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基于MATLAB上肢康复机械臂鲁棒控制研究

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系统仿真学报 2009年第2期21卷 510-513页

作者：刘珊何际平王永骥 Sivakumar balasubramanian 电子科技大学自动化工程学院成都610054 华中科技大学控制科学与工程系武汉430074 美国亚利桑那州立大学生物工程系美国亚利桑那州85287

以穿戴上肢康复机械臂(RUPERT)的人体手臂为研究对象,对被控对象建立数学模型,推导鲁棒控制器,基于sim Mechanics建立仿真模型,实现上肢康复机械臂鲁棒控制系统。考虑到上肢康复机械臂是辅助上肢偏瘫患者进行康复训练并最大限度地诱发... 详细信息

以穿戴上肢康复机械臂(RUPERT)的人体手臂为研究对象,对被控对象建立数学模型,推导鲁棒控制器,基于sim Mechanics建立仿真模型,实现上肢康复机械臂鲁棒控制系统。考虑到上肢康复机械臂是辅助上肢偏瘫患者进行康复训练并最大限度地诱发患肢的主动作用,控制器中加入上肢偏瘫患者的主动作用,在MATLAB/Simulink的环境下运行。仿真结果表明,控制器能适应各种损伤程度的患者,在存在信号传输时延时,仍能保持响应速度和精度,具有很强的鲁棒性和自适应性。

关键词：鲁棒控制康复机械臂位置控制交互式控制

Effective removal of automobile exhausts over flower-like Ce_(1-x)Cu_xO_2 nanocatalysts exposed active {100} plane

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Journal of Rare Earths 2018年第6期36卷 603-612页

作者： A.Selvamani K.Shanthi D.Santhanaraj C.M.Babu V.V.Srinivasan P.Thirukumaran V.Ramkumar A.Shakilaparveen R.balasubramanian Department of Chemistry Anna University Department of Chemistry Loyola College Department of Chemistry Department of Chemical Engineering Yeungnam University

This work elucidates the synthesis and characterization of copper ions incorporated ceria(Ce1-xCuxO2)nanocatalysts with 3 D flower-like and nanocrystalline morphology for the purification of automobile exhausts. XRD and Raman results confirm the presence of copper ions in ceria. The 3 D flower-like and nanocrystalline morphology exhibited by these catalysts were seen by FESEM images. HRTEM and SAED results confirm that(100) plane is dominantly presented in 3 D flower-like Ce1-xCuxO2catalysts when compared to nanocrystalline morphology. The textural properties of synthesized catalysts was done with the help of N2 sorption study, which confirms that flower-like Ce1-xCuxO2catalysts show high surface area and pore volume. The existence of Ce3+, Ce4+, Cu+and Cu2+ions in the catalyst were examined by XPS and DR UV-Vis techniques. Oxygen storage capacity(OSC) of the catalysts was studied by H2-TPR analysis. These characterization results elucidate the presence of dominant active sites(Ce3+, Ce4+, Cu+and Cu2+) and {100} plane in the flower-like morphology compared to nanocrystalline. The catalytic activity of synthesized Ce1-xCuxO2catalysts was tested for removal of CO, HCxand NO gases from automobile emission with respect to the copper content and morphology. The obtained results indicate that the presence of optimum amount of copper in ceria with flower-like morphology is essential for the removal of CO, HCxand NO at low temperature via redox process, which is due to the presence of active sites on the dominant {100} plane.

关键词： Automobile exhausts Flower-like ceria Morphology Rare earths

响应面方法在奥氏体不锈钢与铜合金异种材料摩擦焊接头的抗拉强度最大化和界面硬度最小化中的应用(英文)

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Transactions of Nonferrous Metals Society of China 2013年第8期23卷 2250-2259页

作者： G. VAIRAMANI T. SENTHIL KUMAR S. MALARVIZHI V. balasubramanian Department of Mechanical Engineering Seshasayee Institute of Technology Department of Mechanical Engineering Anna University of ChennaiTiruchirappalli Campus Centre for Materials Joining & Research (CEMAJOR) Department of Manufacturing EngineeringAnnamalai University

在奥氏体不锈钢与铜合金异种材料摩擦焊接过程中,采用响应面方法优化摩擦焊接工艺参数,以获得抗拉强度最大和界面硬度最小的焊接接头。采用三因素、五水平中心复合正交矩阵来确定实验条件。得到20个焊接接头,测定了焊接接头的抗拉强度... 详细信息

