“Smart” polymeric nanospheres as new materials for possible biomedical applications

Novel random terpolymers of N-isopropylacrylamide (NIPAM), sodium 2-acrylamido-2-methyl-1-propanesulfonate (AMPS), and cinnamoyloxyethylmethacrylate (CEMA) were synthesized by free radical copolymerization using AIBN as an initiator. Five terpolymers were obtained by copolymerization of the monomer mixtures containing a fixed amount of 10 mol % of AMPS while the content of CEMA ranged from 5 to 25 mol % and was changed in 5 mol % increments. The terpolymers obtained are water-soluble. Because of their amphiphilic nature they undergo self-organization in the aqueous solution with the formation of micelles capable of solubilizing sparingly water soluble organic compounds, such as drugs. The terpolymers are susceptible to three external stimuli, i.e. temperature, ionic strength and UV light. Due to the presence of NIPAM in the terpolymers they display the lower critical solution temperature (LCST), the presence of AMPS makes them sensitive to the ionic strength of the solution, while the light-responsiveness of the terpolymers is due to the presence of cinnamoyl chromophores, which undergo photodimerization when irradiated with UV light at about 280 nm. Application of any of these stimuli alone or in combination with other stimuli allows changing the copolymer properties in a controlled way.     

Positive real control of two-dimensional systems: Roesser models and linear repetitive processes

This paper considers the problem of positive real control for two-dimensional (2-D) discrete systems described by the Roesser model and also discrete linear repetitive processes, which are another distinct sub-class of 2-D linear systems of both systems theoretic and applications interest. The purpose of this paper is to design a dynamic output feedback controller such that the resulting closed-loop system is asymptotically stable and the closed-loop system transfer function from the disturbance to the controlled output is extended strictly positive real. We first establish a version of positive realness for 2-D discrete systems described by the Roesser state space model, then a sufficient condition for the existence of the desired output feedback controllers is obtained in terms of four LMIs. When these LMIs are feasible, an explicit parameterization of the desired output feedback controllers is given. We then apply a similar approach to discrete linear repetitive processes represented in their equivalent 1-D state-space form. Finally, we provide numerical examples to demonstrate the applicability of the approach.     

Iterative learning control and the singularity robust Jacobian inverse for mobile manipulators

The method of iterative learning control, to a large extent, has been inspired by robotics research, focused on the control of stationary manipulators. In this article we deal with the inverse kinematics problem for mobile manipulators, and show that a very basic singularity robust Jacobian inverse can be derived in a natural way within the framework of iterative learning control. To achieve this objective we have exploited the endogenous configuration space approach. The introduced Jacobian inverse defines the singularity robust Jacobian inverse kinematics algorithm for mobile manipulators. A Kantorovich-type estimate of the region of guaranteed convergence of the algorithm is derived. For two example kinematics, this estimate has been computed efficiently.     

Extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots

By a generalization of the well-known extended Jacobian method for stationary manipulators, we derive the extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots. Key points of the derivation consist in defining the kinematics of a mobile robot as the end-point map of a driftless control system, decomposing the space of control functions of this system into a finite and an infinite dimensional subspaces, and introducing an augmenting kinematics map subordinated to this decomposition. The original kinematics and the augmenting kinematics constitute the extended kinematics. The inverse Jacobian of the extended kinematics defines the extended Jacobian inverse kinematics algorithm. By design, the algorithm is repeatable. As an example, we derive a specific extended Jacobian inverse kinematics algorithm and illustrate its performance with the computer simulations.     

The microstructure of liquid immiscible Fe–Cu-based in situ formed amorphous/crystalline composite

In the microstructures of slowly and rapidly cooled liquid of the immiscible alloy Fe₃₀Cu₃₂Ni₁₀Si₁₃Sn₄B₉Y₂ two distinct regions were observed following arc melting and slow cooling, confirming that liquid/liquid phase separation had occurred. Rapid cooling from a temperature within the liquid immiscibility gap, melt spinning, resulted in an amorphous/crystalline composite, formed from the previously melted Fe- and Cu-rich regions, respectively. Transmission electron microscopic studies of this melt-spun ribbon revealed the glassy nature of the Fe-rich matrix, as well as of the Fe-rich spheres formed within the previously existing Cu-rich liquid.     

Modelling characteristics of the impulse transformer in a wide frequency range

In the paper, a new compact electrothermal model of the impulse transformer is proposed. This model has a form of a subcircuit dedicated for SPICE and could be used for low power impulse transformers applicable in switch-mode power supplies used in electronics. It takes into account simultaneously electric, thermal, and magnetic phenomena occurring in the considered device and describe nonidealities of the core and windings. The form of the elaborated model and analytical dependences describing all its components are presented. Correctness of this model is verified experimentally in a wide range of frequency and load resistance for selected constructions of transformers. Satisfactory agreement between the results of computations and measurements is obtained