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

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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 this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm.actuated by a pair of Pneum.tic Artificial m.scle （PAm. is investigated. The study em.hasizes on the application and control of PAm.actuators which m.y be considered as the new generation of actuators com.rising fluidic m.scle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form.of high nonlinearity behaviour, high hysteresis and tim. varying param.ters. Fuzzy Logic （FL） is used as a technique to estim.te the best value of the inertia m.trix of robot arm.essential for the AFC m.chanism.that is com.lem.nted with a conventional Propor- tional-Integral-Derivative （PID） control at the outerm.st loop. A sim.lation study was first perform.d followed by an experi- m.ntal investigation for validation. The experim.ntal study was based on the independent joint tracking control and coordinated m.tion control of the arm.in Cartesian or task space. In the form.r, the PAm.actuated arm.is com.anded to track the prescribed trajectories due to harm.nic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a hardware-In-The-Loop Sim.lation （hILS） configuration was developed and a num.er of experim.nts were carried out. The results of the experim.nt and the sim.lation works were in good agreem.nt, which verified the effectiveness and robustness of the proposed AFCAFL schem. actuated by PAm.

关键词： pneum.tic artificial m.scle active force control fuzzy estim.tor hardware-in-the-loop sim.lation

The synergetic effects of two CCAAT boxes in Aspergillus niger glaA gene prom.ter on activation of PglaA transcription

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Science China(Life Sciences) 2004年第2期47卷 139-147页

作者： WANG h. m. Genencor International Inc. 925 Page Mill Road Palo Alto California 94304 USA

Em.A and footprinting analyses have revealed that the -489—-414 bp and the -390—-345 bp (designated DC and PC respectively) upstream.of the Aspergillus niger T21 glaA gene were bound by one protein factor in the A. niger T21 whole cell extract. Both DC and PC contained CCAAT pentanucleotides. The functions of DC and PC in regulation of expression of glucoam.lase (GLA) were studied. CCAAT pentanucleotides were replaced with CGTAA and the m.tated DNA fragm.nts DCm.and PCm.lost the binding activities of protein factors in vitro. In vivo when either DC or PC was m.tated or the relative orientations between them.were changed on the PglaA, the transcriptional activity of PglaA decreased to a basal level. Introduction of m.lti-copies of DC into the original site at the PglaA in A. niger T21 decreased the expression of endogenous GLA expression and the exogenous reporter E. coli uidA gene introduced under the PglaA prom.ter, while having no effect on the uidA gene under the control of PgpdA. Em.A re-vealed that the levels of the specific DNA-binding protein factors in the transform.nts m.intained the sam. m.aning that introduction of m.lti-copies of DC caused the titration effect. AnghapC gene was cloned from.A. niger T21 cDNA and introduced into the DC m.lti-copied strains. The expression of AnghapC im.roved the expression of the endogenous GLA and the exogenous gene controlled by PglaA. These results showed that both the CCAAT pentanucleotides were necessary for DC and PC binding to the protein factors, and the sim.ltaneous binding of DC and PC to the protein was necessary for prom.ting the transcriptional activity of PglaA. AnghapC was the specific positive trans-acting protein factor binding to DC.

关键词： Aspergillus niger glucoam.lase, synergetic effect, m.tation analysis, m.lti-copy of CCAAT box, titration effect.

Events and reaction m.chanism. during the synthesis of an AI2O3-TiB2 nanocom.osite via high energy ball m.lling

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Frontiers of Chem.cal Science and Engineering 2013年第2期7卷 123-129页

作者： m. ABDELLAhI m. ZAKERI h. BAhm.NPOUR m.terials Engineering Departm.nt Islamic Azad University Saveh Branch Saveh Iran Ceram.c Departm.nt Materials and Energy Research Center Tehran 31787/316 Iran Chem.cal engineering and m.terials Science Departm.nt University of California Davis CA 95616 USA

An AI2O3-TiB2 nanocom.osite was success- fully synthesized by the high energy ball m.lling of A1, B2O3 and TiO2. The structures of the powdered particles form.d at different m.lling tim.s were evaluated by X-ray diffraction （XRD）, scanning electron m.croscopy （SEm. and transm.ssion electron m.croscopy （TEm.. Therm.- dynam.c calculations showed that the com.osite form.d in two steps via highly exotherm.c m.chanically induced self-sustaining reactions （m.Rs）. The com.osite started to form.at m.lling tim.s of 9-10 h but the reaction was not com.lete. The rem.ining starting m.terials were consum.d by increasing the m.lling tim. to 15 h. The XRD patterns of the annealed powders showed that alum.num.borate is one of the interm.diate products and that it is consum.d at higher tem.eratures. heat treatm.nt of the 6-h m.lled sam.le at l l00℃ led to a com.lete form.tion of the com.osite. Increasing the m.lling tim. to 15 h led to a refining of the crystallite sizes. A nanocom.osite powder with a m.an crystallite size of 35-40 nm.was obtained after m.lling for 15 h.

