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.     

Analytical Modeling of Short-Channel Fully-Depleted Triple Work Function Metal Gate (TWFMG) SOI MESFET

Silicon - In this paper, a new structure: triple work function metal gate SOI MESFET, intended for integration into the deep-submicron CMOS technology, is proposed. The gate of the device consists...     

Designing customer-oriented catalogs in e-CRM using an effective self-adaptive genetic algorithm

Analysis of customer interactions for electronic customer relationship management (e-CRM) can be performed by way of using data mining (DM), optimization methods, or combined approaches. The microeconomic framework for data mining addresses maximizing the overall utility of an enterprise where transaction of a customer is a function of the data available on that customer. In this paper, we investigate an alternative problem formulation for the catalog segmentation problem. Moreover, a self-adaptive genetic algorithm has been developed to solve the problem. It includes clever features to avoid getting trapped in a local optimum. The results of an extensive computational study using real and synthetic data sets show the performance of the algorithm. In comparison with classical catalog segmentation algorithms, the proposed approach achieves better performance in Fitness and CPU-time.     

Adaptive Control for State Synchronization of Nonlinear Haptic Telerobotic Systems with Asymmetric Varying Time Delays

In this paper, we introduce a new adaptive controller design scheme for nonlinear telerobotic systems with varying time delays where the delays and their variation rates are unknown. The designed controller has the ability to synchronize the state behaviors of the local and the remote robots. In this paper, asymptotic stability in the presence of varying time delays is of interest. Using the proposed controller, asymptotic stability of the bilateral telerobotic system subject to any bounded yet unknown varying delay with a bounded yet unknown rate of change can be guaranteed. Besides the varying time delay, the proposed adaptive controller has the ability to adapt to the parameter variations in the local and the remote robots’ dynamics. It is shown that position and velocity errors between the local and the remote manipulators converge to the zero asymptotically, thus ensuring teleoperation transparency. Experimental and simulation results with a pair of PHANToM haptic devices and a pair of planar manipulators under varying time delays in the communication channel demonstrate the effectiveness of the proposed scheme.     

Viability of Lactobacillus acidophilus in rice bran‐enriched stirred yoghurt and the physicochemical and sensory characteristics of product during refrigerated storage

This study was aimed at investigating the fortification of probiotic yoghurt with rice bran to increase nutritional properties of the product. The different levels of rice bran (0.3%, 0.6%, 0.9% and 1.2%) were incorporated into milk. The yoghurt samples were produced after pasteurisation, addition of starter culture and 1% Lactobacillus acidophilus suspension (6 × 10⁸ CFU mL^?1) and incubation. During sample storage in refrigerator, the viability of L. acidophilus, viscosity and physicochemical and sensory properties of product were investigated. Rice bran significantly increased the viability of L. acidophilus (P < 0.05). In addition, all probiotic yoghurts incorporating rice bran indicated higher viscosity and acidity and lower pH and syneresis compared to plain yoghurts. Furthermore, increments in rice bran incorporation levels resulted in a reduction in consumers' sample preferences. In general, the addition of rice bran at a suitable level could increase L. acidophilus viability and improve quality attributes of yoghurt.     

A new mathematical model for integrating all incidence matrices in multi-dimensional cellular manufacturing system

In the past several years, many studies have been carried out on cellular manufacturing based on a two-dimensional machine–part incidence matrix. Since workers have important role in doing jobs on machines, assignment of workers to cells becomes a crucial factor for fully utilization of cellular manufacturing systems. In this paper, an attempt is made to solve cell formation problem and minimize the number of voids and exceptional elements in a three dimensional (cubic) machine–part–worker incidence matrix. The proposed mathematical model captures the capability of workers in doing different jobs. To demonstrate the effectiveness of the proposed model, the solution of some test problems is compared with the literature method.     

