Incorporating a U-shaped groove in the middle of each side of the convex-triangular design lowers the flexural rigidity of the origin ProTaper design. Bending leads to the highest surface stress at or near the cutting edge of the instrument. Stress concentration occurs at the bottom of the flute when the instrument is subjected to torsion.

This paper presents a precise positioning robust hybrid intelligent control scheme based on the effective compensation of nonsmooth nonlinearities, such as friction, deadzone, and uncertainty in a dynamic system. A new adaptive fuzzy wavelet echo state network algorithm is proposed to improve performance in terms of approximating unknown uncertainties in conventional neural network algorithms. A strict feedback controller and adaptive laws for estimating the unknown friction and deadzone parameters were developed using the recursive steps of dynamic surface control and a sliding mode control based on Lyapunov stability theory. Lyapunov stability analysis confirmed the boundedness and convergence of the closed-loop system. The performance of the proposed control scheme was validated experimentally by applying it to the precise positional control of a robot manipulator.Index Terms-Deadzone and friction, dynamic surface sliding mode control, fuzzy wavelet echo state networks (FWESNs), robot manipulator.

The activation energy (Ea) for waste-activated sludge (WAS) hydrolysis was compared between microwave irradiation (MW) and conventional heating (CH) methods to evaluate the non-thermal effect of MW. The microwave-assisted hydrolysis of WAS was assumed to follow the first-order kinetics on the basis of volatile suspended solids (VSS) conversion to soluble chemical oxygen demand (SCOD) for different initial VSS concentrations. By comparing the VSS decrement and the SCOD increment between MW and CH at different absolute temperatures of 323, 348 and 373 K, the average ratio of VSS conversion to SCOD was determined to range from 1.42 to 1.64 g SCOD/g VSS. These results corresponded to the theoretical value of 1.69 g SCOD/g VSS based on the assumption that the molecular formula of sludge was C10H19O3N. Consequently, the Ea of the MW-assisted WAS hydrolysis was much lower than that of CH for the same temperature conditions. The non-thermal effect of MW in the hydrolysis of WAS could be identified with the lower Ea than that of CH.

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