An Approach to Feed-Forward Controller Design for Underactuated Multibody Systems in the Presence of Uncertainty

The performance of a model-based tracking controller depends on the quality of the underlying model. Especially for flexible multibody systems, the derivation of a suitable model and the subsequent controller design are challenging tasks. In the paper, it is shown how in a straightforward approach a feed-forward controller for a flexible multibody system is designed based on a simplified model which approximates an elastic beam by a combination of rigid beams and force elements. Furthermore, the modelling error due to this harsh simplification is included as uncertainty in the simplified model and considered in the model-based feed-forward controller design using fuzzy arithmetic. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Performance assessment of a trajectory-tracking approach for a manipulator with uncertainties using inverse fuzzy arithmetic

A trajectory-tracking approach for a parallel kinematic manipulator with flexible links is investigated with respect to its robustness to undesired initial oscillations. For this purpose, an inverse fuzzy arithmetical scheme is presented and applied, in order to estimate allowable bounds on the initial conditions such that a certain tolerance band around the desired trajectory is not violated. The uncertainty bounds on the initial conditions obtained from this identification procedure indicate the influence of the disturbances on the tracking error, and thus also the robustness and the performance of the control scheme. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Depth profiling of latex blends of fluorinated and fluorine‐free acrylates with laser‐induced secondary mass spectrometry

We explored phase separation and self‐assembly of perfluoroalkyl segments at the surface of polymer films obtained from latices of semifluorinated acrylate copolymers and the corresponding latex blends of nonfluorinated and semifluorinated polyacrylates. With laser‐induced secondary mass spectrometry the fluorine distribution was measured after annealing above the minimum film‐forming temperature of the polymers up to a depth of several micrometers. Depth profiles of a semifluorinated acrylate homopolymer and latex blends thereof with fluorine‐free alkylacrylates with 25, 50, and 75 mol % semifluorinated acrylate as well as a copolymer comprised of alkyl acrylate and semifluorinated acrylate (50/50 mol %) were investigated. In the case of latex blends containing both semifluorinated polyacrylates and fluorine‐free or low‐fluorine polymers, self‐assembly accounted for enrichment of the perfluoroalkyl segments at the surface. Coatings exhibiting low surface energy and having a substantially reduced total fluorine content were obtained. © 2003 Wiley Periodicals, Inc. J Polym Sci Part B: Polym Phys 41: 360–367, 2003     

Magnetic after-effect in magnetite below the verwey point

The fractional change in the initial magnetic susceptibility (Δx/x), shows a logarithmic time dependence below the Verwey point (T_V). Isochromes of the form 1n Δx/x=const?15 T/T_V, found just below T_V, suggest a five-parameter electron ordering.     

SITE-SELECTION SPECTROSCOPY OF CHLOROPHYLL b IN MEMBRANES OF LECITHIN VESICLES AND IN OTHER SOLVENTS

Abstract— Site-selection fluorescence spectra of chlorophyll b in membranes of lecithin vesicles and in the solvents ethanol, n -butanol, n -butyl acetate, 2-methyl tetrahydrofuran and toluene are presented. The spectra in vesicles display zero-phonon lines as pronounced as those in the best organic glasses. The characteristics of the distributions of O—O transition energies and of the electron-phonon couplings allow to infer the position of the chlorophyll molecule in the membrane of vesicles. It is thus found that the chromophore of chlorophyll b is situated in the layer formed by the ester moieties of the lecithins, i. e. close to the surface of the membrane but not in direct contact with the aqueous phase.