Nonlinear repetitive control with application to trajectory control of manipulators

In this article, a new control scheme named repetitive control is proposed for a class of nonlinear systems described by x(t) = Ax(t) + Bu(t) + n(x(t)) and y(t) = Cx(t), in which the controlled variables follow periodic reference commands. The stability condition is derived by applying the passivity theorem. We show how to apply the repetitive control scheme to the trajectory control of a manipulator. A simple repetitive control scheme is developed for the trajectory control of a manipulator by using nonlinear compensation and feedbacks of position and velocity signals. Experimental results for a three link manipulator verify that the proposed repetitive control reduces the tracking error to a very low level.     

Improved visible-light responsive photocatalytic activity of N and Si co-doped titanias

Thermal reaction of titanium tetraisopropoxide and tetraethyl orthosilicate in 1,4-butanediol afforded nanocrystalline silica-modified titanias having large surface area and superior thermal stability. In this study, the thus-obtained silica-modified titanias were treated in an NH₃ flow at high temperatures, and their physical and photocatalytic properties were investigated. Compared with NH₃-treated TiO₂ without silica modification, the NH₃-treated silica-modified titanias showed a stronger absorption in the visible region (400–500 nm) and had a larger peak at 396 eV in the N 1s XPS spectrum. These results indicate that a larger amount of nitrogen was stably doped in the silica-modified titania. The obtained products exhibited a high photocatalytic activity for degradation of Rhodamine B and decomposition of acetaldehyde under visible light irradiation. Electronic supplementary material The online version of this article (doi:) contains supplementary material, which is available to authorized users.     

Dyeing properties of oxygen low-temperature plasma-treated wool and nylon 6 fibres with acid and basic dyes

Wool and nylon 6 fibres treated with oxygen low-temperature plasma were dyed with acid and basic dyes. Despite the increase of electronegativity of the fibre surface caused by the plasma treatment, the rate of dyeing of wool was increased with both dyes, while that of nylon 6 was decreased with the acid dye and increased with the basic dye.     

Thermal and optical properties of hyperbranched fluorinated polyimide/mesoporous SiO2 nanocomposites exhibiting high transparency and reduced thermo-optical coefficients

A series of hyper-branched polyimide (HBPI)/mesoporous SiO₂ nanocomposite films were prepared from a fluorinated anhydride (6FDA), a fluorinated triamine (TFAPOB), and mesoporous SiO₂ nanoparticles (NPs). The anhydride-terminated precursor of HBPI was functionalized using a coupling agent prior to mixing with SiO₂ NPs. The morphologies and thermal-optical properties of the nanocomposite films were investigated, with particular focus on their optical transparency, refractive indices (n), and thermo-optical (TO) coefficients. The absolute values of TO coefficients (|dn/dT|) of HBPI film (50.8 ppm/K) were significantly reduced to 13.4 ppm/K by homogeneous dispersion of 15 wt% of SiO₂ NPs. The HBPI/SiO₂ composite films exhibited high thermal stability without significant weight loss of up to 400 °C in air. The films also exhibited small coefficients of linear thermal expansion (CTEs) within the range 30–40 ppm/K. In addition, enhanced interfacial interactions between SiO₂ and HBPI significantly improve the optical transparency with cutoff wavelengths shorter than 450 nm. The refractive indices of HBPI/SiO₂ composite films were found to range from 1.477 to 1.502, which agrees well with the calculated values. This study shows that the incorporation of SiO₂ NPs in multi-functional HBPI matrix is a promising approach to prepare high performance thermally stable films for thermo-optic applications.     

