Direct adaptive fuzzy control with membership function tuning

In this paper, a direct self‐structured adaptive fuzzy control is introduced for the class of nonlinear systems with unknown dynamic models. Control is accomplished by an adaptive fuzzy system with a fixed number of rules and adaptive membership functions. The reference signal and state errors are used to tune the membership functions and update them instantaneously. The Lyapunov synthesis method is also used to guarantee the stability of the closed loop system. The proposed control scheme is applied to an inverted pendulum and a magnetic levitation system, and its effectiveness is shown via simulation. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

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.     

A hierarchical fuzzy system for modeling driver’s behavior

The study of human behavior during driving is of primary importance for improving the driver??s security. In this study, we propose a hierarchical driver_vehicle_environment fuzzy system to analyze driver??s behavior under stress conditions on a road. We include climate, road and car conditions in fuzzy modeling. For obtaining fuzzy rules, experts?? opinions are benefited by means of questionnaires on effects of parameters such as climate, road and car conditions on driving capabilities. The number of fuzzy rules is optimized by Particle Swarm Optimization (PSO) algorithm. Also the frequency of pressing on brake and gas pedals and the number of car??s direction changes are used to determine the driver??s behavior under different conditions. Three different positions are considered for driving and decision making; one position in driving lane and two positions in opposite lane. A fuzzy model called Model 1 is presented for modeling the change of steering angle and speed control by considering time distances with existing cars in these three positions, the information about the speed and direction of car, and the steering angle of car. The behaviors of different drivers under two stress conditions are investigated. Also we obtained two other models based on fuzzy rules called Model 2 and Model 3 by using Sugeno fuzzy inference. Model 2 has two linguistic terms and Model 3 has four linguistic terms for estimating the time distances with other cars. The results of three models are compared. The comparative studies have shown that simulation results are in good agreement with the real world situations.     

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Investigation into the morphological and mechanical properties of date palm fiber-reinforced epoxy structural composites

This study aims to examine the morphology and mechanical properties (tensile, flexural, and compressive) of epoxy composites reinforced with epoxy date palm leaves (EDPL), epoxy date palm branch (EDPB), and epoxy/hardener date palm core shell (EDPC) fibers (particle size <1 μm depend on the date palm fibers). A three-step technique was used to obtain the composites. The EDPL composites showed a maximum tensile strength of 3.45 MPa, while the EDPB composites showed maximum compressive and flexural rigidity of 9.46 and 5.55 MPa, respectively, owing to the good compatibility of fiber-matrix bonding. In this work, epoxy composites reinforced with date palm fibers (DPF) leaves, branches, and core shell were recycled using a cost-effective and easily reproducible three-step technique. EDPC fibers fabricated with 64.65% weight carbon fibers content demonstrated improved tensile strengths and stiffness properties. The three samples of palm date composites revealed mechanical properties that could be used to trial these fibers for manufacturing purposes, and to exploit their extraordinary mechanical properties shown in current results.     

Theoretical and experimental analyses of rheological,compatibility and mechanical properties of PVMQ/XNBR-g GMA/XNBR/GO ternary hybrid nanocomposites

Iranian Polymer Journal - Effects of graphene oxide (GO) on various properties of rubber hybrid nanocomposites based on PVMQ/XNBR-g-GMA/XNBR (phenyl-vinyl-methyl-polysiloxane/carboxylated nitrile...     

Calcium carbonate and ammonium polyphosphate flame retardant additives formulated to protect ethylene vinyl acetate copolymer against fire: Hydrated or carbonated calcium?

In this study, the effect of the chemical nature of different calcium (Ca)-based minerals as flame retardant additives in combination with ammonium polyphosphate (APP), in 1:1 proportions, on the flame retardancy behavior and performance of ethylene vinyl acetate copolymer was discussed. Combining APP with partly and completely hydrated calcium oxide led to superior flame-retardant function detected in mass loss calorimeter measurements with respect to the corresponding system containing carbonated calcium. This privileged character was attributed to the higher reactivity of hydrated Ca-based fillers toward APP in comparison with Ca carbonate, which induced the formation of an intumescent residue. The difference between reactivity potential of hydrated and dry Ca was demonstrated by the newly formed thermally stable species, and further evidenced by thermogravimetric analysis performed on APP/fillers blends. Moreover, the presence of more crystalline domains in the Ca/phosphorus-based compounds was evidenced by XRD analysis of the mass loss calorimeter test residues. The results of this work highlight the role of blend additive systems on the performance of flame retardancy of polymer materials.     

An Insight View on Synthetic Protocol,Surface Activity,and Biological Aspects of Novel Biocompatible Quaternary Ammonium Cationic Gemini Surfactants

In this study, we prepared a novel series of diester-functionalized cationic gemini surfactants (C_m-E2O2-C_m) containing ethylene oxide as a spacer with varying alkyl chain lengths and characterized by ¹H NMR, FT-IR, elemental analysis, and ESI-MS. The physicochemical properties of the geminis were explored by tensiometry, fluorescence, dye solubilization, and Krafft point. These geminis acquire superior surface activity than the conventional surfactants. Fluorescence spectroscopy analysis affirmed that the micropolarity and aggregation number of micelles diminished with increase in the alkyl chain length. These geminis represent a new group of amphiphiles of considerably high biodegradability, better cleavability, and low toxicity as assessed by BOD test, FT-IR analysis, and HC₅₀ analysis, respectively. They also showed significant level of antimicrobial activity toward some specified bacterial strains of Gram-positive and Gram-negative by using agar well diffusion method. Furthermore, the thermogravimetric analysis provided information regarding thermal stabilities of the newly synthesized gemini surfactants.     