Synthesis of biocompatible and degradable microspheres based on 2‐hydroxyethyl methacrylate via microfluidic method

Monodisperse poly(2‐hydroxyethyl methacrylate), p‐HEMA, microspheres in size ranging from 16 to 340 (μm) were synthesized by in situ emulsion photopolymerization of HEMA monomer with polyethylene glycol diacrylate (p‐EGDA) by means of a three‐dimensional microfluidic flow‐focusing device. An aqueous solution of HEMA, p‐EGDA as chain extender and UV‐photoinitiator serving as dispersed phase formed microdroplets in a continuous oil phase mainly consisting of n‐heptane. A downward coaxial orifices design in the device led to confinement of the reaction admixtures thread to central axis of the microchannels. This design strategy could solve the wetting problem of dispersed phase with the microchannels leading to a successful production of monodisperse microspheres with size variation of less than 4%. The effects of concentration of p‐EGDA, surfactant, and flow rate ratios on microsphere size were examined. It was observed that increasing the concentration of p‐EGDA slightly increases the size whereas increasing the flow rate ratios of continuous to dispersed phase effectively decreases the size of microspheres. The rapid continuous synthesis of p‐HEMA based microspheres via the microfluidic route with reliable control over size, size distribution, and composition opens new doors for mass production of biocompatible and degradable polymeric microspheres for enormous biotechnological applications. © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2014 , 131, 40925.     

A comparison of Zayandehrood River water values for agriculture and the environment

River water management is challenging not only since they are open systems with changing physical structures, but also because the water values are mostly unknown over varied sectors. If policymakers grasp water values, water management will be more efficient. This research intends to examine the values of water in agriculture, which receives the most substantial portion of water resources, with the values of water in the environment in Isfahan located in the Zayandehrood River basin of Iran. The consequences of contingent valuation and production function methods revealed that per cubic metre value of water is 13 times higher in the environment than agriculture. The government should reconsider the higher value of the environment despite it is a non‐market value. The contingent valuation model additionally proved that women exhibited 21% more willingness to pay than men in order to protect the environment; however, they are paid less by 36%.     

Friction compensation of double inverted pendulum on a cart using locally linear neuro-fuzzy model

Double inverted pendulum on a cart (DIPC) is a highly nonlinear system. Due to its complex dynamics, it is widely used as a test-bed plant for the verification of newly designed controllers. In DIPC, two pendulums are kept upward by linear movements of cart. Because of this linear motions and frequent switching of velocity directions, another nonlinearity caused by friction becomes dominant around the equilibrium point. Friction introduces limit cycles to the system and results in a poor steady-state response. To eliminate these negative effects, the locally linear neuro-fuzzy (LLNF) approach is used to build an inverse model for friction compensation. This model is compared with multilayer perceptron network in order to demonstrate the better performance of LLNF. To stabilize DIPC, a common optimal controller is used, and despite its limited performance, experimental results show that the application of inverse modeling for friction compensation improves the steady-state response outstandingly.     

Antimicrobial Property,Antioxidant Capacity,and Cytotoxicity of Essential Oil from Cumin Produced in Iran

ABSTRACT: Cumin (Cuminum cyminum) is one of the commonly used spices in food preparations. It is also used in traditional medicine as a stimulant, a carminative, and an astringent. In this study, we characterized the antimicrobial, antioxidant, and cytotoxic activities of cumin. E. coli, S. aureus, and S. faecalis were sensitive to various oil dilutions. The total phenol content of the essential oil was estimated to be 33.43 μg GAE/mg of the oil. The oil showed higher antioxidant activity compared with that of BHT and BHA. The cumin essential oil exhibited a dose-dependent scavenging of DPPH radicals and 5.4 μg of the oil was sufficient to scavenge 50% of DPPH radicals/mL. At a concentration of 0.1 μL/mL, oil destructed Hela cells by 79%. The antioxidant activity of cumin essential oil might contribute to its cytotoxic activity. Acute and subchronic toxicity was studied in a 30-d oral toxicity study by administration to Wistar rats of the essential oil. A 17.38% decrease in WBCs count, and 25.77%, 14.24%, and 108.81% increase in hemoglobin concentration, hematocrit, and platelet count, respectively, were noted. LDL/HDL ratio was reduced to half, which adds to the nutritional effects of cumin. Thus, cumin with a high phenolic content and good antioxidant activity can be supplemented for both nutritional purposes and preservation of foods.