Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot

In this study, a novel control strategy that combines a fuzzy system and the sliding mode controller is proposed for improving stability and achieving high-accuracy control in service robots. Based on the kinematic and dynamic models of a 4-degrees of freedom manipulator, and the observed tracking error using a low-cost inertial sensor, the proposed fuzzy sliding mode controller (FSMC(IMU)) is designed to generate appropriate torques at robot joints. The FSMC(IMU) controller parameters are adjusted through a fuzzy rule that determines the state of the system. The error in trajectory tracking is reduced through this. The gain value K can be finely adjusted by fuzzy control by observing the degree of vibration after entering the sliding mode surface. The larger the observed vibration value, the faster the fuzzy controller follows the given input trajectory by selecting a smaller gain value K and reducing jitter due to the sliding mode control’s discontinuous switch characteristics. When the degree of error is small, it achieves faster and more accurate control performance than when the observer is not used. The stability of the FSMC(IMU) system is verified via disturbance experiments. The experimental data are compared with the conventional sliding mode controller and proportional-derivative control. The experimental results demonstrate that the proposed FSMC(IMU) controller is stable, fast, and highly accurate in controlling service robots.

     

Leaching kinetics of neodymium in sulfuric acid from E-scrap of NdFeB permanent magnet

The leaching kinetics of neodymium in NdFeB permanent magnet powder was analyzed for the purpose of recovery of neodymium in sulfuric acid (H₂SO₄) from E-scrap (electric scrap) of NdFeB permanent magnet powder treated by oxidation roasting to form a reactant. The reaction was conducted with H₂SO₄ concentrations ranging from 2.5 to 3.5M, a pulp density of 110.8 g/L, an agitation speed of 750 rpm, and a temperature range of 30 to 70 °C. After 4 h of leaching, the neodymium content in the E-scrap powders was completely converted into a neodymium sulfate (Nd₂(SO₄)₃) solution phase in H₂SO₄ in the condition of 70 °C and 3.0M H₂SO₄. Based on a shrinking core model with sphere shape, the leaching mechanism of neodymium was determined by the rate-determining step of the ash layer diffusion. Generally, the solubility of pure rare earth elements in H₂SO₄ is decreased with an increase in leaching temperatures. However, the leaching rate of the neodymium in E-scrap powders increased with the leaching temperatures in this study because the ash layer included in the E-scrap powder provided resistance against the leaching. Using the Arrhenius expression, the apparent activation energy values were determined to be 2.26 kJmol^?1 in 2.5M H₂SO₄ and 2.77 kJmol^?1 in 3.0 M H₂SO₄.     

Photocatalytic degradation of methylene blue and acetaldehyde by TiO<Subscript>2</Subscript>/glaze coated porous red clay tile

Nanosized TiO₂ sol synthesized by sol-gel method was successfully coated on the porous red clay tile (PRC tile) with micrometer sized pores. PRC tile was first coated with a low-firing glaze (glaze-coated PRC tile) and then TiO₂ sol was coated on the glaze layer. A low-fired glaze was prepared at various blending ratios with frit and feldspar, and a blending ratio glazed at 700 °C was selected as an optimum condition. Then TiO₂ sol synthesized from TTIP was dip-coated on the glazed layer (TiO₂/glaze-coated PRC tile), and it was calcined again at 500 °C. Here, these optimum calcination temperatures were selected to derive a strong bonding by a partial sintering between TiO₂ sol particles and glaze layer. Photocatalytic activity on the TiO₂/glaze-coated PRC tile was evaluated by the extent of photocatalytic degradation of methylene blue and acetaldehyde. Methylene blue with the high concentration of 150 mg/l on the surface of TiO₂/glaze-coated PRC tile was almost photodegraded within 5 hours under the condition of average UV intensity of 0.275 mW/cm₂, while no photodegradation reaction of methylene blue occurred on the glaze-coated PRC tile without TiO₂. Another photocatalytic activity was also evaluated by measuring the extent of photocatalytic degradation of gaseous acetaldehyde. The photodegradation efficiency in TiO₂/glaze-coated PRC tile showed about 77% photocatalytic degradation of acetaldehyde from 45,480 mg/l to 10,536 mg/l after the UV irradiation of 14 hours, but only about 16% in the case of the glaze-coated PRC tile.     

Characterization and application of electrospun alumina nanofibers

Alumina nanofibers were prepared by a technique that combined the sol–gel and electrospinning methods. The solution to be electrospun was prepared by mixing aluminum isopropoxide (AIP) in ethanol, which was then refluxed in the presence of an acid catalyst and polyvinylpyrolidone (PVP) in ethanol. The characterization results showed that alumina nanofibers with diameters in the range of 102 to 378 nm were successfully prepared. On the basis of the results of the XRD and FT-IR, the alumina nanofibers calcined at 1,100°C were identified as comprising the α-alumina phase, and a series of phase transitions such as boehmite → γ-alumina → α-alumina were observed from 500°C to 1,200°C. The pore size of the obtained γ-alumina nanofibers is approximately 8 nm, and it means that they are mesoporous materials. The kinetic study demonstrated that MO adsorption on alumina nanofibers can be seen that the pseudo-second-order kinetic model fits better than the pseudo-first-order kinetic model.     

