Energy based control of the Pendubot

This paper presents the control of an underactuated two-link robot called the Pendubot. We propose a controller for swinging the linkage and raise it to its uppermost unstable equilibrium position. The balancing control is based on an energy approach and the passivity properties of the system     

The production of carbon nanotube reinforced poly(vinyl) butyral nanofibers by the Forcespinning® method

Poly(vinyl) butyral (PVB) nanofibers (NFs) and carbon nanotube (CNT) reinforced PVB NF composites were developed by using the Forcespinning® technology. PVB was dissolved in a mixture of ethanol and methanol (7:3 wt/wt) at various concentrations, and the solutions were spun at rotational speeds varying between 3,000 and 9,000 rpm. The CNT/PVB solutions were prepared using the same solvent ratio with varying the concentration of CNTs. The results show that the diameter of the PVB fibers increased with increasing rotational speed; however the standard deviation of the fiber diameter distribution decreased. The morphology and thermal properties of the developed fiber systems were studied by DSC, TGA, Raman, and FTIR. The effect of CNT on the mechanical properties of the developed fibers was investigated by carrying out tensile tests at different strain rates. Raman and FTIR analyses indicate a noncovalent π–π stacking interactions and hydrogen bonding between CNT and the PVB NFs. Adding CNT to the PVB NF matrix resulted in improved tensile strength by 150%. POLYM. ENG. SCI., 55:81–87, 2015. © 2014 Society of Plastics Engineers     

Improved retention of imidacloprid (Confidor) in soils by adding vermicompost from spent grape marc

Batch sorption experiments of the insecticide imidacloprid by ten widely different Spanish soils were carried out. The sorption was studied for the active ingredient and its registered formulation Confidor. The temperature effect was studied at 15 degrees C and 25 degrees C. The addition of a vermicompost from spent grape marc (natural and ground), containing 344 g kg(-1) organic carbon, on the sorption of imidacloprid by two selected soils, a sandy loam and a silty clay loam, having organic carbon content of 3.6 g kg(-1) and 9.3 g kg(-1), respectively, was evaluated. Prior to the addition of this vermicompost, desorption isotherms with both selected soils, were also performed. The apparent hysteresis index (AHI) parameter was used to quantify sorption-desorption hysteresis. Sorption coefficients, K(d) and K(f), for the active ingredient and Confidor(R) in the different soils were similar. Sorption decreased with increasing temperature, this fact has special interest in greenhouse systems. A significant correlation (R(2)=0.965; P<0.01) between K(f) values and the organic carbon (OC) content was found, but some soils showed higher sorption coefficients than that expected from their OC values. The normalized sorption coefficients with the soil organic carbon content (K(oc)) were dispersed and low, implying that other characteristics of soils could contribute to the retention capacity as well. The spent grape marc vermicompost was an effective sorbent of this insecticide (K(f)=149). The sorption of imidacloprid increased significantly in soils amended with this vermicompost. The most pronounced effect was found in the sandy loam soil with low OC content, where the addition of 5% and 10% of vermicompost increased K(f) values by 8- and 15-fold, respectively. Soil desorption of imidacloprid was slower for the soil with the higher OC and clay content.     

Dehydration kinetics of red pepper (Capsicum annuum L var Jaranda)

Shredded and whole red pepper samples were dehydrated in a laboratory drier with a through‐flow air velocity of 0.5 m s^?1 at 50, 55, 60 and 70 °C. Shredded peppers dried faster than whole peppers. The drying behaviour of whole samples was characterised by a constant‐ and a falling‐rate drying period, whilst that of shredded samples was characterised by a falling‐rate drying period only. The mass transfer coefficient for whole samples during the constant‐rate period was computed experimentally. The effect of temperature on the mass transfer coefficient was described by the Arrhenius model. The activation energy was 58 kJ mol^?1. In the falling‐rate period the mass transfer was described by a diffusional model, and the effective diffusion coefficient at each temperature was determined. Diffusion coefficients were estimated to lie between 4.38 × 10^?11 and 10.99 × 10^?11 m² s^?1 for whole peppers and between 37.23 × 10^?11 and 99.61 × 10^?11 m² s^?1 for shredded peppers. The effect of temperature on the effective diffusion coefficient was described by the Arrhenius equation, with an activation energy of 44 kJ mol^?1 for whole peppers and 56 kJ mol^?1 for shredded peppers. © 2003 Society of Chemical Industry     

Measurement of Gelpoint Temperature and Modulus of Pectin Gels

Methods which permit the measurement of gelpoint (setting) temperature (T_gel) and rigidity modulus (G) of pectin gels were improved. Gel development on cooling was determined with an oscillatory pressure testing device capable of detecting a modulus as low as 3 Pa and strain values no greater than 5∞10^?3. Sample was set in a glass “U” tube during pressure oscillatory assay for T_gel determination, and transferred after gelling in the same tube for G modulus determination with modified Saunders-Ward apparatus. Results confirmed rheological behavior reported for these kinds of gels and compared favorably with small amplitude oscillatory measurements performed with a stress controlled rheometer using cone and plate (4°, dia = 4 cm) geometry at different frequencies (0.5 to 1.5 Hz) and cooling rates (1 to 3°C/min).     

