Sodium alginate/poly(vinyl alcohol) alloy membranes for the pervaporation, vapour permeation and vapour permeation with temperature difference separation of dimethylformamide/water mixtures: A comparative study

In this study, sodium alginate (NaAlg)/poly(vinyl alcohol) (PVA) membranes were prepared for the separation of dimethylformamide (DMF)/water mixtures. The two polymer components were independently crosslinked chemically with glutaraldehyde. The crosslinked membranes were characterized by fourier transform infrared spectrometry (FTIR), differential scanning calorimetry (DSC), thermal gravimetric analysis (TGA) and scanning electron microscopy (SEM). The permeation and separation characteristics of water/DMF mixtures were investigated using the vacuum processes pervaporation (PV), vapour permeation (VP) and vapour permeation with temperature difference (TDVP) methods. The effects of NaAlg/PVA ratio, membrane thickness, operating temperature and temperature of the membrane surroundings, feed concentration on the transmembrane permeation rate and separation factor were investigated. Optimum NaAlg/PVA ratio was determined as 80/20 (w/w) for the separation. The permeation rate in VP was lower than those in PV, whereas the separation factors were higher. The activation energies of permeation in PV and VP were calculated to be 5.070 and 2.229 kcal/mol, respectively, for a 20 wt% of DMF solution.     

Impact of surfactant selection on the formulation and characterization of microparticles for pulmonary drug delivery

The effect of suspension stabilizers, internal aqueous phase volume and polymer amount were investigated for the production of protein loaded poly(d,l?lactide-co-glycolide) (PLGA) microparticles suitable for pulmonary drug delivery. PLGA microparticles were produced adopting water-in-oil-in-water (W/O/W) solvent evaporation technique and were investigated for surface morphology, particle size, encapsulation efficiency (EE%) and in-vitro release profile. Porous surface morphologies with a narrow size distribution were observed when employing 0.5?ml internal aqueous phase; 23.04?µm (±0.98), 15.05?µm (±0.27) and 22.89?µm (±0.41) for PVA, Tween 80 and oleic acid. Porous microparticles exhibited increased size and reduction in EE% with increasing internal aqueous phase, with non-porous microparticles produced when adopting 2.0?ml internal aqueous phase. The selection of stabilizer influences the size of the pores formed thus offers potential for the aerodynamic properties of the microparticles to be manipulated to achieve suitable aerosolization characteristics for pulmonary delivery of proteins.     

Randomized trial comparing three forms of pelvic floor repair for neuropathic faecal incontinence

A randomized controlled trial in women with neuropathic faecal incontinence compared total pelvic floor repair (n = 12) with anterior levatorplasty and sphincter plication alone (n = 12) and postanal repair alone (n = 12). Review at 6 and 24 months indicated that results were significantly better for total pelvic floor repair than either of the other procedures. Complete continence was achieved in eight of the 12 patients 2 years after total pelvic floor repair. Only total repair significantly elongated the anal canal. Both total pelvic floor repair and anterior levatorplasty improved sensation in the upper anal canal.     

A Comparison Study of Moving Object Index Structures

The task of selecting the most appropriate method for indexing the data according to application requires a careful comparison study of indices of interests. In particular, we consider object movements by tracing their trajectories within a predefined road network. MV3DR-tree and 3DR-tree constitute our first group indexing the objects moving in free movement scenarios. Besides, Mapping and MON-tree are the second group indexing the locations of objects moving over a network of road. Those access methods mainly organize a group of R-tree in order to index the underlying road network and the object movements. Our goal in this study is to evaluate existing proposals under fair circumstances with respect to storage consumption and spatio-temporal query execution performance. In our comparisons, we discuss the structure’s sensibility to query’s spatial and/or temporal extent as well as the tradeoff arising between two groups in terms of reliability and disk access performance. We believe that revealing the vulnerabilities of the selected structures, especially Mapping and MON-tree motivates us to design more robust organizations.     