在奥氏体不锈钢与铜合金异种材料摩擦焊接过程中,采用响应面方法优化摩擦焊接工艺参数,以获得抗拉强度最大和界面硬度最小的焊接接头。采用三因素、五水平中心复合正交矩阵来确定实验条件。得到20个焊接接头,测定了焊接接头的抗拉强度和界面硬度。采用方差分析(ANOVA)方法来确定起显著作用的、主要的及相互作用的参数,使用回归分析得到经验关系模型。用设计专家软件构造响应图和等高线图来优化摩擦焊接工艺参数。用得到的经验关系模型可以有效地预测焊接接头的抗拉强度和界面硬度,其置信水平达95%。从形成的等高线图可以得到所需的摩擦焊接的最佳条件。

关键词：摩擦焊接奥氏体不锈钢铜合金抗拉强度界面硬度响应面方法

Antimicrobial properties of marine seaweed,Sargassum muticum against human pathogens

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Journal of Coastal Life Medicine 2015年第2期 122-125页

作者： Puthamohan Vinayaga Moorthi Chelliah balasubramanian Department of Zoology and Microbiology Thiagarajar CollegeMadurai-09Tamil NaduIndia

Objective:To evaluate the antibacterial efficiency of the seaweed,Sargassum muticum(***)collected from Pudumadam,Ramanathapuram,Tamil Nadu,***:Crude solvent extracts of *** were obtained by using Soxhlet extraction and the solvents like acetone,methanol and *** different extracts were tested against different human bacterial pathogens such as Micrococcus sp.,Staphylococcus aureus(methicillin resistance),Salmonella paratyphi B,Staphylococcus epidermis(3615),Enterobacter aerogenus(111),Klebsiella pneumonia(109),Shigella fleschneri(1457)(***),Proteus vulgaris(1771),Staphylococcus aureus(96)and Salmonella typhymurium(SP7)which were obtained from Microbial Type Culture Collection,Indian Institute of Microbial Technology,Chandigarh,***:The results revealed that acetone extract had unveiled the maximum of 11 mm zone of inhibition at 40μL against *** zone of inhibition(11 mm)was also observed at 50μL against Micrococcus *** *** by acetone extract,chloroform extract also contributed 11 mm zone of inhibition against *** and Salmonella paratyphi B at 40 and 50μL ***,methanol extracts revealed meager antibacterial activity(9 mm).Conclusions:The present investigation suggests that the phytochemical constituent of the *** might be suitable agents for the control of human deadly diseases.

关键词： Sargassum muticum Seaweed Acetone extract Chloroform extract Methanol extract Bacterial pathogens

Nitrogen Doped Graphene as Potential Material for Hydrogen Storage

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Graphene 2017年第2期6卷 41-60页

作者： Arjunan Ariharan balasubramanian Viswanathan Vaiyapuri Nandhakumar National Centre for Catalysis Research Indian Institute of Technology Madras Chennai India

The nitrogen doped graphene was synthesized by hydrothermal route utilizing 2-Chloroethylamine hydrochloride as nitrogen precursor in the presence of graphene oxide (GO). Nitrogen-doped graphene material is developed for its application in hydrogen storage at room temperature. Nitrogen doped graphene layered material shows ~1.5 wt% hydrogen storage capacity achieved at room temperature and 90 bar pressure.

关键词： Carbon Materials Hydrogen Storage Graphene Heteroatom Doped Graphene Nitrogen Doped Graphene Hydrogen Storage Capacity The Storage Capacity Observed Is Comparable to Other Carbon Materials

Impact of forest fires on regional air quality in Southeast Asia

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Chinese Journal Of Geochemistry 2006年第B8期25卷 221-222页

作者： Rajasekhar balasubramanian Siao Wee See Division of Environmental Science and Engineering Department of Chemical and Biomolecular Engineering

Heavy Metal Distribution in Sediments of Muthupettai Mangroves, South East Coast of India

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Journal of Ocean University of China 2011年第4期10卷 385-390页

作者： B.Thilagavathi K.Raja Bandana Das A.Saravanakumar S.Vijayalakshmi T.balasubramanian CAS in Marine Biology Faculty of Marine SciencesAnnamalai University

Core sediments from the Muthupettai mangroves on the southeast coast of India were analyzed for soil texture,total nitrogen,organic carbon,phosphorus and heavy metals(Fe,Mn,Cr,Cu,Ni,Pb,Zn and Cd).The distinct seasonal variation in the distribution of metals in the sediments was *** minimum concentration was recorded in river mouth and the maximum was in *** metal concentration in sediment was observed during monsoon and low concentration in *** total nu-trient in lagoon and river mouth was recorded in the range of 4.528 to 8.526 mg g-1 for organic carbon,2.213 to 10.5 mg g-1 for nitro-gen and 0.824 to 7.22 mg g-1.

