Type-2 fuzzy control for a flexible-joint robot using voltage control strategy

Type-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type-2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller (IT2FLC) to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltages of motors are used as inputs of the system. To highlight the capabilities of the control system, a flexible joint robot which is highly nonlinear, heavily coupled and uncertain is used. In addition, to improve the control performance, the parameters of the primary membership functions of IT2FLC are optimized using particle swarm optimization (PSO). A comparative study between the proposed IT2FLC and type-1 fuzzy logic controller (T1FLC) is presented to better assess their respective performance in presence of external disturbance and unmodelled dynamics. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a two-link flexible-joint robot driven by permanent magnet direct current motors. Simulation results show the superiority of the IT2FLC over the T1FLC in terms of accuracy, robustness and interpretability.     

Numerical study of the solidification process in biological tissue with blood flow and metabolism effects by the dual phase lag model

The bioheat transfer with phase change in biological tissues during the freezing process is simulated by the dual phase lag conduction heat transfer model. A numerical algorithm based on the enthalpy method is established to solve the solidification of biological tissues. The linearly temperature-dependent enthalpy (non-isothermal phase change) is considered here. The results of the parabolic heat conduction model for a slice of cucumber are compared with the experimental data. A comparison between dual phase lag and hyperbolic solutions with small values of relaxation times is applied in order to verify the corresponding parabolic solutions accuracy of the dual phase lag and hyperbolic solutions. The heating source effect owing to blood perfusion and metabolic heat on the heat transfer in a biological tissue subject to freezing process is studied. The relaxation time has an important influence on the transient temperature and temperature gradient. A major discrepancy among bioheat transfer models is found for zones closer to the cooling boundary. The heat source term, owing to blood flow and metabolism in a phase change problem in the biological tissue, has a significant influence on thermal effects of the subject tissue.     

Effect of Inclined Disks on Heat Transfer in a Tube of Constant Wall Temperature

Heat transfer enhancement in heat exchangers has been of much interest in the last few decades. The effects of the insertion of one or few disks in the air flow in a tube of constant wall temperature have been investigated experimentally, and the results are presented in this paper. The angle of disks relative to the flow direction varied from 30 to 90 degrees. The optimum position for the placement of disks in the tube is reported. The results show that the optimum angle for disks varies between 75 to 45 degrees, depending on the number of disks. In the range of Reynolds numbers investigated (i.e., 1300 to 6000), the disks are more effective at higher Reynolds numbers. By placing four disks at the optimum positions and the optimum angle in the tube, the Nusselt number increases by a factor of 3.75. A performance evaluation criteria (PEC) has been applied to consider extra pressure drop caused by disks, and at a Reynolds number of 6000, a PEC of 0.9 has been achieved.     

In-vitro formation and growth kinetics of apatite on a new light-cured composite calcium phosphate cement

Calcium phosphate cements are used as synthetic bone grafts with several advantages such as biocompatibility, osteoconductivity, and moldability. In this study, the synthesis of a biocement starting from calcium hydroxide (Ca(OH)₂) and Monocalcium Phosphate Monohydrate (MCPM) was investigated. A 6?wt% Na₂HPO₄ aqueous solution along with a modified polymeric resin (RIVA(SDI)^®) were adopted as the variable liquid phase in self- and light-cure cement groups. XRD analysis and FTIR spectroscopy were used to study the phase composition. The composite microstructure was characterized by scanning electron microscopy (SEM) and the degradation rates were measured by atomic absorption spectroscopy (AAS) analysis. In addition, the effect of soaking time of the cement in simulated body fluid (SBF) on the final phase and morphology was studied. The results showed that soaking the composite in SBF has a significant influence in phase transformation into hydroxyapatite, but following a slower kinetic in light-cured composite cements. Evidences of crosslinking reactions in light-cured cements were observable, which at the same time can legitimize slower apatite formation and faster biodegradation of these composite cements.     

