Modeling and Control of Linear Two-time Scale Systems: Applied to Single-Link Flexible Manipulator

This paper deals with the problem of H _∞ control of linear two-time scale systems. The authors’ attention is focused on the robust regulation of the system based on a new modeling approach under the assumption of norm-boundedness of the fast dynamics. In the proposed approach, the fast dynamics are treated as a norm-bounded disturbance (dynamic uncertainty). In this view, the synthesis is performed only for the certain dynamics of the two-time scale system, whose order is less than that of the original system. It should be noted, however, that this scheme is significantly different from the conventional approaches of order reduction for linear two-time scale systems. Specifically, in the present work, explicitly or implicitly, all the dynamics of the system are taken into consideration. In other words, the portion that is treated as a perturbation is incorporated in the design by its maximum possible gain – in the L ₂ sense – over different values of the inputs. One of the advantagesof this approach is that – unlike in the conventional approaches of the order reduction – the reduced-order system still keeps some information of the ‘deleted’ subsystem. Also, we consider the robust stability analysis and stability bound improvement of perturbed parameter (ɛ) in the two-time scale systems by using linear fractional transformations and structured singular values (μ) approach. In this direction, by introducing the parametric uncertainty and dynamic uncertainty in the two-time scale systems, we represent the system as a standard μ-interconnection framework by using linear fractional transformations, and derive a set of new stability conditions for the system in the frequency domain. The exact solution of ɛ-bound is characterized. It is shown that, in spite of the coupling between the dynamic uncertainties and certain dynamics, the designed H _∞ controller stabilizes the overall closed-loop system, in the presence of norm-bounded disturbances. To show the effectiveness of the approach, the modeling of the single-link flexible manipulator and control of the Tip-position of the manipulator by utilizing the mentioned method are presented in the case study.     

Friction compensation of double inverted pendulum on a cart using locally linear neuro-fuzzy model

Double inverted pendulum on a cart (DIPC) is a highly nonlinear system. Due to its complex dynamics, it is widely used as a test-bed plant for the verification of newly designed controllers. In DIPC, two pendulums are kept upward by linear movements of cart. Because of this linear motions and frequent switching of velocity directions, another nonlinearity caused by friction becomes dominant around the equilibrium point. Friction introduces limit cycles to the system and results in a poor steady-state response. To eliminate these negative effects, the locally linear neuro-fuzzy (LLNF) approach is used to build an inverse model for friction compensation. This model is compared with multilayer perceptron network in order to demonstrate the better performance of LLNF. To stabilize DIPC, a common optimal controller is used, and despite its limited performance, experimental results show that the application of inverse modeling for friction compensation improves the steady-state response outstandingly.     

A low‐power,area‐efficient multichannel receiver for micro MRI

A new integrated, low‐noise, low‐power, and area‐efficient multichannel receiver for magnetic resonance imaging (MRI) is described. The proposed receiver presents an alternative technique to overcome the use of multiple receiver front‐ends in parallel MRI. The receiver consists of three main stages: low‐noise pre‐amplifier, quadrature down‐converter, and a band pass filter (BPF). These components are used to receive the nuclear magnetic resonance signals from a 3 × 3 array of micro coils. These signals are combined using frequency domain multiplexing (FDM) method in the pre‐amplifier and BPF stages, then amplified and filtered to remove any out‐of‐band noise before providing it to an analog‐to‐digital converter at the low intermediate frequency stage. The receiver is designed using a 90 nm CMOS technology to operate at the main B₀ magnetic field of 9.4 T, which corresponds to 400 MHz. The receiver has an input referred noise voltage of 1.1 nV/√Hz, a total voltage gain of 87 dB, a power consumption of 69 mA from a 1 V supply voltage, and an area of 305 µm × 530 µm including the reference current and bias voltage circuits. Copyright © 2013 John Wiley & Sons, Ltd.     

Mixing of Oil in Water Through Electrical Resistance Tomography and Response Surface Methodology

The mixing performance of the oil‐in‐water dispersion system was evaluated. Using an electrical resistance tomography system composed of two measuring planes, the effect of parameters such as impeller type, impeller speed, oil type, and oil volume fraction on the mixing performance through axial mixing indices were explored. The oil type and the oil volume fraction were identified as the most influential factors on the mixing index. Castor oil, with the highest viscosity of the tested oils, was found as the most difficult oil to disperse. The Scaba impeller was the most efficient impeller in dispersing oil in water. The interactions between oil type and impeller type as well as between impeller speed and oil type, had the greatest impact on the mixing index.     

