Motion Control of Smart Material Based Actuators: Modeling, Controller Design and Experimental Evaluation

Smart material based actuators, such as piezoelectric, magnetostrictive, and shape memory alloy actuators, are known to exhibit hysteresis effects. When the smart actuators are preceded with plants, such non-smooth nonlinearities usually lead to poor tracking performance, undesired oscillation, or even potential instability in the control systems. The development of control strategies to control the plants preceded with hysteresis actuators has become to an important research topic and imposed a great challenge in the control society. In order to mitigate the hysteresis effects, the most popular approach is to construct the inverse to compensate such effects. In such a case, the mathematical descriptions are generally required. In the literature, several mathematical hysteresis models have been proposed. The most popular hysteresis models perhaps are Preisach model, Prandtl-Ishlinskii model, and Bouc-Wen model. Among the above mentioned models, the Prandtl-Ishlinskii model has an unique property, i.e., the inverse Prandtl-Ishlinskii model can be analytically obtained, which can be used as a feedforward compensator to mitigate the hysteresis effect in the control systems. However, the shortcoming of the Prandtl-Ishlinskii model is also obvious because it can only describe a certain class of hysteresis shapes. Comparing to the Prandtl-Ishlinskii model, a generalized Prandtl-Ishlinskii model has been reported in the literature to describe a more general class of hysteresis shapes in the smart actuators. However, the inverse for the generalized Prandtl-Ishlinskii model has only been given without the strict proof due to the difficulty of the initial loading curve construction though the analytic inverse of the Prandtl-Ishlinskii model is well documented in the literature. Therefore, as a further development, the generalized Prandtl-Ishlinskii model is re-defined and a modified generalized Prandtl-Ishlinskii model is proposed in this dissertation which can still describe similar general class of hysteresis shapes. The benefit is that the concept of initial loading curve can be utilized and a strict analytical inverse model can be derived for the purpose of compensation. The effectiveness of the obtained inverse modified generalized Prandtl-Ishlinskii model has been validated in the both simulations and in experiments on a piezoelectric micropositioning stage. It is also affirmed that the proposed modified generalized Prandtl-Ishlinskii model fulfills two crucial properties for the operator based hysteresis models, the wiping out property and the congruency property. Usually the hysteresis nonlinearities in smart actuators are unknown, the direct open-loop feedforward inverse compensation will introduce notably inverse compensation error with an estimated inverse construction. A closed-loop adaptive controller is therefore required. The challenge in fusing the inverse compensation and the robust adaptive control is that the strict stability proof of the closed loop control system is difficult to obtain due to the fact that an error expression of the inverse compensation has not been established when the hysteresis is unknown. In this dissertation research, by developing the error expression of the inverse compensation for modified generalized Prandtl-Ishlinskii model, two types of inverse based robust adaptive controllers are designed for a class of uncertain systems preceded by a smart material based actuator with hysteresis nonlinearities. When the system states are available, an inverse based adaptive variable structure control approach is designed. The strict stability proof is established thereafter. Comparing with other works in the literature, the benefit for such a design is that the proposed inverse based scheme can achieve the tracking without necessarily adapting the uncertain parameters (the number could be large) in the hysteresis model, which leads to the computational efficiency. Furthermore, an inverse based adaptive output-feedback control scheme is developed when the exactly knowledge of most of the states is unavailable and the only accessible state is the output of the system. An observer is therefore constructed to estimate the unavailable states from the measurements of a single output. By taking consideration of the analytical expression of the inverse compensation error, the global stability of the close-loop control system as well as the required tracking accuracy are achieved. The effectiveness of the proposed output-feedback controller is validated in both simulations and experiments

Image-based visual servoing using improved image moments in 6-DOF robot systems

Visual servoing has played an important role in automated robotic manufacturing systems. This thesis will focus on this issue and proposes an improved method which includes an ameliorative image pre-processing (IP) algorithm and an amendatory IBVS algorithm As the first contribution, an improved IP algorithm based on the morphological theory has been discussed for the purpose of removing the unexpected speckles and balancing the illumination during the image processing. After this enhancing process, the useful information in the image becomes prominent and can be utilized to extract the accurate image features. Then, an improved IBVS algorithm is therefore further introduced for an eye-in-hand system as the second contribution. This eye-in-hand system includes a 6 Degree of Freedom (DOF) robot and a camera. The improved IBVS algorithm utilizes the image moment as the image features instead of detecting the special points for feature extraction in traditional IBVS. Comparing with traditional IBVS, choosing image moment as the image features can increase the stability of the system and extend the applied range of objects. The obtained image features will then be used to generate the control signals for the robot to track the target object. The Jacobian matrix describing the relationship between the motion of camera and velocity of image features is also discussed, where a new simple method has been proposed for the estimation of depth involved in the Jacobian matrix. In order to decouple the obtained Jacobian matrix for controlling the motion of camera with individual image features, a four stages sequence control has also been introduced to improve the control performance

