Concurrent Learning-Based Neuro-Adaptive Robust Tracking Control of Wheeled Mobile Robot: An Event-Triggered Design

In this paper, an event-based neuro-adaptive robust tracking controller for a perturbed and networked differential drive mobile robot (DMR) is designed with concurrent learning. A radial basis function neural network, which approximates an unknown perturbation, is used to design an adaptive sliding mode controller (SMC). The RBFNN weights and SMC parameters are estimated online using an adaptive tuning law to ensure performance with reduced chattering. To improve the convergence of RBFNN weight estimation error, a concurrent learning-based adaptive law is derived, which uses measured online and recorded data. Further, a suitable triggering condition is designed to achieve a reduced number of control computations while minimizing network resources without sacrificing the stability of the sampled data closed-loop control system. A finite sampling frequency is guaranteed for the designed triggering condition by establishing a positive lower bound on the inter-event execution time which is equivalent to the Zeno-free behavior of the system. Finally, the proposed event-based neuro-adaptive robust controller is implemented on a practical system (Q-bot 2e) to show the effectiveness of the proposed design

Metal nanoparticle alters adenine induced charge transfer kinetics of vitamin K3 in magnetic field

In this article, we highlight the alterations in the photoinduced electron transfer (ET) and hydrogen atom transfer (HAT) pathways between an anti-tumor drug vitamin-K3 (MQ) and a nucleobase adenine (ADN) in the presence of gold (Au) and iron (Fe) nanoparticles (NPs). Inside the confined micellar media, with laser flash photolysis corroborated with an external magnetic field (MF), we have detected the transient geminate radicals of MQ and ADN, photo-generated through ET and HAT. We observe that the presence of AuNP on the MQ-ADN complex (^(Au)MQ-ADN) assists HAT by limiting the ET channel, on the other hand, FeNP on the MQ-ADN complex (^(Fe)MQ-ADN) mostly favors a facile PET. We hypothesize that through selective interactions of the ADN molecules with AuNP and MQ molecules with FeNP, a preferential HAT and PET process is eased. The enhanced HAT and PET have been confirmed by the escape yields of radical intermediates by time-resolved transient absorption spectroscopy in the presence of MF

Redox Modifications of Carbon Dots Shape Their Optoelectronics

Carbon dots (CDs) are 1–10 nm scaled complex nanostructures with a wide range of applications and show unconventional photophysical behavior upon excitation. In this article, we have unveiled some of the underlying mechanisms and excited state dynamics of CDs by perturbing their interface with oxidizing and reducing agents. With no substantial alteration in size of surface-treated oxidized (^OCDs), reduced (^RCDs), and untreated CDs (^UCDs), we observe marked changes in their charge transport properties and diverse spectral signatures in singlet and triplet excited states. Fine tuning of the spectral behavior of nanomaterials is often treated as an outcome of quantum confinement of the excitons. Herein with different spectroscopic techniques along with conducting atomic force microscopy and triplet–triplet absorption, we elucidate that, not just confinement, the structural modification at the surface also dictates optoelectronic behavior by altering some properties such as energy band gap, quantum tunneling across the metal–CD–metal junction, and yield of triplet excitons

Synthesis of an Alternated Heterobimetallic Supramolecular Polymer Based on Ru(II) and Fe(II)

A heterobimetallic supramolecular polymer (polyRuFe) with alternately complexed Ru(II) and Fe(II) is prepared following a stepwise synthetic route through harnessing first the strongly binding metal ion Ru(II) and then the weakly binding metal ion Fe(II). A high yield of product is achieved in each step. The heterometal ions are incorporated into the polymer chain in identical coordination environments formed by two 2,2′:6′,2″-terpyridine moieties. Characterization is accomplished by NMR spectroscopy, MALDI–TOF mass spectrometry, UV–Vis spectroscopy, and cyclic voltammetry. PolyRuFe shows a wide optical window (λ = 311–577 nm) and a broad distinct reversible redox nature of two types, originated from the coupling of the two heterometallic segments into the polymer chain. Such characteristics of polyRuFe suggest its potential for various electrochemical and electro-optical applications

Nanocomposites of Fe(II)-Based Metallo-Supramolecular Polymer and a Layered Inorganic–Organic Hybrid for Improved Electrochromic Materials

