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91.
Shima Eshaghi Hamed Kharrati Mohammad Ali Badamchizadeh Iraj Hasanzadeh 《International Journal of Control, Automation and Systems》2012,10(3):574-581
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. 相似文献
92.
Sehraneh Ghaemi Sohrab Khanmohammadi Mohammad Ali Tinati Mohammad Ali Badamchizadeh 《International Journal of Control, Automation and Systems》2012,10(3):517-528
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. 相似文献
93.
In in-vivo microsystems, one of the components is a biocompatible micropump in order to produce the necessary force to deliver
the fluid from the inlet to the outlet. In this contribution, a flexible micropump is fabricated which is aimed to be suitable
in drug delivery applications. It provides high degree of biocompatibility, since the only employed materials are implantation
grade polydimethylsiloxane elastomer and gold for the electrical interconnects. The working principle of the micropump is
based on transverse DC electroosmosis which is a new variant of conventionally applied high voltage DC electroosmosis. This
new technique is based on topography irregularities introduced in the channel resulting in a non-uniform charge distribution.
The advantage is to drive the micropump using a relatively low DC voltage of 10 V while getting an effective flow speed of
60 μm/s. In order to characterize the flow speed, dyed 3 μm beads are dispersed in the working fluid and their speed is measured
by the line scanning technique using a confocal microscope. It is also observed that the flow has a helical profile which
is an attractive feature for an efficient micro-mixer in active microfluidics and μ-TAS applications. 相似文献
94.
Open Forum
Cheep! Cheep! 相似文献95.
96.
Azizli Mohammad Javad Barghamadi Mohammad Rezaeeparto Katayoon Mokhtary Masoud Parham Somayeh Darabi Mehdi Joker 《Iranian Polymer Journal》2021,30(10):1001-1018
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... 相似文献
97.
Fouad Laoutid Henri Vahabi Elnaz Movahedifar Pascal Laheurte Christelle Vagner Marianne Cochez Loïc Brison Mohammad Reza Saeb 《乙烯基与添加剂工艺杂志》2021,27(2):264-274
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. 相似文献
98.
Mohd Akram Hira Lal Mohammad Osama Farah Ansari Sana Anwar Kabir-ud-Din Ajaz Ahmad Samreen Naved Azum Hadi M. Marwani Abdullah M. Asiri 《Journal of surfactants and detergents》2021,24(1):35-49
In this study, we prepared a novel series of diester-functionalized cationic gemini surfactants (Cm-E2O2-Cm) 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. 相似文献
99.
Esmat Koohsaryan Mansoor Anbia Mohammad Sepehrian Mohammad Maghsoodlu 《Journal of surfactants and detergents》2021,24(1):85-97
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. 相似文献
100.
Amir Mohammadzadeh Pter P. Lakatos Mihly Balogh Ferenc Zdor Dvid rpd Kardi Zoltn S. Zdori Kornl Kirly Anna Rita Galambos Szilvia Barsi Pl Riba Sndor Benyhe Lszl Kles Tams Tbi va Szk Laszlo G. Harsing Jr. Mahmoud Al-Khrasani 《International journal of molecular sciences》2021,22(5)
The limited effect of current medications on neuropathic pain (NP) has initiated large efforts to develop effective treatments. Animal studies showed that glycine transporter (GlyT) inhibitors are promising analgesics in NP, though concerns regarding adverse effects were raised. We aimed to study NFPS and Org-25543, GlyT-1 and GlyT-2 inhibitors, respectively and their combination in rat mononeuropathic pain evoked by partial sciatic nerve ligation. Cerebrospinal fluid (CSF) glycine content was also determined by capillary electrophoresis. Subcutaneous (s.c.) 4 mg/kg NFPS or Org-25543 showed analgesia following acute administration (30–60 min). Small doses of each compound failed to produce antiallodynia up to 180 min after the acute administration. However, NFPS (1 mg/kg) produced antiallodynia after four days of treatment. Co-treatment with subanalgesic doses of NFPS (1 mg/kg) and Org-25543 (2 mg/kg) produced analgesia at 60 min and thereafter meanwhile increased significantly the CSF glycine content. This combination alleviated NP without affecting motor function. Test compounds failed to activate G-proteins in spinal cord. To the best of our knowledge for the first time we demonstrated augmented analgesia by combining GlyT-1 and 2 inhibitors. Increased CSF glycine content supports involvement of glycinergic system. Combining selective GlyT inhibitors or developing non-selective GlyT inhibitors might have therapeutic value in NP. 相似文献