Synthesis & Characterization of Oxazinan and 5-oxa-7-aza-spiro[2,5] octane from reaction of Dibenzylidene with malonic anhydride and 5-oxa-spiro[2,3] hexane-4,6-dione.

Di Benzylidenes were prepared by condensation of 1,2-diamino benzene with o- hydroxy benzaldehyde. These dibenzylidenes when treated with one equivalent of malonic anhydride or 5-oxo-spiro[2,3]hexane-4,6-dione in dry benzene give 6-membered heterocyclic ring system of 3-{2-[(2-Hydroxy-benzylidene)-amino]-phenyl}-2-(2-hydroxy –phenyl)-[1,3]oxazinane-4,6-diones ( 1-3) or 7-{2-[(2-hydroxy-benzylidene)-amino]-phenyl}-6-(2-hydroxy-phenyl)-5-oxa-7-aza-spiro[2.5]octane-4,8-diones ( 7- 9 ) But when two equivalents of malonic anhydride or 5-oxo-spiro[2,3]hexane-4,6-dione were used and under sam conditions compounds (4-6 , 10-12 ) were obtained

SYNTHESIS, CHARACTERIZATION AND KINETIC STUDIES OF SOME OXAZEPINE AND OXAZEPANE FROM REACTION OF ETHYLIMINO AND DIETHYLIMINO WITH MALEIC, SUCCINIC AND PHTHALIC ANHYDRIDE

ABSTRACT: Ethylimino and Di Ethylimino were prepared by condensation of Ethylene diamine with one equivalent and tow equivalent of substituted benzaldehyde. These ethylimino were reacted with one equivalent of maleic , succinic and phthalic anhydride in absolute ethanol to give 7-membered heterocyclic ring system of 3-(2-amino-ethyl)-2-(2-hydroxy-phenyl)-[1,3] oxazepine and 3-(2-amino-ethyl)-2-(2-hydroxy-phenyl)-[1,3] oxazepane. Diethylimino were reacted with tow equivalent of maleic and succinic anhydride in same condition to give 2(7-membered) heterocyclic ring system of 2-(2-hydroxy-phenyl)-3-{2-[2-(2-hydroxy-phenyl) -4,7-dioxo -[1,3] oxazepine-3-yl]-ethyl}-2,3-dihydro-[1,3]oxazepine-4,7-dione and 2-(2-hydroxy-phenyl)-3-{2-[2-(2-hydroxy-phenyl) -4,7 -dioxo -[1,3] oxazepane-3-yl]-ethyl}-2,3-dihydro-[1,3]oxazepane-4,7-dione. Kinetic Studies of reaction of Ethylimino and DiEthylimino with maleic , Succinic and phthalic anhydride proved to A first-class equation was applied to the reaction

SYNTHESIS AND PHOTOLYSIS OF SOME TRANSITION METAL COMPLEXES OF SCHIFF BASE LIGAND DERIVED FROM ETHYLENEDIAMINE AND SALICYLICALDEHYDE

This study deals with the preparation of Schiff- base ligands from the reaction of salicaldehyde with ethylenediamine in the ratios 1:1 of ligand (1) and 1:2 of ligand (2). Their metal complexes with ions Fe (11), Co (11), Ni (11), and Cu (11) were also prepared. The electronic spectrum of all these complexes and the IR spectrum were studied. The ratios of dissociation of these complexes were investigated via radiation by using mercury lamp in the wavelength of 365 nm. It is noticed that these complexes dissociate slowly during the process of radiation

SYNTHESIS, CHARACTERIZATION AND KINETIC STUDIES OF SOME OXAZEPINE AND OXAZEPANE DERIVATIVES

1,3-Bis(2-hydroxy-benzylidene)-Thiourea and 1,3-Bis-(dimethylamino-benzylidene)-Thiourea were prepared by condensation of Thiourea with one equivalent and two equivalent of substituted benzaldehyde. These Schiff-bases were reacted with one equivalent of Maleic , Succinic and Phthalic anhydride in absolute ethanol to give 7-membered heterocyclic ring system of 2-(2-Hydroxy-phenyl)-4,7-dioxo-4,7-dihydro-[1,3] oxazpine-3-carbothioic acid amide and 2-(4-Dimethylamino-phenyl)-4,7-dioxo-4,7-dihydro-[1,3]oxazepine-3-carbothioiacid amide , 1,3-Bis(2-hydroxy-benzylidene)-Thiourea and 1,3-Bis-(dimethylamino-benzylidene)-Thiourea were reacted with two equivalent of Maleic and Succinic anhydride in same solvent to give 2 (7-membered) heterocyclic ring system of 2-(2-hydroxy-phenyl)-3-[2-(2-hydroxy-phenyl)-4,7-dioxo-[1,3]oxazepine-3-carbothioyl]-2,3-dihydro-[1,3]oxazepine-a,7-dione and 2-(4-Dimethylamino-phenyl)-3-[2-(4-dimethylamino-phenyl)-4,7-dioxo-[1,3]oxazepine-3- carbothioyl]-2,3-dihydro-[1,3]oxazepine-4,7-dione. The constants of reaction velocity for (Schiff-bases)with Maleic , Succinic and Phthalic anhydride were studied and showed that the reaction wsa first – order one .Some of thermodynamic characteristics were evaluated and showed differences among the prepared compounds . The final products were identified by their melting points, elemental analysis, IR, 1H NMR and UV-Visible spectra

