Synchronization controller for a 3-R planar parallel pneumatic artificial muscle (PAM) robot using modified ANFIS algorithm

Parallel manipulator is a closed-kinematic chain mechanism in which performance of its end effector – moving platform is contributed by its independent actuators. In traditional designs, each elemental actuator has its own controller as well as reference input, and it works independently without gathering information from its neighbors. Consequently, as one of the actuators cannot keep up with the others, the platform performance is easily deteriorated due to the lack of coherence between these actuators. Therefore, the aim of this paper is to design a 3-R planar parallel robot and develop a proper synchronization controller for its tracking control task. Adaptive Network Based Fuzzy Inference System (ANFIS) algorithm was modified and applied as the main strategy of this synchronization controller. The controller is then able to compensate errors between the actuators and enforce them to cooperate harmonically with each other regardless external disturbances caused by the outside environment or geometrical constraints of the closed-loop structure. Simulations and practical experiments on a scaled parallel robot were carried out to evaluate the designed controller. The results showed that by applying the proposed control technique, the working errors of the component actuators converged quickly to zero almost at the same time. As a result, the tracking performance of the common platform was significantly improved in comparison with the performance when applying a non-synchronization controller. The proposed method is effective in controlling systems which require collaborations between the sub-agents.     

Hydrogen uptake of DPB getter pellets

The physical and chemical properties of 1,4-diphenylbutadiyne (DPB) blended with carbon-supported Pd (DPB-Pd/C) in the form of pellets during hydrogenation were investigated. A thermogravimetric analyzer (TGA) was employed to measure the kinetics of the hydrogen uptake by the DPB getter pellets. The kinetics obtained were then used to develop a semi-empirical model, based on gas diffusion into solids, to predict the performance of the getter pellets under various conditions. The accuracy of the prediction model was established by comparing the prediction models with independent experimental data on hydrogen pressure buildup in sealed systems containing DPB getter pellets and subjected to known rates of hydrogen input. The volatility of the hydrogenated DPB products and its effects on the hydrogen uptake kinetics were also analyzed.     

Nonlinear response of pressure-loaded functionally graded cylindrical panels with temperature effects

This paper presents an analytical approach to investigate nonlinear response of functionally graded cylindrical panels under uniform lateral pressure with temperature effects are incorporated. Material properties are assumed to be temperature-independent, and graded in the thickness direction according to a simple power law distribution in terms of the volume fractions of constituents. Equilibrium and compatibility equations for cylindrical panels are derived by using the classical shell theory with both geometrical nonlinearity in von Karman–Donnell sense and initial geometrical imperfection are taken into consideration. The resulting equations are solved by Galerkin method to determine explicit expressions of nonlinear load-deflection curves. Stability analysis for a simply supported panel shows the effects of material and geometric parameters, in-plane restraint and temperature conditions, and imperfection on the nonlinear response of the panel.     

全业务网APON光纤接入传输系统

介绍在国家八六三计划资助下研制成功的全业务网接入传输系统 ,首先简述了系统构成、用户业务接口和传输帧结构 ,接着对 HFC双向光纤传输系统进行了简介 ,最后介绍了 ATM- PON系统和HFC系统的性能指标     

FPGA Implementation of a Power Amplifier Linearizer for an ETSI-SDR OFDM Transmitter

Most satellite digital radio （SDR） systems use orthogonal frequency-division multiplexing （OFDM） transmission, which means that variable envelope signals are distorted by the RF power amplifier （PA）. It is customary to back off the input power to the PA to avoid the PA nonlinear region of operation. In this way, linearity can be achieved at the cost of power efficiency. Another attractive option is to use a linearizer, which compensates for the nonlinear effects of the PA. In this paper, an OFDM transmitter conforming to European Telecommunications Standard Institute SDR Technical Specifications 2007-2008 was designed and implemented on a low-cost field-programmable gate array （FPGA） platform. A weakly nonlinear PA, operating in the L-band SDR frequency, was used for signal transmission. An adaptive linearizer was designed and implemented on the same FPGA device using digital predistortion to correct the undesired effects of the PA on the transmitted signal. Test results show that spectral distortion can be suppressed between 6-9 dB using the designed linearizer when the PA is driven close to its saturation region.     