Fe-based metallo-supramolecular polymer (polyFe), composed of Fe(II) ions and bis(terpyridyl)benzene, is known as a good electrochromic (EC) material. For the first time, to improve the EC properties, we prepared nanocomposites comprising polyFe and a layered inorganic–imidazoline covalently bonded hybrid (LIIm) by simply mixing them in methanol and then examined the effect of the nanocomposition on EC properties. The obtained blue/purple-colored composites (polyFe/LIIm composites) were demonstrated by scanning electron microscopy (SEM) to comprise a structure of LIIm nanoparticles coated with amorphous polyFe. Interestingly, X-ray diffraction (XRD) measurements suggested that there was no intercalation of polyFe in the interlayer space of LIIm. Ultraviolet-visible (UV-vis) spectroscopy measurements demonstrated that light absorption close to 600 nm was attributed to metal-to-ligand charge transfer (MLCT) from the Fe(II) ion to the bisterpyridine ligand and was influenced by LIIm in the composites. The composites exhibited a pair of redox waves, assigned to the redox between Fe(II) and Fe(III), in the cyclic voltammograms; moreover, the composites were estimated to be diffusion controlled. Thin composite films demonstrated reversible EC changes, triggered by the redox reaction of the metal. Furthermore, the results show that the nano-scale composition of the metallo-supramolecular polymers with LIIm can effectively improve the memory properties without reducing the contrast in transmittance (ΔT) of 70–76% in EC changes after applying 1.2 V vs. Ag/Ag+. The EC properties varied with varying ratios (3/0.1, 0.5, 1, and 5) of the polyFe/LIIm, and the ratio of 3/1 exhibited the longest memory and largest MLCT absorption peak among composites. The results show that the polyFe/LIIm composites are useful EC materials for dimming glass applications, such as smart windows

Amphiphilic and Thermoresponsive Conjugated Block Copolymer with Its Solvent Dependent Optical and Photoluminescence Properties: Toward Sensing Applications

Herein, we present a new class of amphiphilic, thermoresponsive rod–coil conjugated block copolymer having regioregular poly­(3-hexyl thiophene) and poly­(<i>N</i>-isopropylacrylamide). Optical and luminescence properties of theses polymers significantly depend on the self-assembled nanostructures formed in different solvent and are easily tailored by chnaging the solvent composition or external stimuli like heat. Unique optical and electronic properties of this block copolymer are believed to make it promising for applications like sensor, fluorescence thermometer, optoelectronic, and bioelectronics devices

Metal nanoparticle alters adenine induced charge transfer kinetics of vitamin K3 in magnetic field

In this article, we highlight the alterations in the photoinduced electron transfer (ET) and hydrogen atom transfer (HAT) pathways between an anti-tumor drug vitamin-K3 (MQ) and a nucleobase adenine (ADN) in the presence of gold (Au) and iron (Fe) nanoparticles (NPs). Inside the confined micellar media, with laser flash photolysis corroborated with an external magnetic field (MF), we have detected the transient geminate radicals of MQ and ADN, photo-generated through ET and HAT. We observe that the presence of AuNP on the MQ-ADN complex (^(Au)MQ-ADN) assists HAT by limiting the ET channel, on the other hand, FeNP on the MQ-ADN complex (^(Fe)MQ-ADN) mostly favors a facile PET. We hypothesize that through selective interactions of the ADN molecules with AuNP and MQ molecules with FeNP, a preferential HAT and PET process is eased. The enhanced HAT and PET have been confirmed by the escape yields of radical intermediates by time-resolved transient absorption spectroscopy in the presence of MF

Study of Microstructure Evolution during Semi-Solid Processing of an In-Situ Al Alloy Composite

In the present work, effect of pouring temperature (650°C, 655°C, and 660°C) on semi-solid microstructure evolution of in-situ magnesium silicide (Mg2Si) reinforced aluminum (Al) alloy composite has been studied. The shear force exerted by the cooling slope during gravity driven flow of the melt facilitates the formation of near spherical primary Mg2Si and primary Al grains. Shear driven melt flow along the cooling slope and grain fragmentation have been identified as the responsible mechanisms for refinement of primary Mg2Si and Al grains with improved sphericity. Results show that, while flowing down the cooling slope, morphology of primary Mg2Si and primary Al transformed gradually from coarse dendritic to mixture of near spherical particles, rosettes, and degenerated dendrites. In terms of minimum grain size and maximum sphericity, 650°C has been identified as the ideal pouring temperature for the cooling slope semi-solid processing of present Al alloy composite. Formation of spheroidal grains with homogeneous distribution of reinforcing phase (Mg2Si) improves the isotropic property of the said composite, which is desirable in most of the engineering applications