Inverse Dynamics of Servo-Constraints Based on the Generalized Inverse

The acceleration form of constraint equations is utilized in this paper to solve for the inverse dynamics of servo-constraints. A condition for the existence of control forces that enforce servo-constraints is derived. For overactuated dynamical systems, the generalized Moore-Penrose inverse of the constraint matrix is used to parameterize the solutions for these control forces in terms of free parameters that can be chosen to satisfy certain requirements or optimize certain criterions. In particular, these free parameters can be chosen to minimize the Gibbsian (i.e., the acceleration energy of the dynamical system), resulting in ideal control forces (those satisfying the principle of virtual work when the virtual displacements satisfy the servo-constraint equations). To achieve this, the nonminimal nonholonomic form recently derived by the authors in the context of Kanes method is used to determine the accelerations of the system, and hence to determine the forces to be generated by the redundant manipulators. Finally, an extension to inverse dynamics of servo-constraints involving control variables is made. The procedures are illustrated by two examples.     

Thermal Analysis of Flow in a Porous Medium Over a Permeable Stretching Wall

This work presents a similarity solution for boundary layer flow through a porous medium over a stretching porous wall. Two considered wall boundary conditions are power-law distribution of either wall temperature or heat flux which are general enough to cover the isothermal and isoflux cases. In addition to momentum, both first and second laws of thermodynamics analyses of the problem are investigated. Independent numerical simulations are also performed for verification of the proposed analytical solution. The results, from the two independent approaches, are found to be in complete agreement. A comprehensive parametric study is presented and it is shown that heat transfer and entropy generation rates increase with Reynolds number, Prandtl number, and suction to the surface.     

A profound density functional theory study to unravel the spectroscopic and molecular properties of two Flavanols differing in α-pyrone ring position

A comprehensive theoretical model was designed for two new flavanols that have been reported from Glycosmis pentaphylla, differing in the placement of α-pyrone ring. The density functional theory (DFT) approach was utilized for computing different properties of these compounds to validate the experimental findings and stereochemical assignments. Electronic properties, geometric parameters, frontier molecular orbitals (FMOs), molecular electrostatic potential (MESP), and natural bond orbital analysis were performed for the first time at the PBE0-D3BJ/def2-TZVP level of theory for the compounds under study. The simulated vibrational frequencies for compounds 1 and 2 were computed and compared with the experimental results. nuclear magnetic resonance (NMR) (¹H and ¹³C) chemical shift values were computed at the PBE0-D3BJ/def2-TZVP/SMD_DMSO level of theory and showed a very good agreement with the experimental results for both the compounds. The electronic circular dichroism (ECD) and ultraviolet–visible (UV) spectra for both the compounds were obtained using time-dependent DFT in methanol, whose results exhibited excellent correlation with experimental data. The intermolecular interaction effect on geometric parameters, vibrational frequencies, and electronic properties were studied for the first time.     

Interaction of the Amphiphilic Drug Amitriptyline Hydrochloride with Gemini and Conventional Surfactants: A Physicochemical Approach

Pyrene fluorescence measurements were carried out on various binary mixtures of the antidepressant amphiphilic drug amitriptyline hydrochloride (AMT) with conventional (TTAB and CTAB) and gemini surfactants (14-4-14 and 16-4-16). In all cases mixed micellar aggregates were formed and the mixed critical micelle concentration (cmc) of various mixtures was computed from the I ₁/I ₃ versus total surfactant concentration plots. In the region where mixed micelles are formed, the interaction of the amphiphlic drug and four surfactants showed synergistic behavior. The results were analyzed using an interaction parameter, β, which characterize the interaction in the mixed micelle and is introduced by a regular solution theory. The β values are negative in all binary mixtures, and their magnitudes increase with increasing hydrophobicity of the amphiphile. The micellar mole fraction of AMT in the mixed micelle (x ₁) and in the ideal sate (x _ideal) were evaluated and their values (x ₁ > x _ideal) suggest that the contribution of the AMT component is greater in binary mixtures as compared to that in the ideal state. Activity coefficients (f ₁ and f ₂) and excess Gibbs energy (G _ex) were also calculated. The values of micelle aggregation numbers (N _agg) and various other parameters like the Stern–Volmer constant (K _sv), micropolarity and dielectric constant of mixed systems have also been evaluated from the ratios of respective peak intensities (I ₁/I ₃ or I ₀/I ₁).     

