Robust adaptive control of robotic manipulators without the regressor matrix

A new adaptive controller is presented here for rigid-body robotic manipulators. It is stable and robust with respect to a class of external disturbances. The robustness of the adaptive controller is established without the ‘slow-varying’ assumption and the computationally demanding regressor matrix. The control law consists of a non-adaptive PD control part and an adaptive control part. It uses two adaptive matrices to compensate two uniformly bounded coefficient matrices derived from the original dynamics. A α σ|q?|-modified adaptive law is designed to adjust the adaptive matrices. A Lyapunov-type stability analysis indicates that the closed-loop system is uniformly ultimately bounded. The tracking error and compensation error will eventually converge into a closed region, which can be made arbitrarily small by adjusting the controller parameters. Simulation results are included to demonstrate the performance of the proposed controller.     

Relative reactivities of alkanes in multi-component catalytic cracking reactions

An experimental technique is discussed for measuring relative reactivities of alkanes in the catalytic cracking of multi-component hydrocarbon mixtures over a heterogeneous, Y-zeolitebased catalyst at 250–350 °C. With the technique, ca. 0.1 l of an alkane mixture is evaporated and contacted with a catalyst, after which the mixture of reaction products and the unreacted feed enters the chromatographic column and is immediately analyzed. The technique is used to measure relative reactivities of 21 alkanes in a single experiment. The principal results of these experiments are similar to the results of single-component cracking: alkane reactivity rapidly increases with the increase of the carbon number, and methyl-branched alkanes are more reactive than linear alkanes. However, the variations in alkane reactivities as a function of their molecular weight and skeleton structure differ very significantly between single- and multicomponent experiments.     

Mechanisms of Current Transfer in Electrodeposited Layers of Submicron Semiconductor Particles

Technical Physics Letters - Current–voltage (I–V) characteristics of conductance in multigrain layers of submicron particles of silicon, gallium arsenide, indium arsenide, and indium...     

Thermal diffusivity of submicro- and nanocrystalline Zr–2.5% Nb and Zr–50% Nb alloys at high temperatures

Measurement data are given for the thermal diffusivity of Zr–2.5% Nb and Zr–50% Nb alloys both with the usual polycrystalline structure and with submicro- and nanocrystalline structures at high temperatures, which were determined in the automated mode using the dynamic technique of plane temperature waves.     

Benz(a)pyrene content in the salt samples obtained from the borehole waters of the Krasnodar deposit

Benz(a)pyrene content in the samples of salt obtained from water ground of the Krasnodar field was assayed by means of the spectral fluorescent method. The table salt "Extra" manufactured by the Slavyansk salt-works supplying the trade network (GOST 13830-68) served as control. 15 samples (60 reference standards) were examined. It was established that 3 of 5 tested samples obtained from purified concentrated brine of water ground of the Krasnodar field contained benz(a)pyrene in an amount of 0.0351 microgram/kg up to 0.16 microgram/kg. Benz(a)pyrene (0.104 microgram/kg) was detected in 1 of 4 tested samples of the salt "Extra". It is concluded that tested salt samples obtained from concentrated brine of water ground of the Krasnodar field contain an insignificant amount of benz(a)pyrene.     

A Method of Determining the Axes of a Three-Component Magnetometer Sensor with Respect to the Axes of the Navigation System of a Ferromagnetic Mobile Object

A method of determining the orientation of the axes of a three-component magnetometer sensor with respect to the axes of the navigation system of a ferromagnetic mobile object is considered, which eliminates the effect of the magnetization of the object on the determination of the angular position of the axes of the sensor with respect to the axes of the navigation system.