A 2D quadrangular pyramid photoelectric autocollimator with extended angle measurement range

A photoelectric autocollimator with high accuracy and extended measurement range based on the quadrangular pyramid is proposed, and the corresponding algorithms are also deduced. A new image processing algorithm has been proposed to improve the accuracy, and the corresponding errors are also estimated, the error does not exceed half a pixel when the distance between the marks more than two radii. The experimental results have verified that the measurement range of the proposed two-dimensional (2D) quadrangular pyramid photoelectric autocollimator can be increased times than that of the flat mirror photoelectric autocollimator from 10′ to 15′. The accuracy is better than 1″ when the deflection is less than 15′.     

CdS Quantum Dots Encapsulated in Chiral Nematic Mesoporous Silica: New Iridescent and Luminescent Materials

Simultaneous integration of light emission and iridescence into a semiconducting photonic material is attractive for the design of new optical devices. Here, a straightforward, one‐pot approach for liquid crystal self‐assembly of semiconductor quantum dots into cellulose nanocrystal‐templated silica is developed. Through a careful balance of the intermolecular interactions between a lyotropic tetraalkoxysilane/cellulose nanocrystal dispersion and water‐soluble polyacrylic acid/mercaptopropionic acid‐stabilized CdS quantum dots, CdS/silica/nanocellulose composites that retain both chiral nematic order of the cellulose nanocrystals and emission of the quantum dots are successfully co‐assembled. Subsequent removal of the cellulose template and organic stabilizers in the composites by controlled calcination generates new freestanding iridescent, luminescent chiral nematic mesoporous silica‐encapsulated CdS films. The pores of these materials are accessible to analytes and, consequently, the CdS quantum dots undergo strong luminescence quenching when exposed to TNT solutions or vapor.     

Enhanced Solar‐to‐Hydrogen Generation with Broadband Epsilon‐Near‐Zero Nanostructured Photocatalysts

The direct conversion of solar energy into fuels or feedstock is an attractive approach to address increasing demand of renewable energy sources. Photocatalytic systems relying on the direct photoexcitation of metals have been explored to this end, a strategy that exploits the decay of plasmonic resonances into hot carriers. An efficient hot carrier generation and collection requires, ideally, their generation to be enclosed within few tens of nanometers at the metal interface, but it is challenging to achieve this across the broadband solar spectrum. Here the authors demonstrate a new photocatalyst for hydrogen evolution based on metal epsilon‐near‐zero metamaterials. The authors have designed these to achieve broadband strong light confinement at the metal interface across the entire solar spectrum. Using electron energy loss spectroscopy, the authors prove that hot carriers are generated in a broadband fashion within 10 nm in this system. The resulting photocatalyst achieves a hydrogen production rate of 9.5 µmol h^?1 cm^?2 that exceeds, by a factor of 3.2, that of the best previously reported plasmonic‐based photocatalysts for the dissociation of H₂ with 50 h stable operation.     

Differential Cytotoxicity of Curcumin-Loaded Micelles on Human Tumor and Stromal Cells

Although curcumin in the form of nanoparticles has been demonstrated as a potential anti-tumor compound, the impact of curcumin and nanocurcumin in vitro on normal cells and in vivo in animal models is largely unknown. This study evaluated the toxicity of curcumin-loaded micelles in vitro and in vivo on several tumor cell lines, primary stromal cells, and zebrafish embryos. Breast tumor cell line (MCF7) and stromal cells (human umbilical cord vein endothelial cells, human fibroblasts, and human umbilical cord-derived mesenchymal stem cells) were used in this study. A zebrafish embryotoxicity (FET) assay was conducted following the Organisation for Economic Co-operation and Development (OECD) Test 236. Compared to free curcumin, curcumin PM showed higher cytotoxicity to MCF7 cells in both monolayer culture and multicellular tumor spheroids. The curcumin-loaded micelles efficiently penetrated the MCF7 spheroids and induced apoptosis. The nanocurcumin reduced the viability and disturbed the function of stromal cells by suppressing cell migration and tube formation. The micelles demonstrated toxicity to the development of zebrafish embryos. Curcumin-loaded micelles demonstrated toxicity to both tumor and normal primary stromal cells and zebrafish embryos, indicating that the use of nanocurcumin in cancer treatment should be carefully investigated and controlled.