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Active Force with.Fuz.y Logic Control of a Two-Link Arm.Driven by Pneum.tic Artificial m.scles

Journal of Bionic Engineering 2011年第4期8卷 474-484页

作者： h. jahanabadi m. m.ilah m. z. m. zain h. m. hooi Departm.nt of System.Dynam.cs and Control Faculty of Mechanical Engineering Universiti Teknologi Malaysia 81310 UTM Johor Bahru Skudai Johor Malaysia

In th.s paper, th. practicality and feasibility of Active Force Control （AFC） integrated with.Fuz.y Logic（AFCAFL） applied to a two link planar arm.actuated by a pair of Pneum.tic Artificial m.scle （PAm. is investigated. Th. study em.h.siz.s on th. application and control of PAm.actuators wh.ch.m.y be considered as th. new generation of actuators com.rising fluidic m.scle th.t h.s h.gh.tension force, h.gh.power to weigh. ratio and h.gh.strength.in spite of its drawbacks in th. form.of h.gh.nonlinearity beh.viour, h.gh.h.steresis and tim. varying param.ters. Fuz.y Logic （FL） is used as a tech.ique to estim.te th. best value of th. inertia m.trix of robot arm.essential for th. AFC m.ch.nism.th.t is com.lem.nted with.a conventional Propor- tional-Integral-Derivative （PID） control at th. outerm.st loop. A sim.lation study was first perform.d followed by an experi- m.ntal investigation for validation. Th. experim.ntal study was based on th. independent joint tracking control and coordinated m.tion control of th. arm.in Cartesian or task space. In th. form.r, th. PAm.actuated arm.is com.anded to track th. prescribed trajectories due to h.rm.nic excitations at th. joints for a given frequency, wh.reas for th. latter, two sets of trajectories with.different loadings were considered. A practical rig utiliz.ng a h.rdware-In-Th.-Loop Sim.lation （h.LS） configuration was developed and a num.er of experim.nts were carried out. Th. results of th. experim.nt and th. sim.lation works were in good agreem.nt, wh.ch.verified th. effectiveness and robustness of th. proposed AFCAFL sch.m. actuated by PAm.

关键词： pneum.tic artificial m.scle active force control fuz.y estim.tor h.rdware-in-th.-loop sim.lation

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Structural Th.rm.l Stability of Graph.ne Oxide-Doped Copper–Cobalt Oxide Coatings as a Solar Selective Surface

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Journal of m.terials Science & Tech.ology 2016年第11期32卷 1179-1191页

作者： m.m.h.ubur Rah.an z.2}ng-Tao Jiang Ch.n-Yang Yin Lee Siang Ch.ah.hooi-Ling Lee Am.n Am.i Bee-m.n Goh.Barry J.Wood Ch.is Creagh.Nich.las m.ndinos m.h.m.dnoor Altarawneh.Bogdan z.Dlugogorski Surface Analysis and m.terials Engineering Research Group School of Engineering & Information Technology Murdoch University Murdoch Western Australia 6150 Australia Sch.ol of Sdence & Engineering Teesside University Borough Road Middlesbrough TSI 3BA United Kingdom Departm.nt of Ph.sics School of Distance Education Universiti Sains Malaysia Minden 11800 Penang Malaysia Departm.nt of Ch.m.stry School of Chemical Sciences Universiti Sains Malaysia Minden 11800 Penang Malaysia Departm.nt of Ch.m.cal Engineering Universitas Riau Pekanharu Indonesia Sch.ol of Ch.m.stry Bedson Building Newcastle University NE1 7RU United Kingdom Sch.ol of Ch.m.stry The University of Queensland St. Luda OLD 4072 Australia Sch.ol of Engineering & Inform.tion Tech.ology Murdoch University Murdoch Western Australia 6150 Australia

3d transition m.tal oxides based th.n film.coatings such.as copper–cobalt oxides exh.bit h.gh.absorption in th. visible region and low em.ttance in th. infrared to far-infrared region of th. solar spectrum.wh.ch.is favourable for use as potential selective surface m.terials in ph.toth.rm.l devices. Th.se m.terials h.ve th. potential to m.nim.z. h.ating wh.le increasing absorption in th. operative spectrum.range and th.refore ach.eve h.gh.r solar selectivity. A series of m.xed copper–cobalt m.tal spinel oxides（Cu_xCo_yO_z.doped with.graph.ne oxide th.n film. were deposited on com.ercial grade alum.nium.substrates using a sol-gel dip-coating tech.ique at an annealing tem.erature of 500 °C in air for 1 h. Ch.racteriz.tions of th. synth.siz.d film. were carried out by h.gh.tem.erature synch.otron radiation X-ray Diffraction（SRXRD）, UV–Vis, Fourier Transform.infrared spectroscopy（FTIR） and X-ray ph.toelectron m.croscopy（XPS）tech.iques. h.gh.th.rm.l stability of coatings with.m.ltiple ph.ses, binary and ternary m.tal oxides, was defined th.ough.SR-XRD study. FTIR analysis sh.ws m.derate（〈80%） to h.gh.up to 99%） reflectance in th. infrared region wh.le th. UV–Vis investigations dem.nstrate th.t, in th. visible region, solar absorption increases gradually（up to 95%） with.th. addition of graph.ne oxide to th. Cu_x Co_y O_z.*** th. incorporation of 1.5 wt.% of graph.ne oxide to th. copper–cobalt oxide coatings, a h.gh.solar selectivity of 29.01（th. ratio of th. average solar absorptance in visible and th. average th.rm.l em.ttance in infrared to far infrared region; α/ε） was ach.eved.

关键词： Coatings Sol-gel m.th.d Synch.otron radiation Fourier transform.infrared spectroscopy X-ray diffraction X-ray ph.toelectron spectroscopy

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