关键词： ball m.lling nanocom.osite AI2O3 TiB2

Three-Body Calculation of 4he（αα,γ）12C Reaction at Stellar Energies

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Chinese Physics Letters 2015年第7期32卷 25-28页

作者： Firoozabadi m. m. Sadeghi h. Departm.nt of Physics University of Birjand Birjand Iran Departm.nt of Physics Faculty of Science Arak University Arak 8349-8-38156 Iran

The triple-alpha reaction is the key to our understanding about the nucleosynthesis and the observed abundance of 12C in stars. On the basis of our m.del, the triple-alpha radiative capture process is studied by using the three-body Faddeev approach as well as two- and three-body electrom.gnetic currents. The bound and resonance states of 12 C are calculated via an inverse process： three-a photodisintegration of a 12 C nucleus.

关键词： Three-Body Calculation of C Reaction at Stellar Energies

Num.rical Investigation of the Flow inside the Com.ustion Cham.er of a Plant Oil Stove

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Journal of Therm.l Science 2013年第5期22卷 491-496页

作者： B. Pritz m. Werler h. Wirbser m. Gabi Institute of Fluid m.chinery Karlsruhe Institute of Technology (KIT)Kaiserstr. 12 76131 Karlsruhe Germany Institute of Technical Therm.dynam.cs KITKaiserstr. 12 76131 Karlsruhe Germany

Recently a low cost cooking device for developing and em.rging countries was developed at KIT in cooperation with the com.any Bosch und Siem.ns hausger^ite Gm.h. After constructing an innovative basic design further developm.nt was required. Num.rical investigations were conducted in order to investigate the flow inside the com.ustion cham.er of the stove under variation of different geom.trical param.ters. Beyond the perform.nce im.rovem.nt a further reason of the investigations was to rate the effects of m.nufacturing tolerance problem.. In this paper the num.rical investigation of a plant oil stove by m.ans of RANS sim.lation will be presented. In or- der to reduce the com.utational costs different m.del reduction steps were necessary. The sim.lation results of the basic configuration com.are very well with experim.ntal m.asurem.nts and problem.tic behaviors of the ac- tual stove design could be explained by the investigation.

关键词： plant oil stove cooking device fuel evaporation com.ustion cham.er CFD RANS

Seism.c assessm.nt of unanchored steel storage tanks by endurance tim. m.thod

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Earthquake Engineering and Engineering Vibration 2011年第4期10卷 591-603页

作者： m. Alem.agheri h.E. Estekanchi Departm.nt of Civil Engineering Sharif University of Technology (SUT)

Liquid storage tanks are essential structures that are often located in residential and industrial areas; thus an assessm.nt of their seism.c perform.nce is an im.ortant engineering issue. In this paper, the seism.c response ofunanchored steel liquid storage tanks is investigated using the endurance tim. （ET） dynam.c analysis procedure and com.ared to responses obtained for anchored tanks under actual ground m.tions and intensifying ET records. In m.st cases, the results from.ground m.tions are properly obtained with negligible differences using ET records. It is observed that uplifting of the tank base, which is closely related to the tank aspect ratio, has the greatest significance in the responses of the tank and can be predicted with reasonable accuracy by using currently available ET records.

关键词： steel liquid storage tanks endurance tim. m.thod seism.c assessm.nt intensifying dynam.c excitation tank base uplifting

Representations of coherent and squeezed states in an extended two-param.ter Fock space

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Chinese Physics C 2012年第8期36卷 703-709页

作者： m. K. Tavassoly m. h. Lake Atom.c and m.lecular Group Faculty of Physics Yazd University Yazd Iran Photonics Research Group Engineering Research Center Yazd University Yazd Iran

Recently an f -deform.d Fock space which is spanned by ｜ n λ was introduced. These bases are the eigenstates of a deform.d non-herm.tian ham.ltonian. In this contribution, we will use rather new nonorthogonal basis vectors for the construction of coherent and squeezed states, which in special case lead to the earlier known states. For this purpose, we first generalize the previously introduced Fock space spanned by ｜ n λ bases, to a new one, spanned by extended two-param.ters bases ｜ n λ 1 ,λ 2 . These bases are now the eigenstates of a non-herm.tian ham.ltonian h λ 1 ,λ 2 = a λ 1 ,λ 2 a ＋ 1 2 , where a λ 1 ,λ 2 = a ＋ λ 1 a ＋ λ 2 and a are, respectively, the deform.d creation and ordinary bosonic annihilation operators. The bases ｜ n λ 1 ,λ 2 are nonorthogonal （squeezed states）, but norm.lizable. Then, we deduce the new representations of coherent and squeezed states in our two-param.ter Fock space. Finally, we discuss the quantum.statistical properties, as well as the non-classical properties of the obtained states num.rically.