Modelling, simulation and control of pedestrian avoidance maneuver for an urban electric vehicle

The mathematical model of an electric vehicle, as well as the control system for avoiding pedestrians in urban traffic is described. The vehicle is modeled as a continuous system consisting of several subsystems. In addition, a set of sensors and actuators along with a two-level discrete control system are modeled. Based on this model, a pedestrian avoidance maneuver for typical speeds in city traffic is simulated. When the sensory system detects a pedestrian in the vehicle's path, the decision system calculates its trajectory. Using this information, the speed and/or direction that the vehicle must take in order to avoid the accident are estimated. These values are sent to the low-level controllers of the accelerator/brake and steering, which generate the signals to be applied to such systems to achieve the desired trajectory and speed.This work is funded by the Spanish Ministry of Economy and Competitiveness, projects “Automatización y Control Inteligente de Vehículos Eléctricos Urbanos” (ACIVEU, DPI2012-36959) and “Assisted Navigation through Natural Language” (NAVEGASE, DPI2014-53525-C3-1-R)

Editorial: AI for Robot Modeling, Path Planning, and Intelligent Control

Artificial intelligence (AI) is intelligence demonstrated by machines, in contrast to the natural intelligence demonstrated by humans. Examples of AI research include reasoning, knowledge representation, planning, learning, natural language processing, perception, and the ability to move and manipulate objects, which is usually regarded as intelligent control. In recent years, the applications of AI to robotics have experimented with exponential growth. AI plays a crucial role in the path planning of robots, allowing fast responses to changes in complex environments. It also plays a leading role in modeling and intelligent control of robots by allowing a more complex feedback analysis, self-tuning applications, and on-the-fly adaptation to environmental changes. Changing industrial environments like flexible manufacturing facilities and automated warehouses where robots are intended to work side by side with humans are benefiting directly from advancements in complex path planning and autonomous decision making based on AI-powered algorithms. On the consumer side, applications like cleaning robots and delivery robots are also becoming part of our daily lives. The implementation of AI-powered path planning and control algorithms drastically improves the efficiency and practicality of these robots, as the environments in which these robots must operate is highly dynamic and needs constant adaptation. This Research Topic is organized under the section “Robotic Control Systems” within Frontiers in Robotics and AI. The first article by Tan et al. is focused on designing mechanisms and algorithms for robotics, which serves as a platform for path planning and control. Current robot designs have been taking inspiration from games and entertainment artifacts (GEAs). However, there is a lack of systematic and general processes for implementing a GEA-inspired design in robotics. In this article, a systematic robot design paradigm is proposed based on the inspiration of GEAs. Both problem-driven and solution-driven processes can be followed to make use of analogies of GEAs so that robotic solutions can be obtained for real-world problems. The application of the design paradigm is demonstrated by using a reconfigurable floor cleaning robot and its path planning algorithm. Due to the capacity of reasoning, AI plays a crucial role in achieving safe human-robot interaction (HRI) for collaborative robots. The article by Du et al. combines different AI technologies to achieve active collision avoidance for safe HRI. A Microsoft's motion sensing input device named Kinect is employed to detect anyone who enters the workspace of the robot so that the skeleton data of the human can be calculated in real-time. An expert system with collision avoidance knowledge is employed to analyze the behavior of the human for active collision avoidance. An artificial potential field method is adopted to plan a new path for the robot such that it can bypass the human in real-time. Experiments show that by applying these AI-powered algorithms, the proposed system can safeguard the human by detecting the human and analyzing the motion of the human. An important issue for collaborative robots is to learn the compositionality of human activities, i.e., to recognize both activities and their comprising actions. Even a small set of actions and objects can create a large combination of possible activities. Most existing approaches in this topic address action and activity recognitions separately. The article by Mici et al. suggests learning human activities concurrently on two levels of semantic and temporal complexity: Transitive actions such as reaching and opening a cereal box, and high-level activities such as having breakfast. The learning model consists of a hierarchy of growing-when-required (GWR) networks which can process and learn inherent spatiotemporal dependencies of multiple visual cues abstracted from human body skeletal representation and interaction with objects. GWR means that new network nodes are added only when the number of iterations is an integer multiple of some pre-defined constant. The proposed architecture semantically segments input RGB-D sequences of high-level activities into their component actions without supervision. Experiments show that the proposed approach possesses a superior ability regarding the classification of high-level activities. AI is also useful for collaborative robots to assist humans in co-manipulation and teleoperation tasks under demonstrated trajectories. Most existing approaches in this topic are not applicable when the solutions of demonstrations are suboptimal or when the generalization capabilities of the learned models cannot cope with changing environments. The article by Ewerton et al. presents a reinforcement learning-based approach to solve the problem above. The proposed approach makes use of the concept of relevance functions and is initialized by a probability distribution of demonstrated trajectories. Gaussian Process regression is applied to cope with the changes in dynamic environments. Experiments demonstrate that the proposed algorithm embedded in a 7-degree of Freedom (DoF) robot arm performs well under a dynamic environment. The last article by Galati and Giulio serves more as an outreach of this Research Topic, where a physical model-based approach for terrain characterization is presented for a tracked skid-steer vehicle. A set of physics-based parameters, including the equivalent track, the power spectral density for the vertical accelerations, drive motor electrical currents, and motor currents, is employed to characterize the terrain properties. The proposed algorithm predicts the type of terrain that the robot traverses based on the parameter set. Experiments under various surfaces verify the effectiveness of the proposed approach for autonomous robots. The results of this article also indicate that the intelligent integration of model-based and AI-based techniques will be promising in robotic applications.YP was funded by the Fundamental Research Funds for the Central Universities of China (Grant No. 19lgzd40). CY was partially supported by the Engineering and Physical Sciences Research Council (Grant EP/S001913).Peer reviewe

