Emülsiyon tipi sıvı membranlarla laktik asidin ekstraksiyonu

Bu tezin, veri tabanı üzerinden yayınlanma izni bulunmamaktadır.Robot Kolu Kontrolü, Dinamik Modelleme, Yörünge Planlaması, Runge-Kutta Bütünleştirme Yöntemi, Yapay Sinir Ağlan, Genelleştirilmiş Öngörülü Kontrol, Yapay Sinir Ağlı Genelleştirilmiş Öngörülü Kontrol Bu tez çalışmasında, model tabanlı öngörülü kontrol algoritmaları sınıfına ait olan Genelleştirilmiş - Öngörülü Kontrol (GPC - Generalized Predictive Control) ve Newton-Raphson Uyarlamak Yapay Sinir Ağlı Genelleştirilmiş Öngörülü Kontrol (NGPC - Neural Generalized Predictive Control) algoritmaları incelenmiş olup her biri Tek Giriş Tek Çıkış (SISO - Single Input Single Output) ve Çok Giriş Çok Çıkış (MIMO - Multiple Inputs Multiple Outputs) olmak üzere iki şekilde üç eklemli bir robot koluna eklem esaslı yörünge kontrolü için uygulanmıştır. Robot kolunun dinamik olarak modellenmesinde Lagrange-Euler yöntemi kullanılmıştır. Dinamik modellemeye sürtünme etkileri, yük taşıma ve taşman yükün taşıma esnasında düşmesi durumları da ayrıca ilave edilmiştir. Elde edilen dinamik model, 4. mertebeden Runge-Kutta bütünleştirme yöntemi kullanılarak robot kolu simülatörüne dönüştürülmüştür. Bunlardan başka, eklemlere uygulanan her bir torka her kontrol adımında - 0.5 Nm ile + 0.5 Nm arasında rasgele bozucu ilave edilmiş ve bozucuların performansa etkisi de incelenmiştir. Robot kolu eklemlerinin yörünge takibi kübik ve sinüzoidal yörünge esaslarına göre belirlenmiştir. Kontrol algoritmaları farklı örnek ve durumlar için kendi aralarında kıyaslanmıştır. Gerekli bütün yazılımlar tek bir paket program halinde Borland Delphi 5.0 programlama dili kullanılarak gerçekleştirilmiştir. Giriş bölümünde robot kolu kontrolünün önemi, bu konuda yapılan çalışmalar ve bu tez çalışmasının amacı kısaca anlatılmıştır. 2. bölümde robotların tarihi gelişimleri, yapısal özellikleri, kinematiği, dinamiği ve ilaveten yörünge planlaması anlatılmıştır. 3. bölümde GPC algoritmaları, 4. bölümde NGPC algoritmaları anlatılmış ve tez çalışmalarında gerek duyulan denklemleri verilmiştir. 5. bölümde tezde kullanılan robot kolu, kontrol algoritmalarının bu robot koluna uygulanışları ve gerçeklenen paket program anlatılmıştır. 6. bölümde elde edilen sonuçlar tablosal ve grafiksel olarak verilmiş ve yorumlanmıştır. 7. bölümde yapılan çalışmaların genel bir yorumu yapılmış ve öneriler sunulmuştur. Bunlara ilaveten, Runge-Kutta bütünleştirme yöntemi ve yapay sinir ağ algoritmaları sırasıyla Ek A ve Ek B' de anlatılmıştır.THE JOINT BASED TRAJECTORY CONTROL WITH NEURAL GENERALIZED PREDICTIVE CONTROL FOR A THREE JOINT ROBOTIC MANIPULATOR SUMMARY Key Words: Robotic Arm Control, Dynamics Modeling, Trajectory Planning, Runge-Kutta Integration Method, Artificial Neural Networks, Generalized Predictive Control, Neural Generalized Predictive Control In this thesis study, GPC (Generalized Predictive Control) and Newton-Raphson implemented NGPC (Neural Generalized Predictive Control) algorithms belong to the class of MBPC (Model Based Predictive Control) are investigated and each of them is applied to a three joint robotic arm as SIS O (Single Input Single Output) and MIMO (Multiple Inputs Multiple Outputs) for the joint based trajectory control. Dynamics modeling of the robotic arm is made by using the Lagrange-Euler equations. The frictional effects, the state of carrying and falling load are added to dynamics model. Dynamics model obtained is transformed into robotic arm simulator by using 4th degree Runge-Kutta integration method. In addition, the random distortions between - 0.5 Nm and + 0.5 Nm are added to the torques applied to the joints in every control step, and the effect to the performance of the distortions is investigated. The trajectory planning for the joints of the robotic arm is designated according to the cubic and sinusoidal trajectories principles. The control algorithms are compared with themselves for different examples and cases. The simulation program included all of these is prepared by using Borland Delphi 5.0 programming language. The importance of the robotic arm control, the studies done in this subject and the purpose of this thesis study are described briefly in the introductory chapter. The historical developments, structural properties, kinematics, dynamics of the robotic arms and in addition, the trajectory planning are mentioned in chapter 2. GPC algorithms (in chapter 3), NGPC algorithms (in chapter 4) are described in detail and given their equations needed in this study. In chapter 5 the three joint robotic arm used in thesis, the applications to this robotic arm of the control algorithms, the simulation program prepared are explained. In chapter 7, a general interpretation for the studies is made and the suggestions are presented. In addition to these, Runge- Kutta integration method and artificial neural networks are described in appendix A and in appendix B, respectively. x