Variable High Precision Wide D-Band Phase Shifter

This paper proposes a new concept of designing compact high precision millimeter-wave wideband variable phase shifters. The phase shifter is implemented with a stacked shim with extremely short length of 0.9 mm and two waveguide flange adaptors with length of 0.5 mm. High precision phase shifting is achieved over entire D-band (110-170 GHz) by rotating the shim 90 degrees from aligned to perpendicular with consistent impedance matching performance. In addition, a glide-symmetric holey electromagnetic bandgap (EBG) structure is adopted to avoid wave leakage from the gap between the shim and the flange adaptors. A proof-of-concept (PoC) demonstrator is designed, manufactured, and tested. The measured results show that the designed stacked shim phase shifter with embedded EBG structure ensures return loss higher than 10 dB across 110-170 GHz with a 75 mu m airgap between waveguide flanges. The studied phase shifter provides a 0.88ffi phase shifting with each degree of mechanical rotation. The fabricated PoC phase shifter has a worst-case insertion loss of 0.92 dB and a return loss of 20 dB across the entire 110-170 GHz band and a maximum phase shift of 30 degrees. At 10 degrees phase shifting, the measured insertion loss is lower than 0.52 dB, and return loss is higher than 23 dB, respectively

A Novel Preparation Method for 5-Aminosalicylic Acid Loaded Eudragit S100 Nanoparticles

In this study, solution enhanced dispersion by supercritical fluids (SEDS) technique was applied for the preparation of 5-aminosalicylic acid (5-ASA) loaded Eudragit S100 (EU S100) nanoparticles. The effects of various process variables including pressure, temperature, 5-ASA concentration and solution flow rate on morphology, particle size, 5-ASA loading and entrapment efficiency of nanoparticles were investigated. Under the appropriate conditions, drug-loaded nanoparticles exhibited a spherical shape and small particle size with narrow particle size distribution. In addition, the nanoparticles prepared were characterized by X-ray diffraction, Differential scanning calorimetry and Fourier transform infrared spectroscopy analyses. The results showed that 5-ASA was imbedded into EU S100 in an amorphous state after SEDS processing and the SEDS process did not induce degradation of 5-ASA

Integrated-EBG Ridge Waveguide and Its Application to an E-Band Waveguide 32 732 Slot Array Antenna

A methodology of designing an E-band waveguide 32 732 slot array antenna with high-efficiency and low-cost manufacturing characteristics is proposed in this article, which is based on an integrated electronic bandgap (EBG) ridge waveguide designed by integrating a cross rectangle-hollow EBG structures in the conventional ridge waveguide. The integrated EBG structure intercepts the leakage from the unconnected gap in between the two metallic plates of the waveguide, and then it decreases the manufacturing cost without using the diffusion bonding technology and multi-layer welding assembly process. The design guideline is discussed, and then the antenna is fabricated. The measured radiation characteristics are in good agreement with predicted ones, which confirms that the proposed cross rectangle-hollow EBG structures is an attractive candidate of high-performance millimeter wave antenna

Nitrogen addition mediates the response of foliar stoichiometry to phosphorus addition: a meta-analysis

Background Changes in foliar nitrogen (N) and phosphorus (P) stoichiometry play important roles in predicting the effects of global change on ecosystem structure and function. However, there is substantial debate on the effects of P addition on foliar N and P stoichiometry, particularly under different levels of N addition. Thus, we conducted a global meta-analysis to investigate how N addition alters the effects of P addition on foliar N and P stoichiometry across different rates and durations of P addition and plant growth types based on more than 1150 observations. Results We found that P addition without N addition increased foliar N concentrations, whereas P addition with N addition had no effect. The positive effects of P addition on foliar P concentrations were greater without N addition than with N addition. Additionally, the effects of P addition on foliar N, P and N:P ratios varied with the rate and duration of P addition. In particular, short-term or low-dose P addition with and without N addition increased foliar N concentration, and the positive effects of short-term or low-dose P addition on foliar P concentrations were greater without N addition than with N addition. The responses of foliar N and P stoichiometry of evergreen plants to P addition were greater without N addition than with N addition. Moreover, regardless of N addition, soil P availability was more effective than P resorption efficiency in predicting the changes in foliar N and P stoichiometry in response to P addition. Conclusions Our results highlight that increasing N deposition might alter the response of foliar N and P stoichiometry to P addition and demonstrate the important effect of the experimental environment on the results. These results advance our understanding of the response of plant nutrient use efficiency to P addition with increasing N deposition

