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.     

Dispersion in electroosmotic flow generated by oscillatory electric field interacting with oscillatory wall potentials

An analytical study is presented in this article on the dispersion of a neutral solute released in an oscillatory electroosmotic flow (EOF) through a two-dimensional microchannel. The flow is driven by the nonlinear interaction between oscillatory axial electric field and oscillatory wall potentials. These fields have the same oscillation frequency, but with disparate phases. An asymptotic method of averaging is employed to derive the analytical expressions for the steady-flow-induced and oscillatory-flow-induced components of the dispersion coefficient. Dispersion coefficients are functions of various parameters representing the effects of electric double-layer thickness (Debye length), oscillation parameter, and phases of the oscillating fields. The time–harmonic interaction between the wall potentials and electric field generates steady as well as time-oscillatory components of electroosmotic flow, each of which will contribute to a steady component of the dispersion coefficient. It is found that, for a thin electric double layer, the phases of the oscillating wall potentials will play an important role in determining the magnitude of the dispersion coefficient. When both phases are zero (i.e., full synchronization of the wall potentials with the electric field), the flow is nearly a plug flow leading to very small dispersion. When one phase is zero and the other phase is π,?the flow will be sheared to the largest possible extent at the center of the channel, and such a sharp velocity gradient will lead to the maximum possible dispersion coefficient.     

An improved cutting force and surface topography prediction model in end milling

During the milling operation, the cutting forces will induce vibration on the cutting tool, the workpiece, and the fixtures, which will affect the surface integrity of the final part and consequently the product's quality. In this paper, a generic and improved model is introduced to simultaneously predict the conventional cutting forces along with 3D surface topography during side milling operation. The model incorporates the effects of tool runout, tool deflection, system dynamics, flank face wear, and the tool tilting on the surface roughness. An improved technique to calculate the instantaneous chip thickness is also presented. The model predictions on cutting forces and surface roughness and topography agreed well with experimental results.     

Kinetics of volume expansion during infusion of Ringer’s solution based on two volume model

In this work mathematical models were developed to represent the kinetics of volume changes of fluid spaces associated with infusion of Ringer’s solution. During infusion of Ringer’s solution, the human body is assumed to be characterized by the two-fluid space model which has second volume space in addition to the first volume so that fluid exchanges between these two spaces are possible. Various infusion types were tested to accommodate different medical situations. Volunteers were given Ringer’s solution and the changes in blood hemoglobin were detected. From the comparison with experimental data, the two-fluid space model was found to represent adequately the kinetics of human volume expansion during infusion of Ringer’s solution.     

A visual study of the breakdown of emulsions in porous coalescers

A two-dimensional photoetched glass flow cell was used to observe the process by which an emulsion was broken down by a granular porous coalescer. The effects of wettability, emulsion and collector zeta potentials, and emulsion droplet size on the coalescence phenomenon were studied. The possible use of a graded medium or a coalescer with mixed wettability to enhnce the coalescence process was also examined. Based on these visual studies, a set of guidelines was developed to aid in the selection of a porous coalescer for a given separation duty.     

Poly(butylene terephthalate)/organoclay nanocomposites prepared by in situ interlayer polymerization and its fiber (II)

Intercalated nanocomposites with poly(butylene terephthalate) (PBT) incorporated between the montmorillonite layers were synthesized from dimethyl terephthalate and 1,4-butane diol by using an in situ interlayer polymerization. The PBT nanocomposites were melt-spun at different organoclay contents to produce monofilaments. The samples were characterized by using wide angle X-ray diffraction, electron microscopy, thermal analysis, and tensile testing. The extent of the clay layer in the PBT was confirmed by using X-ray diffraction and electron microscopy, and the clay layer was found to be highly dispersed on a nanometer scale. The addition of only a small amount of organoclay was enough to improve the thermo-mechanical properties of the PBT hybrid fibers. The hybrids were extruded with various draw ratios (DRs) to examine the tensile mechanical property of the fibers. At DR=1, the ultimate tensile strength of the hybrid fibers increased with the addition of clay up to a critical content and then decreased. However, the initial modulus monotonically increased with increasing amount of organoclay in the PBT matrix. When the DR was increased from 1 to 6, for example, the strength and the initial modulus values of the hybrids containing 3 wt% organoclay decreased linearly.     

