Trajectory tracking control using velocity observer and disturbances observer for uncertain robot manipulators without tachometers

This paper deals with trajectory tracking control for rigid robot manipulators with model uncertainty and subject to external disturbances. The approach suggested herein does not require velocity measurement, because these robots are not equipped by tachometers for velocity measurement. For this purpose, two observers are proposed. The first is a velocity observer to estimate the missing velocity, and the second one is a disturbance observer to estimate the disturbance. Thereafter, these observers are integrated with the controller. Furthermore, semi-global asymptotic stability conditions of the composite controller consisting of a nonlinear controller, the velocity observer and the disturbance observer are established, and an estimate region of attraction is also given. This proof is based on Lyapunov theory. Finally, simulation results on two-links manipulator are provided to illustrate the effectiveness of the velocity observer based control using disturbance estimation (namely VOBCDE), when the Coulomb and viscous friction is considered as an external disturbance.     

Formation and characterization of polyglutamate core-shell microspheres

The need for organ-targeted delivery of drugs and imaging agents creates an interest in biocompatible, biodegradable vesicles. We make protein microspheres using high-intensity ultrasound; these microspheres have a protein shell and a hydrophobic interior, making them ideal for delivering hydrophobic materials. We have previously shown that various proteins, e.g., bovine serum albumin (BSA), form a microsphere shell stabilized by interprotein cross-linking of cysteine residues. In this study, polyglutamate was used to form core-shell microspheres at slightly basic pH using sonication. These particles are smaller than our previous protein microspheres and are stable under conditions encountered in vivo. The stability of polyglutamate microspheres appears to be due to hydrogen bonding networks and not covalent cross-linking.     

Global existence and blow-up for the generalized sixth-order Boussinesq equation

In this paper we prove local well-posedness in L²(R)$L^2\left(\mathbb{R}\right)$ and H¹(R)$H^1\left(\mathbb{R}\right)$ for the generalized sixth-order Boussinesq equation _utt=_uxx+β_uxxxx+_uxxxxxx+_(|u|αu)xx$u_{tt}=u_{xx}+\beta u_{xxxx}+u_{xxxxxx}+{\left({\left|u\right|}^{\alpha }u\right)}_{xx}$. Our proof relies in the oscillatory integrals estimates introduced by Kenig et al. (1991) [14]. We also show that, under suitable conditions, a global solution for the initial value problem exists. In addition, we derive the sufficient conditions for the blow-up of the solution to the problem.     

Molecular structure refinement of a segmented thermotropic polyester containing an aromatic triad mesogen

The polymorphic behavior of a polyester consisting of an aromatic triad mesogen and a flexible spacer has been investigated. The effect of thermal and mechanical treatment on the appearance of two crystalline phases stable at room temperature is discussed. The molecular packing (triclinic cell, space group P1 ) and the morphological parameters of the crystalline phase stabilized by drawing process are evaluated and refined. The whole-pattern method, based on the analysis of the whole x-ray diffraction pattern from fiber samples of polymer, has been employed. The molecular packing resembles very much that of polyethylene terephthalate. ©1995 John Wiley & Sons, Inc.     

Global rough solutions to the critical generalized KdV equation

We prove that the initial value problem (IVP) for the critical generalized KdV equation ut+uxxx+x(u⁵)=0 on the real line is globally well-posed in Hs(R) if s>3/5 with the appropriate smallness assumption on the initial data.     

Annual effective dose due to 222Rn and evaluation of 238U, 232Th and 40K contents in soil at the south-eastern coastal area of Bangladesh

Journal of Radioanalytical and Nuclear Chemistry - On-site 222Rn concentration at three different soil depths was measured at the south-eastern coastal area of Bangladesh to evaluate the annual...     

Aqueous Synthesis of Triphenylphosphine-Modified Gold Nanoparticles for Synergistic In Vitro and In Vivo Photothermal Chemotherapy

Triphenylphosphine (TPP) surface-functionalized and F-108 Pluronic-stabilized gold nanoparticles (F-108@TPP-AuNPs) have been synthesized through a one-step approach, leading to well-defined (9.6±1.6 nm) and water-soluble nanoparticles by microwave heating an aqueous solution of TPP-Au^ICl in the presence of a Pluronic polymer under basic conditions. TPP release was negligible under physiological conditions, but enhanced significantly at an acidic pH (5.4) mimicking that of a cancer cell. Laser irradiation (532 nm) raised the temperature of an aqueous solution of F-108@TPP-AuNPs to 51.7 °C within 5 min, confirming efficient light-to-heat conversion capabilities without significant photodegradation. TEM confirmed intracellular localization of F-108@TPP-AuNPs in the cytosol, endosomes and lysosomes of HeLa cells. F-108@TPP-AuNPs were well tolerated by HeLa cells and zebrafish embryos at ambient temperatures and became toxic upon heat activation, suggesting synergistic interactions between heat and cytotoxic action by TPP.     

Stability results for the approximation of weakly coupled wave equations

In this Note, we consider the approximation of two coupled wave equations with internal damping. Our goal is to damp the spurious high frequency modes by introducing numerical viscosity terms in the approximation scheme. With these viscosity terms, we show the exponential or polynomial decay of the discrete scheme when the continuous problem has such a decay (since the spectrum of the spatial operator associated with the undamped system satisfies the generalized gap condition).     

水介质中药物-AOT混合物的温度依赖的混合胶束化行为(英文)

The mixed micellization behavior of an amphiphilic antidepressant drug amitriptyline hydrochloride(AMT)in the presence of the conventional anionic surfactant sodium bis(2-ethylhexyl)sulfosuccinate(AOT)was studied at five different temperatures and compositions by the conductometric technique.The critical micelle concentration(cmc)and critical micelle concentration at the ideal state(cmcid)values show mixed micelle formation between the components(i.e.,drug and AOT).The micellar mole fractions of the AOT(X1)values calculated using the Rubingh,Motomura,and Rodenas models show a higher contribution of AOT in the mixed micelles.The interaction parameter(β)is negative at all temperatures and the compositions show attractive interactions between the components.The activity coefficients(f1and f2)calculated using the different proposed models are always less than unity indicating non-ideality in the systems.TheΔGmΘ values were found to be negative for all the binary mixed systems.However,ΔHmΘ values for the pure drug as well as the drug-AOT mixed systems are negative at lower temperatures(293.15-303.15 K)and positive at higher temperatures(308.15 K and above).TheΔSmΘ values are positive at all temperatures but their magnitude was higher at T=308.15 K and above.The excess free energy of mixing(ΔGex)determined using the different proposed models also explains the stability of the mixed micelles compared to the pure drug(AMT)and surfactant micelles.