Adaptive neural network output feedback control for flexible multi-link robotic manipulators

In this paper, a novel approach for adaptive control of flexible multi-link robots in the joint space is presented. The approach is valid for a class of highly uncertain systems with arbitrary but bounded dimension. The problem of trajectory tracking is solved through developing a stable inversion for robot dynamics using only joint angles measurement; then a linear dynamic compensator is utilised to stabilise the tracking error for the nominal system. Furthermore, a high gain observer is designed to provide an estimate for error dynamics. A linear in parameter neural network based adaptive signal is used to approximate and eliminate the effect of uncertainties due to link flexibilities and vibration modes on tracking performance, where the adaptation rule for the neural network weights is derived based on Lyapunov function. The stability and the ultimate boundedness of the error signals and closed-loop system is demonstrated through the Lyapunov stability theory. Computer simulations of the proposed robust controller are carried to validate on a two-link flexible planar manipulator.     

Robust diagnosis to measurement uncertainties using bond graph approach: Application to intelligent autonomous vehicle

This paper deals with robust bond graph model-based fault detection and isolation to improve the robustness of the diagnosis system in presence of measurements and parameters uncertainties. We develop a procedure of measurement uncertainties modeling directly on the graph. By using the structural and causal properties of the bond graph, the robust diagnosis is performed. The interest of the developed methodology consists in using the graphical tool not only for measurement uncertainties modeling, but also for designing robust fault detection and isolation algorithms. Moreover, this method can be easily automated. The developed approach is validated by an application to an electromechanical traction system of intelligent autonomous vehicle.     

Enhanced microwave absorbing properties of lightweight films based on polyaniline/aliphatic polyurethane composites in X band

Polymer blends based on nanostructured polyaniline (PANI) doped with hydrochloric acid (HCl) and para‐toluene sulfonic acid (PTSA) introduced into aliphatic polyurethane matrix (PU) are synthesized to produce flexible thin composite films for microwave absorbers. The effects of dopant type, PANI content and film thickness on morphologies, dielectric and microwave absorption properties in the X‐band are studied. It reveals that real and imaginary parts of the complex permittivity are proportional to filler concentrations and type of doped PANI. The PANI‐PTSA/PU films show higher permittivity and better microwave absorbing properties than PANI‐HCl/PU for the same weight fraction of PANI. The minimum reflection loss RL_(dB) values for the PANI‐PTSA/PU are ?37 dB at (20% PANI and 11.6 GHz) and ?30 dB at (15% PANI and 11.3 GHz) for thicknesses of 1.2 and 1.6 mm, respectively. These high values of reflection losses make the obtained lightweight and flexible composites promising radar absorbing materials (RAM). © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2014 , 131, 40961.     

Using electrocoagulation-electroflotation technology to treat synthetic solution and textile wastewater, two case studies

The purpose of this study was to investigate the effects of the operating parameters, such as pH, initial concentration (C_i), duration of treatment (t), current density (j), interelectrode distance (d) and conductivity (κ) on the treatment of a synthetic wastewater in the batch electrocoagulation (EC)-electroflotation (EF) process. The optimal operating conditions were determined and applied to a textile wastewater. Initially a batch-type EC-EF reactor was operated at various current densities ranging from 11.55 to 91.5 mA/cm² and various electrode gaps (1, 2 and 3 cm). For solutions with 300 mg/L of silica gel, good turbidity removal (89.6%) was obtained without any coagulant when the current density was 11.55 mA/cm², and with initial pH at 7.6, conductivity at 2.1 mS/cm: the treatment time was hold for 10 min and the electrode gap was 1 cm. Application of the optimal operating parameters on a textile wastewater showed a high removal efficiency for the following variables: suspended solid (SS) 85.5%, turbidity 76.2%, biological oxygen demand (BOD₅) 88.9%, chemical oxygen demand (COD) 79.7%, and color over 93%.     