Fractionation studies of palm oil by density gradient

The paper describes a method of fractionating vegetable, animal and fish oils, and in particular palm oil. The method involves addition of a medium comprising two common solvents to the semisolid oils. On centrifugation, the olein and stearin are separated by the medium in the middle. Thirteen media made up from binary combinations of nine solvents, viz. water, propylene glycol, glycerine, methanol, ethanol,n-propanol, isopropanol (IPA), acetone and butanone, are found to be effective in olein-stearin separation. However, only the water/IPA and water/methanol systems have been studied in detail. The aqueous IPA provides a higher yield of olein than water/ methanol but intersolubility between oil and medium is also greater. The fractionation process can be carried out at any suitable temperature. Fractionation of the special prime bleached (SPB) palm oil at 16 C yields an olein with a cloud point of 4.8 C. Some hybrid palm oils produce a large quantity of low cloud point olein which can be bleached readily. The process can be extended to include degumming and neutralization by using an alkaline medium for centrifugation. The olein fractions obtained have been found to be free of phosphatides and the free fatty acids reduced to as low as 0.02%. Metal-scavenging agents have also been added to the medium in an attempt to remove copper and iron. The development of this process into a continuous one has been demonstrated on the AlfaLaval LAPX 202 Separator. Fractionation of crude palm oil using a density gradient provides seven fractions of different characteristics. The iodine values vary from 37.5 to 57.4 and the unsaturated fatty acids range from 32.7% to 51.2%. Triglyceride analysis by carbon numbers shows great differences in the C₄₈ and C₅₂ constituents of the fractions. aThe volume ratio of oil to medium in each case was 1:1. The separation involved the oil and wax.     

The influence of sulfur dioxide on propane oxidation activity over supported platinum and palladium

Earlier studies have shown that sulfur dioxide and metal-support interaction can strongly influence propane oxidation over platinum. In particular, oxidation activity is enhanced when platinum is supported on sulfated -alumina or zirconia compared to -alumina. Therefore, it is of interest to compare the performance of palladium under the same experimental conditions. Four model catalysts were examined: Pt/-alumina, Pt/zirconia, Pd/-alumina and Pd/zirconia. The metal loading was kept at or below 0.05 wt% to emphasize changes in activity attributable to metal-support interaction. Reaction rates were measured with and without sulfur dioxide. Surface sulfation was analyzed by measuring acid strength and evaluating spectra obtained by Fourier-transform infrared spectroscopy. In contrast to platinum, sulfation does not promote propane oxidation on Pd/-alumina, and Pd/zirconia is less active than Pd/-alumina.     

Preparation and characterization of polypropylene/layered silicate nanocomposites using an antioxidant

Polypropylene (PP)/layered silicate nanocomposites were prepared via simple melt mixing of three components, PP, layered silicates modified with octadecylamine (C18-MMT) and antioxidant, to investigate the role of antioxidant. TEM and X-ray scattering results confirmed the intercalated state of silicates in PP/layered silicate nanocomposites with antioxidant. In rheological and mechanical study, the nanocomposites with antioxidant showed higher properties than those of the unfilled PP. The nanocomposite with 5 wt% C18-MMT and 0.5 phr antioxidant exhibited about 1.4 times higher tensile modulus and 1.3 times higher storage modulus than the unfilled PP. However, PP/C18-MMT without antioxidant showed lower rheological values owing to the thermal decomposition of PP and the poor compatibility between PP and C18-MMT. It could be concluded that antioxidants played an important role in enhancing the compatibility between PP and C18-MMT. According to the real time X-ray diffraction, the nanocomposite showed the weak ordering of PP crystals than the unfilled PP in the load-extension plateau region of elongation.     

Silane functionalization of perfluoroether oligomers for reaction management and morphology control of two‐phase epoxy networks

Mixtures of an epoxy resin, hardener, and acid functionalized perfluoroether oligomers will readily undergo phase separation during curing. However, the conditions to bring about the growth of nuclei into microscopic particles have hitherto been found only for systems cured with anhydrides. In the present study perfluoroether oligomers were functionalized by established procedures to introduce both carboxylic acid groups and alkoxysilane groups in sites within the chain extended segments. The presence of alkoxysilane groups together with the prereaction step with an excess epoxy resin, prior to the addition of the aromatic amine hardener, induced phase separation by a nucleation‐and‐growth mechanism. The dual functionality in the perfluoroether oligomer was even more beneficial when the alkoxysilane groups were hydrolyzed prior to the addition of the amine hardener. Under such circumstances the precipitation of the perfluoroether oligomer occurred quantitatively, as indicated by the complete absence of any plasticization effects in the epoxy matrix. From electron microscopy examinations, thermal analysis, and measurements of mechanical properties it was possible to deduce a plausible mechanism for the formation of the typical core‐shell aggregates within the precipitated particles for these systems, which could also be applied to other systems, such as those using carboxylic‐acid‐terminated butadiene acrylonitrile oligomers. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 98: 1036–1049, 2005