Kinetics of aluminum dross dissolution in sec-butyl alcohol for aluminum sec-butoxide

Al sec-butoxide (ASB) has been used as a precursor for activated aluminas but its cost is higher than any other type of precursor. This study was carried out on the dissolution kinetics for synthesis of the ASB from Al dross waste. The reaction was performed under the molar ratio of Al dross and sec-butyl alcohol (SBA) of 3 mol SBA/mol Al with a catalyst of 10^?3 mol HgI₂/mol Al and three different dissolution temperatures of 80, 90 and 100 °C. The Al reactant was used with Al dross of 3–5 mm size range. As a result of the experiment, the dissolution reaction gave a 65% yield after 24 h. The dissolution mechanism was determined by the shrinking core model assumed by the shape of spherical particles. Especially, the kinetic data were well fitted by a chemical reaction in the model. By the Arrhenius equation, the apparent activation energy was determined to be 40.9 kJ mol^?1 at the given reaction temperatures.     

Transversely-pumped counter-propagating optical parametricoscillators and amplifiers: conversion efficiencies and tuning ranges

We show that the second-order optical nonlinearities in the waveguides can be used to implement transversely-pumped counter-propagating optical parametric oscillators and amplifiers. By changing the incident angle of the pump beam, one can tune the output frequency in a large range. For the optimal semiconductor structure and with the presence of the horizontal and vertical cavities, the threshold pump powers for the oscillation can be as low as ~100 μW. There is no threshold for amplifying the incident beam. Combining the oscillators or amplifiers with vertical-cavity surface-emitting lasers, it is feasible for us to implement compact and efficient electrically-pumped mid-infrared light sources or amplifiers. The quasiphase matching is achieved by spatially modulating second-order susceptibility along the growth direction based on semiconductor alternating thin layers or asymmetric quantum well domain structures     

A two-photon fluorescent probe for lipid raft imaging: C-laurdan

The lipid-rafts hypothesis proposes that naturally occurring lipid aggregates exist in the plane of membrane that are involved in signal transduction, protein sorting, and membrane transport. To understand their roles in cell biology, a direct visualization of such domains in living cells is essential. For this purpose, 6-dodecanoyl-2-(dimethylamino)naphthalene (laurdan), a membrane probe that is sensitive to the polarity of the membrane, has often been used. We have synthesized and characterized 6-dodecanoyl-2-[N-methyl-N-(carboxymethyl)amino]naphthalene (C-laurdan), which has the advantages of greater sensitivity to the membrane polarity, a brighter two-photon fluorescence image, and reflecting the cell environment more accurately than laurdan. Lipid rafts can be visualized by two-photon microscopy by using C-laurdan as a probe. Our results show that the lipid rafts cover 38 % of the cell surface.     

Adsorption and thermodesorption characteristics of benzene in nanoporous metal organic framework MOF-5

This study has been prepared and characterized a highly nanoporous metal organic framework (MOF-5). The nitrogen adsorption isotherm, gravimetric adsorption and thermodesorption method that utilize a quartz spring balance are used to examine the unusual adsorption behavior. Especially, the hybrid Langmuir–Sips isotherm equation is employed to correlate the experimental isotherm data. Moreover, the unusual adsorption behavior in MOF-5 is discussed in relation to its isosteric enthalpy of adsorption, adsorption energy distribution and desorption energy distribution calculated from benzene adsorption and thermodesorption measurements.     

Microstructural analysis of the calcium aluminosilicate (CAS) glass-ceramic matrix in SiCf/CAS composites deformed at a high temperature

The calcium aluminosilicate (CAS: anorthite) glass-ceramic matrix materials in the SiCf/CAS composites deformed in compression at a high temperature were analyzed for microstructures. The matrix region right above the top of the SiC fiber ( 0°) showed high density of dislocations as well as twins. On the other hand, the matrix region remote from the top of the SiC fiber ( 90°) showed only a twinned structure. This experimental result was compared with the Meyer et al.'s mechanical modeling indicating that the interfacial traction of the matrix region right on the top of the fiber is significantly high compared to the remote stress and thus it rate limits the creep deformation of the composite.     

Nanocrystalline TiO2 films treated with acid and base catalysts for dye-sensitized solar cells

Crystalline size and porosity of TiO₂ films are known to be easily controlled by changing acid or base catalyst concentration. This work investigates the influence of acid/base catalyst treatments of TiO₂ nanoparticles on the efficiency of dye-sensitized solar cells (DSSCs). The results indicate that the performance of DSSC fabricated with base-treated TiO₂ is remarkably better than that fabricated with acid-treated TiO₂ because of different film properties including particle size, shape, film porosity, and surface structure and electron transport phenomena.