Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability of the controller being established in the Lyapunov sense; and 3) suitability of the scheme for multijoint robots. Simulation results are included to demonstrate the tracking performance.     

A new supervised classification algorithm in artificial immune systems with its application to carotid artery Doppler signals to diagnose atherosclerosis

Because of its self-regulating nature, immune system has been an inspiration source for usually unsupervised learning methods in classification applications of Artificial Immune Systems (AIS). But classification with supervision can bring some advantages to AIS like other classification systems. Indeed, there have been some studies, which have obtained reasonable results and include supervision in this branch of AIS. In this study, we have proposed a new supervised AIS named as Supervised Affinity Maturation Algorithm (SAMA) and have presented its performance results through applying it to diagnose atherosclerosis using carotid artery Doppler signals as a real-world medical classification problem. We have employed the maximum envelope of the carotid artery Doppler sonograms derived from Autoregressive (AR) method as an input of proposed classification system and reached a maximum average classification accuracy of 98.93% with 10-fold cross-validation method used in training-test portioning. To evaluate this result, comparison was done with Artificial Neural Networks and Decision Trees. Our system was found to be comparable with those systems, which are used effectively in literature with respect to classification accuracy and classification time. Effects of system's parameters were also analyzed in performance evaluation applications. With this study and other possible contributions to AIS, classification algorithms with effective performances can be developed and potential of AIS in classification can be further revealed.     

Effect of gravity on InGaSb crystal growth

The effect of gravity on dissolution of GaSb in InSb melt and growth of InGaSb was experimentally investigated. Experiments were carried out in a GaSb(seed)/InSb/GaSb(feed) sandwich system under an imposed temperature gradient. In the experiments, the GaSb feed crystal dissolved into the InSb melt to supply the required GaSb component for the growth of In_0.1Ga_0.9Sb crystal. Two parameters were considered: (1) the inclination angle (θ) of the sample for gravity as 0° and 53°, and (2) the sample diameter (D) as 9 mm and 5mm. When θ was 0°, the interface was almost flat, indicating that convection was axisymmetric and stable. Whereas the interface was distorted towards gravitational direction when θ was 53°, indicating that solutal convection was dominant. The decrease of growth temperature and sample diameter reduced the distortion of interface and the dissolution amount of GaSb feed. The homogeneous crystals were grown at the initial growth stage by supplying the GaSb component during growth.     

Turned trochoidal disturbance on a liquid jet surface

This paper shows that a turned trochoidal function disturbance may lead to peripheral drops production. The resulting model is used to describe that a turned trochoidal disturbance leads to peripheral drops production on the liquid jet surface without the necessity for superimposed disturbances. The trochoid is a non-unique parametric function. Only non-unique parametric functions disturbances may lead to peripheral drops production. The trochoidal function disturbance is decomposed to Fourier series. Every Fourier element receives an amplification factor in accordance to the Rayleigh inviscid jet model. Peripheral drops are received on the jet surface. The paper shows that all trochoidal disturbance functions, prolate cycloid, cycloid and curtate cycloid have a capability of peripheral drops producing. A limited capability of peripheral drops production is introduced for the trochoidal curtate cycloid. Produced drops size are reduced for increasing the jet velocity and wave number. Smaller drops are also received by transition from the prolate cycloid to curtate cycloid disturbance.     

Buckypapers of polyvinyl chloride/poly(styrene-co-maleic anhydride) blend intercalated graphene oxide-carbon nanotube nanobifiller: Physical property exploration

Novel buckypaper of polyvinyl chloride (PVC) and poly(styrene-co-maleic anhydride) (PSMA) intercalated with carbon nanotube (CNT) and graphene oxide-CNT (GO-CNT) nanobifiller was prepared using resin infiltration technique. Two series of buckypaper were prepared with varying CNT and GO-CNT contents. According to field emission scanning electron microscopy, PVC/SMA/CNT 0.1 showed porous morphology while PVC/PSMA/GO-CNT 0.1 revealed unique sort of island-nodule morphology. T_max of PVC/PSMA/GO-CNT 0.1 was 561°C while PVC/PSMA/CNT 0.1 depicted relatively lower value (552°C). T_g of PVC/PSMA/GO-CNT 0.1 was also increased to 294°C. Peak heat release rate of poly(methyl methacrylate-co-methacrylic acid)/polyamide 6/montmorillonite-modified GO was decreased from 322 to 209 kW/m² (65%) with 0.03–0.3 g GO-CNT loading.     

