A predictive controller based on dynamic matrix control for a non-minimum phase robot manipulator

In this paper a hybrid control strategy is presented based on Dynamic Matrix Control (DMC) and feedback linearization methods for designing a predictive controller of five bar linkage manipulator as a MIMO system (two inputs and two outputs). Analyzing the internal dynamic of robot shows the open loop system is unstable and non-minimum phase, so in order to apply the predictive controller, special modifications are needed. These modifications on non-minimum phase behavior are performed using feedback linearization procedure based on state space realization. The design objective is to track a desirable set point as well as time varying trajectories as a command references with globally asymptotical stabilization. The proposed controller is applied to nonlinear fully coupled model of the typical five bar linkage manipulator with non-minimum phase behavior. Simulation results show that the proposed controller has good efficiency. The step responses of system with and without feedback linearization process illustrated that the mentioned modification for stabilizing is performed properly. After applying the proposed predictive controller, the joint angle of robot tracks the reference input while another input acts as the disturbance and vice versa.     

Analytical Modeling of Short-Channel Fully-Depleted Triple Work Function Metal Gate (TWFMG) SOI MESFET

Silicon - In this paper, a new structure: triple work function metal gate SOI MESFET, intended for integration into the deep-submicron CMOS technology, is proposed. The gate of the device consists...     

Designing customer-oriented catalogs in e-CRM using an effective self-adaptive genetic algorithm

Analysis of customer interactions for electronic customer relationship management (e-CRM) can be performed by way of using data mining (DM), optimization methods, or combined approaches. The microeconomic framework for data mining addresses maximizing the overall utility of an enterprise where transaction of a customer is a function of the data available on that customer. In this paper, we investigate an alternative problem formulation for the catalog segmentation problem. Moreover, a self-adaptive genetic algorithm has been developed to solve the problem. It includes clever features to avoid getting trapped in a local optimum. The results of an extensive computational study using real and synthetic data sets show the performance of the algorithm. In comparison with classical catalog segmentation algorithms, the proposed approach achieves better performance in Fitness and CPU-time.     

Adaptive Control for State Synchronization of Nonlinear Haptic Telerobotic Systems with Asymmetric Varying Time Delays

In this paper, we introduce a new adaptive controller design scheme for nonlinear telerobotic systems with varying time delays where the delays and their variation rates are unknown. The designed controller has the ability to synchronize the state behaviors of the local and the remote robots. In this paper, asymptotic stability in the presence of varying time delays is of interest. Using the proposed controller, asymptotic stability of the bilateral telerobotic system subject to any bounded yet unknown varying delay with a bounded yet unknown rate of change can be guaranteed. Besides the varying time delay, the proposed adaptive controller has the ability to adapt to the parameter variations in the local and the remote robots’ dynamics. It is shown that position and velocity errors between the local and the remote manipulators converge to the zero asymptotically, thus ensuring teleoperation transparency. Experimental and simulation results with a pair of PHANToM haptic devices and a pair of planar manipulators under varying time delays in the communication channel demonstrate the effectiveness of the proposed scheme.     

Experimental investigation on the effect of surface characterization of electrodes on the gas bubble dynamics in electrolyte flow and performance of FLA batteries by using PIV

In the flooded lead_acid batteries (FLAB), gas bubbles are initially formed on the surface of the electrodes, which are produced by electrochemical reactions, and then released into the electrolyte. In the present investigation, the effect of surface characterization of electrodes of FLAB on the gas bubble dynamic parameters in the electrolyte flow at different charging/discharging rates (C-rates) are studied utilizing particle image velocimetry (PIV) method. The results show that the capacity of FLAB have a linear behav-ior due to changes in each of the two parameters of the surface characterization of electrodes and the C-rate. At all State of charges (SOCs) of FLAB cells in different tests, increasing average roughness (Ra) and average wavelength of the roughness (ka) in the electrode surfaces, results in an increase in average bub-ble diameter and bubble rising velocity. Nevertheless, a sharp decrease in the void fraction of bubbles within the electrolyte was observed due to the increment in ka and Ra. Also, the effect of the rising move-ment of gas bubbles within the electrolyte on the average electrolyte velocity pattern in the gap between the electrodes by changing the surface characterization of electrodes are investigated in detail.     

