Nonlinear repetitive control with application to trajectory control of manipulators

In this article, a new control scheme named repetitive control is proposed for a class of nonlinear systems described by x(t) = Ax(t) + Bu(t) + n(x(t)) and y(t) = Cx(t), in which the controlled variables follow periodic reference commands. The stability condition is derived by applying the passivity theorem. We show how to apply the repetitive control scheme to the trajectory control of a manipulator. A simple repetitive control scheme is developed for the trajectory control of a manipulator by using nonlinear compensation and feedbacks of position and velocity signals. Experimental results for a three link manipulator verify that the proposed repetitive control reduces the tracking error to a very low level.     

A stochastic realization algorithm via block LQ decomposition in Hilbert space

A stochastic realization problem of a stationary stochastic process is re-visited, and a new stochastically balanced realization algorithm is derived in a Hilbert space generated by second-order stationary processes. The present algorithm computes a stochastically balanced realization by means of the singular value decomposition of a weighted block Hankel matrix derived by a “block LQ decomposition”. Extension to a stochastic subspace identification method explains how the proposed abstract algorithm is implemented in system identification.     

Electrochemical conversion of carbon dioxide to methane in aqueous NaHCO3 solution at less than 273 K

The electrochemical reduction of CO₂ on a Cu electrode was investigated in aqueous NaHCO₃ solution, at low temperature. A divided H-type cell was employed, the catholyte was 0.65 mol dm⁻³ NaHCO₃ aqueous solution and the anolyte was 1.1 mol dm⁻³ KHCO₃ aqueous solution. The temperature during the electrolysis of CO₂ was decreased stepwise to 271 K. Methane and formic acid were obtained as the main products. The maximum Faradaic efficiency of methane was 46% at −2.0 V and 271 K. The efficiency of hydrogen formation, a competing reaction of CO₂ reduction, was significantly depressed with decreasing temperature. Based on the results of this work, the proposed electrochemical method appears to be a viable means for removing CO₂ from the atmosphere and converting it into more valuable chemicals. The synthesis of methane by the electrochemical method might be of practical interest for fuel production and the storage of solar energy.     

GaAs varactor diode for u.h.f. t.v. tuners

The design and fabrication of a GaAs varactor diode for u.h.f. t.v. tuners were carried out using a GaAs double epitaxial layer. The capacitance ratio of diode. C3/C25, is 6.0 and the series resistance at 470 MHz is 0.24 ?. These characteristics are much better than those of an Si diode and well satisfy the requirements for t.v. tuners.     

Theory of powdered metal formation in electrochemistry—morphological instability in galvanostatic crystal growth under diffusion control

Following the presentation of the theory of powder formation in steady state electrocrystallization, some equations based on the linear instability theory in non-steady state deposition under diffusion control were derived; the galvanostatic case was then analysed using the theoretical equations obtained here.As a result, the dependences of powder growth and particle size on various physical parameters, such as current density, bulk concentration and temperature, were made quantitatively clear. Furthermore, a reliable basis was given to the induction time of powder formation which had formerly been liable to amibiguous discussion.     

Fusion and molecular aspects of liposomal nanocarriers incorporated with isoprenoids

The present study was conducted to investigate whether typical isoprenyl compounds (TICs) can control liposomal fusion reactions through changes in the physical properties of membranes. The fusion capabilities of TIC-incorporated liposomes were characterized by measuring the 13C spin-lattice relaxation times (13CT1) and the gel permeation chromatogram (GPC) patterns. The 13CT1 relaxivities of some of these TIC-liposomes were remarkably enhanced at 27 degrees C. The highest 13CT1 value obtained was for the beta-carotene-liposome, which ruptured, and was attributed to the highest membrane fusion reactivity. The other TIC-liposomes incorporated with alpha-tocopherol, canthaxanthin, or coenzyme Q10 also induced significant fusion and did not rupture in comparison with the beta-carotene-liposome. These results show that the incorporations of TICs into lipid bilayers are useful to control liposomal nanocarriers for suitable membrane packing and advantageous phase separation, which could affect membrane-related processes.     

A new type of nanocomposite in tetragonal zirconia polycrystal-molybdenum system

A ceramic/metal nanocomposite in tetragonal zirconia-molybdenum system possesses a novel microstructural feature composed of a mutual intragranular nanostructure, in which either nanometer sized Mo particles or equivalent sized zirconia particles are located within the zirconia grains or Mo grains, respectively. It achieves a simultaneous improvement in strength and toughness that overcomes the strength-toughness tradeoff relation.     

Finite element analysis of the magnetomechanical behavior of a toroidal coil with magnetic mirrors

A toroidal simulator is used to study the magnetomechanical behavior of a superconducting D-shaped coil set at the center between sectored ferromagnetic plates. Since the magnetic field distribution between the two plates is expected to be almost the same as that created by toroidal field coils arrayed in a torus, the toroidal simulator may be expected to show almost the same magnetomechanical behavior as that of the full torus coils. To verify its validity experimentally, buckling and vibration tests were carried out in a liquid helium cryostat. In addition numerical analyses were performed for the magnetic field distribution to reveal its similarity and for the experimental results from the toroidal simulator to confirm its validity. Its validity is fully demonstrated in the present study.     

Thermodynamic properties for the quaternary system H2O + CH3OH + LiBr + ZnCl2

The thermodynamic properties (solubility, vapour pressure, density, viscosity, heat capacity and heat of mixing) of the H₂O + CH₃OH + LiBr + ZnCl₂ (9:1 H₂O:CH₃OH and 1:1 LiBr:ZnCl₂ by mass) system using H₂O + CH₃OH as the working media and LiBr + ZnCl₂ as the absorbents were measured. The solubility data were obtained in the temperature range from 270.35 to 389.55 K. The measurements of vapour pressure, density, viscosity and heat capacity were carried out at various temperatures and absorbent concentrations. The differential heat of dilution and differential heat of solution at 298.15 K were measured for solutionw with absorbent concentrations from 0 to 75.2 wt%. The integral heat of mixing data at 298.15 K were obtained from both sets of experimental data. The integral heats of mixing for this quaternary system showed exothermic behaviour. The vapour pressure data were correlated with an Antoine-type equation. An empirical formula for the heat capacity was obtained from experimental data. The experimental data for the basic thermodynamic properties of this quaternary system were compared with those of the basic H₂O + LiBr system.