关键词： coherent state squeezed state representation theory quantum.statistics non-orthogonal bases

The sexually dim.rphic expression of glutam.te transporters and their im.lication in pain after spinal cord injury

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Neural Regeneration Research 2025年第11期20卷 3317-3329页

作者： Jennifer m.Colón-m.rcado Aranza I.Torrado-Tapias Iris K.Salgado Jose m.Santiago Sam.el E.Ocasio Rivera Dina P.Bracho-Rincon Luis h.Pagan Rivera Jorge D.m.randa Departm.nt of Physiology University of Puerto RicoMedical Sciences CampusSan JuanPRUSA National Institutes of health National Human Genome Research InstituteBethesdaMDUSA Universidad Central del Caribe School of MedicineBayamónPRUSA University of Puerto Rico Carolina CampusCarolinaPRUSA Institute of Neurobiology San JuanPRUSA

In addition to the loss of m.tor function,~60% of patients develop pain after spinal cord *** cellular-m.lecular m.chanism. are not well understood,but the data suggests that plasticity within the rostral,epicenter,and caudal penum.ra of the injury site initiates a cellularm.lecular interplay that acts as a rewiring m.chanism.leading to central neuropathic *** can lead to the form.tion of new connections triggering abnorm.l sensory *** excitatory glutam.te transporters are responsible for the reuptake of extracellular glutam.te which m.kes them.a critical target to prevent neuronal hyperexcitability and *** previous studies showed a sexually dim.rphic therapeutic window for spinal cord injury after treatm.nt with the selective estrogen receptor m.dulator *** this study,we investigated the anti-allodynic effects of tam.xifen in m.le and fem.le rats with spinal cord *** hypothesized that tam.xifen exerts anti-allodynic effects by increasing the expression of glutam.te transporters,leading to reduced hyperexcitability of the secondary neuron or by decreasing aberrant *** and fem.le rats received a m.derate contusion to the thoracic spinal cord followed by subcutaneous slow-release treatm.nt of tam.xifen or m.trix pellets as a control(placebo).We used von Frey m.nofilam.nts and the“up-down m.thod”to evaluate m.chanical *** treatm.nt decreased allodynia only in fem.le rats with spinal cord injury revealing a sexdependent *** expression profile of glutam.tergic transporters(excitatory am.no acid transporter 1/glutam.te aspartate transporter and excitatory am.no acid transporter 2/glutam.te transporter-1)revealed a sexual dim.rphism.in the rostral,epicenter,and caudal areas of the spinal cord with a pattern of expression prim.rily on *** rodents showed a significantly higher level of excitatory am.no acid transporter-1 expression while m.le rodents showed increased

关键词： allodynia central neuropathic pain EAAT-1/GLAST EAAT-2/GLT-1 glutam.te transporters selective estrogen receptor m.dulator sexual dim.rphism spinal cord injury traum.

Effects of therm.l boundary conditions on the joule heating of electrolyte in a m.crochannel

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Journal of hydrodynam.cs 2016年第5期28卷 850-862页

作者： m. Y. ABDOLLAhZADEh JAm.LABADI J. h. PARK m. m. RAShIDI J. m. ChEN Departm.nt of Ship Engineering Chabahar Maritime University Chabahar Iran Departm.nt of Aerospace and System.Engineering Gyeongsang National University Jinju Korea . Engineering Faculty of Bu-Ali Sina University Hamedan Iran Departm.nt of m.chanical and Nuclear Engineering Kansas State University Manhattan USA

Joule heating effects on a slit m.crocharm.l filled with electrolytes are com.rehensively investigated with em.hasis on the therm.l boundary conditions. An accurate analytical expression is proposed for the electrical field and the tem.erature distributions due to Joule heating are num.rically obtained from.the energy balance equation. The results show that a therm.l design based on the average electric potential difference between electrodes can cause severe underestim.tion of Joule heating. In addition, the param.- tric study of therm.l boundary conditions gives us an insight into the best cooling scenario for m.crofluidic devices. Other significant therm.l characteristics, including Nusselt num.er, therm.phoretic force, and entropy generation, are discussed as well. This study will provide useful inform.tion for the optim.zation of a biom.m. device in relation to the therm.l aspect.

关键词： m.crochannel electrolyte joule heating Nusselt num.er therm.phoretic force entropy generation optim.zed therm.ldesign