An improved topology of electronic ballast with wide dimming range,PFC and low switching losses using PWM-controlled soft-switching inverter

This paper presents a novel improved topology of voltage-fed soft-switching LC_rC_dc series–parallel quasi-resonant inverter with a constant-frequency for electronic ballast applications. This new topology introduces a low-cost solution to reduce switching losses to achieve high-efficiency ballast. A symmetrical pulse wide modulation (PWM) control scheme is implemented to regulate a wide range of output power. Switching losses effect on ballast efficiency is discussed through experimental point of view. In this discussion, an improved topology in which accomplishes soft-switching operation over a wide power regulation range is proposed. Energy consumption of this new circuit is decreased by using reverse recovery attribute. Additionally, a power-factor correction (PFC) circuit is employed to make the line current follow naturally the sinusoidal line voltage waveform.     

Inhibitory effect of magnetic iron‐oxide nanoparticles on the pattern of expression of lanosterol 14α ‐demethylase (ERG11) in fluconazole‐resistant colonising isolate of Candida albicans

Fluconazole‐resistant Candida albicans is a big scary reality. The authors assessed the antifungal effects of magnetic iron‐oxide nanoparticles on fluconazole‐resistant colonising isolate of C. albicans and determined the expression of ERG11 gene, protein sequence similarity and ergosterol content. C. albicans isolates were characterised and fluconazole resistance is recognised using World Health Organization''s WHONET software. Susceptibility testing of magnetic iron‐oxide nanoparticles against fluconazole‐resistant colonising isolate of C. albicans was performed according to Clinical and Laboratory Standards Institute guidelines. The expression patterns of ERG11 and protein sequence similarity were investigated. Ergosterol quantification has been used to gauge the antifungal activity of magnetic iron‐oxide nanoparticles. The findings indicated that 93% of C. albicans isolates were resistant to fluconazole. Magnetic iron‐oxide nanoparticles were presented activity against fluconazole‐resistant colonising isolate of C. albicans with minimum inhibitory concentration at 250–500 µg/ml. The expression level of ERG11 gene was downregulated in fluconazole‐resistant colonising isolate of C. albicans. The results revealed no differences in fluconazole‐resistant colonising isolate of C. albicans by comparison with ERG11 reference sequences. Moreover, significant reduction was noted in ergosterol content. The findings shed a novel light on the application of magnetic iron‐oxide nanoparticles in fighting against resistant C. albicans.Inspec keywords: microorganisms, biochemistry, molecular biophysics, antibacterial activity, iron compounds, proteins, cellular biophysics, nanoparticles, drugs, geneticsOther keywords: albicans isolates, magnetic iron‐oxide nanoparticles, fluconazole‐resistant colonising isolate, fluconazole resistance, ERG11, candida albicans, protein sequence similarity, ergosterol content, WHONET, ergosterol quantification, susceptibility testing, antifungal activity, gene expression     

Toward wafer-scale patterning of freestanding intermetallic nanowires

Individual metal alloy nanowires of constant diameter and high aspect ratio have previously been self-assembled at selected locations on atomic force microscope (AFM) probes by the method reported in Yazdanpanah et al (2005 J. Appl. Phys. 98 073510). This process relies on the room temperature crystallization of an ordered phase of silver-gallium. A parallel version of this method has been implemented in which a substrate, either an array of micromachined tips (similar to tips on AFM probes) or a lithographically patterned planar substrate, is brought into contact with a continuous, nearly planar film of melted gallium. In several runs, freestanding wires are fabricated with diameters of 40-400 nm, lengths of 4-80 μm, growth rates of 80-170 nm s( - 1) and, most significantly, with yields of up to 97% in an array of 422 growth sites. These results demonstrate the feasibility of developing a batch manufacturing process for the decoration of wafers of AFM tips and other structures with selectively patterned freestanding nanowires.     

Scanning gate microscopy on graphene: charge inhomogeneity and extrinsic doping

We have performed scanning gate microscopy (SGM) on graphene field effect transistors (GFET) using a biased metallic nanowire coated with a dielectric layer as a contact mode tip and local top gate. Electrical transport through graphene at various back gate voltages is monitored as a function of tip voltage and tip position. Near the Dirac point, the response of graphene resistance to the tip voltage shows significant variation with tip position, and SGM imaging displays mesoscopic domains of electron-doped and hole-doped regions. Our measurements reveal substantial spatial fluctuation in the carrier density in graphene due to extrinsic local doping from sources such as metal contacts, graphene edges, structural defects and resist residues. Our scanning gate measurements also demonstrate graphene's excellent capability to sense the local electric field and charges.