Robust control of a spatial robot using fuzzy sliding modes

In order to improve the performance of the sliding mode controller, fuzzy logic sliding mode controller is proposed in this study. The control gain of the conventional sliding mode controller is tuned by a fuzzy logic rule base and, also dynamic sliding surfaces are obtained by changing their slopes using the error states of the system in another fuzzy logic algorithm. These controllers are then combined in order to enhance the performance. Afterwards, proposed controllers were used in trajectory control of a three degrees of freedom spatial robot, which is subjected to noise and parameter variations. Finally, the controllers introduced are compared with a PID controller which is commonly used for control of robotic manipulators in industry. The results indicate the superior performance of the proposed controller.     

Surface electronic structure transitions at high temperature on perovskite oxides: the case of strained La0.8Sr0.2CoO3 thin films

In-depth probing of the surface electronic structure on solid oxide fuel cell (SOFC) cathodes, considering the effects of high temperature, oxygen pressure, and material strain state, is essential toward advancing our understanding of the oxygen reduction activity on them. Here, we report the surface structure, chemical state, and electronic structure of a model transition metal perovskite oxide system, strained La(0.8)Sr(0.2)CoO(3) (LSC) thin films, as a function of temperature up to 450 °C in oxygen partial pressure of 10(-3) mbar. Both the tensile and the compressively strained LSC film surfaces transition from a semiconducting state with an energy gap of 0.8-1.5 eV at room temperature to a metallic-like state with no energy gap at 200-300 °C, as identified by in situ scanning tunneling spectroscopy. The tensile strained LSC surface exhibits a more enhanced electronic density of states (DOS) near the Fermi level following this transition, indicating a more highly active surface for electron transfer in oxygen reduction. The transition to the metallic-like state and the relatively more enhanced DOS on the tensile strained LSC at elevated temperatures result from the formation of oxygen vacancy defects, as supported by both our X-ray photoelectron spectroscopy measurements and density functional theory calculations. The reversibility of the semiconducting-to-metallic transitions of the electronic structure discovered here, coupled to the strain state and temperature, underscores the necessity of in situ investigations on SOFC cathode material surfaces.     

Synthesis of some azacrown derivatives and fabrication of their nanofilms on the glassy carbon surface

The modification of N-phenyl-aza-15-crown-5 (PA15C5) and N-(4-aminophenyl)-aza-15-crown-5 (4APA15C5) on glassy carbon (GC) electrode was performed by the electrochemical oxidation of the corresponding azacrown derivatives in anhydrous acetonitrile media. The electrochemical behavior of the resulting modified GC electrode was investigated in the presence of electroactive redox probes and these results, together with the X-ray photoelectron spectroscopy (XPS) and reflection-absorption infrared spectroscopy were used to confirm the attachment of these molecules onto the GC surface. The ellipsometric thicknesses of PA15C5 and 4APA15C5 films at the GC surface was obtained around 9.28 ± 0.40 and 10.50 ± 1.10 nm, respectively. Azacrown modified nanoscale surfaces serve as alkali metal sensor specific for their cavity in the crown ring.     

Charge localization increases chemical expansion in cerium-based oxides

In this work, we demonstrate the mechanism by which electronic charge localization increases the chemical expansion coefficient in two model systems, CeO(2-δ) and BaCeO(3-δ). Using Density Functional Theory calculations, we predict that this coefficient is increased by more than 70% when charge is fully localized, consistent with the observation that materials with a smaller degree of charge localization have smaller chemical expansion coefficients. This finding has important consequences for devising materials with smaller chemical expansion coefficients and for the reliability of the widely-used Shannon's ionic radii.     

Adsorption and solid phase extraction of 8-hydroxyquinoline from aqueous solutions by using natural bentonite

The nitrogen-heterocyclic compound 8-hydroxyquinoline (8HQ) is one of the components of coal tar and has a wide variety of uses in industry. Because of its toxicity for aquatic organisms and harmful effects for human health, the removal of 8HQ from aqueous solutions by adsorption onto natural bentonite was investigated in the present work. The experimental results show that the optimum pH value of 2.5 is favourable for the 8HQ adsorption. The experimental data were fitted well with the pseudo-second-order kinetic and Langmuir adsorption isotherm models at all studied temperatures. The maximum adsorption capacity obtained from the Langmuir isotherm model at 20 °C was 120.6 mg g⁻¹. The calculated thermodynamic results such as ΔG° (−24.3 kJ mol⁻¹) and ΔH° (−9.56 kJ mol⁻¹) indicate that the adsorption process is spontaneous and exothermic in nature. Solid phase extraction of 8HQ was also performed. The X-ray diffractometry (XRD), Fourier Transform Infrared (FTIR) and thermogravimetric (TG) analyses were carried out in order to confirm the 8HQ adsorption onto bentonite. According to the obtained results, natural bentonite can be a reusable and effective adsorbent for the removal of 8HQ.     

Modulation of boradiazaindacene emission by cation-mediated oxidative PET

[reaction: see text] Bright green boradiazaindacene fluorescence is quenched by an oxidative photoinduced electron transfer (PET) from the excited state fluorophore to the bipyridyl unit complexed to metal cations. The closed shell diamagnetic cation Zn(II) is one of the most effective quenchers of fluorescence in this system, demonstrating that the quenching is not simply related to the facilitated intersystem crossing. The molecule also acts as a NOR logic gate with two chemical inputs, TFA and Zn(II).     

Polyprenyl-hydroquinones and -furans from three marine sponges inhibit the cell cycle regulating phosphatase CDC25A

The CDC25 phosphatases regulate the cell division cycle by controlling the activity of cyclin-dependent kinases. While screening for inhibitors of phosphatases among natural products we repeatedly found that some polyprenyl-hydroquinones and polyprenyl-furans (furanoterpenoids) (furospongins, furospinosulins) were potent CDC25 phosphatase inhibitors. These compounds were extracted, isolated and identified independently from three sponge species (Spongia officinalis, Ircinia spinulosa, Ircinia muscarum), collected at different locations in the Mediterranean Sea. The compounds were inactive on the Ser/Thr phosphatase PP2C-alpha and on three kinases (CDK1, CDK5, GSK-3), suggesting that some potent and selective CDC25 phosphatase might be designed from these initial structures.