An Intelligent Robust Tracking Control for a Class of Electrically Driven Mobile Robots

This paper addresses the problem of designing robust tracking control for a class of uncertain wheeled mobile robots actuated by brushed direct current motors. This class of electrically‐driven mechanical systems consists of the robot kinematics, the robot dynamics, and the wheel actuator dynamics. Via the backstepping technique, an intelligent robust tracking control scheme that integrates a kinematic controller and an adaptive neural network‐based (or fuzzy‐based) controller is developed such that all of the states and signals of the closed‐loop system are bounded and the tracking error can be made as small as possible. Two adaptive approximation systems are constructed to learn the behaviors of unknown mechanical and electrical dynamics. The effects of both the approximation errors and the unmodeled time‐varying perturbations in the input and virtual‐input weighting matrices are counteracted by suitably tuning the control gains. Consequently, the robust control scheme developed here can be employed to handle a broader class of electrically‐driven wheeled mobile robots in the presence of high‐degree time‐varying uncertainties. Finally, a simulation example is given to demonstrate the effectiveness of the developed control scheme.     

纳米粉体制程在线粒径测量系统的研发

发展了一套在线光纤式动态光散射粉体粒径测量系统,作为纳米颗粒制程粒径参数测量与分析.工业上对纳米粉体性质均一性(Uniformity)要求较高,为了获得在线制备纳米粉体颗粒的精确粒径大小与分布,本研究由激光动态光散射(Dynamic Light Scattering,DLS)原理,利用光纤探头方式,研制了一套在线粉体取样与粒径测量系统,针对目前台北科大自行研发的真空潜伏纳米流体制程(SANSS)进行了系统整合与测试.本研究针对100 nm标准粒径大小的聚苯乙烯(Polystyrene)粉体进行系统测量能力评估,确定了研发系统测量准确度(Accuracy)与重现性(Repeatability).实验结果显示,研发系统测量的平均粒径最大误差值在8%以下,初步确定测量系统可有效地监控纳米流体制程,提供纳米粉体制程的重要在线信息.     

The effect of alkyd resins on the properties of AA‐NC semi‐IPNs as binders in wood finish

Wood coatings of AA‐NC semi‐interpenetrating polymer networks (semi‐IPNs), made from acid curing amino‐alkyd resins (AA) and nitrocellulose (NC), were prepared by sequential polymerization method. To investigate the effects of oil length on the properties of AA‐NC semi‐IPNs, three grades of alkyd resins (Alkyd) containing 38, 48, and 58% oil were synthesized with phthalic anhydride, glycerol, and soybean oil, employing alcoholysis method. The butylated urea formaldehyde resin (UF) and melamine formaldehyde resin (MF) were also prepared in this study. The AA‐NC semi‐IPNs were maintained at a weight ratio of AA : NC of 25 : 75, where the AA was the composition of MF : UF : Alkyd of 7.5 : 22.5 : 70 (by weight), and 10% of p‐toluene sulfonic acid solution (concentration, 25% in isopropyl alcohol) based on the weight of amino resins was added as acid catalyst. The properties of coatings such as viscosity, drying time, and gel time, and the properties of films including adhesion, hardness, abrasion resistance, impact resistance, tensile strength, released formaldehyde, lightfastness, solvent resistance, and durability were examined. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 93: 1923–1927, 2004     

Effect of montmorillonite on the swelling behavior and drug‐release behavior of nanocomposite hydrogels

A series of nanocomposite hydrogels were prepared from various ratios of N‐isopropylacrylamide (NIPAAm) and organic montmorillonite (MMT). The influence of the extent of MMT in the NIPAAm/MMT nanocomposite hydrogels on the physical properties and drug‐release behavior was the main purpose of this study. The microstructure and morphology were identified by X‐ray diffraction (XRD) and scanning electronic microscopy (SEM). The results showed that the swelling ratios for these nanocomposite hydrogels decreased with increase in the content of MMT. The gel strength and Young's modulus of the gels also increased with increase in the content of MMT. XRD results indicated that the exfoliation of MMT was achieved in the swollen state. Finally, the drug‐release behavior for the gels was also assessed. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 89: 3652–3660, 2003     

Integration of Biomolecules with Metal–Organic Frameworks

Owing to the progressive development of metal–organic‐frameworks (MOFs) synthetic processes and considerable potential applications in last decade, integrating biomolecules into MOFs has recently gain considerable attention. Biomolecules, including lipids, oligopeptides, nucleic acids, and proteins have been readily incorporated into MOF systems via versatile formulation methods. The formed biomolecule‐MOF hybrid structures have shown promising prospects in various fields, such as antitumor treatment, gene delivery, biomolecular sensing, and nanomotor device. By optimizing biomolecule integration methods while overcoming existing challenges, biomolecule‐integrated MOF platforms are very promising to generate more practical applications.     

