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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Journal of intelligent and robotic systems 5 (1992), S. 241-252 
    ISSN: 1573-0409
    Keywords: Adaptive control ; computed torque control ; decoupling control ; heuristic optimal control ; direct-drive robot ; measurement noise ; modelling error ; tracking control task
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Various advanced control strategies are applied to a direct-drive SCARA robot and studied in computer simulations. Besides computed torque control and direct adaptive control, heuristic optimal control, a new path control scheme for robotic manipulators, is included in the comparison study. PD control, the traditional robot control method, is used for generating a comparing baseline. While all schemes are applied for the same tracking task, the effect of modelling errors and measurement noise is considered in robot performance evaluation. Simulation results show that (1) without model errors, all advanced control schemes can achieve higher tracking accuracy than PD control; (2) with a random measurement error of 1%, computed torque and direct adaptive control methods are inferior to PD control; (3) heuristic control proves to be the most robust control scheme in case of mixed model and measurement errors.
    Type of Medium: Electronic Resource
    Library Location Call Number Volume/Issue/Year Availability
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  • 2
    Electronic Resource
    Electronic Resource
    New York, NY [u.a.] : Wiley-Blackwell
    Biotechnology and Bioengineering 46 (1995), S. 553-560 
    ISSN: 0006-3592
    Keywords: biofilm ; disinfection ; detachment ; biofouling ; ecology ; biocide ; Chemistry ; Biochemistry and Biotechnology
    Source: Wiley InterScience Backfile Collection 1832-2000
    Topics: Biology , Process Engineering, Biotechnology, Nutrition Technology
    Notes: The influence of biofilm areal cell density, species composition, and the presence of abiotic particles on the disinfection and removal of bacterial biofilms by monochloramine was investigated. Mono- and binary population biofilms of Pseudomonas aeruginosa and Klebsiella pneumoniae were grown on stainless-steel slides in a continuous flow annular reactor. Biofilms were treated in the reactor with a pulse/step dose of 4 mg/L monochloramine for 2 h. Biofilm samples were disaggregated and assayed for colony formation on R2A agar and for total cell numbers by acridine orange direct counts. These data were used to determine apparent first order rate coefficients for the processes of disinfection and detachment. Disinfection rate coefficients exceeded detachment rate coefficients by as much as an order of magnitude and the two coefficients were poorly correlated (r = 0.272). The overall decay rate coefficient (disinfection plus detachment) depended strongly on the initial biofilm areal cell density. It displayed a parabolic dependence on cell density with a maximum near 108 cfu/cm2. This result points to multiple factors influencing biofilm susceptibility to antimicrobial challenge. Decay rates of K. pneumoniae measured in binary population biofilms were comparable with those measured in monopopulation biofilms (p = 0.61). P. aeruginosa decayed more slowly in biofilsm dominated by K. pneumoniae (p = 0.028), indicating some interaction between species. The presence of kaolin and calcium carbonate particles in the biofilm reduced disinfection efficacy. © 1995 John Wiley & Sons, Inc.
    Additional Material: 8 Ill.
    Type of Medium: Electronic Resource
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