Preparation and characterization of proton‐exchange hybrid membranes

Two types of composite were prepared, based on a thermoplastic polymer, polyvinylidene fluoride (PVDF), and an elastomer, ethylene‐propylene‐diene terpolymer (EPDM), respectively. We obtained both series by addition of an inorganic proton‐conducting antimonic acid derivative (HSb) and polystyrene crosslinked with a small percentage of divinylbenzene (PS‐co‐DVB). From these composites, membranes were obtained and subjected to a heterogeneous‐phase sulfonation reaction with chlorosulfonic acid. All experimental materials were characterized from a morphological and electrical point of view, by means of techniques such as differential scanning calorimetry (DSC), dynamic mechanical analysis (DMA), non‐isothermal crystallization and complex impedance analysis. Copyright © 2005 Society of Chemical Industry     

Ionomer composites based on sepiolite/hydrogenated poly(styrene butadiene) block copolymer systems

Ionomeric composites based on sepiolite and hydrogenated poly(styrene butadiene) block copolymer were obtained and characterized from a microstructural and electrical point of view. Before blending, because of the high silanol group concentration in the sepiolite, the latter could be organophilized with suitable coupling agents. The resulting materials were easily processed into thin films or membranes 0.2–0.4 mm thick, their conductivity in some cases approaching 10^?1 S/cm. Their suitability for film formation and good electrical properties indicate potential applications as electrolytes in polymer fuel cells. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 86: 3512–3519, 2002     

An expert PID controller uses refined ziegler and nichols rules and fuzzy logic ideas

This article proposes a scheme for the on-line adjustment of three mode controller settings based on experimental measurements of closed-loop performance. It uses a recently developed heuristic tuning procedure to identify estimated process parameters. This method may give rise to conflicting estimates. Fuzzy Set theory is applied to manage the situation in terms of a fuzzy conjunction to combine the various estimates. PID control was chosen because of its wide use in the industrial environment due to driving simplicity and robustness. The article shows design, development, and computer simulation aspects.     

Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

Total energy shaping is a controller design methodology that achieves (asymptotic) stabilization of mechanical systems endowing the closed-loop system with a Lagrangian or Hamiltonian structure with a desired energy function - that qualifies as Lyapunov function for the desired equilibrium. The success of the method relies on the possibility of solving two PDEs which identify the kinetic and potential energy functions that can be assigned to the closed loop. Particularly troublesome is the partial differential equation (PDE) associated to the kinetic energy which is nonlinear and inhomogeneous and the solution, that defines the desired inertia matrix, must be positive-definite. In this note, we prove that we can eliminate or simplify the forcing term in this PDE by modifying the target dynamics and introducing a change of coordinates in the original system. Furthermore, it is shown that, in the particular case of transformation to the Lagrangian coordinates, the possibility of simplifying the PDEs is determined by the interaction between the Coriolis and centrifugal forces and the actuation structure. The examples of pendulum on a cart and Furuta's pendulum are used to illustrate the results.     

Thermodynamic compatibility of sepiolite-filled poly(vinylidene fluoride)-polystyrene blends

Summary Inverse gas chromatography (IGC) and differential scanning calorimetry (DSC) were used to investigate the effect produced by sepiolite on the thermodynamical compatibility of poly(vinylidene fluoride)-polystyrene blends. Polymer-polymer interaction parameters were calculated from the retention data, for various polar and non-polar probes in pure and mixed stationary phases of these polymers, using sepiolite as solid support, as well as from melting point depression analysis of the sepiolite filled blends. Both techniques give us positive values of the interaction parameters, in accordance with the non-compatibility of these blends; However negative values of the interaction parameters were obtained for polystyrene-rich blends (_PS 85 wt%) and high sepiolite loadings, indicating that sepiolite acts as a compatibilizing agent for the system PVF₂/PS.     

Differential Action of Connexin Hemichannel and Pannexin Channel Therapeutics for Potential Treatment of Retinal Diseases

Dysregulation of retinal function in the early stages of light-induced retinal degeneration involves pannexins and connexins. These two types of proteins may contribute to channels that release ATP, leading to activation of the inflammasome pathway, spread of inflammation and retinal dysfunction. However, the effect of pannexin channel block alone or block of both pannexin channels and connexin hemichannels in parallel on retinal activity in vivo is unknown. In this study, the pannexin channel blocker probenecid and the connexin hemichannel blocker tonabersat were used in the light-damaged rat retina. Retinal function was evaluated using electroretinography (ERG), retinal structure was analyzed using optical coherence tomography (OCT) imaging and the tissue response to light-induced injury was assessed immunohistochemically with antibodies against glial fibrillary acidic protein (GFAP), Ionized calcium binding adaptor molecule 1 (Iba-1) and Connexin43 (Cx43). Probenecid did not further enhance the therapeutic effect of connexin hemichannel block in this model, but on its own improved activity of certain inner retina neurons. The therapeutic benefit of blocking connexin hemichannels was further evaluated by comparing these data against results from our previously published studies that also used the light-damaged rat retina model. The analysis showed that treatment with tonabersat alone was better than probenecid alone at restoring retinal function in the light-damaged retina model. The results assist in the interpretation of the differential action of connexin hemichannel and pannexin channel therapeutics for potential treatment of retinal diseases.     

Formulating middle-phase microemulsions using mixed anionic and cationic surfactant systems

Although mixtures of anionic and cationic surfactants can show great synergism, their potential to precipitate and form liquid crystals has limited their use. Previous studies have shown that alcohol addition can prevent liquid crystal formation, thereby allowing formation of middle-phase microemulsions with mixed anionic-cationic systems. This research investigates the role of surfactant selection in designing alcohol-free anionic-cationic microemulsions. Microemulsion phase behavior was studied for three anionic-cationic surfactant systems and three oils of widely varying hydrophobicity [trichloroethylene (TCE), hexane, and n-hexadecane]. Consistent with our hypothesis, using a branched surfactant and surfactants with varying tail length allowed us to form alcohol-free middle-phase microemulsion using mixed anionic-cationic systems (i.e., liquid crystals did not form). The anionic to cationic molar ratio required to form middle-phase microemulsions approached 1∶1 for univalent surfactants as oil hydrophobicity increased (i.e., TCE to hexane to n-hexadecane); even for these equimolar systems, liquid crystal formation was avoided. To test the use of these anionic-cationic surfactant mixtures in surfactant-enhanced subsurface remediation, we performed soil column studies: Greater than 95% of the oil was extracted in 2.5 pore volumes using an anionic-rich surfactant system. By contrast, cationic-rich systems performed very poorly (<1% oil removal), reflecting significant losses of the cationic-rich surfactant system in the porous media. The results thus suggest that, when properly designed, anionic-rich mixtures of anionic and cationic surfactants can be efficient for environmental remediation. By corollary, other industrial applications and consumer products should also find these mixtures advantageous.     

Generating human-like soccer primitives from human data

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization.This paper presents a mechanism to generate two human-like motions, walking and kicking, for a biped robot using a simple model based on observation and analysis of human motion. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like motions. The approach presented here rests on the principle that in most biological motor learning scenarios some form of optimization with respect to a physical criterion is taking place. In a similar way, the equations of motion for the humanoid robot systems are formulated in such a way that the resulting optimization problems can be solved reliably and efficiently.The simulation results show that faster and more accurate searching can be achieved to generate an efficient human-like gait. Comparison is made with methods that do not include observation of human gait. The gait has been successfully used to control Robo-Erectus, a soccer-playing humanoid robot, which is one of the foremost leading soccer-playing humanoid robots in the RoboCup Humanoid League.