Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability of the controller being established in the Lyapunov sense; and 3) suitability of the scheme for multijoint robots. Simulation results are included to demonstrate the tracking performance.     

Polarization density matrix forZ decay intoWff' with generalZWW couplings

We give the polarization density matrix ofZ andW for the decay processZ ⁰→Wff' with generalZWW couplings. The matrix elements are expressed in terms of kinematical invariants so that they can be readily used in \(p\bar p \to Z^0 W\) as well. Using these formulas, we analyze the possibilities of probing theZWW couplings through the decay of polarizedZ ⁰.     

Semiconducting organic polymer from polyacrylamide–Cu++ chelate and iodine

Semiconducting organic polymer was obtained by the modification of polyacrylamide (PAAm)–Cu⁺⁺ chelate with iodine in acetone. Favorable conditions for preparing the chelate effective for the conduction were investigated. Surface resistivities were affected by the amounts of cupric salts and iodine, satisfactory results being given by about 25 wt % of the salts based on PAAm and more than 1 wt % of iodine on the chelate. The conductivity was also varied with the degree of neutralization of the chelate in solution, and optimal values were obtained by addition of about an equimolar amount of potassium hydroxide to cupric salts. Effective structures of the polymer chelate in solution were assumed on the basis of the visible and the NMR spectra and potentiometric titration.     

Study on structural variation of silica gel using Nd3+ as a probe by photoacoustic spectroscopy

The structural variations of silica gels heated at different temperatures have been firstly studied using Nd(3+) as a probe by photoacoustic spectroscopy (PAS), together with IR spectroscopy and thermal analysis. With increasing temperature, the f-f transitions of Nd(3+) show a red shift and the PA intensities increase. The PA branching vector of the transitions from ground state to 4G(5/2)+(2)G(7/2), which are hypersensitive transitions, increase and the others decrease or change little. These indicate that the covalency of the bond that Nd(3+) forms increases and the symmetry around Nd(3+) decreases, which reflects the structural variations of silica gels.