The impact of statin use before intensive care unit admission on patients with acute kidney injury after cardiac surgery

Background: Cardiac surgery-associated acute kidney injury (CSA-AKI) is a common and serious complication after cardiac surgery. The influence of statin use before surgery on the renal outcome of patients undergoing cardiac surgery is controversial. The purpose of this study was to evaluate the effect of statins on postoperative renal outcomes in patients undergoing cardiac surgery.Methods: We included CSA-AKI patients in the Medical Information Mart for Intensive Care (MIMIC)—IV database and were divided into statin group and non-statin group according to whether they used statins before entering intensive care units (ICU). The main outcomes were hospitalization and 30-day mortality, and the secondary outcomes were 60-day mortality and 90-day mortality. We used propensity score matching (PSM) to adjust for confounding factors. The 95% confidence interval (CI) and risk ratio (RO) were calculated by the COX proportional regression model. At the same time, stratified analysis was used to explore whether the relationship between the statins use before intensive care units and mortality was different in each subgroup and whether the relationship between different doses of Atorvastatin and mortality was different.Result: We identified 675 pre-ICU statin users and 2095 non-statin users. In the COX proportional regression model, pre-ICU statin use was associated with decreased in-hospital (HR = 0.407, 95%confidence interval 0.278–0.595, p < 0.001) and 30-day mortality (HR = 0.407, 95%CI 0.279–0.595, p < 0.001). The survival rate of patients who took statins before entering ICU was significantly higher than that of those who did not use statins at 30 days, 60 days and 90 days. There is a significant interaction between patients with aged>65 years (HR = 0.373, 95%CI 0.240–0.581, p < 0.001), Acute kidney injury grade I (HR = 0.244, 95%CI 0.118–0.428, p < 0.001), and without post-myocardial infarction syndrome (HR = 0.344, 95%CI 0.218–0.542, p < 0.001). The mortality in hospital and 60 days of CSA-AKI patients treated with ≥80 mg Atorvastatin before operation was significantly reduced (p < 0.05).Conclusion: The pre-ICU statin use was significantly associated with decreased risk in hospital and 30-day mortality. The preoperative use of ≥80 mg Atorvastatin may improve the prognosis of CSA-AKI

The adaptor protein TRAF3 is an immune checkpoint that inhibits myeloid-derived suppressor cell expansion

Myeloid-derived suppressor cells (MDSCs) are aberrantly expanded in cancer patients and under other pathological conditions. These cells orchestrate the immunosuppressive and inflammatory network to facilitate cancer metastasis and mediate patient resistance to therapies, and thus are recognized as a prime therapeutic target of human cancers. Here we report the identification of the adaptor protein TRAF3 as a novel immune checkpoint that critically restrains MDSC expansion. We found that myeloid cell-specific Traf3-deficient (M-Traf3-/-) mice exhibited MDSC hyperexpansion during chronic inflammation. Interestingly, MDSC hyperexpansion in M-Traf3-/- mice led to accelerated growth and metastasis of transplanted tumors associated with an altered phenotype of T cells and NK cells. Using mixed bone marrow chimeras, we demonstrated that TRAF3 inhibited MDSC expansion via both cell-intrinsic and cell-extrinsic mechanisms. Furthermore, we elucidated a GM-CSF-STAT3-TRAF3-PTP1B signaling axis in MDSCs and a novel TLR4-TRAF3-CCL22-CCR4-G-CSF axis acting in inflammatory macrophages and monocytes that coordinately control MDSC expansion during chronic inflammation. Taken together, our findings provide novel insights into the complex regulatory mechanisms of MDSC expansion and open up unique perspectives for the design of new therapeutic strategies that aim to target MDSCs in cancer patients