Multiwalled carbon nanotubes (CNTs) were modified with the Hummers method and coated onto Pt electrodes patterned on SiO 2 /Si(001) surface to fabricate chemical sensors. The modified CNTs showed a different structure and increased number of defects compared with pristine CNTs, these properties facilitated the adsorption of NH 3 gas molecules on the CNT surfaces. NH 3 gas sensing results indicate that the sensor exhibited an enhanced response to gas at room temperature. The response of the modified CNT-based sensor was 10 times higher than that of pristine CNT-based sensors.
In this paper, a solution to improve the precision in speed control for permanent magnet synchronous motors (PMSM) based on fuzzy adaptive sliding mode controller (FASMC) is proposed. In order to tackle the nonlinear tracking problem, continuously switching topologies are embedded. The designed algorithm and the closed electric drive system stability is examined by employing corresponding Lyapunov candidate functions. The results are numerically simulated and experimentally verified in the environment of MATLAB-Simulink, control Desk with dSPACE 1104 card, proving the applicability of the control algorithm which not only works well in simulations but also in practice for possible industrial traction drive applications.
When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL) is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM) is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.
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