in the dehydroxylated state, both tv and cv layers are transformed into the same layer structure where the former trans-sites are vacant.

The dehydroxylation of glauconite and celadonite is accompanied by a migration of the octahedral cations from former cis-octahedra to empty trans-sites. The structural transformation of these minerals during rehydroxylation depends probably on their cation composition. The rehydroxylation of celadonite preserves the octahedral-cation distribution formed after dehydroxylation. Therefore, most 2:1 layers of celadonite that rehydroxylate (~75%) have cis-vacant octahedra and, only in a minor part of the layers, a reverse cation migration from former trans-sites to empty octahedra occurred. In contrast, for a glauconite sample with a high content in IVA1 and VIAl the rehydroxylation is accompanied by the reverse cation migration and most of the 2:1 layers are transformed into tv layers.

Because layered Fe(II)Fe(III)-hydroxides (Green rusts, GRs) are anion exchangers, they represent potential orthophosphate sorbents in anoxic soils and sediments. To evaluate this possibility, two types of experiments with synthetic sulphate-interlayered GRs (GRSO4 = Fe2+4Fe3+2(OH)12SO4 ×H2O) were studied. First, sorption of phosphate in GRSO4 was followed by reacting suspensions of pure GRSO4 synthesized by oxidation of Fe(II) with an excess of Na2HPO4 (pH 9.3). Second the possible incorporation of phosphate in GR during formation by Fe(II)-induced reductive dissolution of phosphate-containing ferrihydrites was examined in systems containing an excess of Fe(II) (pH 7). With excess phosphate in solution, GRSO4 initially sorbed phosphate in the interlayer producing a basal layer spacing of 1.04 nm, but only ~50% of the interlayer sulphate was exchanged with phosphate. This GR slowly transformed to vivianite within months. In the Fe(II)-rich systems, reaction with synthetic ferrihydrites produced GRSO4 similar to that produced by air oxidation. Reaction of Fe(II) with phosphate-containing ferrihydrites initially produced amorphous greenish phosphate containing precipitates which, after 3–4 h, crystallized to GRSO4 and vivianite. In these solutions, stable phosphate-free GRSO4 can form since precipitation of vivianite produced low phosphate activity. Consequently, in both systems GR or amorphous greenish precipitates act as reactive intermediates, but vivianite is the stable end-product limiting phosphate concentration in solution. It is also inferred that Fe(OH)2 is an unlikely phosphate sorbent in mixed Fe(II)-Fe(III) systems because GR phases are more stable (less soluble) than Fe(OH)2.

Fourier transform infrared (FTIR) spectroscopy investigations in the near infrared (N1R) region of synthetic and natural kaolinites with various octahedral substitutions have been carried out in order to elucidate the relationships between the substituted cations and specific features of the NIR spectra. The combination modes of the OH stretching and bending vibrations characterizing Fe(III), Ga(III) and Cr(III) octahedral substitutions are identified in the NIR region at 4466, 4498 and 4474 cm-1, respectively, and the first overtones of the OH stretching vibrations at 7018, 7018 and 6986 cm-1, respectively. As far as we know, the bands of kaolinites containing Ga(III) or Cr(III) have not been reported yet. For both Ga(III) and Cr(III), the NIR observations explain why the bending vibration bands of AlGaOH and AlCrOH groups are not observed in the middle infrared (MIR) region.

Infrared (IR) spectroscopy has a long and successful history as an analytical technique and is used extensively (McKelvy et al., 1996; Stuart, 1996). It is mainly a complementary method to X-ray diffraction (XRD) and other methods used to investigate clays and clay minerals. It is an economical, rapid and common technique because a spectrum can be obtained in a few minutes and the instruments are sufficiently inexpensive as to be available in many laboratories. An IR spectrum can serve as a fingerprint for mineral identification, but it can also give unique information about the mineral structure, including the family of minerals to which the specimen belongs and the degree of regularity within the structure, the nature of isomorphic substituents, the distinction of molecular water from constitutional hydroxyl, and the presence of both crystalline and non-crystalline impurities (Farmel, 1979).