Comparison of water management between two bipolar plate flow-field geometries in proton exchange membrane fuel cells at low-density current range

This experimental research studies some aspects of water formation and management in polymer electrolyte membrane fuel cells (PEMFCs). To this end, two different single cells of 49 cm² active area have been tested, the first one with a serpentine-parallel geometry and the second with a cascade-type flow-field topology. In order to visualize the processes, flow-field channels have been machined on transparent plastic. Experiments have consisted in both image acquisition using a CCD camera, and simultaneous measurements of pressure drop in both hydrogen and oxygen gas flow paths. It has been observed that with the cascade-type flow-field geometry, water produced in the cathode does not flood the gas flow channels and, consequently, can be drained in an easy way. On the other hand, it has also been verified that saturated condition for the hydrogen gas flow at the anode side produces water condensation and channel flooding for the serpentine-parallel flow-field topology. Time fluctuations in the pressure drop of the gas flow have been detected and are associated to some transient process inherent to water formation and management.     

Adaptive genetic operators based on coevolution with fuzzybehaviors

This paper presents a technique for adapting control parameter settings associated with genetic operators. Its principal features are: 1) the adaptation takes place at the individual level by means of fuzzy logic controllers (FLC) and 2) the fuzzy rule bases used by the FLC come from a separate genetic algorithm (GA) that coevolves with the GA that applies the genetic operator to be controlled. The goal is to obtain fuzzy rule bases that produce suitable control parameter values for allowing the genetic operator to show an adequate performance on the particular problem to be solved. The empirical study of an instance of the technique has shown that it adapts the parameter settings according to the particularities of the search space allowing significant performance to be achieved for problems with different difficulties     

Pressurised feeding systems

Pressurised feeding is by no means new. Whitworth patented a method for pressurising steel in refractory lined ingot moulds in the mid 1800s, while accounts of pressurising aluminium castings during solidification appeared in the 1930s, and the pressurisation of risers in steel and iron castings surfaced in the 1950s. It is appropriate to distinguish between cases where the whole casting and rigging has been pressurised and those where the feeder heads alone were pressurised. Generally speaking, pressurising the whole casting has not proved especially effective. Early experiments with aluminium involved top pouring of moulds contained in an autoclave. The considerable height through which the metal fell undoubtedly mitigated results. Furthermore, since the alloys were of a non-skin forming variety (i.e. long freezing range) the puncture of the partially solidified surface led to further property degradation.

Work of Watmough and Berry in the US in 1961, repeated by Irani and Kondic at Birmingham published eight years later, employed aluminium sand cast bars with pressurised feeder heads surrounded by stout insulating sleeves. The results of both sets of experiments with long-freezing range alloys, showed excellent promise in terms of reducing dispersed porosity. During the nineties Fischer-Disa picked up this concept and successfully implemented it on a production basis for both aluminium and ductile iron. Most recently MSU in collaboration with US metal casters has applied the technique to tilt-poured permanent moulding (gravity-die casting). The results of this recent work will be described in detail.     

Integrated dynamic channel assignment and power control in TDMAmobile wireless communication systems

With the evolution of analog mobile wireless communications systems into digital second- and third-generation systems, there is growing interest in finding more efficient ways of managing the available resources, in particular radio spectrum and power. In the context of time division multiple access (TDMA) systems, this interest has led to the development of a variety of dynamic channel assignment (DCA) and power control (PC) algorithms. Despite the intense activity in both the DCA and the PC arenas and some proposals for combined DCA with PC, not enough work has been devoted to effectively integrating them. In this paper, the integration of DCA and PC is investigated and a family of integrated algorithms is presented. These algorithms, fully distributed and cost adaptive, achieve capacity levels significantly higher than those of a system with only DCA or PC. With respect to a system without any DCA or PC, several-fold capacity increases are obtained. Furthermore, these capacity levels are attained with user mobility included in the analysis