Extraction of acetic acid from aqueous solutions by emulsion type liquid membranes using Alamine 300 as a carrier

The extraction of acetic acid from aqueous solutions by an emulsion type liquid membrane process was investigated, using Alamine 300 as carrier, Span 80 as surfactant, and Na2CO3 solution as stripping agent. A number of significant parameters viz. mixing speed, surfactant concentration, diluent type, concentration of the carrier Alamine 300, concentration of stripping agent, pH and concentration of feed solution were investigated. Acetic acid was successfully extracted and concentrated from aqueous solutions. Approximately 86% extraction of acetic acid was achieved within 10 min in a stirred vessel

Sulu çözeltilerden emülziyon tipi sıvı membran prosesi ile sitrik asidin ekstraksiyonu

Bu tezin, veri tabanı üzerinden yayınlanma izni bulunmamaktadır.ÖZET Anahtar Kelimeler: Sıvı membran, emülziyon tipi sıvı membran, destekli sıvı membran, ekstraktant, Alamine 336, yüzey aktif madde, sitrik asit ekstraksiyonu. Sıvı-sıvı ekstraksiyon ve membranlarla ayırma oldukça fazla endüstriyel uygulamaya sahip önemli ayırma işlemlerindendir. Sıvı membranlar ise özellikle birkaçı özel ilgiye sahip bazı potansiyel avantajlara sahiptir. Mevcut ayırma metotlarına göre daha yüksek selektivite, ayrılmış ürünlerin son olarak konsantre hale getirilmesinde enerji tasarrufu, yüksek kütle akısı; düşük sermaye ve işletme maliyetleri. % 1-10 sitrik asit içeren sulu çözeltilerden taşıyıcı olarak % 5-20 Alamine 336, yüzey aktif madde olarak Span 80 ve sıyırma çözeltisi olarak da % 10-20 Na2C03' in kullanılması ile sitrik asitin ekstraksiyonu emülziyon tipi sıvı membran prosesi ile deneysel olarak incelenmiştir.,Ekstraksiyon hızı ve verimine etki eden karıştırma hızı, yüzey aktif madde konsantrasyonu, taşıyıcı Alamine 336 konsantrasyonu, sıyırma reaktifi (NaîCC^/ konsantrasyonu, besleme çözeltisi pH ve konsantrasyonu ile muamele oranı (V>/Ve) gibi önemli parametreler deneysel olarak incelenmiştir. Sitrik asit, sulu çözeltilerden emülziyon tipi sıvı membran prosesi ile başarılı bir şekilde ekstrakte edilmiş ve konsantre hale getirilmiştir. Karıştırmalı bir kapta 5-6 dakika içerisinde % 1-10'luk asit çözeltisindeki yaklaşık olarak % 95'inin ekstraksiyonu gerçekleştirilmiştir. XTHE EXTRACTION OF CITRIC ACID FROM DILUTE AQUEOUS SOLUTIONS BY LIQUID MEMBRANE PROCESS SUMMARY Key Words: Liquid membrane, emulsion liquid membrane, supported liquid membrane, extractant, Alamine 336, surfactant, citric acid extraction. Solvent extraction is one separation technique of quite wide applicability in the process industries. Liquid membranes have potential of several advantages, some of which are of particular interest for the recovery of carboxylic acid and amino acids: selectivities higher than those attainable by current separation methods, saving on energy cost for final concentration of separated products, high mass fluxes, and low capital and operation costs.- The extraction of citric acid from aqueous solutions by emulsion type liquid membrane process has been experimentally investigated using 1-10 % (w/v) citric acid solutions, 5-20 % Alamine 336 as carrier, Span 80 as surfactant, and 10-20 % Na2CÛ3 as stripping solutions. Such important parameters as mixing speed, surfactant concentration, the carrier Alamine 336 concentration, stripping agent NaîC03 concentration, feed solution pH and concentration, and treatment ratio (Vf/Ve), affecting the rate of extraction and efficiency, have been experimentally examined. Citric acid has been successfully extracted and concentrated from aqueous solutions using the liquid membrane process. About 95 % extraction of citric acid in the solution has been achieved in about 5 minutes in a stirred vessel. X

Characterization of polymer inclusion membrane containing Aliquat 336 as a carrier

The presented research is about characterization of Cellulose Triacetate (CTA) based Polymer Inclusion Membranes (PIMs) which incorporated the commercial extractant Aliquat 336, Tributylphosphate (TBP) as modifier and 2-Nitro Phenyl Pentyl Ether (NPPE) as plasticizer, for the preparation of the membranes. Chemical and physical characteristics of the synthesized membranes especially membrane thickness and side difference effects were investigated. Different surface structures and membrane thickness affect the extraction efficiency of membranes. Membrane extraction experiments were studied where the glass-facing surface of the membranes placed next to feed phase and the air-facing surface to stripping phase. The membrane was characterized by means of AFM, FT-IR and SEM.https://doi.org/10.12989/mwt.2015.6.2.09

