Noncertainty equivalent adaptive control of robot manipulators without velocity measurements

This paper presents a noncertainty equivalent adaptive motion control scheme for robot manipulators in the absence of link velocity measurements. A new output feedback adaptation algorithm, based on the attractive manifold design approach, is developed. A proportional-integral adaptation is selected for the adaptive parameter estimator to strengthen the passivity of the system. In order to relieve velocity measurements, an observer is designed to estimate the velocities. The controller guarantees semiglobal asymptotic motion tracking and velocity estimation, as well as L_∞ and L₂ bounded parameter estimation error. The effectiveness of the proposed controller is verified by simulations for a two-link robot manipulator and a four-bar linkage. The results are further compared with the earlier certainty-equivalent adaptive partial and full state feedback controller to highlight potential closed-loop performance improvements.     

Homotopy perturbation method for motion of a spherical solid particle in plane couette fluid flow

He’s homotopy perturbation method is applied to obtain exact analytical solutions for the motion of a spherical particle in a plane couette flow. It is demonstrated that the applied analytical method is very straightforward in comparison with existing techniques. Furthermore, it is decidedly effectual in terms of accuracy and rapid convergence. The formulation of the problem is presented in the text as well as the analytical and numerical procedures. The current results can be used in different areas of particulate flows.     

Positive input observer‐based controller design for blood glucose regulation for type 1 diabetic patients: A backstepping approach

In practice, there are many physical systems that can have only positive inputs, such as physiological systems. Most conventional control methods cannot ensure that the main system input is positive. A positive input observer‐based controller is designed for an intravenous glucose tolerance test model of type 1 diabetes mellitus (T1DM). The backstepping (BS) approach is employed to design the feedback controller for artificial pancreas (AP) systems, based on the Extended Bergman''s Minimal Model (EBMM). The EBMM represents the T1DM in terms of the blood glucose concentration (BGC), insulin concentration, and plasma level and the disturbance of insulin during medication due to either meal intake or burning sugar by doing some physical exercise. The insulin concentration and plasma level are estimated using observers, and these estimations are applied as feedback to the controller. The asymptotic stability of the observer‐based controller is proved using the Lyapunov theorem. Moreover, it is proved that the system is bounded input‐bounded output (BIBO) stable in the presence of uncertainties generated by uncertain parameters and external disturbance. For realistic situations, we consider only the BGC to be available for measurement and additionally inter‐and intra‐patient variability of system parameters is considered.     

