Articulated robot arm

In medical rehabilitation programs, trajectory tracking is used to increase the repeatability of joint movement and the patient's recovery in the early phases of rehabilitation. In order to achieve that, the robotic arm has been implemented since it can provide a precise and move in almost perfect motion. This manuscript aim to develop and simulate a 2DOF robotic arn that will able to tracking the trajectory successfully. Hence, in order to achieved that a modeling, simulation, and control of a Two Degree of Freedom (2-DOF) Robot Arm is being discussed in this manuscript. First, the robot specifications, as well as Robot Kinematics forward and inverse kinematics of a 2-DOF robot arm, are provided. The dynamics of the 2-DOF robot arm were then formulated in order to obtain motion equations by using the Eular-Lagrange Equation. For the controller of the robot, a control design was created utilising a PID controller. All the data is recorded from the margin of error as well as the overshoot and peak settling time is being record via matlab. The data is differentiate by with with controller, with PI and PID, in which the error is less than 12.5 and 1.63 consecutively. The data that being gathered show that a controller best suited in this rehabilitation robo

Feasibility study of CAU-1 deposited on alumina hollow fiber for desalination applications

This work investigated the feasibility of a metal–organic framework (MOF), Christian-Albrechts-University (CAU-1), deposited on alumina hollow fiber for desalination applications. CAU-1 membranes, synthesized using the solvothermal approach, were characterized using field emission scanning electron microscopy (FESEM), X-ray diffraction (XRD), Fourier transform infrared spectroscopy (FTIR), and contact angle measurement. The performances of the CAU-1 membranes were tested using forward osmosis (FO). Using a configuration of active layer facing feed, the CAU-1 membrane (M6) had the highest flux of 18 L m−2 h−1 with a reverse solute value of 0.079 kg m−2 h−1. The M6 membrane was further tested using a configuration of active layer facing draw. Surprisingly, the flux moved from the high salt concentration to low salt concentration, obeying the reverse osmosis phenomenon under low pressure. At 10,000 ppm of salt concentration, M6 membrane showed solute fluxes of 4.07 and 3.07 L m−2 h−1 for NaCl and MgSO4 with rejections of 75% and 65%, respectively. Guest molecules and an amine group in CAU-1 were responsible in affecting the performance of the membrane for desalination application