Advanced disturbance observer design for mechanical positioning systems

Disturbance-observer (DOB)-based controller design is one of the most popular methods in the field of motion control. In this paper, the generalized disturbance compensation framework, named the robust internal-loop compensator (RIC) is introduced and an advanced design method of a DOB is proposed based on the RIC. The mixed sensitivity optimization problem, which is the main issue of DOB design, is also solved through the parametrization of the DOB in the RIC framework. Differently from conventional methods, the Q-filter is separated from the mixed sensitivity optimization problem and a systematic design law for the DOB is proposed. This guarantees the robustness and optimality of the DOB and enables the design for unstable plants.     

Stochastic response of flexible rotor-bearing system to seismic excitations

Random vibration analysis of flexible rotor-bearing systems subjected to six-component nonstationary earthquake ground accelerations is carried out. The rotor system consists of several rigid disks and a flexible shaft that is modelled as a Timoshenko beam. The governing equations of motion involve both inhomogeneous random excitations and random parametric excitations. Analytically, the Markov vector approach using the Ito equation and Stratonovich averaging procedures is employed to determine the response statistics. Unfortunately, the second moments of the response quantities thus obtained involve a great discrepancy when compared with the results of Monte Carlo simulation. The difficulty involved in analytically solving such a complicated problem is pointed out. Currently, the method of Monte Carlo simulation appears to be the only practical approach for such a problem. The significant influence of the seismic base rotations and the flexibility of the rotor-bearing system on the overall dynamic structural response is demonstrated by a numerical example.     

Effective Reduction of Horizontal Error in Laser Scanning Information by Strip‐Wise Least Squares Adjustments

Though the airborne laser scanning (ALS) technique is becoming more popular in many applications, horizontal accuracy of points scanned by the ALS is not yet satisfactory when compared with the accuracy achieved for vertical positions. One of the major reasons is the drift that occurs in the inertial measurement unit (IMU) during the scanning. This paper presents an algorithm that adjusts for the error that is introduced mainly by the drift of the IMU that renders systematic differences between strips on the same area. For this, we set up an observation equation for strip‐wise adjustments and completed it with tie point and control point coordinates derived from the scanned strips and information from aerial photos. To effectively capture the tie points, we developed a set of procedures that constructs a digital surface model (DSM) with breaklines and then performed feature‐based matching on strips resulting in a set of reliable tie points. Solving the observation equations by the least squares method produced a set of affine transformation equations with 6 parameters that we used to transform the strips for adjusting the horizontal error. Experimental results after evaluation of the accuracy showed a root mean squared error (RMSE) of the adjusted strip points of 0.27 m, which is significant considering the RMSE before adjustment was 0.77 m.     

Sorption of copper ions by granulated chitosan

The features of sorption of Cu²⁺ ions from aqueous solutions of CuSO₄ by granulated chitosan sorbent in static conditions and the different contribution of surface and bulk amino groups in the sorbent to complexation are discussed. Sorption with freshly formed swollen and maximally amorphized granules with accessible bulk amino groups can be described by Langmuir’s equation; it attains 5.6 mmole/g of dry sorbent, which is close to the sorption calculated from the equimolar composition of the amino-copper complex. Sorption of initially dry granules with less accessible bulk amino groups does not obey Langmuir’s equation due to precipitation of copper hydroxide and hydrosulfate on the surface of the sorbent. __________ Translated from Khimicheskie Volokna, No. 2, pp. 11–14, March–April, 2006.     

Synthesis and characterization of novel aromatic condensation polymers containing rigid benzoxazole pendent groups

A new aromatic diamine monomer containing benzoxazole substituents was prepared by a multistep synthesis starting from 1,4‐dibromo‐2,5‐difluorobenzene. The diamine was polymerized with commercial aromatic dianhydride or dicarboxylic acid chloride monomers to provide several different poly(amic acid)s and polyamides with their inherent viscosities in the range of 0.24–0.46 dL/g. Thermal properties of these polymers including thermal imidization of poly(amic acid)s into polyimides were investigated by using FTIR, DSC, and TGA. © 2004 Wiley Periodicals, Inc. J Appl Polym Sci 92: 178–185, 2004     

Preparation and properties of polyelectrolyte complex sponges composed of hyaluronic acid and chitosan and their biological behaviors

Polyelectrolyte complexes (PECs) composed of chitosan and hyaluronic acid (HA) were prepared in various pH regions and at different weight ratios. At low pHs, there was a strong ionic interaction between NH groups in chitosan and both COO^? and COOH groups in HA due to the deprotonation of HA, whereas weak linkages were formed at high pHs because only the carboxyl groups of HA could interact with NH groups in chitosan. The formation of PECs resulted in a decrease in the crystallinity and thermal stability caused by the interactions between polyions. With variations in the degree of ionization of polyions at various pH conditions, novel PEC sponges were prepared by the freeze drying of PEC solutions. Furthermore, for the evaluation of the wound‐healing effect of PEC sponges with or without an antimicrobial agent (silver sulfadiazine), they were applied to a full‐skin defect of a Wistar rat in vivo. The histology and computerized morphometric analysis of the epidermal healing confirmed the proliferation of fibroblasts in the wound bed and a distinct reduction in infectious agents. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 90: 925–932, 2003     

Ozonolysis of cyclododecene

Ozonolysis of cyclododecene was carried out to produce an w-formyl carboxylic acid (12-oxododecanoic acid) which is derived from zwitterion and aldehyde moiety that are formed during the reaction. The ozonolysis was performed to examine the product distribution under such reaction variables as temperature, kinds of solvent, and presence of catalyst. The yield of polymeric ozonide, which is undesirable product, was measured to be dominantly 86% without pyridine catalyst, whereas, only 10.25% with the catalyst. The optimum reaction condition was to be in MC (methylene chloride) solvent, and in the presence of equimolar olefin and pyridine catalyst at O°C, at which the yields of polymeric ozonide, 1,12-dodecanedialdehyde, 1,12-dodecanedicarboxylic acid, and 12-oxo-dodecanoic acid were 10.25%, 26.72%, 26.31%, and 36.72%, respectively.     

Mechanical properties and morphology of polymer blends of poly(ethylene terephthalate) and semiflexible thermotropic liquid crystalline polyesters

Two thermotropic liquid crystalline polyesters (TLCPs) with long flexible spacer groups in the main chain were prepared by melt polymerization: one was a homopolymer with only decane groups (LCPHO) and the other was a copolymer with hexane or decane groups (LCPCO) between mesogen units. These polyesters were blended with a matrix polymer of poly(ethylene terephthalate) (PET). Scanning electron microscopy (SEM) revealed the excellent interfacial adhesion between polyester and PET, and the large aspect ratio of polyester microfibrils in the blend fiber made by extruding and drawing the blend through a die. The aspect ratio was estimated by using the modified Halpin-Tsai equation. The fiber with LCPHO showed more extensive fibril formation than that with LCPCO.