Flexible joint robot (FJR) manipulators can offer many attractive features over rigid manipulators, including light weight, safe operation, and high power efficiency. However, the tracking control of the FJR is challenging due to its inherent problems, such as underactuation, coupling, nonlinearities, uncertainties, and unknown external disturbances. In this article, a terminal sliding mode control (TSMC) is proposed for the FJR system to guarantee the finite-time convergence of the systems output, and to achieve the total robustness against the lumped disturbance and estimation error. By using two coordinate transformations, the FJR dynamics is turned into a canonical form. A cascaded finite-time sliding mode observer (CFTSMO) is construct

      Biocompatible gold nanoparticles were successfully synthesized by hibiscus plant leaf extract as a bioreactor. The prepared nanoparticles were evaluated using UV/Vis spectroscopy, Atomic Force Microscopy (AFM), Fourier Transform Infrared Spectroscopy (FT-IR), X-ray Diffraction and Scanning Electron Microscopy (SEM) . The study also investigated the effect of the different gamma irradiation doses on the size and dispersion of the produced nanoparticles. In UV- Vis spectra, the peak of Au NPs' surface plasmon resonance (SPR) was detected as a single peak at 543 nm. The gamma irradiation induced a blue shift in the SPR peak, which indicates that it might be applied as affective factor for size control.  Physical as well as chemi

     A simple method was used to create a graphene oxide/chitosan (GO/CS) nanocomposite, which was then used in batch experiments to remove copper ions from industrial wastewater under various conditions of initial concentration, adsorbent weight, pH, and contact time. Maximum removal percentage equal to 99.4 % for initial copper ion concentration of 5x10^-2 mol/L at pH 6, time 75 min, temperature 25 °C, and adsorbing dose 0.1 g. The pseudo-second order kinetic model and the Freundlich isotherm adequately fit the experimental results. The process was spontaneous and endothermic, according to thermodynamic studies.

Background. “Polyetheretherketone (PEEK)” is a biocompatible, high-strength polymer that is well-suited for use in dental applications due to its unique properties. However, achieving good adhesion between PEEK and hydrophilic materials such as dental adhesives or cement can be challenging. Also, this hydrophobicity may affect the use of PEEK as an implant material. Surface treatment or conditioning is often necessary to improve surface properties. The piranha solution is the treatment of choice to be explored for this purpose. Methods. PEEK disks of 10 mm diameter and 2 mm thickness were used in this study. Those samples were divided into five groups (each group has five samples). The first is the control group, in which no

     In the present work, the possibility of treating many types of radioactive sources was examined practically. Six types of sealed radioactive sources were selected: ¹³⁷Cs, ¹³³Ba, ⁹⁰Sr, ¹⁵²Eu, ²²⁶Ra, and ²⁴¹Am. The sources were exposed to a neutron flux emitted from ²⁴¹Am/Be source for 33 days. The results showed a measurable reduction of activity for ²²⁶Ra, ²⁴¹Am, and ¹⁵²Eu, while the other radionuclides, ¹³⁷Cs, ¹³³Ba, and ⁹⁰Sr, showed less response to neutron incineration.

In this paper, we have extracted Silica from rice husk ash (RHA) by sodium hydroxide to produce sodium silicate. 3-(chloropropyl)triethoxysilane (CPTES) functionalized with sodium silicate via a sol-gel method in one pot synthesis to prepare RHACCl. Chloro group in compound RHACCl replacement in iodo group to prepere RHACI. The FT-IR clearly showed absorption band of C-I at 580 cm^-1. Functionalized silica RHACI has high surface area (410 m²/g) and average pore diameter (3.8 nm) within mesoporous range. X-ray diffraction pattern showed that functionalized silica RHACI has amorphous phase .Thermogravemitric analysis (TGA) showed two decomposition stages and SEM morphology of RHACI showed that the particles have irregu

The preparation of the title compound, C₂₆H₂₅N, was achieved by the condensation of an ethanolic mixture of benzaldehyde, cyclohexanone and ammonium acetate in a 2:1:1 molar ratio. There are two crystallographically independent molecules in the asymmetric unit. The two cyclohexyl rings adopt ananti-envelope conformation with the benzyl moiety adopting acisconformation with respect to the nitrogen atom of the phenanthridine segment. In the crystal, molecules are linked through C—H...N interactions into hydrogen-bonded chains that are further arranged into distinct layers by weak offset π–π interactions.