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Dynamic Leveling Control of a Wireless Self-Balancing ROV Using Fuzzy Logic Controller

Intelligent Control and Automation 2013年第2期4卷 235-243页

作者： mohammad afif ayob Dirman Hanafi ayob Johari Department of Communication Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Malaysia Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Malaysia

A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. Like any other marine vehicle, ROV has to be designed to float in the water where its mass is supported by the buoyancy forces due to the displacement of water by its hull. Vertically positioning a mini ROV in centimeters resolution underwater and maintaining that state requires a distinctive technique partly because of the pressure and buoyance force exerted by the water towards the hull and partly because of the random waves produced by the water itself. That being said, the aim of the project is to design and develop a wireless self-balancing buoyancy system of a mini ROV using fuzzy logic controller. A liquid level sensor has been implemented to provide feedback to the controller. A user-friendly graphical user interface (GUI) has been developed for real-time data monitoring as well as controlling the vertical position of the ROV. At the end of the project, the implemented fuzzy control system shows enhanced and better performance when compared with one without a controller, a proportional-derivative (PD) controller, and a proportional-integral-derivative (PID) controller.

关键词： Fuzzy Logic Controller ROV Underwater Vehicle Wireless

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Determination of Copper by Flame Atomic Absorption Spectrometry after Preconcentration with Activated Carbon Impregnated with a New Schiff Base

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Chinese Journal of Chemistry 2005年第10期23卷 1437-1442页

作者： SABER TEHRANI, mohammad RASTEGAR, Faramarz PARCHEHBAF, ayob REZVANI, Zolfaghar Department of Chemistry Faculty of Science Science and Research Campus lslamic Azad University Tehran Iran Plate-Form Analitique lnorganique Lois Pasteur University Strasburg France Department of Chemistry Faculty of Science Azarbaijan Tarbiat Moallem University Tabriz Iran

A simple and reliable method for the extraction and determination of trace amounts of copper（Ⅱ） ions using activated carbon （AC） impregnated by a new Schiff base 5-[（4-heptyloxyphenyl）azo]-N-（4-propyloxyphenyl）-salicylaldimine （HPPS） and atomic absorption spectrometry is presented. Recovery efficiency and the influence of pH value, volume of sample solution, effect of different eluents, and interfering ions were evaluated. The limit of detection （3σ） was 2.62 ***^-1 and the relative standard deviation （n=10） was 1.5%. Under optimum conditions, the copper ions were concentrated 25 fold using 250 mL of sample solution and 10 mL of eluent. This procedure has been successfully applied to the determination of copper in different water samples.

关键词： preconcentration determination copper flame atomic absorption spectrometry activated carbon

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Determination of Pb（Ⅱ） and Cu（Ⅱ） by Electrothermal Atomic Absorption Spectrometry after Preconcentration by a Schiff Base Adsorbed on Surfactant Coated Alumina

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Chinese Journal of Chemistry 2006年第6期24卷 765-769页

作者： SABER TEHRANI, mohammad RASTEGAR, Faramarz PARCHEHBAF, ayob KHATAMIAN, Masoomeh Department of Chemistry Science and Research Campus Islamic Azad University Tehran Iran Plate-Form Inorganic Analytical Chemistry Louis Pasteur University Strasbourg France Department of Inorganic Chemistry Faculty of Chemistry University of Tabriz Tabriz Iran

1,2-Bis（salicylidenamino）ethane loaded onto sodium dodecyl sulfate-coated alumina was used as a new chelating sorbent for the preconcentration of traces of Pb（Ⅱ） and Cu（Ⅱ） prior to atomic absorption spectrometric determination. The influence of pH, flow rates of sample and eluent solutions, and foreign ions on the recovery of Pb（Ⅱ） and Cu（Ⅱ） by this sorbent has been studied. The retained ions were eluted with 4 mol·L nitric acid and determined by electrothermal atomic absorption spectrometry （ETAAS）. The data of limit of detection （3σ） for Pb（Ⅱ） and Cu（Ⅱ） were found to be 8.57 and 2.69 ng·L^-1 respectively, while the enrichment factor for both ions was 100. The proposed method was successfully applied to determination of lead and copper in different water samples.

关键词： determination of lead and copper preconcentration 1,2-bis(salicylidenamino)ethane ETAAS

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