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.     

Simulation of clinker grinding circuits of cement plant based on process models calibrated using GA search method简

Particle size distributions of obtained samples from several sampling campaigns were determined and raw data were mass balanced before being used in simulation studies.After determination of breakage function,selection function,Bond work index,residence time distribution parameters,and Whiten＇s model parameters for air separators and diaphragms between the two compartments of tube ball mills,performance of the circuits was simulated for given throughputs and feed particle size distribution.Whiten＇s model parameters were determined by GA（genetic algorithm） toolbox of MATLAB software.Based on implemented models for modeling and simulation,optimization of circuits was carried out.It increased nearly 10.5% and 15.8% in fresh feed capacity input to each tube ball mill.In addition,circulating load ratios of circuits are modified to 118% and 127% from low level of 57% and 22%,respectively,and also cut points of air separators are adjusted at 30 and 40 μm from high range of 53 and 97 μm,respectively.All applications helped in well-operation and energy consumption reduction of equipments.     

Cavity Control of Prefoldin Nano Actuator (PNA) by Temperature and pH

Nano-Micro Letters - A molecular dynamics study to investigate the cavity control of Prefoldin based bio nano actuator is presented in this paper. Prefoldin is a molecular chaperone with a...     

Representation of Dynamic Positioning on Hovering Type Autonomous Underwater Vehicle in Precise Welding Operations

This paper proposes dynamic positioning (DP) on a hovering autonomous underwater vehicle (HAUV) to perform accurate underwater processes such as welding operations. High maneuverability, high controllability, and hovering of the robot were the prerequisites of this operation, which increase its accuracy and velocity and reduce costs and human health risks. Other types of thrusters were used in this robot to reduce the number of thrusters and controller''s complexity. Controlling every 6 degrees of freedom to perform this type of operation was done. Furthermore, such a delicate operation required controlling the translational and rotational movements together. There was also a need to control the velocities to travel in a prescribed distance at a reasonable time. The possibility of dynamic positioning for welding and maintaining position at a point was defined for the robot. Then the robot''s performance under a defective state-servo motor failure, thruster malfunction-and the subsequent effects on the performance during the predetermined missions were investigated. Simulation results demonstrated that the HAUV has the capability to perform dynamic positioning operations. In this article, one of the prevalent classic control methods called PID controller was employed for controlling the movements of the robot.     

Specific Heat of the 1D Spin-1/2 Ising Model with Added Dzyaloshinskii–Moriya Interaction

The 1D spin-1/2 Ising model in a uniform magnetic field with added the Dzyaloshinskii–Moriya (DM) interaction is considered. The energy spectrum is obtained using the fermionization approach and defining some mean field order parameters. Then the specific heat is determined in an infinite chain system. Results show that there is only one peak in the specific heat as a function of the temperature. In the Neel phase, the position of the peak is found almost field-independent, but the maximum value of the specific heat decreases by increasing the magnetic field. Also, in the region of the saturated ferromagnetic phase, by increasing h, the peak becomes wider and goes to higher temperatures, which is a signal for the saturated ferromagnetic phase. In addition, the specific heat at low temperature shows two peaks structure on both sides of the quantum critical point.     

A density-based fuzzy clustering technique for non-destructive detection of defects in materials

In non-destructive testing and evaluation of materials, defects contain visible aggregations of similar levels of brightness with large scale of correlation between them. In most cases, these brightnesses have no notable contrast relative to non-defect counterparts. However, the density and the size of the defect are visually the most notable features. In this paper, we have utilized human conception for classifying defects by the fusion of fuzzy clustering method and fuzzy logic rules based on the density and the size of the defect. The probability of detection and the probability of error are compared with the Bayes classifier. The proposed approach shows that there is less dependency between the variation of density and size of a defect and variations of noise density and distribution. Experimental images from eddy current, ultrasonic and radiography techniques are investigated. It is shown that the new approach reduces the noise and drift, leading to a better detection of defects.     

Superpixel-based brain tumor segmentation in MR images using an extended local fuzzy active contour model

Multimedia Tools and Applications - In this paper, to deal with poor boundaries in the presence of noise and heterogeneity of magnetic resonance (MR) images, a new region-based fuzzy active contour...     

Insights into Theranostic Properties of Titanium Dioxide for Nanomedicine

Titanium dioxide(TiO2)nanostructures exhibit a broad range of theranostic properties that make them attractive for biomedical applications.TiO2 nanostructures promise to improve current theranostic strategies by leveraging the enhanced quantum confinement,thermal conversion,specific surface area,and surface activity.This review highlights certain important aspects of fabrication strategies,which are employed to generate multifunctional TiO2 nanostructures,while outlining post-fabrication techniques with an emphasis on their suitability for nanomedicine.The biodistribution,toxicity,biocompatibility,cellular adhesion,and endocytosis of these nanostructures,when exposed to biological microenvironments,are examined in regard to their geometry,size,and surface chemistry.The final section focuses on recent biomedical applications of TiO2 nanostructures,specifically evaluating therapeutic delivery,photodynamic and sonodynamic therapy,bioimaging,biosensing,tissue regeneration,as well as chronic wound healing.