Dynamic analysis and system identification of an LCD glass-handling robot driven by a PMSM

In this paper, Hamilton’s principle is employed to derive Lagrange’s equations of an liquid crystal display (LCD) glass-handling robot driven by a permanent magnet synchronous motor (PMSM). The robot has three arms driven by two timing belts. The dynamic formulations can be expressed by one and four independent variables, which are named as the rigid and flexible models, respectively. In order to verify the dynamic formulation is correct, we reduce the flexible model to the rigid one under some assumptions. In this paper, we adopt the real-coded genetic algorithm (RGA) to identify all the parameters of the robot and PMSM simultaneously. It is found that the RGA can identify system parameters which are difficult to be measured in practical problems, for examples, the inductance, stator resistance, motor torque constant, damping coefficient of the motor and timing belts. In numerical simulations, vibrations due to flexibility of the timing belts are investigated for the angular displacements, speeds, accelerations of arms, and the horizontal and vertical displacements of the robot. The angular displacements of the robot arm and the translational positions of the robot end are obtained in the numerical simulations and experimental results. From their comparisons, it is demonstrated that identification results of the dynamic model with four independent variables present the better matching with experimental results of the system.     

Using FSBT technique with Rough Set Theory for personal investment portfolio analysis

This study proposes a novel Forward Search and Backward Trace (FSBT) technique based on Rough Set Theory to improve data analysis and extend the scope of observations made from sample data to solve personal investment portfolio problems. Rough Set Theory mathematically classifies data into class sets. The class set with the most objects may generate one decision rule. The rules generated from RST are rough and fragmented, that are very difficult to interpret the information. An empirical case is used to generate more than 85 rules by the RST method in comparison with FSBT method which only generated 14 rules. This result can show our proposed method is better than traditional RST method based on class sets that contain the most objects. Much of human knowledge is described in natural language. It is a very important thing to convert information from computer databases into normal human language. Sample data taken from features with the same backgrounds are used to compile different portfolios that investment companies and investment advisors can employ to satisfy the investor’ needs. The method not only can provide decision-making rules, but also can offer alternative strategies for better data analysis. We believe that the FSBT technique can be fully applied in research on investment marketing.     

On the multiplicity of eigenvalues of a vectorial Sturm-Liouville differential equation and some related spectral problems

We prove that under certain conditions, a vectorial Sturm-Liouville differential equation of dimension can only possess finitely many eigenvalues which have multiplicity . For the case , we find a sufficient condition on the potential function , and a bound depending on , such that the eigenvalues of the equation with index exceeding are all simple. These results are applied to find some sufficient conditions which imply that the spectra of two potential equations, or two string equations, have finitely many elements in common, and an estimate of the number of elements in the intersection of two spectra is provided.

     

Robust H{infty} control of uncertain systems with time-varying state and control input delays

In this paper, a new method for robust H controller of uncertainsystems with time-varying state and control input delays isproposed. A sufficient condition, which is dependent on themaximum value of the time derivative of time-varying delay,is also presented for the existence of H controller. The proposedcontroller not only stabilizes closed-loop uncertain systemsbut also guarantees a prescribed H norm bound of the closed-looptransfer matrix from the disturbance to controlled output. Furthermore,we propose a new robust stability criterion to decide the allowedmaximum bound of plant uncertainty which still can be stabilizedby proposed robust controller. An example given illustratesthe availability of the proposed design method.     

A nonviral transfection approach in vitro: the design of a gold nanoparticle vector joint with microelectromechanical systems

Au nanoparticles modified with 21-base thiolated-oligonucleotides have been evaluated as delivery vehicles for the development of a nonviral transfection platform. The electromigration combined with electroporation for DNA delivery in an osteoblast like cell was employed to test on microchips. Electroporation introduces foreign materials into cells by applying impulses of electric field to induce multiple transient pores on the cell membrane through dielectric breakdown of the cell membrane. On the basis of the characteristic surface plasmon of the Au particles, UV-vis absorption was utilized to qualitatively judge the efficiency of delivery. Transmission electron microscopy images and atomic absorption measurements (quantitative analysis) provided evidence of the bare Au and Au/oligonucleotide nanoparticles before and after electroporation and electromigration function.The experiments demonstrated that electrophoretic migration followed by electroporation significantly enhanced the transportation efficiency of the nanoparticle-oligonucleotide complexes as compared with electroporation alone. Most interestingly, Au capped with oligonucleotides led to optimal performance. On the other hand, the bare Au colloidal suspensions resulted in aggregation, which might be an obstacle to the internalization process. In addition, analytical results demonstrated an increase in the local particle concentrations on the cell surface that provided additional support for the mechanism underlying the improved Au nanoparticle transportation into cells in the presence of electromigration function.     