Influences of laser welding parameters on the geometric profile of NI-base superalloy Rene 80 weld-bead

In the present study, autogenous laser butt joint welding parameters of Ni-base super alloy Rene 80 has been investigated by using a continuous wave 2.2?kW CO₂ laser. The experiments were performed based on the response surface methodology as a statistical design of experiment approach in order to investigate the effect of parameters on the response variations, achieving the mathematical equations and predicting the new results. Laser power (1,000?C2,200?W), welding speed (120?C360?cm/min), laser beam focal point position (?0.5?C0.5?mm) and inert gas pressure (0.2?C1?bar) were considered as the input process variables while welding surface width (W1), welding pool area (A), width of the weld-bead at the middle depth (W2), undercut welding and drop of welding were considered as the five process responses. Analyzed by statistical techniques, the results show that the welding bead profile is influenced by the laser heat input and input laser process parameters. Welding speed is known as the most important parameter with the reverse effect on process outputs. Inert gas pressure is the next significant parameter, and higher gas pressure causes welding geometry defects. Laser power has a direct influence on all investigated responses.     

Thermal and electrochemical performance analysis of a proton exchange membrane fuel cell under assembly pressure on gas diffusion layer

In this study, the effect of clamping pressure on the performance of a proton exchange membrane fuel cell (PEMFC) is investigated for three different widths of channel. The deformation of gas diffusion layer (GDL) due to clamping pressure is modeled using a finite element method, and the results are applied as inputs to a CFD model. The CFD analysis is based on finite volume method in non-isothermal condition. Also, a comparison is made between three cases to identify the geometry that has the best performance. The distribution of temperature, current density and mole fraction of oxygen are investigated for the geometry with best performance. The results reveal that by decreasing the width of channel, the performance of PEMFC improves due to increase of flow velocity. Also, it is found that intrusion of GDL into the gas flow channel due to assembly pressure deteriorates the PEMFC performance, while decrease of GDL thickness and GDL porosity have smaller effects. It is shown that assembly pressure has a minor effect on temperature profile in the membrane-catalyst interface at cathode side. Also, assembly pressure has a significant effect on ohmic and concentration losses of PEMFC at high current densities.     

Quality control of global solar radiation using sunshine duration hours

The aim of this study was to develop a new and automatic method for controlling the quality of daily global solar radiation, G_d, using sunshine duration hours. The new method has three levels of tests: first, G_d is compared against daily extraterrestrial radiation that is received on a horizontal surface (0.03×G_od?G_d<G_od); second, G_d should only exceed by a small amount of the daily clear sky irradiation that is observed under highly transparent clear skies (G_d<1.1G_cd); and third, the method uses a series of persistence checks that utilize the relation between daily global solar radiation and relative sunshine duration hours. The method is capable of identifying systematic and non-systematic errors and its ability has been shown in three different climates including semi-arid, coastal humid and very arid climates.     

A novel method for refining of acidic sludge and mixing with vacuum bottom to improve bitumen properties

In this study acidic sludge was refined by a novel method that involves neutralization and extraction of organic compound by a waste solvent. Study on refined sludge indicated that sulfuric acid and major of impurities were removed from sludge. Moreover, resin and asphaltene and accordingly ductility of sludge increased. In continue, different amounts of sludge residue were added to vacuum bottom for bitumen preparation. Test results indicated that sludge residue improved mechanical property and elastic modulus of bitumen. Thermal tests illustrated fine thermal stability of blends at production temperature. Also, aging data described reasonable durability for samples. Consequently, by this approach not only hazardous acidic sludge was eliminated from environment but also it improved mechanical properties of bitumen.     

Comparing the Sensitivity of Spot Test Method and a Novel Computer Vision System for Iron Detecting in Fortificated Flours

Controlling of added iron to fortified flours is very important, and the common method is spot test inaccurate method. In this study, we invented a new method based on a computer vision system. We also compared the accuracy of this method and the spot test with atomic absorption spectroscopy. In new method, ferrous sulfate particles in the samples were oxidized, and some red spots were formed on the surface of samples. The captured images from samples were changed to binary images and analyzed using the Clemex Vision 3.5 software. After processing of image, the number of colored spots and the area of spots were determined. The calibration curves were drawn, and in order to compare the sensitivity of the new method with spot test, 33 samples were selected randomly, and the amounts of added iron were detected using new method, spot test, and atomic absorption. We used t test and linear regression tests with a confidence interval of 95 % to compare the results. Results showed that there was a higher correlation (R ²?=?0.988, p?<?0.001) between new method and atomic absorption method in comparison with spot test (R ²?=?0.501, p?<?0.001). Therefore, spot test and atomic absorption can be replaced by an accurate but inexpensive method.