The crystal structure of cronstedfite-1T was refined in space group P31m, using two crystals: a triangular tabular crystal from Herja, Romania and a conical crystal from Lostwithiel, Cornwall, England. The Herja sample has the composition of (Fe2+2.20Fe3+0.80)(Si1.20Fe3+0.78Al0.02)O5(OH)4 and the Lostwithiel sample has the composition of (Fe2+2.32Fe3+0.68)(Si1.32Fe3+0.66Al0.02)O5(OH)4. The results of refinements are as follows: a = 5.512(1) Å, c = 7.106(1) A, R = 3.07%, and 342 independent reflections; and a = 5.503(1), c = 7.104(1) Å, R = 2.24%, and 335 independent reflections for the Herja and Lostwithiel samples, respectively. The structure consists of one tetrahedral and one octahedral sheet. There is one octahedral site, M1, occupied by Fe only, and one tetrahedral site, T1, occupied by Si and Fe in the ratio of 0.617(8):0.383 (Herja) and 0.699(6):0.301 (Lostwithiel). Positions of two hydrogen atoms were determined from a difference map for the Lostwithiel data. The ditrigonalization angle of the tetrahedral sheet is α = −11.5° (Herja) and α = −11.1° (Lostwithiel), and the structures have a Franzini-layer type of B. The crystals studied are affected by ± b/3 stacking faults which produced slight streaking of h - k ≠ 3n reflections.

Retention studies of the cobalt-goethite system were carried out using synthetic, star-shaped and lath-shaped pure, Al-, Cd-, Cu- and Si-associated goethites. Aluminium and Si are commonly occurring foreign elements in natural goethites. The goethites were prepared by coprecipitating Fe and the foreign element under controlled conditions and characterized by X-ray diffraction, transmission electron microscopy, specific surface area determination and 2 M HCl extraction. The foreign-element associated goethites contained ∼3, ∼5 and ∼9 mole % Al, ∼4 mole % Cd and ∼3 mole % Cu incorporated by isomorphous substitution but only ∼0.4 mole % of probably occluded Si. Crystal size and shape but also number of defects and domains, and hence specific surface area, unit-cell dimensions and reactivity towards 2 M HCl, exhibited great variability among the goethites. Accordingly the amounts of Co sorbed from initially 10−7 M Co in 0.1 M Ca(NO3)2 in relation to pH (3–8) and reaction time (2–504 h) were very different for the eight goethites. The affinity of Co is highest for Cd- and lowest for Cu-goethite. These samples also form the extremes regarding time-dependent sorption with Cu-goethite showing the smallest and Cd-goethite the largest increase in sorption with increasing reaction time. The Co uptake was not caused by precipitation Co(III) oxides due to Co(II) oxidation, since oxygen exclusion during sorption had no effect on the amount of Co sorbed. The amounts of sorbed Co extracted by 2 M HCl decreased with increasing sorption time but 40–87% of sorbed Co remained unextracted after 48 h, most in Cu-goethite and least in lath-shaped pure goethite. The strong retention suggests Co uptake by diffusion into micropores and fissures resulting from structural defects and intergrowths. The diffusion coefficients range from 3·10−19 to 6·10−17 cm2/s with the highest values for Al- and Si-associated goethites emphasizing the importance for Co immobilization, and hence availability, of foreign-element associations in goethite.

Helvetic sediments from the northern margin of the Alps in eastern Switzerland were studied by clay mineralogical methods. Based on illite “crystallinity” (Kübier index), the study area is divided into diagenetic zone, anchizone and epizone. Data on the regional distribution of the following index minerals are presented: smectite, kaolinite/smectite mixed-layer phase, kaolinite, pyrophyllite, paragonite, chloritoid, glauconite and stilpnomelane. Isograds for kaolinite/pyrophyllite and glauconite/stilpnomelane are consistent with illite “crystallinity” zones. Using the ordering of mixed-layer illite/smectite, the diagenetic zone is subdivided into three zones. The illite domain size distribution was analyzed using the Warren-Averbach technique. The average illite domain size does not change much within the diagenetic zone, but shows a large increase within the anchizone and epizone. The average illite b0 value indicates conditions of an intermediate-pressure facies series.

The Helvetic nappes show a general increase in diagenetic/metamorphic grade from north to south, and within the Helvetic nappe pile, grade increases from tectonically higher to lower units. However, a discontinuous inverse diagenetic/metamorphic zonation was observed along the Glarus thrust, indicating 5–10 km of offset after metamorphism. In the study area, incipient metamorphism was a late syn- to post-nappe-forming event.

