-This paper studies the use of Modified Proportional-Integral-Derivative Sliding Mode Controller (MPIDSMC) control used to control a flexible manipulator. The control gain in the MPIDSMC controller has been determined in an empirical way so far. It is a considerable time-consuming process because the control performance depends not only on the control gain but also on the other parameters such as the payload, references and PID joint servo gains. Hence, the control gain must be tuned considering the other parameters. In order to find the optimal control gain for the MPIDSMC controller, a fuzzy logic approach is proposed in this paper. The proposed fuzzy logic scheme finds an optimum control gain that minimizes the tip vibration for the end effector of the flexible manipulator. Tuned gain response results are compared to results for other types of gains. The effectiveness of using the fuzzy logic appears in the reduction of the computational time and the ability to tune the gain with different loading condition and input parameters.Index Terms -Modified PID Controller, Flexible manipulator, sliding mode controller, vibration of end effector, fuzzy logic theory

Refer to this research, a position parallel error-based fuzzy inverse dynamic plus gravity controller is proposed for continuum robot manipulator. The main problem of the pure inverse dynamic controller was equivalent dynamic formulation in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using fuzzy logic theory. To estimate the continuum robot manipulator system’s dynamic, 49 rules Mamdani inference system is design and applied to inverse dynamic plus gravity methodology. This methodology is based on applied fuzzy logic in equivalent nonlinear dynamic part to estimate unknown parameters. The results demonstrate that the error-based parallel fuzzy inverse dynamic plus gravity controller is a partly model-free controllers which works well in certain and partly uncertain system

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This research focuses on the basic concepts of continuum robot manipulator and control methodology. OCTARM Continuum robot manipulator is a 6 DOF serial robot manipulator. From the control point of view, robot manipulator divides into two main parts i.e. kinematics and dynamic parts. The dynamic parameters of this system are highly nonlinear. To control of this system nonlinear control methodology (computed torque controller and sliding mode controller) is introduced. Computed torque controller (CTC) is an influential nonlinear controller to certain systems which it is based on feedback linearization and computes the required arm torques using the nonlinear feedback control law. When all dynamic and physical parameters are known computed torque controller works superbly; practically a large amount of systems have uncertainties and sliding mode controller reduce this kind of limitation. Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Comparative study between computed torque controller and sliding mode controller is introduced in this research.

A novel biobased and highly porous aerogel was fabricated by cross-linking between chitosan (CS) and cellulose nanofibrils (CNFs). The structural and chemical characteristics of the produced CS/CNF aerogel were investigated using several techniques and the adsorption potential of the CS/CNF aerogel was determined by adsorption of acid blue 93 dye (AB93) under different conditions and the isotherm, kinetic, and thermodynamic characteristics of AB93 dye adsorption were analyzed. The investigations showed that the CS/CNF aerogel with a highly connected porous structure and large specific surface area has been successfully fabricated. The isotherm study indicated that the absorption of AB93 with the CS/CNF aerogel obeyed the Langmuir adsorption isotherm with a maximum uptake capacity of 1428.7 (mg g −1 ) at 308 K, which was higher than those reported recently for various absorbents. Overall results of adsorption indicated that the CS/CNF aerogel was a promising material for rapid and efficient adsorption of anionic dyes.

HIGHLIGHTS Investigating the unique biosolvent features of biodiesel.  Biodiesel; a unique bio-solvent to recycle the waste polymers e.g. EPS.  Investigating various solvents to stabilize biodiesel-polymer fuel blend.  Improving cold flow characteristic of biodiesel-polymer fuel blend using acetone. Due to the fast fossil fuel depletion and at the same time global warming phenomenon anticipated for the next coming years, the necessity of developing alternative fuels e.g. biofuels (i.e. bioethanol, biodiesel, biogas and etc.) has turned into an important concern. Recently, the application of the bio-solvency properties of biodiesel for recycling waste polymers has been highlighted. However, the impact of polymer dissolution on cold flow characteristics of biodiesel was never investigated. The present study was set to explore the impact of different solvents in stabilizing biodiesel-polymer solution. Among them, acetone was proved to be the best fuel stabilizer. Subsequently, cold flow characteristic i.e. cloud point, of the biodieselpolymer-acetone fuel was found to have improved (decreased) due to the inclusion of acetone. Finally, flash point analysis of the fuel blends containing acetone was done to ensured high safety of the fuel blend by dramatically increasing the flash point values of biodiesel-polymer fuel blends. GRAPHICAL ABSTRACT ARTICLE INFO ABSTRACT

Computed torque controller (CTC) is one of the types of feedback linearization nonlinear controller. This controller works very well in certain positions. However this controller has many advantages in certain conditions but it has challenges in uncertainty. The main challenge in CTC is fluctuations in uncertainties. In this research low pass filter is used to reduce the fluctuations in CTC. To improve the result of this controller intelligent CTC is recommended based on fuzzy logic engineering. In this research fuzzy logic theory is used to tune the new low pass filter CTC coefficients. The process of setting of integral intelligent Computed Torque Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. This research is used to reduce or eliminate the computed torque controller problem based on low pass filter and fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

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