Implementation Issues in Turbo Decoding for 3GPP FDD Receiver

In the Frequency Division Duplex (FDD) mode of the Third Generation Partnership Project (3GPP) standard, implementation of the turbo decoder, especially for the mobile equipments, faces design decisions related to computational complexity, power efficiency, and memory requirements. In this paper we compare different approaches of low complexity implementation of the turbo decoder, with emphasis on the issues of signal scaling and quantization, the sliding window operation for memory size reduction and the iteration stopping algorithms. The demodulated signal at the output of the RAKE receiver may have a wide dynamic range and it may require many bits of precision. In order to overcome the numerical precision problem and to prevent Log Likelihood ratio (LLR) metric overflow, a scaling algorithm must be used. Our simulation results indicate that the Average Absolute (AA) algorithm using dynamic scaling outperforms other scaling schemes and it is less sensitive to the channel conditions. One of the major challenges in the implementation of a practical turbo decoder is optimization of memory requirements. In this paper we evaluate the performance of the sliding window algorithm using different main and guard window sizes. We show that the bit and block error rate performance of the sliding window scheme mainly depend on the guard window size rather than the main window size. The simulation results indicate that small guard window sizes can significantly decrease the iteration gain for large frames in fast fading channels. Iteration stopping algorithms reduce the power consumption and the latency of the decoder and help to dedicate more resources to other functions of the receiver. The block error distribution in the fading channels makes it even more essential to use an iteration stopping rule. Our simulations conclude that a rule called the minimum absolute value appears to be a very effective, low complexity and robust algorithm. Mohamadreza Marandian Hagh was born in Tabriz, Iran on January 1974. He received the B.S. and the M.S. degrees in electrical engineering from Tehran University with honors in 1996 and 1999, respectively. He is pursuing the Ph.D. degree in electrical engineering at Northeastern University, Boston. His research interests includes information theory, channel coding and iterative techniques for wireless communication systems. His current research is focused on low complexity designs for iterative receivers using Space-Time coding in time-dispersive channels. He is also interested in Exit-Chart analysis of iterative receivers. From 1996 to 1999, he was with Sana Pro Inc. as a system engineer, developing simulation tools for OFDM, WCDMA, CDMA2000. He is currently with Airvana Inc. in Chelmsford, MA and working on 1xEVDO wireless systems. Masoud Salehi received BS degree (Summa Cum Laude) from Tehran University and MS and Ph.D. degrees from Stanford University all in Electrical Engineering. Before joining Northeastern, he was with the Departments of Electrical and Computer Engineering, Isfahan University of Technology and Tehran University. From February 1988 to May 1989 Dr. Salehi was a visiting professor at the Information Theory Research Group, Department of Electrical Engineering, Eindhoven University of Technology, The Netherlands, where he did research in network information theory and coding for storage media.In 1989 Dr. Salehi joined Department of Electrical and Computer Engineering, Northeastern University. Professor Salehi is a member of the CDSP (Communication and Digital Signal Processing) Center. His main areas of research interest are network information theory, source-channel matching problems in single and multiple user systems, data compression, turbo coding, coding for fading channels, and digital watermarking. Professor Salehi’s research has been supported by research grants from the National Science Foundation (NSF), GTE, NUWC, CenSSIS, and Analog Devices. Professor Salehi has also done consulting to the industry including Teleco Oilfield Services and AT&T. Professor Salehi is currently a member of the Editorial Board of The International Journal of Electronics and Communications.Professor Salehi is the coauthor of the textbooks “Communication Systems Engineering”, Prentice-Hall 1994, 2002, “Contemporary Communication Systems Using MATLAB and Simulink” Thomson 1998, 2000, 2004, and “Fundamentals of Communication Systems”, Prentice-Hall 2005. Abhay Sharma received B.E. (Hons) Electrical and Electronics Engineering degree from Birla Institute of Technology and Science, Pilani, India in 1996 and M.S. Electrical Engineering degree from Ohio State University, Columbus in 2000. From 2000 to 2005 he was working with Analog Devices, RF and Wireless Systems Group, Wilmington, USA, where he was working on design and implementation of algorithms for the emerging cellular communication standards. Currently he is working with Allgo Embedded Systems, Bangalore, India, in the area of wireless networks and systems based on the emerging W-PAN wireless technologies. Zoran Zvonar received the Dipl. Ing. degree in 1986 and the M.S. degree in 1989, both from the Department of Electrical Engineering, University of Belgrade, Yugoslavia, and the Ph.D. degree in Electrical Engineering from the Northeastern University, Boston, in 1993.From 1986 to 1989 he was with the Department of Electrical Engineering, University of Belgrade, Belgrade, Yugoslavia, where he conducted research in the area of telecommunications. 1993 to 1994 he was a Post-Doctoral investigator at the Woods Hole Oceanographic Institution, Woods Hole, MA, anconducted research on multiple-access communications for underwater acoustic networks. Since 1994 he has been with the Analog Devices, Communications Division, Wilmington, USA. He is the Manager of the Systems Engineering Group focusing on the design of algorithms and architectures for wireless communications, with emphasis on integrated solutions and real-time software.He was a Guest Editor of the IEEE Transactions on Vehicular Technology, the International Journal of Wireless Information Networks and the ACM/Baltzer Wireless Networks, Associate Editor of the IEEE Communications Letters and a co-editor of the books GSM: Evolution Towards Third Generation Systems, Kluwer Academic Publishers, 1998, Wireless Multimedia Networks Technologies, Kluwer Academic Publishers, 1999 and Software Radio Technologies: Selected Reading, IEEE Press, 2001. Dr. Zvonar is currently Co-Editor of the Radio Communication Series in the IEEE Communications Magazine.     

An investigation on the behavior of electrospun ZnO nanofibers under the application of low frequency AC electric fields

In present study, the behavior of electrospun ZnO nanofibers under the application of low frequency alternating (AC) electric fields within the range of 1 Hz–20 kHz was investigated using planar parallel electrodes. In the first stage, ZnO nanofibers with diameters up to 100 nm were prepared by electrospinning. At 1 Hz, the strong electric field-induced fluid flow due to charge redistribution around the electrode swept the fibers on the electrode surface farther from the edges. As the frequency was increased to 1 kHz, most depositing fibers accumulated on the electrode edges and in the meantime, a small fraction of them was pushed into the surface as a result of AC electroosmosis effect. Above 1 kHz, the fibers were assembled within the electrode gap bridging the interelectrode space. The dielectrophoresis force was considered responsible for the assembly and relative alignment of ZnO nanofibers above 1 kHz.     

