Bilateral control of teleoperators with time delay

A control law for teleoperators is presented which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law has been implemented on a single-axis force-reflecting hand controller, and preliminary results are shown. To keep the presentation clear, a single-degree-of-freedom (DOF) linear time-invariant (LTI) teleoperator system is discussed. Nevertheless, results can be extended, without loss of generality, to an n-DOF nonlinear teleoperation system     

Water-soluble copolymers: 22. Copolymers of acrylamide with 2-acrylamido-2-methylpropanedimethylammonium chloride: Aqueous solution properties of a polycation

The viscometric, turbidimetric and potentiometric properties of copolymers of acrylamide (AM) with 2-acrylamido-2-methylpropanedimethylammonium chloride (AMPDAC) were studied in aqueous solutions. The AMPDAC polymers exhibit poor salt tolerance and large, negative viscosity/temperature coefficients. Furthermore, the polymers were found to be sensitive to changes in pH. The AMPDAC polymers undergo phase separation in the presence of dianions as a function of temperature and AMPDAC composition.     

Effect of spinning speed on the propagation of ultrasound and the anisotropy of acoustical characteristics in hdyrocellulose films

Conclusions It has been shown that there is a close connection between the change in spinning speed of hydrocellulose films and their acoustical characteristics: rate of propagation of ultrasound and damping cellulose of ultrasound, which permits one to use a nondestructive control method in the technological practice of hydrocellulose film preparation.A close connection has been found between the strength of hydrocellulose film and the propagation rate and damping coefficient of ultrasonic waves.Translated from Khimicheskie Volokna, No. 4, pp. 36–38, July–August, 1985.     

B-cell and T-cell immunoblastic lymphomas of baboons

The results of morphological study of B- and T-cellular immunoblast baboon lymphomas are presented. Differences are found both in the structure of tumour cells and in the histostructure of tumours as a whole. The tumor cells of B-immunoblastic lymphomas expressed mainly IgM. The tumour cells of certain T-immunoblastic lymphomas being investigated by means of monoclonal OKT4 antibodies had a surface phenotype peculiar to T-helper cells.     

Fast location of high-order modes for boxed microstrip with finite strip thickness

Many analyses of boxed microstrip discontinuities require the location of large numbers of high-order modes. Using Sturm-Liouville theory, this letter derives a relationship between microstrip modes and slab-loaded guide modes, leading to an efficient mode location algorithm for microstrip, including microstrip with finite strip thickness.<>     

Influence of Hydroxypropyl Methylcellulose and of Manufacturing Technique on in Vitro Performance of Selected Antacids

Factors affecting the performance of antacids F-MA 11, dihydroxy aluminum aminoacetate, magaldrate and magnesium hydroxide were studied in vitro using Schaub's acid neutralization test, a modified Reheis reaction velocity test and the USP test. From the results obtained it was evident that type and combination of antacid, the adjuvants and formulation techniques used in preparation of antacids affect their performance. The USP preliminary antacid test and acid neutralization test are not optimal in vitro tests to evaluate in vitro onset and duration of action of antacids.     

Characteristics of tunneling and impact ionization in ZnS:Mn-based thin-film electroluminescent structures

A method for measuring the characteristics of tunneling and impact ionization in thin-film electroluminescent emitters is suggested. This method makes it possible to find time dependences of the space-charge layer thickness near the anode and the length of the impact ionization region, to determine more exactly the time dependence of the field in the potential barrier at the cathode interface, the maximum depth of the surface states from which electron tunneling occurs, the minimum thickness of the barrier, and the electron tunneling probability, as well as the impact ionization rate for the deep centers related to structural defects of the phosphor layer.     

Residual Stress Simulation of Injection Molding

In this study, distribution and history of residual stresses in plaque-like geometries are simulated based on linear thermoviscoelastic model, which helps to understand the mechanics and evolution of the residual stresses in the injection molding process. The numerical calculation of direction, combined with the specified boundary conditions. Results show that the stress variation across the thickness exhibits a high surface tensile value changing to a compressive peak value close to the surface, with the core region experiencing a parabolic tensile peak. Residual stress distribution throughout the thickness is almost same along the flowpath and the final residual stresses value near the gate is lower than the value near the end of flowpath.     

Propagation of an ultrawideband radio pulse along a single-wire line

Deformation and attenuation of an ultrawideband radio pulse propagating along a single-wire line are analyzed as functions of the pulse initial duration. Variations in the longitudinal and transverse components of the pulse electric field with the distance from the line are determined. Features of the spatial distribution of the energy carried by the pulse near the line are revealed.