In situ DMSO hydration measurements of HTS compound libraries

Compounds used in high throughput screening (HTS) are typically dissolved in DMSO. These solutions are stored automation-friendly racks of wells or tubes. DMSO is hygroscopic and quickly absorbs water from the atmosphere. When present in DMSO compound solutions, water can accelerate degradation and precipitation. Understanding DMSO hydration in an HTS compound library can improve storage and screening methods by managing the impact of water on compound stability. A non-destructive, acoustic method compatible with HTS has been developed to measure water content in DMSO solutions. Performance of this acoustic method was compared with an optical technique and found to be in good agreement. The accuracy and precision of acoustic measurements was shown to be under 3% over the tested range of DMSO solutions (0% to 35% water by volume) and insensitive to the presence of HTS compounds at typical storage concentrations. Time course studies of hydration for wells in 384-well and 1536-well microplates were performed. Well geometry, fluid volume, well position and atmospheric conditions were all factors in hydration rate. High rates of hydration were seen in lower-volume fills, higher-density multi-well plates and when there was a large differential between the humidity of the lab and the water content of the DMSO. For example, a 1536-well microplate filled with 2microL of 100% DMSO exposed for one hour to a laboratory environment with approximately 40% relative humidity will absorb over 6% water by volume. Understanding DMSO hydration rates as well as the ability to reverse library hydration are important steps towards managing stability and availability of compound libraries.     

Kinetics and mechanism of the cationic polymerization of trioxane. II. Consideration of hydride transfer

The occurrence of hydride-transfer reactions during the cationic polymerization of trioxane was demonstrated, and rate constants were obtained. The donor of hydride ions in the transfer reactions was the monomer. The hydride-transfer reaction was a first-order reaction with respect to the concentration of the monomer, and it was governed, just as polymerization and depolymerization were (Shieh, Y. T.; Chen. S. A. J. Polym. Sci. Part A: Polym. Chem. 1999, 37, 483–492) by morphological changes. The hydride-transfer rate constants were 5 orders of magnitude smaller than those for polymerizations and depolymerizations. The rate constants for the reactions, including the polymerizations, depolymerizations, and hydride transfers, were smaller for the active centers on the solid surface than for those in solution, that is, k^′_p was less than k_p, k^′_d was less than k_d, and k^′_ht was less than k_ht. As a reaction medium, benzene had special effects on the kinetics of the cationic polymerization of trioxane. © 1999 John Wiley & Sons, Inc. J Polym Sci A: Polym Chem 37: 4198–4204, 1999     

Phase separation of multi-component Bose–Einstein condensates in optical lattices

In this paper, we analyze phase separation of multi-component Bose–Einstein condensates (BECs) in the presence of strong optical lattices. This paper is in threefold. We first prove that when the inter-component scattering lengths go to infinity, phase separation of a multi-component BEC occurs. Furthermore, particles repel each other and form segregated nodal domains. Secondly, we show that the union of these segregated nodal domains equal to the entire domain. Thirdly, we show that if the intra-component scattering lengths are bounded by some finite number, each nodal domain is connected. For large intra-component scattering lengths, however, the third result is not true and a counter example of non-connected nodal domains is given.     

Rotation rate measurement of a microfluidic biodisk spinner and automatic adjustment for the pulsed light source

This study presents a design for a light field inspection system of a biodisk and spinner, which uses a digital camera attached a light filter below to inspect the fluorescence from the biodisk. The pulsed light is a single frequency-controllable light source that is spread over the biodisk. When the frequency of pulsed light is equal to the rotation rate of the spinner, the rotating biodisk would appear to be static due to the persistence of vision effect. The excitation light source (same as the pulsed light) is used to excite the reaction area in the biodisk, and the biochemical reaction emitted fluorescence is recorded in the monitor. Using the continuous image sequence calculation and measuring the variation of the rotating rate for the spinner, and by adjusting the frequency of pulsed light source, the rotational speed of the biodisk and the pulsed light frequency can be synchronized. We also propose a rule for high-speed image processing and low consumption of memory space. By properly judging the rotational speed of the biodisk spinner and quickly inspecting the biodisk, very large amounts of data can be handled. If the images acquired from the camera are processed individually, there will be drawbacks such as slow image acquisition speed and loss of image information. Therefore, we take a multi-task mechanism to use sufficient image buffer areas to increase the speed of acquiring images while processing the images with adjusting the memory spaces efficiently.     

Inferences based on a bivariate distribution with von Mises marginals

There is very little literature concerning modeling the correlation between paired angular observations. We propose a bivariate model with von Mises marginal distributions. An algorithm for generating bivariate angles from this von Mises distribution is given. Maximum likelihood estimation is then addressed. We also develop a likelihood ratio test for independence in paired circular data. Application of the procedures to paired wind directions is illustrated. Employing simulation, using the proposed model, we compare the power of the likelihood ratio test with six existing tests of independence.