Reducing Dangerous Effects of Unsymmetrical Dimethylhydrazine as a Liquid Propellant by Addition of Hydroxyethylhydrazine—Part I: Physical Properties

In this work, the effect of low volatile hydroxyethylhydrazine (HEH) as a solute on unsymmetrical dimethylhydrazine (UDMH) has been studied in order to reduce harmful effects of UDMH vapors. Desirable physical properties of binary mixtures UDMH/HEH have been measured and compared to pure UDMH. These properties include boiling point, viscosity, density, and vapor pressure that are important for using binary mixtures of UDMH/HEH as less dangerous liquid propellants. Due to the formation of strong hydrogen bonding between UDMH and HEH, the volatility of UDMH has been reduced appreciably upon the addition of HEH. It is indicated that the measured physical properties may deviate significantly compared to corresponding predicted values. Binary mixtures of UDMH/HEH can also react spontaneously in contact with nitrogen tetroxide (NTO) and red fuming nitric acid (RFNA), so they can be called hypergolic propellants.     

Preparation,characterization and performance studies of polyethersulfone (PES) - pyrolytic carbon (PyC) composite membranes

Polyethersulfone (PES) is one of the most common polymers used to manufacture membranes. This work focuses on introducing and developing a novel polymer-based membrane applicable in the bio-artificial pancreas. The novel membrane based on the mixture of PES and Pyrolytic carbon (PyC) was studied and compared to PES as a reference. The PES/PyC blend membranes were characterized by top surface SEM, cross section SEM, AFM, contact angle pure water flux, insulin rejection, rejection of immune cells and molecules, and insulin diffusivity performance. In addition, the porosity of the membranes, mean pore size and mean pore density were also measured. The AFM and SEM images indicate that addition of synthesized PyC in the casting solution results in a membrane with high surface and sub-layer porosity and the addition 0.1 wt.% PyC to the casting solution reduced the surface roughness from 22.4 nm to 4.8 nm. The contact angle measurements reveal that the hydrophobicity of pure PES membrane enhanced with increasing the PyC concentration in the casting solution. With the increase of PyC from 0.0 wt.% to 0.1 wt.% in the casting solution, pure water flux reduces from 184 to 153 (L/m²h), insulin rejection reduces from 12 to 9.3%, rejection of immune cells and molecules reduce from 91.8 to 83% and insulin diffusivity increased from1.22E-8 to 1.46E-8. Furthermore, the resulting numbers for the mean pore size, mean pore density, and porosity of the PES-PyC(0.1 wt.%) membrane indicate a considerable improvement compared to pure PES membrane with increasing from 5.5 nm to 7 nm, 26 to 43 pores/area (area stand for the size of membrane surface in which pores were counted), and 68.3% to 84.6%, respectively. At the end, the statistical analysis was performed.     

ZnO Nanoparticles as Ethanol Gas Sensors and the Effective Parameters on Their Performance

<正>ZnO nanoparticles are synthesized and applied as ethanol gas sensors.In some cases,the sensitivity and response time of these particles are shown to be higher than that has been reported in the literature.It has been investigated that the most possible reason for this higher gas sensing performance can be attributed to the quantity of the activity coefficient of its initial components.However,other effects such as pH and thermal decomposition are of importance as well.Specific ion interaction(SIT) model is applied to derive the mean activity coefficient values of the additives used in synthesis of ZnO nanoparticles.     

Thermophysical and rheological behavior of polystyrene/silica nanocomposites: Investigation of nanoparticle content

In this work, solvent blending in combination with extruding are applied to provide polystyrene/silica nanocomposite specimens. Transmission electron microscope (TEM) and scanning electron microscope (SEM) show same nanoparticle dispersion in PS matrix in low to high filler loadings. Differential scanning calorimetry (DSC), dynamic mechanical thermal analyzer (DMTA) and thermogravimetric analyzer (TGA) were used to study the thermophysical characteristic of the nanocomposites in solid state. In addition, the melt state rheological behavior of the samples was investigated under constant and zero shear rates. Interestingly, different behaviors were detected in nanocomposites in low and high nanoparticle loadings. In addition, rheological characteristics of molten polymer are dramatically affected in samples with low nanosilica concentration while stabilized in high filler loadings.