Extraction of acetic acid from aqueous solutions by emulsion type liquid membranes using Alamine 300 as a carrier

441-445The extraction of acetic acid from aqueous solutions by an emulsion type liquid membrane process was investigated, using Alamine 300 as carrier, Span 80 as surfactant, and Na2CO3 solution as stripping agent. A number of significant parameters viz. mixing speed, surfactant concentration, diluent type, concentration of the carrier Alamine 300, concentration of stripping agent, pH and concentration of feed solution were investigated. Acetic acid was successfully extracted and concentrated from aqueous solutions. Approximately 86% extraction of acetic acid was achieved within 10 min in a stirred vessel

Synergistic extraction of cobalt and nickel ions by supported liquid membranes with a mixture of TIOA and TBP

In this work, the selective separation of cobalt from acidic media, containing both equimolar and non-equimolar mixtures of cobalt and nickel by supported liquid membranes (SLMs), was investigated using Alamine 308 (tri-isooctylamine, TIOA) as the carrier. The liquid membrane consisted of the desired concentration of an extractant (Alamine 308), a modifier (TBP), and a diluent (chloroform). The membrane support was microporous hydrophobic polypropylene Celgard 2500. Parameters, such as the feed solution pH, modifier (TBP) concentration, temperature, stirring speeds, extractant (Alamine 308) concentration, stripping solution type, and the complexing reagent (NH4SCN) concentration were experimentally studied and the optimum conditions were determined. The permeation coefficients (P) and initial fluxes of cobalt were calculated. A separation factor of cobalt over nickel was calculated from the experimental measurements.https://doi.org/10.1080/19443994.2013.85566

PREPARATION AND APPLICATION OF POLYMER INCLUSION MEMBRANES (PIMs) INCLUDING ALAMINE 336 FOR THE EXTRACTION OF METALS FROM AN AQUEOUS SOLUTION

Polymer inclusion membranes (PIMs) present an attractive approach for the separation of metals from an aqueous solution. The present study is about the application of Alamine 336 as an ion carrier in PIMs. The separation of copper (II), cobalt (II), nickel (II) and cadmium (II) from aqueous solutions with polymer inclusion membranes was investigated. PIMs are formed by casting a solution containing a carrier (extractant), a plasticizer and a base polymer, such as cellulose tri-acetate (CTA) or poly(vinyl chloride) (PVC), to form a thin, flexible and stable film. Several important transport parameters such as the type and amount of the plasticizer, the type of the stripping solution, the thickness of the membrane, the pH of the acid in the donor phase and the concentration of the base in the acceptor phase are discussed. The membrane was characterized to obtain information regarding its composition using AFM, FT-IR and SEM.https://doi.org

Extraction of citric acid through an emulsion liquid membrane containing Aliquat 336 as carrier

The extraction of citric acid from aqueous solutions through an emulsion liquid membrane containing Aliquat 336 carrier was studied. For the emulsions to be functionally stable, it was necessary to select suitable combinations of surfactants and internal stripping reagents. A quaternary amine, trioctylmethylammonium chloride (TOMAC), commercially known as Aliquat 336, was used as a complexing reagent for the extraction of citric acid from aqueous solutions, using sodium carbonate solutions as the internal stripping reagent. A nonionic surfactant, Span 80, was utilized to stabilize the emulsion. A mixture of STA90 NS, dominantly of paraffinic origin, and xylene was used as a diluent. Such parameters that affect the rate of extraction of citric acid, like surfactant concentration, initial feed pH, concentration of feed solution, carrier concentration, and stripping reagent concentration, were examined experimentally. Under the conditions studied, it was found that it is possible to extract about 90% of the acid from the relatively concentrated feed solutions of 10% (w/v)

PREPARATION AND APPLICATION OF POLYMER INCLUSION MEMBRANES (PIMs) INCLUDING ALAMINE 336 FOR THE EXTRACTION OF METALS FROM AN AQUEOUS SOLUTION

Polymer inclusion membranes (PIMs) present an attractive approach for the separation of metals from an aqueous solution. The present study is about the application of Alamine 336 as an ion carrier in PIMs. The separation of copper (II), cobalt (II), nickel (II) and cadmium (II) from aqueous solutions with polymer inclusion membranes was investigated. PIMs are formed by casting a solution containing a carrier (extractant), a plasticizer and a base polymer, such as cellulose tri-acetate (CTA) or poly(vinyl chloride) (PVC), to form a thin, flexible and stable film. Several important transport parameters such as the type and amount of the plasticizer, the type of the stripping solution, the thickness of the membrane, the pH of the acid in the donor phase and the concentration of the base in the acceptor phase are discussed. The membrane was characterized to obtain information regarding its composition using AFM, FT-IR and SEM