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.     

Filtering for bilinear systems with a lipschitz nonlinearity using LPV approach

This paper deals with the H _?? filtering problem for a class of nonlinear systems. This class of nonlinear systems is composed of a bilinear part and of a lipschitzian one. The use of an unbiasedness condition for the bilinear part (called quasi unbiasedness condition) permits to parameterize the filter matrices through a single gain. Two LPV (Linear Parameter Varying) extensions of the bounded real lemma are used to solve the filtering problem. This approach reduces the conservatism inherent to the boundedness of the inputs. Then the filtering solution is expressed in terms of LMI (Linear Matrix Inequality) to be verified at the vertices of a polytope. A numerical example is finally given to illustrate our approach.     

Using genetic algorithm for the optimization of seismic behavior of steel planar frames with semi-rigid connections

Beam-column connections have a significant role in the results of the analysis and the design of steel frames. In this paper, a genetic algorithm has been used for the non-linear analysis and design of steel frames. For minimizing the weight of frames, while satisfying the applied constraints and restraints such as the limits of normal and combined stresses, criteria such as target displacement(s) and the number and locations of plastic hinges were used. To analyze and design the frame elements, I and box-shaped standard sections were used for beams and columns, respectively. Finally, some clues for finding optimizing semi-rigid connection stiffness values for beam-to-column connections have been obtained. The degrees of these rigidities are obtained by a genetic algorithm during the procedure of optimization in order to reach a frame with the minimum weight. SAP2000 structural analysis program was used to perform modal analysis and linear and non-linear static solutions as well as the design of the elements. A MATLAB program was written for the process of optimization. The procedure of optimization was based on a weight minimization carried out for 9 steel frames. Thus, the optimum connection stiffness could be obtained for minimizing the weight of the structure. The results show that the non-linear analysis gives less weight for short period frames with semi-rigid connections compared to those of linear ones. However, by increasing the periods of frames, much less weights are obtained in the case of non-linear analysis with semi-rigid connections.     

Current Understandings on Magnesium Deficiency and Future Outlooks for Sustainable Agriculture

The productivity of agricultural produce is fairly dependent on the availability of nutrients and efficient use. Magnesium (Mg²⁺) is an essential macronutrient of living cells and is the second most prevalent free divalent cation in plants. Mg²⁺ plays a role in several physiological processes that support plant growth and development. However, it has been largely forgotten in fertilization management strategies to increase crop production, which leads to severe reductions in plant growth and yield. In this review, we discuss how the Mg²⁺ shortage induces several responses in plants at different levels: morphological, physiological, biochemical and molecular. Additionally, the Mg²⁺ uptake and transport mechanisms in different cellular organelles and the role of Mg²⁺ transporters in regulating Mg²⁺ homeostasis are also discussed. Overall, in this review, we critically summarize the available information about the responses of Mg deficiency on plant growth and development, which would facilitate plant scientists to create Mg²⁺-deficiency-resilient crops through agronomic and genetic biofortification.     

Energy Metabolites as Biomarkers in Ischemic and Dilated Cardiomyopathy

With more than 25 million people affected, heart failure (HF) is a global threat. As energy production pathways are known to play a pivotal role in HF, we sought here to identify key metabolic changes in ischemic- and non-ischemic HF by using a multi-OMICS approach. Serum metabolites and mRNAseq and epigenetic DNA methylation profiles were analyzed from blood and left ventricular heart biopsy specimens of the same individuals. In total we collected serum from n = 82 patients with Dilated Cardiomyopathy (DCM) and n = 51 controls in the screening stage. We identified several metabolites involved in glycolysis and citric acid cycle to be elevated up to 5.7-fold in DCM (p = 1.7 × 10⁻⁶). Interestingly, cardiac mRNA and epigenetic changes of genes encoding rate-limiting enzymes of these pathways could also be found and validated in our second stage of metabolite assessment in n = 52 DCM, n = 39 ischemic HF and n = 57 controls. In conclusion, we identified a new set of metabolomic biomarkers for HF. We were able to identify underlying biological cascades that potentially represent suitable intervention targets.     

Design,Facile Synthesis and Characterization of Porphyrin-Zirconium-Ferrite@SiO2 Core-Shell and Catalytic Application in Cyclohexane Oxidation

Silicon - In this study, a new magnetic ZrFe2O4@SiO2-TCPP nanocatalyst with high efficiency was used for the oxidation of cyclohexane to cyclohexanone (Ke) and cyclohexanol (Al). The mesoporous...     

Modern Template Design and Biological Evaluation of Cephradine-loaded Magnesium Calcium Silicate Nanocomposites as an Inhibitor for Nosocomial Bacteria in Biomedical Applications

Silicon - Magnesium calcium silicate nanostructures (MCSNS) loaded with (0.0, 0.6, 0.9, and 1.2 wt%) of Cephradine-drug consisting of mesoporous particles were functionally prepared by sol-gel...