Chemotherapy with the "8 in 1" protocol for malignant brain tumors in children: a population-based study in Finland

We evaluated the outcome of 68 children with malignant brain tumors treated with the "8 in 1" chemotherapy protocol in Finland from 1986 to 1993, comparing 5-year survival rates with those for a historical control group (from 1975 to 1985). For all malignant brain tumors, overall survival was 43% (vs 28% in the control group; P <0.05), and progression-free survival (PFS) was 43% (vs 23%; P <0.05). For medulloblastoma and primitive neuroectodermal tumor, survival was 63% (vs 35%; P <0.05), and the corresponding PFS was 59% (vs 35%; P = 0.15). For high-grade glioma, both the survival rate and the PFS were 27% (vs 17%; P = NS). Thus the outcome was significantly better for our "8 in 1" -treated patients than for the historical controls, especially among the children with primitive neuroectodermal tumor and medulloblastoma. In contrast, those with high-grade gliomas and brain stem tumors seem to have received little benefit; different, more effective treatments are needed for these patients.     

Inhibition of G protein-coupled receptor kinase subtypes by Ca2+/calmodulin

G protein-coupled receptor kinases (GRKs) are implicated in the homologous desensitization of G protein-coupled receptors. Six GRK subtypes have so far been identified, named GRK1 to GRK6. The functional state of the GRKs can be actively regulated in different ways. In particular, it was found that retinal rhodopsin kinase (GRK1), but not the ubiquitous betaARK1 (GRK2), can be inhibited by the photoreceptor-specific Ca2+-binding protein recoverin through direct binding. The present study was aimed to investigate regulation of other GRKs by alternative Ca2+-binding proteins such as calmodulin (CaM). We found that Gbetagamma-activated GRK2 and GRK3 were inhibited by CaM to similar extents (IC50 approximately 2 microM), while a 50-fold more potent inhibitory effect was observed on GRK5 (IC50 = 40 nM). Inhibition by CaM was strictly dependent on Ca2+ and was prevented by the CaM inhibitor CaMBd. Since Gbetagamma, which is a binding target of Ca2+/CaM, is critical for the activation of GRK2 and GRK3, it provides a possible site of interaction between these proteins. However, since GRK5 is Gbetagamma-independent, an alternative mechanism is conceivable. A direct interaction between GRK5 and Ca2+/CaM was revealed using CaM-conjugated Sepharose 4B. This binding does not influence the catalytic activity as demonstrated using the soluble GRK substrate casein. Instead, Ca2+/CaM significantly reduced GRK5 binding to the membrane. The mechanism of GRK5 inhibition appeared to be through direct binding to Ca2+/CaM, resulting in inhibition of membrane association and hence receptor phosphorylation. The present study provides the first evidence for a regulatory effect of Ca2+/CaM on some GRK subtypes, thus expanding the range of different mechanisms regulating the functional states of these kinases.     

Enabling adaptive live streaming in P2P multipath networks

Live Internet streaming can be regarded as a major current multimedia delivery mode. Efficient delivery under changing network conditions is a severe challenge in the design of live streaming systems. This study analyzes the key considerations and factors influencing live stream quality during system operations, and attempts to improve present P2P (peer-to-peer) live streaming systems by allowing users to enjoy high quality of service under the limitations of network resources. The proposed R-D (Rate-Distortion) optimized-dynamic-nodes-join algorithm is based on multipath streaming concept and receiver-driven approach. This distributed algorithm enables the system to evaluate the current network status in order to optimize the end-to-end distortion of P2P networks and stay in the optimal status. Experiment results of this study demonstrate the effectiveness of the proposed approach.     

Impact of information sharing on statistical quality control

With advances in information technology (IT), the research on and practice of information sharing is now having a significant impact on many aspects of supply chains. Nevertheless, few investigations focus on the impact of information sharing on product and process quality. Furthermore, it is still not clear how and what information should be shared or used, and how to quantify the benefits of information sharing in terms of quality improvement. In this research, a “matching problem” is used to demonstrate the impact of information sharing on quality. We quantify and compare the impact of different information-sharing strategies on process and product quality, and suggest that real-time information sharing may lead to dramatic quality improvement for an assembly process, the example here being a two-stage supply chain. The proposed approach to evaluate information sharing in terms of quality improvement can be extended to a more complex supply chain     

Prediction of time-varying metrology delay for dEWMA and RLS-LT controllers

This paper investigates how to adaptively predict the time-varying metrology delay that can realistically occur in the semiconductor manufacturing practice. In the presence of metrology delays, the expected asymptotic double exponentially weighted moving average (dEWMA) control output, by using the EWMA and recursive least squares prediction methods, is derived. It has been found that the relationships between the expected control output and target in both estimation methods are equivalent, and six cases are addressed. Within the context of time-varying metrology delay, a new time update scheme to the recursive least squares-linear trend (RLS-LT) controller, combined with zone tests and the moving average (MA) control chart, is proposed. Simulated single input–single output (SISO) run-to-run processes subject to two time-varying metrology delay scenarios are used to assess the effectiveness of the proposed controller.