A decoupled sliding mode control for a continuum arm

The paper treats the control problem of a class of robots constituted by a chain of continuum segments. The technological model basis is a central, long and thin, highly flexible and elastic backbone. The segment control system is a decoupled one. The main parameters of the arm control are determined by the curvature and curvature gradient. The dynamic model is inferred. The primary benefit of the proposed method is that the dynamic equations are represented by a set of ODE’s in time instead of PDE’s in time and space, and the new curvature gradient lumped parameter model is used. A sliding mode control system is used in order to achieve the desired shape of the arm. The stability of the closed-loop control system is proven. Numerical simulations and an experimental platform are also provided to verify the effectiveness of the presented approach.     

Non-parametric statistical background modeling for efficient foreground region detection

Most methods for foreground region detection in videos are challenged by the presence of quasi-stationary backgrounds—flickering monitors, waving tree branches, moving water surfaces or rain. Additional difficulties are caused by camera shake or by the presence of moving objects in every image. The contribution of this paper is to propose a scene-independent and non-parametric modeling technique which covers most of the above scenarios. First, an adaptive statistical method, called adaptive kernel density estimation (AKDE), is proposed as a base-line system that addresses the scene dependence issue. After investigating its performance we introduce a novel general statistical technique, called recursive modeling (RM). The RM overcomes the weaknesses of the AKDE in modeling slow changes in the background. The performance of the RM is evaluated asymptotically and compared with the base-line system (AKDE). A wide range of quantitative and qualitative experiments is performed to compare the proposed RM with the base-line system and existing algorithms. Finally, a comparison of various background modeling systems is presented as well as a discussion on the suitability of each technique for different scenarios.     

Optical gain in 1.3-μm electrically driven dilute nitride VCSOAs

We report the observation of room-temperature optical gain at 1.3 μm in electrically driven dilute nitride vertical cavity semiconductor optical amplifiers. The gain is calculated with respect to injected power for samples with and without a confinement aperture. At lower injected powers, a gain of almost 10 dB is observed in both samples. At injection powers over 5 nW, the gain is observed to decrease. For nearly all investigated power levels, the sample with confinement aperture gives slightly higher gain.     

Self-doped N-propansulfonic acid polyaniline-polyethylene terephthalate film used as active sensor element for humidity or gas detection

In this work, we report the fabrication of sensors’ element for humidity or gases, prepared by in situ polymerization of aniline N-propansulfonic acid using ammonium persulfate in acidic medium. The polymer is being used in the form of powder or deposited in multiple layers onto the PET film. Various techniques including Fourier Transform infrared (FTIR), ultraviolet-–visible spectroscopy (UV–vis), X-ray diffraction (XRD) and scanning electron microscopy (SEM) were employed to characterize the as-prepared sensing materials. The film has been tested for humidity influence, where the significant variations in electrical characteristics were observed, suggesting its usefulness for humidity sensors. Also, for different organic and inorganic gases, a relatively low operating temperature and important sensitivity were observed that indicate its applicability as an active element for general gases sensors. © 2019 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47743.     

Synthesis,characterization and (electro)chemical polymerization of triphenylamine‐end‐functionalized poly(ε‐caprolactone)

Triphenylamine‐based oligomers and polymers with linear, hyperbranched, star‐shaped or dendrimer architectures have been synthesized and studied due to their interesting electro‐optical properties. In many cases insoluble materials are obtained. In this study, we report the synthesis of grafted polytriphenylamine by chemical and electrochemical polymerization of triphenylamine‐end‐functionalized poly(ε‐caprolactone). Functionalized ε‐caprolactone oligomers were obtained by ring‐opening polymerization of ε‐caprolactone initiated by 4‐hydroxymethyltriphenylamine/stannous octanoate (tin 2‐ethylhexanoate). The ring‐opening polymerization of ε‐caprolactone using 4‐hydroxymethyltriphenylamine/stannous octanoate as initiating system provided ε‐caprolactone oligomers, with well‐defined molecular weights, containing a triphenylamine terminal group. Chemical and electrochemical coupling oxidation of the triphenylamine ends allowed the formulation of polyarylamines with ε‐caprolactone oligomers as grafts. Graft copolymers with an aryleneamine backbone and short poly(ε‐caprolactone) grafts were obtained by (electro)chemical oxidation of oligomers containing triphenylamine terminal groups. Copyright © 2009 Society of Chemical Industry     

Martingale Approach to Monte Carlo Simulation and Linear Random Vibration

A method is developed for generating samples of the state X of a linear filter driven by Gaussian white noise. The method can also be applied to developed formulas giving the second moment properties of X. The proposed solution is based on two facts. First, the integrals defining the forcing component of X are continuous martingales because their integrands are continuous deterministic functions and their integrators are Brownian motions. Second, a continuous martingale satisfying some additional properties can be time changed to a standard Brownian motion. The proposed Monte Carlo algorithm for generating samples of X calculates samples of this process from samples of a standard Brownian motion defined in a new clock by mapping these samples to the original clock. The algorithm does not use recurrence formulas for generating samples of X and does not approximate the probability law of this process. Examples are presented to illustrate the application of the proposed method. The examples include the Ornstein-Uhlenbeck process and the response of a simple oscillator and multi-degree-of-freedom system to Gaussian white noise.     

An Intrinsically Fluorescent Recognition Ligand Scaffold Based on Chaperonin Protein and Semiconductor Quantum‐Dot Conjugates

Genetic engineering of a novel protein–nanoparticle hybrid system with great potential for biosensing applications and for patterning of various types of nanoparticles is described. The hybrid system is based on a genetically modified chaperonin protein from the hyperthermophilic archaeon Sulfolobus shibatae. This chaperonin is an 18‐subunit double ring, which self‐assembles in the presence of Mg ions and ATP. Described here is a mutant chaperonin (His‐β‐loopless, HBLL) with increased access to the central cavity and His‐tags on each subunit extending into the central cavity. This mutant binds water‐soluble semiconductor quantum dots, creating a protein‐encapsulated fluorescent nanoparticle. The new bioconjugate has high affinity, in the order of strong antibody–antigen interactions, a one‐to‐one protein–nanoparticle stoichiometry, and high stability. By adding selective binding sites to the solvent‐exposed regions of the chaperonin, this protein–nanoparticle bioconjugate becomes a sensor for specific targets.     

Mössbauer spectroscopy study on the corrosion inhibition of carbon steel in hydrochloric acid solution

The effect of ammonium polymolybdate (APM) on the corrosion of carbon steel in a solution of 1 M HCl was studied by weight loss and Mössbauer spectrometry. Inhibition efficiencies (P) have been obtained from weight measurement. The inhibition efficiencies increased with increase APM concentration. Mössbauer spectrometry shows that a superficial compound is formed on the electrode surface as a result of corrosion.