Facile Hydrothermal Synthesis of Hierarchical Sodium P Zeolite as a Nonphosphate Detergent Builder

This study reports the preparation of hierarchical NaP zeolite with the aim of obtaining a non-phosphate detergent builder as an alternative for environmental remediation from eutrophication phenomenon. Hierarchically structured NaP zeolite was easily synthesized hydrothermally and under different syntheses conditions. Samples were characterized using several standard techniques such as X-ray diffraction (XRD), scanning electron microscopy (SEM), Fourier transform infrared (FT-IR) spectroscopy, and N₂ adsorption–desorption analysis. Three powder detergents were prepared by mixing main components such as linear alkylbenzene sulfonate, sodium sulfate, sodium silicate, and sodium carbonate as well as different amounts of as-synthesized zeolite and sodium tripolyphosphate in the detergent formulation as potential detergency builders. Some different detergency tests as pH value, water insolubility, foam height, moisture content, alcohol insolubility, and surface tension measurement were carried out for all synthetic detergent samples and two commercial ones. The results demonstrated that the high cleaning performance of the powders was obtained as using eco-friendly zeolite builders in comparison with phosphate-based commercial and synthetic detergent samples.     

Antioxidant vs. Prooxidant Properties of the Flavonoid,Kaempferol, in the Presence of Cu(II) Ions: A ROS-Scavenging Activity,Fenton Reaction and DNA Damage Study

Kaempferol is a flavonoid that occurs in tea and in many vegetables and fruits, including broccoli, cabbage, beans, grapes, apples, and strawberries. The efficacy of Kaempferol has been demonstrated in the treatment of breast, esophageal, cervical, ovarian, and liver cancers and leukemia, which very likely arises from its prooxidant properties and the activation of pro-apoptotic pathways. Indeed, this matter has already been the focus of a number of published studies and reviews. The aim of the present study was to elucidate the antioxidant vs. prooxidant properties of flavonoids in the presence of the redox-active metal, copper (II) ion, by means of the Fenton reaction. The specific motivation of this work is that, since an increased level of Cu(II) ions is known to be associated with many disease states such as neurological conditions (Alzheimer’s disease) and cancer, any interaction between these ions and flavonoids might affect the outcome of therapeutic uses of the latter. The structure of the Cu-kaempferol complex in DMSO was investigated by means of low temperature EPR spectroscopy, which confirmed the existence of at least two distinct coordination environments around the copper (II) ion. UV vis-spectra of kaempferol and its Cu(II) complex in DMSO revealed an interaction between the 5-OH (A ring) group and the 4-CO (C ring) group of kaempferol with Cu(II) ions. An ABTS assay confirmed that kaempferol acted as an effective radical scavenger, and that this effect was further enhanced in the form of the Cu(II)-kaempferol complex. Quantitative EPR spin trapping experiments, using DMPO as the spin trap, confirmed suppression of the formation of a mixture of hydroxyl, superoxide, and methyl radicals, in a Fenton reaction system, upon coordination of kaempferol to the redox-active Cu(II) ions, by 80% with respect to the free Cu(II) ions. A viscometric study revealed a better DNA-intercalating ability of the Cu-kaempferol complex than for free kaempferol, essential for conferring anticancer activity of these substances. The results of the viscometric measurements were compared with those from a DNA damage study of Cu-kaempferol complexes in a Fenton reaction system, using gel electrophoresis. At low concentrations of kaempferol (Cu–kaempferol ratios of 1:1 and 1:2), a very weak protective effect on DNA was noted, whereas when kaempferol was present in excess, a significant DNA-protective effect was found. This can be explained if the weakly intercalated kaempferol molecules present at the surface of DNA provide protection against attack by ROS that originate from the Fenton reaction involving intercalated Cu(II)-kaempferol complexes. Following the application of ROS scavengers, L-histidine, DMSO, and SOD, gel electrophoresis confirmed the formation of singlet oxygen, hydroxyl radicals, and superoxide radical anions, respectively. We propose that the prooxidant properties of Cu-kaempferol complexes may provide anticancer activity of these substances. When present in excess, kaempferol displays antioxidant properties under Cu-Fenton conditions. This suggests that kaempferol might prove a suitable candidate for the prevention or treatment of oxidative stress related medical conditions that involve a disturbed metabolism of redox metals such as copper, for example, Menkes disease, and neurological disorders, including Alzheimer’s disease. For the potential use of kaempferol in clinical practice, it will be necessary to optimize the dose size and critical age of the patient so that this flavonoid may be beneficial as a preventive drug against cancer and neurological disorders.