Adaptive tracking with external force disturbance rejection for uncertain robotic systems

This paper is concerned with the tracking control problem of robotic systems perturbed by time-varying parameters, unmodelled dynamics and external force (and moment) disturbances. The upper bound of system uncertainties and disturbances is not required for controller design. Also, no limitations are assumed on the speed of variation and the magnitude of unknown parameters and perturbations. An adaptive algorithm with simplicity and universality properties is proposed to ensure robust tracking. Presenting the closed loop stability proof analytically, the tracking controller is applied to a two-link robot manipulator and the simulation results are demonstrated to show the effectiveness of the method.     

Stabilization of positive switched systems with time-varying delays under asynchronous switching

This paper investigates the state feedback stabilization problem for a class of positive switched systems with time-varying delays under asynchronous switching in the frameworks of continuous-time and discrete-time dynamics. The so-called asynchronous switching means that the switches between the candidate controllers and system modes are asynchronous. By constructing an appropriate co-positive type Lyapunov-Krasovskii functional and further allowing the functional to increase during the running time of active subsystems, sufficient conditions are provided to guarantee the exponential stability of the resulting closed-loop systems, and the corresponding controller gain matrices and admissible switching signals are presented. Finally, two illustrative examples are given to show the effectiveness of the proposed methods.     

Hematoxylin multi-wall carbon nanotubes modified glassy carbon electrode for electrocatalytic oxidation of hydrazine

A new hydrazine sensor has been fabricated by immobilizing hematoxylin at the surface of a glassy carbon electrode (GCE) modified with multi-wall carbon nanotube (MWCNT). The adsorbed thin films of hematoxylin on the MWCNT modified GCE show one pair of peaks with surface confined characteristics. The hematoxylin MWCNT (HMWCNT) modified GCE shows highly catalytic activity toward hydrazine electro-oxidation. The results show that the peak potential of hydrazine at HMWCNT modified GCE surface shifted by about 167 and 255 mV toward negative values compared with that at an MWCNT and activated modified GCE surface, respectively. In addition, at HMWCNT modified electrode surface remarkably improvement the sensitivity of determination of hydrazine. The kinetic parameters, such as the electron transfer coefficient, α, and the standard heterogeneous rate constant, k⁰, for oxidation of hydrazine at the HMWCNT modified GCE were determined and also is shown that the heterogeneous rate constant, k′, is strongly potential dependent. The overall number of electron involved in the catalytic oxidation of hydrazine and the number of electrons involved in the rate-determining steps are 2 and 1, respectively. The amperometric detection of hydrazine is carried out at 220 mV in 0.1 M phosphate buffer solution (pH 7) with linear response range 2.0-122.8 μM hydrazine, detection limit of 0.68 μM and sensitivity of 0.0208 μA μM⁻¹. Finally the amperometric response for hydrazine determination is reproducible, fast and extremely stable, with no loss in sensitivity over a continual 400 s operation.     

Study of the High‐Pressure Vapour‐Liquid Equilibria for Strongly Non‐ideal Binary and Ternary Mixtures

High‐pressure vapour‐liquid equilibria for binary and ternary high polar and asymmetric systems are calculated using the Peng‐Robinson‐Stryjek‐Vera equation of state coupled with the Twu‐Coon (TWMR), the Orbey‐Sandler (OSMR) and the Wong‐Sandler (WSMR) mixing rules. Modified UNIFAC model is used for determining the activity coefficient and excess Gibbs free energy. The calculated results are compared with the experimental data and good agreement is observed. The average absolute deviation percents (AAD%)s indicated that the WSMR has less AAD% than other mixing rules in most of cases.     

Non‐fragile H ∞ control for switched stochastic delay systems with application to water quality process

In this paper, the problem of non‐fragile observer‐based H _∞ control for discrete‐time switched delay systems is investigated. Both data missing and time delays are taken into account in the links from sensors to observers and from controllers to actuators. Because data missing satisfies the Bernoulli distribution, such problem is transformed into an H _∞ control problem for stochastic switched delay systems. Average dwell time approach is used to obtain sufficient conditions on the solvability of such problems. A numerical example and a real example for water quality control are provided to illustrate the effectiveness and potential applications of the proposed techniques. Copyright © 2013 John Wiley & Sons, Ltd.     

Fault detection for continuous‐time switched systems under asynchronous switching

In this paper, the problem of fault detection for continuous‐time switched systems under asynchronous switching is investigated. The designed fault detection filter is assumed to be asynchronous with the original systems. Attention is focused on designing a fault detection filter such that the estimation error between the residual and the fault is minimized in the sense of H _∞ norm. By employing piecewise Lyapunov function and average dwell time techniques, a sufficient condition for the existence of such a filter is exploited in terms of certain linear matrix inequalities. Finally, an example of a switched electrical circuit is provided to illustrate the effectiveness of the proposed approach. Copyright © 2013 John Wiley & Sons, Ltd.     

Preparation,characterization and in vitro drug release properties of polytrimethylene carbonate/polyadipic anhydride blend microspheres

Polyadipic anhydride (PAA), an aliphatic polyanhydride, and polytrimethylene carbonate (PTMC), an aliphatic polycarbonate, were synthesized via ring opening polymerization of oxepan‐2,7‐dione and melt‐condensation of trimethylene carbonate (1,3 dioxan‐2‐one), respectively. PTMC–PAA blend microspheres containing different ratios of buprenorphine HCl (2, 5, and 10%) were prepared by an oil‐in‐oil emulsion solvent removal method. Microspheres with different ratios of PTMC–PAA (85/15, 70/30, and 55/45) containing 5% buprenorphine HCl were prepared. Microspheres were spherical with visible cracks and pores on the surface. The average particle size of microspheres was around 200 μm for all microspheres. Drug loading efficiency of PTMC–PAA microspheres (85/15, 70/30, and 55/45) was 97.2, 95.2, and 70.2%, respectively. With the increase in the PTMC ratio, the melting point and the enthalpy of melting were both decreased. The mechanism for drug release from PTMC–PAA blend microspheres were generally a combination of drug diffusion through polymers and biodegradation of the polymers. In first three days, the release from microspheres followed zero order kinetics and was dependent on the PAA content. After three days the drug release from microspheres followed first order kinetics. In conclusion it was demonstrated that buprenorphine HCl release from microspheres could be successfully controlled by using different ratios of PTMC–PAA blends. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 101: 2377–2383, 2006     

A survey on video content rating: taxonomy,challenges and open issues

Multimedia Tools and Applications - Rating a video based on its content is one of the most important solutions to classify videos for audience age groups. In this regard, Film content rating and TV...     

A selective encryption for H.264/AVC videos based on scrambling

H.264/Advanced Video Coding (H.264/AVC) is one of the video compression standards that is 50% more efficient than previously introduced standards. Given that the H.264/AVC standard is considered and used in a variety of video applications, it is essential to provide a suitable solution for video encryption with good security, high encryption speed, and to prevent bitrate increases. In this paper, we propose a method selective encryption of H.264/AVC for the digital rights management (DRM) applications. In this method, discrete cosine transform (DCT) coefficients, which affect the texture and content of the H.264/AVC video during compression, are encrypted after the zigzag scanning and based on Context-Adaptive Binary Arithmetic Coding (CABAC). The experimental results and encryption efficiency analysis demonstrate that the proposed method with the format compliance has good security and high encryption speed and it can prevent the bitrate from rising and is thus usable in industrial and the DRM applications.

     

Estimation of impact forces during multi-point collisions involving small deformations

Multibody System Dynamics - Collision between hard objects causes abrupt changes in the velocities of the system, which are characterized by very large contact forces over very small time...