A modelling study for moisture diffusivities and moisture transfer coefficients in drying of solid objects

This article presents an effective analytical model for determining the moisture diffusivities and moisture transfer coefficients for solid objects (namely, infinite slab, infinite cylinder, sphere; and also for irregularly shaped objects, by using a shape factor) subject to drying applications in a medium. The unsteady-state moisture diffusion analysis is used on the basis of two important criteria: 0·1 <Bi < 100 and Bi > 100. The drying coefficients and lag factors were employed. The analytical models are then verified using available experimental data taken from the literature. The results show that the method presented here can be used to determine the moisture diffusion coefficients and moisture transfer coefficients for such solid objects in a simple and accurate manner for a variety of drying applications.     

Scalable total BETI based solver for 3D multibody frictionless contact problems in mechanical engineering

A total BETI (TBETI) based domain decomposition algorithm with the preconditioning by a natural coarse grid of the rigid body motions is adapted for the solution of multibody frictionless contact problems of linear elastostatics and proved to be scalable, i.e., the cost of the solution is asymptotically proportional to the number of variables. The analysis admits floating bodies. The proofs combine the original results by Langer and Steinbach on the scalability of BETI for linear problems and our development of optimal quadratic programming algorithms for bound and equality constrained problems. The theoretical results are verified by numerical experiments. The power of the method is demonstrated on the analysis of ball bearings.     

Misalignment tolerance analysis of free-space optical interconnects via statistical methods

System-level packaging is one of the critical issues that need to be addressed for free space optical interconnections (FSOI) to become useful in desktop systems. The performance of FSOI, e.g., in terms of system bit-error rate, is greatly affected by misalignments in the optical system. Therefore tolerancing, i.e., the ability to analyze and predict the effects of misalignments in the system, is of prime importance to system designers. We introduce an approach in which we study the effects of optical misalignments and other tolerance factors using statistical methods. We use Monte Carlo simulations, design of the experiments, and regression techniques to fit a polynomial equation that expresses the relationship between the system performance and the tolerance factors. This prediction model can be used for design, cost optimization, and quality control purposes. In addition, we perform a sensitivity analysis to determine those tolerance variables that have the greatest effect on system performance.     

A receptor-based bioassay for quantitative detection of gallium

The detection of gallium in biological samples is required due to its role in the diagnosis of tumor and for possible treatment of malignancies. However, the use of purely instrumental techniques is unsuitable for detection of low levels of gallium in biological matrixes. We have synthesized new protein conjugates based on 4-(2-pyridylazo) ligands. The conjugates were successfully employed for the detection of gallium in biological matrixes using a nonantibody-based sandwich assay format. The recovery level obtained was between 97 and 101.3 with a relative standard deviation of less than 5%. The assay resulted in a detection limit of 5 x 10(-8) M and a remarkable selectivity for gallium(III) relative to other metals investigated. The new method provided adequate accuracy for gallium applicable for animal physiology and clinical toxicology.     

Antitumor action of bovine seminal ribonuclease

Unlike the bovine pancreatic ribonuclease (RNaseA), bovine seminal ribonuclease (BS RNase) displays various biological activities, including antitumor activity, immunosuppressivity, spermatogenicity and embryotoxicity. To learn more about its antitumor effect we tested BS RNase on the growth of 16 cell lines derived from patients with various hematological malignancies. The cells of lymphoid origin were generally more susceptible to BS RNase, administered in the range of concentrations from 2 to 100 micrograms/ml, than the myeloid ones. RNaseA used at the same concentrations did not exert any inhibitory effect. The inhibitory effect of BS RNase persisted in cultured cells after three times wash in complete medium and cell recultivation in fresh medium free of BS RNase. Four cell lines were very little sensitive (KG-1 and U-937) or resistant (JOK and NAMALWA) to BS RNase regardless of their origin. The in vivo antitumor effect of BS RNase was tested on human prostate carcinoma transplanted to athymic nude mice. The daily dose of BS RNase (0.25 mg/20 g) was administered for three weeks except weekends (15 doses) by three different ways (intraperitoneally-i.p., subcutaneously-s.c. and intratumorally-i.t.). Whereas i.p. administration was ineffective, s.c. administration significantly reduced size of the tumors and i.t. administration abolished half of the tumors in treated mice. The average weight of treated mice decreased during the experiment by 10-15%.