Refinement of inverter model considering dead‐time for performance improvement in predictive instantaneous current control

Model predictive instantaneous‐current control (MPIC), which was proposed in our earlier works, enables us to achieve better instantaneous current control using mathematical models of an inverter and permanent magnet synchronous motors (PMSMs). However, dead‐time to avoid short breakdown in the inverter is not usually considered in a general inverter model. Such an unmodeled part in the inverter model prevents accurate prediction of current evolution in motor systems based on the model predictive control. Therefore, in this paper, we analyze current response resulting from the dead‐time in the MPIC, and propose a refined inverter model considering the dead‐time so that control performance is improved. The effectiveness of the proposed method is verified through simulation and experiments. © 2013 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Compact electrostatic levitator for diffraction measurements with a two axis diffractometer and a laboratory x-ray source

A compact electrostatic levitator was developed for the structural analysis of high-temperature liquids by x-ray diffraction methods. The size of the levitator was 200 mm in diameter and 200 mm in height and can be set up on a two axis diffractometer with a laboratory x-ray source, which is very convenient in performing structural measurements of high-temperature liquids. In particular, since the laboratory x-ray source allows a great amount of user time, preliminary or challenging experiments can be performed with trial and error, which prepares and complements synchrotron x-ray experiments. The present small apparatus also provides the advantage of portability and facility of setting. To demonstrate the capability of this electrostatic levitator, the static structure factors of alumina and silicon samples in their liquid phases were successfully measured.     

Fabrication of fluorine-terminated diamond-like carbon thin film using a hyperthermal atomic fluorine beam

Surface modification of diamond-like carbon (DLC) film was performed using a hyperthermal atomic fluorine beam on the purpose of production of hydrophobic surface by maintaining the high hardness of DLC film. By the irradiation of atomic fluorine beam of a 1.0 × 10²⁰ atoms/cm², the contact angle of a water drop against the DLC surface increased from 73° to 111°. The formation of CF₃, CF₂ and CF bonding on the modified DLC surface was confirmed from the measurements of X-ray photoelectron spectra and near-edge X-ray absorption fine structure spectra. Irradiation of hyperthermal atomic fluorine beam was concluded to produce insulator fluorine-terminated DLC film, which has high F content on the surface, by the taking of the use of neutral atomic beam as a fluorine source.     

A Basic Study of User Utility Maximizing Content Retrieval from Information Networks

This paper proposes some basic methods of content search yielding high user utility or user's satisfaction from numerous information sources scattered over large‐scale networks. In these methods, the search policy is decided by the estimated user utility gain and/or current user utility for each search action, and the most favorable combination of information sources and search content items is selected so as to enlarge the total user utility of the entire search activity. In addition, we evaluate the efficiency of the methods by computer simulations, in which we specify the network topology, user utility functions, probabilities of existence of the search content items in each information source, and so on, apply the proposed methods and other methods for comparison, and compare their aggregate utility gains as an estimation index. The proposed methods are found to achieve good performance in general and an index value about 2.45 times that of ordinary search is observed in an extreme simulation scenario. We discuss the pros and cons of the proposed methods for all the simulation scenarios.     

Influence of quadrature‐axis reactance of large turbine generator on operation

Two‐pole large generators are extensively used in power utilities. Growing demand for electric power in recent years has led to substantial increases in the capacity of generators. In line with this trend, our company has manufactured two‐pole turbine generators in the 900,000‐kVA to 1,200,000‐kVA classes. As the capacity of generators becomes larger, equivalent circuits are increasingly expected to improve their precision in estimating operation characteristics. The Park model has been widely used as an equivalent circuit model. The Park model with quadrature axis transient reactance $x_{q}^{\prime}$ is claimed to be useful for accurately estimating the load rejection characteristics of turbine generators. However, it is difficult to measure $x_{q}^{\prime}$, few studies based on measured data have appeared. As one of the few examples, we have conducted a measured data on a 500,000‐kVA‐class generator. Recently, the authors obtained test data on $x_{q}^{\prime}$ of a 900,000‐kVA‐class generator. In this study, based on these data, we studied the effect of $x_{q}^{\prime}$ using the finite element method and a transient analysis program (EMTP‐ATP). © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 177(3): 17–27, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21099