Viability of Lactobacillus acidophilus in rice bran‐enriched stirred yoghurt and the physicochemical and sensory characteristics of product during refrigerated storage

This study was aimed at investigating the fortification of probiotic yoghurt with rice bran to increase nutritional properties of the product. The different levels of rice bran (0.3%, 0.6%, 0.9% and 1.2%) were incorporated into milk. The yoghurt samples were produced after pasteurisation, addition of starter culture and 1% Lactobacillus acidophilus suspension (6 × 10⁸ CFU mL^?1) and incubation. During sample storage in refrigerator, the viability of L. acidophilus, viscosity and physicochemical and sensory properties of product were investigated. Rice bran significantly increased the viability of L. acidophilus (P < 0.05). In addition, all probiotic yoghurts incorporating rice bran indicated higher viscosity and acidity and lower pH and syneresis compared to plain yoghurts. Furthermore, increments in rice bran incorporation levels resulted in a reduction in consumers' sample preferences. In general, the addition of rice bran at a suitable level could increase L. acidophilus viability and improve quality attributes of yoghurt.     

A multiobjective integrated multiproject scheduling and multiskilled workforce assignment model considering learning effect under uncertainty

Today, organizations try to decline academically expenses using humans and resources in addition to rising managers and operators' satisfaction. Meantime, a very important step in the process of decision is the assignment of human resources, particularly in connection with research and development (R&D) projects in which the system is highly dependent on the capabilities of human resources. In this study, we tried all the assumptions that come true in the real world, considered a model for applied R&D projects to reduce costs and increase the efficiency of projects. Therefore, an integrated multiproject scheduling and multiskill human resource assignment model under uncertainty has developed for R&D projects. Furthermore, it is assumed that the activity processing time is related to human resources assignment that means the learning effect is considered. To demonstrate the proposed model efficiency, the various dimensions instance problem was solved accurately and efficiently in GAMS software, and the results have been reported. In addition, the proposed model is validated through the input parameter sensitivity analysis. The results indicate a suitable performance of the proposed fuzzy mathematical programming model is due to the complexity of the problem.     

A new mathematical model for integrating all incidence matrices in multi-dimensional cellular manufacturing system

In the past several years, many studies have been carried out on cellular manufacturing based on a two-dimensional machine–part incidence matrix. Since workers have important role in doing jobs on machines, assignment of workers to cells becomes a crucial factor for fully utilization of cellular manufacturing systems. In this paper, an attempt is made to solve cell formation problem and minimize the number of voids and exceptional elements in a three dimensional (cubic) machine–part–worker incidence matrix. The proposed mathematical model captures the capability of workers in doing different jobs. To demonstrate the effectiveness of the proposed model, the solution of some test problems is compared with the literature method.     

Synthesis of biocompatible and degradable microspheres based on 2‐hydroxyethyl methacrylate via microfluidic method

Monodisperse poly(2‐hydroxyethyl methacrylate), p‐HEMA, microspheres in size ranging from 16 to 340 (μm) were synthesized by in situ emulsion photopolymerization of HEMA monomer with polyethylene glycol diacrylate (p‐EGDA) by means of a three‐dimensional microfluidic flow‐focusing device. An aqueous solution of HEMA, p‐EGDA as chain extender and UV‐photoinitiator serving as dispersed phase formed microdroplets in a continuous oil phase mainly consisting of n‐heptane. A downward coaxial orifices design in the device led to confinement of the reaction admixtures thread to central axis of the microchannels. This design strategy could solve the wetting problem of dispersed phase with the microchannels leading to a successful production of monodisperse microspheres with size variation of less than 4%. The effects of concentration of p‐EGDA, surfactant, and flow rate ratios on microsphere size were examined. It was observed that increasing the concentration of p‐EGDA slightly increases the size whereas increasing the flow rate ratios of continuous to dispersed phase effectively decreases the size of microspheres. The rapid continuous synthesis of p‐HEMA based microspheres via the microfluidic route with reliable control over size, size distribution, and composition opens new doors for mass production of biocompatible and degradable polymeric microspheres for enormous biotechnological applications. © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2014 , 131, 40925.     

A comparison of Zayandehrood River water values for agriculture and the environment

River water management is challenging not only since they are open systems with changing physical structures, but also because the water values are mostly unknown over varied sectors. If policymakers grasp water values, water management will be more efficient. This research intends to examine the values of water in agriculture, which receives the most substantial portion of water resources, with the values of water in the environment in Isfahan located in the Zayandehrood River basin of Iran. The consequences of contingent valuation and production function methods revealed that per cubic metre value of water is 13 times higher in the environment than agriculture. The government should reconsider the higher value of the environment despite it is a non‐market value. The contingent valuation model additionally proved that women exhibited 21% more willingness to pay than men in order to protect the environment; however, they are paid less by 36%.