Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability of the controller being established in the Lyapunov sense; and 3) suitability of the scheme for multijoint robots. Simulation results are included to demonstrate the tracking performance.     

Numerical simulation of oscillatory flow in melt during InSb single crystal growth by RF heating Czochralski method

Oscillatory flow present in the melt during InSb single crystal growth using an RF-heating Czochralski method has been numerically investigated by means of the finite difference method using the HSMAC algorithm. The thermal boundary conditions required for the numerical simulation model were obtained experimentally by measuring the temperature profile along the crucible of a Czochralski system by means of thermocouples mounted in the crucible. Results of numerical simulations showed that the use of a third-order upwind discretization scheme was necessary to catch the oscillatory behaviour of the fluid flow in the melt. It was shown that this oscillatory behaviour strongly depends on the crystal rotation rate. Indeed, the oscillation period increases when the crystal rotation rate is above a critical rotation rate. In order to avoid such oscillations, crystal rotation rates lower than this critical value of crystal rotation rate must be selected for the growth of high quality crystals free of striations. © 1998 John Wiley & Sons, Ltd.     

A modelling study for moisture diffusivities and moisture transfer coefficients in drying of solid objects

This article presents an effective analytical model for determining the moisture diffusivities and moisture transfer coefficients for solid objects (namely, infinite slab, infinite cylinder, sphere; and also for irregularly shaped objects, by using a shape factor) subject to drying applications in a medium. The unsteady-state moisture diffusion analysis is used on the basis of two important criteria: 0·1 <Bi < 100 and Bi > 100. The drying coefficients and lag factors were employed. The analytical models are then verified using available experimental data taken from the literature. The results show that the method presented here can be used to determine the moisture diffusion coefficients and moisture transfer coefficients for such solid objects in a simple and accurate manner for a variety of drying applications.     

Subcellular pharmacokinetics and its potential for library focusing

Subcellular pharmacokinetics (SP) optimizes biology-related factors in the design of libraries for high throughput screening by defining comparatively narrow ranges of properties (lipophilicity, amphiphilicity, acidity, reactivity, 3D-structural features) of the included compounds. The focusing ensures appropriate absorption, distribution, metabolism, excretion, and toxicity (ADMET) in those test biosystems, which are more complex than isolated receptors, and in humans. The SP deploys conceptual models that include transport and accumulation in a series of membranes, protein binding, hydrolysis, and other reactions with cell constituents. The kinetics of drug disposition is described as a non-linear disposition function of drug structure and properties. The SP capabilities are illustrated here using a model-based quantitative structure-activity relationship of toxicity of phenolic compounds against Tetrahymena pyriformis as dependent on lipophilicity and acidity. The resulting SP models clearly outperform empirical models in predictive ability outside the parameter space, as revealed by the leave-extremes-out cross-validation technique with omission of compounds beyond pre-defined lipophilicity and acidity ranges. The SP models do not change substantially if the parameters space is shrunk within some limits. In contrast, the shapes of empirical models vary widely depending upon the fraction of the data set used for their optimization. Once calibrated for a given biosystem, the SP models provide a detailed recipe for tailoring the drug properties to ensure optimum ADMET. The focusing is more accurate than with traditional empirical QSAR studies, assessment of drug-likeness, or the rules for identification of compounds with permeability problems.     

Theoretically supported scalable BETI method for variational inequalities

Summary The Boundary Element Tearing and Interconnecting (BETI) methods were recently introduced as boundary element counterparts of the well established Finite Element Tearing and Interconnecting (FETI) methods. Here we combine the BETI method preconditioned by the projector to the “natural coarse grid” with recently proposed optimal algorithms for the solution of bound and equality constrained quadratic programming problems in order to develop a theoretically supported scalable solver for elliptic multidomain boundary variational inequalities such as those describing the equilibrium of a system of bodies in mutual contact. The key observation is that the “natural coarse grid” defines a subspace that contains the solution, so that the preconditioning affects also the non-linear steps. The results are validated by numerical experiments.      

Tailoring of interphase structure in highly filled poly(propene) block copolymer via reactive processing

Summary The effect of the of the reactive modifier 1,3-phenylene dimaleimide (BMI) on the interphase structure of poly(propene) block copolymer (PPBC)/magnesium hydroxide (Mg(OH)₂) composites has been investigated. DRIFTS and DSC studies on hot decane extracted composites confirmed preferential encapsulation of the filler particles with the ethene based elastomeric phase of the PPBC. This elastomeric interphase structure, formed efficiently via reactive processing of untreated Mg(OH)₂, PPBC and BMI, conferred excellent strength and toughness to the composites. The tensile strength and elongation of a BMI modified composite containing 60% w/w Mg(OH)₂, exceeded the yield stress and strain of the unfilled matrix. Received: 17 March 2000 /Revised version: 23 October 2001/ Accepted: 23 October 2001