Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous pulses.To improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.     

A TEM study on the microstructure of spark plasma sintered ZrB_2-based composite with nano-sized SiC dopant

Sintering behavior of ZrB_2 ceramic with nano-sized SiC dopant was studied. ZrB_2-25 vol% nano-sized SiC was selected as the starting mixture to fabricate the composite. The manufacturing process was accomplished at 1800℃ for 5 min under 25 MPa via spark plasma sintering(SPS). The as-sintered sample reached a relative density of 99%. Besides the initial phases, namely ZrB_2 and SiC, the high-resolution X-ray diffraction(HRXRD) was used to study the formation of an in-situ ZrC phase. The possible chemical interactions during the ZrC phase formation were scrutinized. The microstructure of the composite was studied by the field emission scanning electron microscopy(FESEM) and transmission electron microscopy(TEM). Elemental analysis through FESEM evaluations revealed the formation of amorphous phases, rich in Zr, C, Si, B, and O elements, which was in harmony with the thermodynamical assessments. TEM studies endorsed the formation of such phases, containing a glassy bed of Si–B–O with ZrC and C islands dispersed therein.     

Biogenic amino acid methionine-based corrosion inhibitors of mild steel in acidic media

N,N-Diallyl methionine ethyl ester hydrochloride 5 underwent alternating copolymerization with SO_2 via the Butler cyclopolymerization protocol in dimethyl sulfoxide(DMSO) to give water-soluble cycloterpolymer 6 with a ～1:1 molar ratio of sulfide and sulfoxide groups as a result of oxygen transfer from DMSO. Half of the sulfide groups in 6, upon oxidation with H_2O_2, afforded polymer sulfoxide 7 and polymer sulfone 8. The solution properties of these polymers were determined via a viscometric technique. The thermal stability of these polymers was determined by thermogravimetric analysis. The inhibition efficiency obtained from gravimetric mass loss, potentiodynamic polarization, and electrochemical impedance spectroscopy techniques agreed well with each other. The corrosion efficiencies increase with increasing concentration of the polymers. At a polymer concentration of 175 mM, the maximum inhibition efficiency of copolymer compounds 6–8 was determined to be 92%, 97%, and 95%, respectively. The synthesized polymer compounds acted as mixed-type inhibitors. Polymer compound 7 adsorbed onto the metal surface via chemisorption and physisorption and obeyed Langmuir, Temkin, and Freundlich adsorption isotherms. Analyses by X-ray photoelectron spectroscopy and scanning electron microscopy–energy-dispersive X-ray spectroscopy indicated that the adsorbed polymers formed a thin film on the metal surface and prevented further corrosive attack.     

Application of Viable System Model in Diagnosis of Organizational Structure

Systemic Practice and Action Research - A well-designed organizational structure is a cornerstone of achieving an organization’s goals while suiting the environmental challenges. Structural...     

Cell-free expression and in meso crystallisation of an integral membrane kinase for structure determination

Membrane proteins are key elements in cell physiology and drug targeting, but getting a high-resolution structure by crystallographic means is still enormously challenging. Novel strategies are in big demand to facilitate the structure determination process that will ultimately hasten the day when sequence information alone can provide a three-dimensional model. Cell-free or in vitro expression enables rapid access to large quantities of high-quality membrane proteins suitable for an array of applications. Despite its impressive efficiency, to date only two membrane proteins produced by the in vitro approach have yielded crystal structures. Here, we have analysed synergies of cell-free expression and crystallisation in lipid mesophases for generating an X-ray structure of the integral membrane enzyme diacylglycerol kinase to 2.28-Å resolution. The quality of cellular and cell-free-expressed kinase samples has been evaluated systematically by comparing (1) spectroscopic properties, (2) purity and oligomer formation, (3) lipid content and (4) functionality. DgkA is the first membrane enzyme crystallised based on cell-free expression. The study provides a basic standard for the crystallisation of cell-free-expressed membrane proteins and the methods detailed here should prove generally useful and contribute to accelerating the pace at which membrane protein structures are solved.     

