Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Mechanical systems are always suffering from the effects of temperature dependent friction forces where the system is operated in a wide range of temperature. Temperature and its variation play an important role in friction force in mechanical systems. If it is not compensated, it will tend to unwanted consequences, including steady‐state errors, limit cycling, and hunting. Therefore, it is necessary to take the temperature effects into account. This has been a strong motivation for the researchers to work on temperature effects on joint friction. In this paper, an adaptive compensation (control) scheme is proposed and applied to a 2‐degree‐of‐freedom serial robot manipulator by taking the temperature effects into account on the joints friction. In the proposed control scheme, the temperature is not required to be sensed. In this paper, joint friction is described by LuGre dynamic model with temperature dependent parameters. These parameters are described by some functions with unknown temperature dependent terms. According to the mathematical and practical concepts, the temperature dependent friction is decomposed into a viscous term and a disturbance term. An adaptive controller is designed to compensate the friction effect and it is shown that the proposed controller relaxes the condition for a priori knowledge about the environment characteristics, including the upper and lower bounds of the environment temperature and the parameters of the functions, describing the temperature dependent joint frictions. The stability and convergence of the joint position and velocity are proved in the sense of Lyapunov and then the proposed method is confirmed by the simulations.     

Surface and structure characteristics of commercial K-Feldspar powders: Effects of temperature and leaching media

This study presents morphological and structural variations of K-Feldspar mineral after acid treatment. Both organic and inorganic acids such as C₂H₂O₄, HCl, HNO₃ and H₂SO₄ were employed for this purpose. Another aim of this study was to find an optimum experimental condition for iron (Fe) removal with a minimum damage on the structure of K-Feldspar in which high whiteness index is obtained. The effect of different parameters such as concentration, pH and temperature on the final structure of this mineral was investigated. To find out the chemical composition of powder, XRF was utilized. FTIR, XRD and SEM were employed to study the structure of mineral. Spectrophotometry was chosen to analyze whiteness index of powder after acid treatment. It was found that O—Al—O bond at 647 cm^-1 for H₂SO₄ and HNO₃ treated sample disappeared. However, HCl and C₂H₂O₄ were ineffective at this band. In addition, the results revealed an increase in K-Feldspar content, a decrease in Fe content, an increase in whiteness index and no significant structural change for C₂H₂O₄ leached sample. Whiteness index of 91% was obtained for C₂H₂O₄ leached sample with the pH of 2.5 to 3 at temperature of 50℃ and during 1 h.     

Biomimetic Natural Killer Membrane Camouflaged Polymeric Nanoparticle for Targeted Bioimaging

In the present study, a biomimetic nanoconstruct (BNc) with a multimodal imaging system is engineered using tumor homing natural killer cell membrane (NKM), near‐infrared (NIR) fluorescent dye, and gadolinium (Gd) conjugate‐based magnetic resonance imaging contrast agent onto the surface of a polymeric nanoparticle. The engineered BNc is 110 ± 20 nm in size and showed successful retention of NKM proteins. The magnetic properties of the BNc are found to be tunable from 2.1 ± 0.17 to 5.3 ± 0.5 mm ^?1 s^?1 under 14.1 T, by adjusting the concentration of Gd‐lipid conjugate onto the surface of the BNc. Confocal imaging and cell sorting analysis reveal a distinguishable cellular interaction of the BNc with MCF‐7 cells in comparison to that of bare polymeric nanoparticles suggesting the tumor homing properties of NKM camouflage system. The in vitro cellular interaction results are further confirmed by in vivo NIR fluorescent tumor imaging and ex vivo MR imaging, respectively. Pharmacokinetics and biodistribution analysis of the BNc show longer circulation half‐life (≈9.5 h) and higher tumor accumulation (10% of injected dose) in MCF‐7 induced tumor‐bearing immunodeficient NU/NU nude mice. Owing to the proven immunosurveillance potential of NK‐cell in the field of immunotherapy, the BNc engineered herein would hold promises in the design consideration of nanomedicine engineering.     

On the nonlinear dynamics of a piezoelectrically tuned micro-resonator based on non-classical elasticity theories

Size dependent static and dynamic behavior of a fully clamped micro beam under electrostatic and piezoelectric actuations is investigated. The microbeam is modeled under the assumptions of Euler–Bernoulli beam theory. Viscous damping and nonlinearities due to electrostatic actuation and mid-plane stretching are considered. Residual stress and fringing field effect are taken into account as well. Governing equation of motion is derived using Hamilton’s principle along with the strain gradient theory (SGT), which is a non-classical continuum theory capable of taking size effect of elastic materials into account. Reduced order model of the partial differential equations of the system is obtained using Galerkin method. Static deflection, pull-in voltage and the primary resonance of the microbeam are examined and the effect of piezoelectric voltage and its polarization on the size dependent static and dynamic response is studied. It is found that the piezoelectric voltage can effectively change the flexural rigidity of the system which in turn affects the pull-in instability regime. The effect of material length scale parameter is examined by comparing the results of the SGT with the modified couple stress (MCST) and classical theory (CT), both of which are special cases of the former. Comparison demonstrates that the CT underestimates the stiffness and consequently the pull-in voltage and overestimates the amplitude of periodic solutions. The difference between the results of classical and non-classical theories becomes more and more as the dimensions of the system gets close to the length scale parameter. Non-classical theories predict more realistic behaviors for the micro system. The results of this paper can be used in designing microbeam based MEMS devices.     