Optimization of 89Zr production using Monte Carlo simulations

Zirconium-89 (⁸⁹Zr) can be produced in a cyclotron by focusing the proton beam on an yttrium-89 (⁸⁹Y) foil target. Optimal combination of beam energy and target assembly configuration enables maximum production of ⁸⁹Zr while minimizing the formation of contaminant nuclides such as ⁸⁸Zr and ⁸⁸Y to allow efficient and effective radiopharmaceutical labeling. Accurate modeling of the proton beam and the target is therefore an essential step to assure the best beam and target specification. We used the radiation transport code MCNPX to simulate the transport of protons through the irradiation assembly and the nuclear reaction code TALYS to obtain the production cross sections of various nuclides from proton-⁸⁹Y reactions. Results from simulating the irradiation of 14 mm diameter targets with aluminum (Al) degrader at 19.8 mA for 1 h suggested that the 0.15 mm thick one would produce 227 MBq while the 0.3 mm thick one would produce 413 MBq of ⁸⁹Zr with less than 1 % uncertainty. These results show excellent agreement with experimental work in literature. This work provides the basis for further experimental and theoretical assessments of the use of ⁸⁹Zr as radiopharmaceutical labels.     

Shape dependent energy optimization in quantum dots

In this paper, we investigate a minimization problem related to the principal eigenvalue of the Schrödinger operator. The optimized solution can be applied to design new electronic and photonic devices based on the quantum dots.     

Synthesis of 1-amidoalkyl-2-naphthol derivatives using a magnetic nano-Fe3O4@SiO2@Hexamethylenetetramine-supported ionic liquid as a catalyst under solvent-free conditions

Hexamethylenetetramine-functionalized silica-coated nano-Fe₃O₄ particles (MNPs@Hexamethylenetetramine) were prepared as a reusable heterogeneous catalyst using a facile process. The catalyst was synthesized and characterized using infrared, X-ray diffraction, scanning electron microscopy, thermogravimetric analysis, and vibrating sample magnetometer. This magnetic nanocatalyst was employed as an efficient, reusable, and environmentally benign heterogeneous catalyst for the synthesis of amidoalkylnaphthol derivatives from a one-pot three-component condensation reaction of beta-naphthol, aldehydes, and amides in good to excellent yields, Moreover, this catalyst can be easily recovered by using a magnetic field and directly reused for at least seven runs without sign ificant loss of its activity.     

Investigation of energy performance in a U-shaped evacuated solar tube collector using oxide added nanoparticles through the emitter,absorber and transmittal environments via discrete ordinates radiation method

Journal of Thermal Analysis and Calorimetry - This work is a three-dimensional numerical study of a U-shaped evacuated tube solar collector employing different types of oxide nanofluids including...     

Design and synthesis of A- and D ring-modified analogues of luotonin A with reduced planarity

A small library of A- and D-ring modified luotonin-inspired heterocyclic systems have been synthesised in moderate to good yields following a six-step route that starts from phenylalanine and has the final key stage an intramolecular Povarov reaction of imines obtained from a tetrahydroquinoline-derived alkynyl aldehyde and various arylamines.     

The topological structure of a certain Menger space

In this paper we will reconsider the topological structure of Menger probabilistic normed spaces (briefly PN-spaces) under the t-norm M. We will prove that this topology is compatible with the topology induced by a countable and separating family of semi-norms, and hence the well-known theorems of classical functional analysis (such as the principle of uniform boundedness, open mapping and closed graph theorems) are valid in this context also. We will meanwhile obtain a method by which one may construct easily a large class of PN-spaces. Finally, using this method, we see that a certain subspace of bounded linear operators between PN-spaces, i.e. the class of strongly bounded linear operators, has a natural PN structure.