Adaptive control of underwater vehicle-manipulator systems using radial basis function networks

This paper deals with a control scheme for underwater vehicle-manipulator systems with the dynamics of thrusters in the presence of uncertainties in system parameters. We have developed two controllers that overcome thruster nonlinearities, which cause an uncontrollable system: one is a regressor-based adaptive controller and the other is a robust controller. However, the structure of the adaptive controller is very complex due to the feedforward terms including the regressors of dynamic system models, and the error feedback gains of the robust controller with a good control performance are excessively high due to the lack of feedforward terms. In this paper we develop an adaptive controller that uses radial basis function networks instead of the feedforward terms. The replacement leads to a moderately high gain controller whose structure is simpler than that of the regressor-based adaptive controller.     

A new adaptive tracking control scheme of wheeled mobile robot without longitudinal velocity measurement

This paper proposes a new adaptive trajectory tracking control scheme of the wheeled mobile robot without longitudinal velocity measurement. First, based on a kinematic controller, we obtain a new tracking error equation, which is suitable to develop an adaptive controller. Then, we develop a new adaptive trajectory tracking controller, which does not need any accurate values of the wheeled mobile robot parameters, including the driving motor parameters. Moreover, as the longitudinal velocity measurement is still difficult, this controller is developed without longitudinal velocity measurement. In addition, this new adaptive controller introduces a method to improve the control performance. The stability of the closed‐loop system is presented using the direct Lyapunov method. Finally, numerous simulations verify the effectiveness of the new controller.     

Robust ride comfort control of vehicles without measurements of tire deflection

In this article, a robust ride comfort control scheme for vehicles is proposed in which measurements of the tire deflections are not required. The controller has the property that we can specify a location where the ride comfort will be best. To achieve this end, an estimator for the tire deflections and the road disturbances is proposed. Next, a combined ideal vehicle is designed. In the ideal vehicle, the location where ride comfort will be best can be moved by setting only one design parameter. Finally, a robust tracking controller is developed so that a real vehicle tracks the motion of the combined ideal vehicle.     

Observer-based robust control giving consideration to transient behaviour for linear systems with

In this paper, we present an observer-based controller design method which achieves performance robustness together with robust stability for linear multivariable systems with structured uncertainties. The performance robustness means that the deterioration of control performance is suppressed when we compare the transient behaviour for the uncertain system with a desired one generated by using the nominal system directly and at the same time excessive control input is avoided. In this approach, we adopt a similar way to the model-following technique and assume that the control law consists of a state feedback law for the nominal system and a compensation input for the purpose of preventing the error between the transient behaviour for the uncertain system and the desired one. The compensation input is additional modification term given by feedback form of an estimated error signal and is determined so that an upper bound of a quadratic cost function for the error system between the real trajectory for the plant and the desired one is minimized. We show that a condition for the existence of the compensation input which minimizes an upper bound of the quadratic cost function for the error system is given in terms of linear matrix inequalities (LMIs). Finally, numerical examples are presented.     

A New Formulation Approach for Location-Routing Problems

A Location-Routing Problem (LRP) combines two difficult problems, facility location and vehicle routing, and as such it is inherently hard to solve. In this paper, we propose a different formulation approach than the common arc-based product-flow (Arc-BPF) approach in the literature. We associate product amounts to the nodes of the network resulting in a node-based product-flow (Node-BPF) formulation. Our main objective is to develop LRP models with fewer constraints and variables, which can be solved more efficiently. To introduce the proposed approach, we reformulate a complex four-index Arc-BPF LRP model from the literature as a three-index Node-BPF model, which computationally outperforms the former. We then introduce a heuristic method.     

Bicriteria robotic cell scheduling

This paper considers the scheduling problems arising in two- and three-machine manufacturing cells configured in a flowshop which repeatedly produces one type of product and where transportation of the parts between the machines is performed by a robot. The cycle time of the cell is affected by the robot move sequence as well as the processing times of the parts on the machines. For highly flexible CNC machines, the processing times can be changed by altering the machining conditions at the expense of increasing the manufacturing cost. As a result, we try to find the robot move sequence as well as the processing times of the parts on each machine that not only minimize the cycle time but, for the first time in robotic cell scheduling literature, also minimize the manufacturing cost. For each 1-unit cycle in two- and three-machine cells, we determine the efficient set of processing time vectors such that no other processing time vector gives both a smaller cycle time and a smaller cost value. We also compare these cycles with each other to determine the sufficient conditions under which each of the cycles dominates the rest. Finally, we show how different assumptions on cost structures affect the results.