Microfluidics-Based Force Spectroscopy Enables High-Throughput Force Experiments with Sub-Nanometer Resolution and Sub-Piconewton Sensitivity

Several techniques have been established to quantify the mechanicals of single molecules. However, most of them show only limited capabilities of parallelizing the measurement by performing many individual measurements simultaneously. Herein, a microfluidics-based single-molecule force spectroscopy method, which achieves sub-nanometer spatial resolution and sub-piconewton sensitivity and is capable of simultaneously quantifying hundreds of single-molecule targets in parallel, is presented. It relies on a combination of total internal reflection microscopy and microfluidics, in which monodisperse fluorescent beads are immobilized on the bottom of a microfluidic channel by macromolecular linkers. Application of a flow generates a well-defined shear force acting on the beads, whereas the nanomechanical linker response is quantified based on the force-induced displacement of individual beads. To handle the high amount of data generated, a cluster analysis which is capable of a semi-automatic identification of measurement artifacts and molecular populations is implemented. The method is validated by probing the mechanical response polyethylene glycol linkers and binding strength of biotin–NeutrAvidin complexes. Two energy barriers (at 3 and 5.7 Å, respectively) in the biotin–NeutrAvidin interaction are resolved and the unfolding behavior of talin's rod domain R3 in the force range between 1 to ≈10 pN is probed.     

A new methodology for optimization and prediction of rate of penetration during drilling operations

Predictive models have been widely used in different engineering fields, as well as in petroleum engineering. Due to the development of high-performance computer systems, the accuracy and complexity of predictive models have been increased significantly. One of the common methods for prediction is artificial neural network (ANN). ANN models in combination with optimization algorithms provide a powerful and fast tool for the prediction and optimization of processes which take a large amount of time if they are simulated using common simulation technics. In the present paper, to predict penetration rate during drilling process, several ANN models were developed based on the data obtained from drilling of a gas well located in south of Iran. Regarding the R2 and RMSE values of the developed models, the best model was selected for prediction of penetration rate. In the next step, artificial bee colony algorithm was used for optimization of the parameters which are effective on rate of penetration (ROP). Results showed that the model is accurate enough for being used in the prediction and optimization of ROP in drilling operations.     

A comparative analysis of efficiency and reliability of capacitive micro-switches with initially curved electrodes

Enhancement of both efficiency and reliability of MEMS structures has always been an interesting and even essential issue for research community. This paper provides a comparative investigation in this field focusing on the role of initially curved electrodes of capacitive micro-switches. Four models have been introduced by appliance of curved microbeams as either upper or lower electrodes of a capacitive MEMS switch, as well as the conventional base model with straight both electrodes. By introducing a mathematical model and appropriate numerical procedure, the contact area between two electrodes, which has direct effect on the reliability has been estimated using Hertz relation for all models. The electromechanical coupling factor which is related to the efficiency of the switch has been calculated considering the stored mechanical and electrical energy of the system. The results have shown that by appliance of an initial curvature to the both electrodes, the estimated contact area can increase up to 279% compared to the conventional switches. Also, a switch with straight moveable electrode and curved substrate exhibits an increase in coupling factor up to 24% compared to the base model, while increasing the pull-in voltage of the switch.

     

On the implementation of adaptive sliding mode robust controller in the stabilization of electrically actuated micro-tunable capacitor

Microsystem Technologies - Parallel-plates based micro-tunable capacitors are known to have low travel ranges, which deteriorate as going even lower in terms of their initials gap sizes. Such...     

Advanced Bioresponsive Multitasking Hydrogels in the New Era of Biomedicine

Advanced forms of hydrogels have many inherently desirable properties and can be designed with different structures and functions. In particular, bioresponsive multifunctional hydrogels can carry out sophisticated biological functions. These include in situ single-cell approaches, capturing, analysis, and release of living cells, biomimetics of cell, tissue, and tumor-specific niches. They can allow in vivo cell manipulation and act as novel drug delivery systems, allowing diagnostic, therapeutic, vaccination, and immunotherapy methods. In the present review of multitasking hydrogels, new approaches and devices classified into point-of-care testing (POCT), microarrays, single-cell/rare cell approaches, artificial membranes, biomimetic modeling systems, nanodoctors, and microneedle patches are summarized. The potentials and application of each format are critically discussed, and some limitations are highlighted. Finally, how hydrogels can enable an “all-in-one platform” to play a key role in cancer therapy, regenerative medicine, and the treatment of inflammatory, degenerative, genetic, and metabolic diseases is being looked forward to.     

An Enhanced Low Noise Amplifier Circuit at 6 GHz Center Frequency and NF Improvement in 180 nm CMOS Process

Wireless Personal Communications - This paper presents the design and simulation of a modified CMOS low noise amplifier (LNA) circuit in 180 nm CMOS standard technology. We modified a...