An asinh-type regulator for robot manipulators with global asymptotic stability

In this paper, a new asinh-type control scheme with gravity compensation for the position control problem of robot manipulators in joint space is presented. The properties and characteristics of the asinh control structure make the position error and the motion velocity asymptotically converge to the equilibrium point. A strict Lyapunov function to formally prove global asymptotic stability is developed. The tuning of the control gains is obtained by PSO (Particle Swarm Optimization) technique without saturating the servomotors. To illustrate the effectiveness and performance of the proposed scheme, an experimental comparative analysis between the proportional-derivative (PD) and atanh controls against the proposed algorithm on a three degrees of freedom direct-drive robot manipulator is carried out.The authors would like to thank the Benemérita Universidad Autonoma de Puebla, for its financial support with the project VIEP-100048866-2019 (Control de posición con ganancias variables de robots manipuladores), which partially supported this work.Peer reviewe

Dynamic Analysis of Fuzzy Systems

In this work, a new methodology for the dynamic analysis of non-linear systems is developed by applying the Mamdani fuzzy model. With this model, parameters such as settling time, peak time and overshoot will be obtained. The dynamic analysis of non-linear fuzzy systems with triangular membership functions is performed, and linguistic variables describing overly complex or ill-defined phenomena are used to fit the model. Scaling factors will simplify the modification of the variables, making them easier to find the system model. The specifications of second-order characteristics in the time domain, such as overshoot and peak time, will be represented graphically. As a case study, the proposed methods are implemented to analyse the dynamics of a tank and a simple pendulum for first-order and second-order systems, respectively, where it is observed that the proposed methodology offers highly positive results

sybthesis and characterization of oxazepine and oxazepane from reaction

Schiff bases were prepared prepared Baaan NMR to some elements of which have contributed to the results of different methods in diagnosis prove structural formulas of compounds prepare

Comparison of LQR and fuzzy control techniques in a ball and beam system

[Resumen] En este trabajo se utilizaron dos controladores, un controlador moderno óptimo LQR con observador de estados y un controlador inteligente Borroso Proporcional Derivativo (FPD), aplicados a un sistema bola y barra, con el propósito de posicionar la bola en la barra. Los controladores han sido diseñados en el entorno MATLAB-Simulink conectados en tiempo real con un Arduino. Para la comparación se utilizó el índice de desempeño ISE (integral del error al cuadrado). Se puede decir que con diferentes técnicas usadas, estos controladores tienen el mismo desempeño.[Abstract] In this work, two controllers; an optimal LQR controller with a state observer and a Fuzzy Proportional Derivative (FPD) intelligent controller, were applied to a ball and beam system to position the ball on the beam. The controllers have been designed in the MATLAB-Simulink environment, connected in real time with an Arduino. We used the ISE (integral squared error) performance index for comparison. It can be said that the both proposed techniques have the same performance.Esta publicación es parte del proyecto de I+D+i “Asistencia Personal Cognitiva para Entornos Sociales (ACOGES)”, referencia PID2020-113096RB-I00, financiado por la Agencia Estatal de Investigación MCIN/AEI/10.13039/501100011033