Relation of mechanical power to gas holdup and mass transfer in an agitated vessel

Two devices were developed, mechanical and electrical, to measure the mechanical power relative to superficial gas velocity and stirring speed in a mechanically agitated reactor. Two bubble regimes were demonstrated. The study of gas holdup, obtained from the residence time distribution, and the bubble size, determined by interfacial area measurement, confirm these two regimes of flow. Our results show that the gas holdup, the interfacial area, and the liquid-side mass transfer coefficient are increasing functions of the energy dissipated in the solution.     

Relativistic Coulomb wave functions in momentum space

Thirty-six 3-month-old female Wistar rats were labelled with a single intraperitoneal tetracycline injection. Twenty-four animals were subsequently ovariectomized, while the control group of 12 animals underwent sham operations. All animals received the basal Ewos R3 diet and half of the ovariectomized animals (n = 12) were given an additional 5% dietary xylitol supplementation. Three months later, following the collection of blood and urine, the animals were killed by decapitation. The tibiae were detached and prepared for chemical and other studies. The weight and density of the tibiae were measured. The right tibiae were dried and pulverized for chemical analysis of calcium, phosphorus and citric acid. The total inorganic fraction was determined by ashing the powdered bone. The left tibiae were cross-sectioned at the tibio-fibular junctions for the measurement of the width of periosteally formed bone, which was identified by tetracycline fluorescence. The examination of mineral content of bone was performed by scanning electron microscopy, using an electron probe microanalytic technique. The results indicate that the supplementation of the diet with 5% xylitol had a protective effect against the loss of bone mineral after ovariectomy in the rat. This was clearly seen in tibial density and in the inorganic fraction of the bone, and in the concentrations of bone Ca and phosphorus. Ovariectomy caused a doubling in periosteal bone formation relative to the controls, whereas the growth of the periosteally formed bone was somewhat reduced following xylitol supplementation as compared with ovariectomy alone.(ABSTRACT TRUNCATED AT 250 WORDS)     

Investigation on thermal performance of glazed solar chimney walls

This paper reports investigation on the thermal performance of glazed solar chimney walls (GSCW) under the tropical climatic conditions of Thailand. The GSCW consisted of double glass panes with an air layer and openings located at the bottom (room side glass pane) and at the top (ambient side glass pane). A prototype of GSCW was integrated into the southern wall of a small room of 2.8 m³ volume. Its dimensions were as follows: 0.74 m height, 0.50 m width and 0.10 m air gap. The size of openings was 0.05 × 0.5 m². With a clear glass of 6 mm thickness, velocity field measurement indicated that the induced airflow rate was about 0.13–0.28 m³/s. The temperature difference between room and ambient was less than that with a single layer clear glass window. The reduction of daylight due to the double glass layer is negligible. Comparison between simulated and experimental results showed a reasonable agreement, therefore, the developed numerical model is valid and could be used as a tool for the design of GSCW.     

Theoretical and finite element studies of interfacial stresses in reinforced concrete beams strengthened by externally FRP laminates plate

The paper presents the results of an analytical and numerical solution for interfacial stresses in carbon fiber reinforced plastic (CFRP)–reinforced concrete (RC) hybrid beams studied by the finite element method. The analytical analysis is based on the deformation compatibility approach where both the shear and normal stresses are assumed to be invariant across the adhesive layer thickness. The adherend shear deformations are taken into account by assuming a parabolic shear stress through the thickness of both the concrete beam and the bonded plate. In numerical analysis, the mesh sensitivity test shows that the finite element results for interfacial stresses are not sensitive to the finite element mesh. The finite element analysis then is used to calculate the interfacial stress distribution and evaluate the effect of the structural parameters on the interfacial behavior. It is shown that both the normal and shear stresses at the interface are influenced by the material and geometry parameters of the composite beam. Numerical results from the present analysis are presented both to demonstrate the advantages of the present solution over existing ones and to illustrate the main characteristics of interfacial stress distributions. We can conclude that this research is helpful for the understanding the mechanical behavior of the interface and design of the FRP–RC hybrid structures.