The oxidation state of structural iron greatly influences the physical-chemical properties of clay minerals, a phenomenon that may have significant implications for pollutant fate in the environment, for agricultural productivity, and for industrial uses of clays. Knowledge of redox mechanisms is fundamental to understanding the underlying basis for iron's effects on clays. Past studies revealed that the extent of Fe reduction varied depending on the reducing agent used, but this variation may not have been a simple function of the reduction potential of the reducing agent. The objective of this study was to identify the relationship between the Fe reduction mechanism and free radical activity in the reducing agent. Several reducing agents and their mixtures with the Na-saturated, 0.5 to 2 μm size fraction of ferruginous smectite (SWa-1) were analyzed by electron spin resonance (ESR) spectroscopy to determine the presence of unpaired electrons or free radicals. Only Na2S2O4 exhibited paramagnetic free-radical behavior with a signal at about g = 2.011, which was attributed to the sulphoxylate (S02− ·) free radical. The free radical was labile in aqueous solution, and the ability of Na2S2O4 solution to reduce structural Fe in the smectite decreased with age of the solution and paralleled the disappearance of the free radical signal in the ESR spectrum. The paramagnetic species was preserved and enhanced if Na2S2O4 was added to the clay suspension, indicating that either the clay surface stabilized the SO2− · radical or the additional unpaired electrons were produced in the clay structure.

Kaolinite from the Black Ridge, Clermont, has relatively low δ18O (12.3‰ to 14.8‰) and very low δD values with a large variation (−120‰ to −85‰). Comparison of these data with those from the nearby Denison Trough and elsewhere in eastern Australia, together with previous studies of the mineralogy of the sedimentary rocks, suggests that extensive kaolinization of the “White Section” resulted from weathering during the Late Triassic to Early Jurassic periods. The relatively large variation in δD values of kaolinite probably derives from post-formational isotopic exchange with other fluids.

The similarity between δ18O values of kaolinites from Black Ridge and from the Denison Trough suggests that the small Miclere-Black Ridge basin may have been part of the Denison Trough before the Late-Triassic inversion. The preservation of original δD values in kaolinite at Black Ridge indicates that unlike the Denison Trough, which was reburied at more than 1000 m, the Miclere-Black Ridge basin was not rebuffed at great depth during the Mesozoic period.

The electrochemical properties of kaolinite before and after modification with chlorodimethyl-octadecylsilane have been studied by electrophoretic mobility, surface charge titration, and extrapolated yield stress measurements as a function of pH and ionic strength. A heteropolar model of kaolinite, which views the particles as having a pH-independent permanent negative charge on the basal planes and a pH-dependent charge on the edges, has been used to model the data. The zeta potential and surface charge titration experimental data have been used simultaneously to calculate acid and ion complexation equilibrium constants using a surface complex model of the oxide-solution interface. The experimental data were modeled following subtraction of the basal plane constant negative charge, describing only the edge electrical double layer properties. Extrapolated yield stress measurements along with the electrochemical data were used to determine the edge isoelectric points for both the unmodified and modified kaolinite and were found to occur at pH values of 5.25 and 6.75, respectively. Acidity and ion complexation constants were calculated for both sets of data before and after surface modification. The acidity constants, pKa1 = 5.0 and pKa2 = 6.0, calculated for unmodified kaolinite, correlate closely with acidity constants determined by oxide studies for acidic sites on alumina and silica, respectively, and were, therefore, assigned to pH-dependent specific chemical surface hydroxyl groups on the edges of kaolinite. The parameters calculated for the modified kaolinite indicate that the silane has reacted with these pH-dependent hydroxyl groups causing both a change in their acidity and a concomitant decrease in their ionization capacity. Infrared data show that the long chain hydrocarbon silane is held by strong bonding to the kaolinite surface as it remains attached after washing with cyclohexane, heating, and dispersion in an aqueous environment.

Fe(II) and Fe(III) in various proportions were coprecipitated by NH3 at pH ≈ 11. The Fe(II)/Fe(III) ratio (x) was varied from 0.10 to 0.50. After stabilization by aging at pH ≃ 8 in anaerobic conditions, hydrous precipitates were characterized by electron microscopy, Mössbauer spectroscopy, and kinetics of dissolution in acidic medium. At any x value, all stable products exhibited the structure of (oxidized) magnetite. For x ≤ 0.30, two distinct species were coexisting: the one (“m”) was made up of ca. 4nm-sized particles with a low Fe(II) content (Fe(II)/Fe(III) ≈ 0.07), and the other (“M”) consisted of particles of larger, more or less distributed sizes, and composition Fe(II)/Fe(III) ≈ 0.33; “M” increased relative amount with increasing x. For x ≥ 0.35, “M” was the only constituent and its Fe(II)/Fe(III) ratio was equal to x. “M” is identified with (nonstoichiometric) magnetite, whereas “m” is likely to be an oxyhydroxide. Mechanisms of formation are discussed, and a phase diagram is proposed which schematizes the evolution of the coprecipitation products with x and with time. Addition of Fe(II) after the precipitation of Fe(III), instead of coprecipitation, yielded very similar results.