Modelling and control of flexible joint robot based on Takagi–Sugeno fuzzy approach and its stability analysis via sum of squares

This article proposes a Takagi–Sugeno (T-S) fuzzy model of single-link rotary flexible joint robot. The proposed control method is based on parallel distributed control. The parameters of T-S controller are improved by distributed population genetic algorithm (GA) with chaos GA. Using Hermite–Biehler theorem in distributed population, GA is made to have a fast convergence. Dividing search space into several sub-spaces causes a better response, and chaos disturbance helps the whole algorithm to reach a best answer. The stability of the controller is analysed via the sum of squares programming, and finally, it is implemented on the plant.     

Determination of Platinum,Palladium, Ruthenium,Rhodium, and Iridium in Ultrabasic Rock from the Great Dyke of Zimbabwe by Inductively Coupled Plasma–Optical Emission Spectrometry

Platinum, palladium, ruthenium, rhodium, and iridum were determined in ultrabasic rock from the Great Dyke of Zimbabwe by inductively coupled plasma optical emission spectrometry. The limits of detection for these elements were less than 7 ng/g. The samples were fused at 1100°C to separate the noble metals which were enriched into a nickel sulfide button and dissolved in hydrochloric acid. The insoluble noble metals were filtered, dissolved in aqua regia in a boiling water bath, and determined by inductively coupled plasma optical emission spectrometry. This method was employed for the characterization of large quantities of ultrabasic rock from the Great Dyke of Zimbabwe.     

Resolving Multiple Protein–Peptide Binding Events: Implication for HLA-DQ2 Mediated Antigen Presentation in Celiac Disease

Techniques that can effectively separate protein–peptide complexes from free peptides have shown great value in major histocompatibility complex (MHC)–peptide binding studies. However, most of the available techniques are limited to measuring the binding of a single peptide to an MHC molecule. As antigen presentation in vivo involves both endogenous ligands and exogenous antigens, the deconvolution of multiple binding events necessitates the implementation of a more powerful technique. Here we show that capillary electrophoresis coupled to fluorescence detection (CE–FL) can resolve multiple MHC–peptide binding events owing to its superior resolution and the ability to simultaneously monitor multiple emission channels. We utilized CE–FL to investigate competition and displacement of endogenous peptides by an immunogenic gluten peptide for binding to HLA-DQ2. Remarkably, this immunogenic peptide could displace CLIP peptides from the DQ2 binding site at neutral but not acidic pH. This unusual ability of the gluten peptide supports a direct loading mechanism of antigen presentation in extracellular environment, a property that could explain the antigenicity of dietary gluten in celiac disease.     

Nickel catalyzed hydrosilane reduction of (het)arenecarboxylic acids into aldehydes

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Easy size control of polymer nanoparticles obtained by emulsification–evaporation technique in a microfluidic reactor

The production of polymer nanoparticles with a narrow size distribution on standard T- and X-configuration microfluidic chips with a channel size of 100 μm has been achieved. Introducing ethanol into the aqueous phase in 1:9 ratio (v/v) allowed one to reduce the surface tension of the contacting phases and obtain nanoparticles in the range of 100–150 nm. This makes our approach promising for development of nanoscale drug delivery systems.     

Short Communication: Application of WENO (Weighted Essentially Non-oscillatory) Approach to Navier–Stokes Computations

The direct implementation of the essentially non-oscillatory schemes for flow simulation over complex geometries sometimes results in insufficiently robust numerical algorithms. In order to overcome this difficulty, it is suggested to use the weighted essentially non-oscillatory approach for multidimensional Navier–Stokes computations. The results indicate a significant improvement in accuracy and robustness, especially for low Mach and high supersonic flows.     

Film thickness measurements in liquid–liquid slug flow regimes

At present there is significant interest in the development of small scale medical diagnostic equipment. These devices offer faster processing times and require smaller sample volumes than equivalent macro scale systems. Although significant attention has been focused upon their outputs, little attention has been devoted to the detailed fluid mechanics that govern the flow mechanisms within these devices. Conventionally, the samples in these small scale devices are segmented into distinct discrete droplets or slugs which are suspended in an organic carrier phase. Separating these slugs from the channel wall is a very thin film of the organic carrier phase.The magnitude of this film is the focus of the present study and the effects of sample slug length and carrier phase fluidic properties on the film are examined over a range of Capillary numbers. A non-intrusive optical technique was used to capture images of the flow from which the magnitude of the film was determined.The experimental results show that the film is not constant along the length of the slug; however above a threshold value for slug length, a region of constant film thickness exists. When compared with existing correlations in the literature, the experimental data showed reasonable agreement with the Bretherton model when the Capillary number was calculated based on the mean two phase flow velocity. However, significant differences were observed when the Capillary number was redefined to account for the mean velocity at the liquid interface, i.e., the mean slug velocity.Analysis of the experimental data revealed that it fell into two distinct flow regimes; a visco-capillary regime and a visco-inertial regime. A modified Taylor expression is presented to estimate the magnitude of the film for flows in the visco-capillary regime while a new model is put forward, based on Capillary and Weber numbers, for flows in the visco-inertial regime. Overall, this study provides some novel insights into parameters, such as aqueous slug length and carrier phase fluidic properties, that affect the thickness of the film in liquid–liquid slug flow regimes.     

Electromechanical control of vibration on a plate submitted to a non-ideal excitation

This paper deals with the enhancement of electromechanical control of vibration on a thin plate submitted to non-ideal excitation. Modelling of the systems displays the non-ideal source used as external excitation above the structure on a particular surface and control force acting at specific points under the structure. The electromechanical device is composed by a RL circuit with a saturated inductance and stings connected to the plate is used as connection between the structure and the controller. Routh–Hurwitz criteria are used to obtain the stability condition of the controlled system and some dynamics exploration leads us to the condition for which the amplitude of vibration is reduced in the mechanical structure.     

Smoothing properties of transition semigroups in hilbert spaces

The paper gives conditions under which the transition semigroup corresponding to a large class of semilinear equations on a Hilbert space transforms Borel functions onto Frechet differentia hies ones.