The FHIT gene product: tumor suppressor and genome “caretaker”

The FHIT gene at FRA3B is one of the earliest and most frequently altered genes in the majority of human cancers. It was recently discovered that the FHIT gene is not the most fragile locus in epithelial cells, the cell of origin for most Fhit-negative cancers, eroding support for past claims that deletions at this locus are simply passenger events that are carried along in expanding cancer clones, due to extreme vulnerability to DNA damage rather than to loss of FHIT function. Indeed, recent reports have reconfirmed FHIT as a tumor suppressor gene with roles in apoptosis and prevention of the epithelial–mesenchymal transition. Other recent works have identified a novel role for the FHIT gene product, Fhit, as a genome “caretaker.” Loss of this caretaker function leads to nucleotide imbalance, spontaneous replication stress, and DNA breaks. Because Fhit loss-induced DNA damage is “checkpoint blind,” cells accumulate further DNA damage during subsequent cell cycles, accruing global genome instability that could facilitate oncogenic mutation acquisition and expedite clonal expansion. Loss of Fhit activity therefore induces a mutator phenotype. Evidence for FHIT as a mutator gene is discussed in light of these recent investigations of Fhit loss and subsequent genome instability.     

Sample average approximation method for a class of stochastic variational inequality problems

This paper considers a class of stochastic variational inequality problems. As proposed by Jiang and Xu (2008), by using the so-called regularized gap function, the authors formulate the problems as constrained optimization problems and then propose a sample average approximation method for solving the problems. Under some moderate conditions, the authors investigate the limiting behavior of the optimal values and the optimal solutions of the approximation problems. Finally, some numerical results are reported to show efficiency of the proposed method.     

Effects of cold rolling on the microstructure and mechanical properties of Fe-Ni-Mn-Mo-Ti-Cr maraging steels

Effects of cold rolling on the microstructure and mechanical properties of Fe-Ni-Mn-Mo-Ti-Cr maraging steels were studied. To investigate the microstructure and mechanical properties, optical microscopy, scanning electron microscopy, X-ray diffraction, tensile test, and hardness test were used. The results show that the solution-annealing treatment in the cold-rolled steel redounds to the formation of submicrocrystalline Fe₂(Mo, Ti) Laves phase particles, which are stable at high temperatures. These secondary Laves phase particles prevent from recrystallization at high temperatures and correspond to semi-brittle fracture in the subsequent aging treatment.     

夹层板系统压缩力学性能试验研究

夹层板系统以其优越的力学性能在工程领域得到广泛应用。对夹层板系统在不同加载速率下的压缩力学性能进行了试验研究。首先对钢-聚氨酯-钢夹层板系统进行了准静态压缩试验,得到夹层板系统的准静态等效应力-应变曲线;并对同一组试样,基于分离式霍普金森压杆试验装置,进行了动态冲击压缩试验。近似等效SHPB试验原理,分析夹层板系统的动态力学性能。比较分析结构的破坏形式和原因,为新型结构的优化设计和应用提供参考。     

Biodegradable starch/poly (vinyl alcohol) film reinforced with titanium dioxide nanoparticles

Biodegradable starch/poly (vinyl alcohol)/nano-titanium dioxide (ST/PVA/nano-TiO₂) nanocomposite films were prepared via a solution casting method. Their biodegradability, mechanical properties, and thermal properties were also studied in this paper. A general full factorial experimental approach was used to determine effective parameters on the mechanical properties of the prepared films. ST/PVA/TiO₂ nanocomposites were characterized by scanning electron microscopy (SEM) and X-ray diffraction (XRD). The results of mechanical analysis show that ST/PVA films with higher contents of PVA have much better mechanical properties. In thermal analysis, it is found that the addition of TiO₂ nanoparticles improves the thermal stability of the films. SEM micrographs, taken from the fracture surface of samples, illustrate that the addition of PVA makes the film softer and more flexible. The results of soil burial biodegradation indicate that the biodegradability of ST/PVA/TiO₂ films strongly depends on the starch proportion in the film matrix. The degradation rate is increased by the addition of starch in the films.