Experimental investigation of feedforward control schemes of a flexible robot manipulator system

This paper presents experimental investigations into the applications of feedforward control schemes for vibration control of a flexible manipulator system. Feedforward control schemes based on input shaping and filtering techniques are to be examined. A constrained planar single-link flexible manipulator is considered in this experimental work. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers and filtering techniques are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction and time response specifications. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the control strategies is presented and discusse

Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of Quadrotor with Low-Cost IMU

This paper proposes a sensor fusion algorithm by complementary filter technique for attitude estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm. The complementary filter scaling factor K1=0.98 and K2=0.02 are used to merge both gyro and accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from the low cost IMU by using proposed sensor fusion algorithm

Mesoporous Functionalized Acid Catalysts And Their Use As Environmentally Friendly Catalysts In Esterification Of Glycerols For Monoglyceride Production.

Monoglycerides are valuable compounds with wide applications as emulsifiers in food, pharmaceutical and cosmetic industries. They can be produced by esterification of glycerols with fatty acids

Sliding mode control for altitude and attitude stabilization of quadrotor UAV with external disturbance

This paper addresses the problem of robust altitude and attitude control of ‘×’ mode configuration quadrotor UAV using Lyapunov stability based sliding mode control with saturation function. The dynamic model of the quadrotor was derived by considering nonlinearity factor. MATLAB Simulink was used to simulate the model in two different conditions; without and with the presence of external disturbance. This was done to test the robustness of the control method. Simulation results showed that the sliding mode controller provides good performance and robustness against disturbance

Velocity control of a unicycle type of mobile robot using optimal pid controller

A unicycle model of control a mobile robot is a simplified modeling approach modified from the differential drive mobile robots. Instead of controlling the right speed, VR and the left speed, VL of the drive systems, the unicycle model is using u and ω as the controller parameters. Tracking is much easier in this model. In this paper, the dynamic of the robot parameter is controlled using two blocks of Proportional-Integral-Derivative(PID) controllers. The gains of the PID are firstly determined using particle swarm optimization(PSO) in offline mode. After the optimal gain is determined, the tracking of the robot’s trajectory is performed online with optimal PID controller. The achieved results of the proposed scheme are compared with those of dynamic model optimized with genetic algorithm(GA) and manually tuned PID controller gains. In the algorithm, the control parameters are computed by minimizing the fitness function defined by using the integral absolute error(IAE) performance index. The simulation results obtained reveal advantages of the proposed PSO-PID dynamic controller for trajectory tracking of a unicycle type of mobile robot. A MATLAB-Simulink program is used to simulate the designed system and the results are graphically plotted. In addition, numerical simulations using 8-shape as a reference trajectory with several numbers of iterations are reported to show the validity of the proposed scheme

Dielectric Function in Highly doped GaN Semiconductor

Inverse of Dielectric Function of highly doped  GaN has been calculated by using Lindhard formalism.  For simplicity collisional damping,  nonparabolicity and the coupling  between various  electrons and holes  were  neglected. The inverse of the dielectric function for both Fermi- Dirac and Maxwell Boltzman distribution showed antiscreening peak at small phonon wave vector. On the contrary, both Thomas Fermi and Debye inverse of dielectric function showed screening as expected at same phonon wave vector. There is a sharp growth in the antiscreening peak in the inverse of dielectric function at carrier temperature 77 K and 300K, accompanied with a singularity at carrier concentration greater than . Key words: dielectric function, GaN and screened optical phonon scattering rat

Negative imaginary theorem with an application to robust control of a crane system

This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The GCS model considered in this work is derived based on the x direction and sway motion of the payload. The GCS is a negative imaginary (NI) system with a single pole at the origin. ISM consist of two blocks; the inner block made up of a pole placement controller (NI controller), designed using linear matrix inequality for robustness and outer block made up of sliding mode control to reject disturbances. The ISM is designed to control position tracking and anti-swing payload motion. The robustness of the control scheme is tested with an input disturbance of a sine wave signal. The simulation results show the effectiveness of the control scheme

Potentiometric Determination of Ketotifen Fumarate in Pharmaceutical Preparations and Urine Using Carbon Paste and PVC Membrane Selective Electrodes

This study compares between unmodified carbon paste (CPE; the paste has no ion pair) and polyvinyl chloride (PVC) membrane selective electrodes that were used in potentiometric determination of ketotifen fumarate (KTF), where sodium tetraphenylborate (NaTPB) was used as titrant. The performance characteristics of these sensors were evaluated according to IUPAC recommendations which reveal a fast, stable, and linear response for KTF over the concentration range of 10−7 to 10−2 mol L−1. The electrodes show Nernstian slope value of 52.51 ± 0.20 and 51.51 ± 0.25 mV decade−1 for CPE and PVC membrane electrodes at 30°C, respectively. The potential is nearly stable over the pH range 3.0–6.0 and 2.0–7.0 for CPE and PVC membrane electrodes, respectively. Selectivity coefficient values towards different inorganic cations, sugars, and amino acids reflect high selectivity of the prepared electrodes. The electrodes responses at different temperatures were also studied, and long operational lifetime of 12 and 5 weeks for CPE and PVC membrane electrodes, respectively, were found. These are used for determination of ketotifen fumarate using potentiometric titration, calibration, and standard addition methods in pure samples, its pharmaceutical preparations (Zaditen tablets), and biological fluid (urine). The direct potentiometric determination of KTF using the proposed sensors gave recoveries % of 98.97 ± 0.53 and 98.62 ± 0.74 with RSD 1.42 and 0.63% for CPE and PVC membrane selective electrodes, respectively. Validation of the method shows suitability of the proposed sensors for use in quality control assessment of KTF. The obtained results were in a good agreement with those obtained using the reported spectrophotometric method