关键词：红树属植物重金属核心沉积土壤质地沉积营养素

FPGA Implementation of Non-Linear Cryptography

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Circuits and Systems 2016年第8期7卷 1250-1258页

作者： Thammampatti Natarajan Prabakar balasubramanian Lakshmi Gopalakrishnan Seetharaman Oxford Engineering College Trichy India Researcher Trichy India

The paper focuses on the design and Field Programmable Gate Array (FPGA) implementation of embedded system for time based dual encryption scheme with Delay Compulsion Function (DCF) and also illustrates the application of DCF in time based cryptography. Further, the strength of the time based FPGA encryption algorithm with and without using DCF is analyzed using a Nios II processor. This proposed scheme enhances the security of vital data against Brute force attack by incorporating a temporal key distribution where two different keys encrypt the data simultaneously, one being the regular key and the other being the time. The time is included using a dynamically varying number of shifts thereby allowing the system to wait for the duration and this forms the second dimension of the key. Presently, available encryption systems suffer from Brute Force attack in which all the key combinations are tried in order to find the correct key. In such a case, the time taken for breaking the key depends on the speed of the system used for cryptanalysis. The proposed system adds complexity by using dynamically varying sequence of operations, by including the time as a second dimension of the key besides minimizing the possibility of Brute Force attack and increasing the time required for cryptanalysis irrespective of the system capability. As the proposed system needs concurrent execution and real time processing, the system is implemented using Altera Stratix II FPGA and the results are presented.

关键词： FPGA Encryption Delay Compulsion Function Cryptanalysis Brute Force Attack

Effects of Terminalia arjuna bark extract on apoptosis of human hepatoma cell line HepG2

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World Journal of Gastroenterology 2006年第7期12卷 1018-1024页

作者： Sarveswaran Sivalokanathan Marati Radhakrishnan Vijayababu Maruthaiveeran Periyasamy balasubramanian Department of Pharmacology and Environmental Toxicology Dr.ALM Post Graduate Institute of Basic Medical SciencesUniversity of MadrasTaramani CampusChennai-600 113Tamil NaduIndia Department of Endocrinology Dr.ALM Post Graduate Institute of Basic Medical SciencesUniversity of MadrasTaramani CampusChennai-600 113Tamil NaduIndia

瞄准：调查尾器 arjuna 的效果(T。arjuna ) 人的肝细胞瘤房间线(HepG2 ) 和它在 apoptosis 的正式就职的可能的角色上的摘录。方法：人的肝细胞瘤房间与 T 的 ethanolic 摘录的不同集中被对待。arjuna 和它的细胞毒性效果被尝试平底锅... 详细信息

瞄准：调查尾器 arjuna 的效果(T。arjuna ) 人的肝细胞瘤房间线(HepG2 ) 和它在 apoptosis 的正式就职的可能的角色上的摘录。方法：人的肝细胞瘤房间与 T 的 ethanolic 摘录的不同集中被对待。arjuna 和它的细胞毒性效果被尝试平底锅蓝色排除方法和 lactate 脱氢酶漏试金测量。Apoptosis 被光和荧光分析显微镜的方法，和 DNA 破碎。apoptosis 的机制与 p53 和 caspase-3 蛋白质的表示被学习。谷胱甘肽(GSH ) 内容也在 T 以后在 HepG2 房间被测量。arjuna 处理。结果：T。arjuna 以一种集中依赖者方式禁止了 HepG2 房间的增长。Apoptotic 形态学在与 T 对待的 HepG2 房间被观察。在 60 和 100 mg/L 的集中的 arjuna。DNA 破碎， p53 的累积和 procaspase-3 蛋白质的劈开与 T 在处理以后在 HepG2 房间被观察。arjuna。GSH 的弄空在与 T 对待的 HepG2 房间被观察。arjuna。结论：T。arjuna 在 HepG2 房间在试管内导致了细胞毒性。HepG2 房间的 Apoptosis 可能由于 DNA 损坏和 apoptotic 蛋白质的表示。GSH 的弄空可以涉及 HepG2 房间的 apoptosis 的正式就职。

关键词：榄仁树碱细胞凋亡肝细胞瘤肿瘤细胞