Tracking control of high-performance robots via stabilizing controllers for uncertain systems

The development of flexible manufacturing systems calls for industrial robots characterized by robustness of performance with regard to the variations of the loads and real time specification of the trajectory in the work space. In this paper, the design of a feedback controller guaranteeing such performance is considered. At first, the manipulator dynamics are embedded into a larger class of uncertain dynamical systems and a class of feedback controls is proposed that guarantees uniform ultimate boundedness of the tracking error. Successively, the methodology is specialized for the case of robotic manipulators to track trajectories described in task-oriented coordinates; the proposed control algorithm operates without requiring any explicit coordinate transformation.     

Vibrational overtone spectroscopy, energy levels, and intensities of (CH3)3C-C≡C-H

The vibrational overtone spectra of the acetylenic (Δυ = 4, 5) and methyl (Δυ = 5, 6) C-H stretch transitions of tert-butyl acetylene [(CH(3))(3)C-C≡C-H] were obtained using the phase shift cavity ring down (PS-CRD) technique at 295 K. The C-H stretch fundamental and overtone absorptions of the acetylenic (Δυ = 2 and 3) and methyl (Δυ = 2-4) C-H bonds have been obtained using a Fourier transform infrared and near-infrared spectrophotometer. Harmonic frequency ω(ν(1)) and anharmonicities x(ν(1)) and x(ν(1), ν(24)) are reported for the acetylenic C-H bond. Molecular orbital calculations of geometry and vibrational frequencies were performed. A harmonically coupled anharmonic oscillator (HCAO) model was used to determine the overtone energy levels and assign the absorption bands to vibrational transitions of methyl C-H bonds. Band strength values were obtained experimentally and compared with intensities calculated in terms of the HCAO model where only the C-H modes are considered. No adjustable parameters were used to get order of magnitude agreement with experimental intensities for all pure local mode C-H transitions.     

Polycondensed heterocycles. I. Synthesis of 11-oxo-5H, 11H-pyrrolo[2,1-c][1,4]benzothiazepine,Derivative of a novel ring system

The synthesis of the title compound 4 by cyclization of 1-(2-ethoxycarbonylthiobenzyl)pyrrole 9 , prepared by treating with ethyl chloroformate the 1-(2-mercaptobenzyl)pyrrole 7 previously obtained by debenzylation of 1-(2-benzylthiobenzyl)pyrrrole 6 , failed. On the other hand 4 was successfully synthesized by intramolecular cyclization of 1-(2-mercaptobenzyl)pyrrole-2-carboxylic acid 15 by DMAP -catalyzed DCC method. The pyrrole 6 and 1-(2-benzylthiobenzyl)pyrrole-2-carboxaldehyde 11 were useful as starting materials to obtain 1-(2-benzylthiobenzyl)pyrrole-2-carbonitrile 13 , which was hydrolyzed to corresponding amide 16 . Debenzylation of 16 afforded 1-(2-mercaptobenzyl)pyrrole-2-carboxyamide 17 , whose hydrolysis led to required acid 15 .     

Symmetry in a free boundary problem for degenerate parabolic equations on unbounded domains

We use the method of Alexandroff-Serrin to establish the spherical symmetry of the ground domain and of the weak solution to a free boundary problem for a class of quasi-linear parabolic equations in an unbounded cylinder , where , with a simply connected bounded domain. The equations considered are of the type , with modeled on . We consider a solution satisfying the boundary conditions: for , and , as . We show that the overdetermined co-normal condition for , with 0$"> for at least one value , forces the spherical symmetry of the ground domain and of the solution.

     

Efficient and simple synthesis of 6-aryl-1,4-dimethyl-9H-carbazoles

A synthetic method for the preparation of 6-aryl-1,4-dimethyl-9H-carbazoles involving a palladium catalyzed coupling reaction of 1,4-dimethyl-9H-carbazole-6-boronic acids and (hetero)aryl halides is described.     

The Peter principle revisited: A computational study

In the late sixties the Canadian psychologist Laurence J. Peter advanced an apparently paradoxical principle, named since then after him, which can be summarized as follows: ‘Every new member in a hierarchical organization climbs the hierarchy until he/she reaches his/her level of maximum incompetence’. Despite its apparent unreasonableness, such a principle would realistically act in any organization where the mechanism of promotion rewards the best members and where the competence at their new level in the hierarchical structure does not depend on the competence they had at the previous level, usually because the tasks of the levels are very different to each other. Here we show, by means of agent based simulations, that if the latter two features actually hold in a given model of an organization with a hierarchical structure, then not only is the Peter principle unavoidable, but also it yields in turn a significant reduction of the global efficiency of the organization. Within a game theory-like approach, we explore different promotion strategies and we find, counterintuitively, that in order to avoid such an effect the best ways for improving the efficiency of a given organization are either to promote each time an agent at random or to promote randomly the best and the worst members in terms of competence.