Search

The work reported here was motivated by the development of manipulator systems comprising one long-reach, flexible-link subsystem, termed the macromanipulator, and a short-reach, rigid-link subsystem, called the micromanipulator. The flexural states of the macromanipulator, needed for controlling such systems effectively, are not usually measurable directly. For this reason, a state-estimation algorithm is proposed which uses the velocity and angular-velocity data of the micromanipulator base to estimate the flexural states of the macromanipulator. The velocity data are inferred from the acceleration signals delivered by a kinematically redundant set of triaxial accelerometers. The accelerometer signals are also utilized to calculate the translational and angular accelerations of the micromanipulator base, which are, in turn, used along with the dynamics equations of the micromanipulator to obtain the reaction force and moment acting between the two subsystems. Treating the force and the moment as inputs, the dynamics equations of the macromanipulator alone are used in the observer, thus reducing the order of the dynamics model. The state-output relations, on the other hand, are linearized in closed form to lower the computational cost. The relations thus obtained are then used in an extended Kalman filter to estimate the flexural states of the system. Index Terms--Flexible manipulator, flexural coordinates, linearized kinematics, macro-micro manipulator, state estimation, twist vector.

Using an order N Lagrangian formulation, the paper studies attitude control of a rigid platform supporting a flexible tether connected to a rigid satellite. The system, in an arbitrary orbit, is free to undergo three-dimensional motion in both rigid and flexible degrees of freedom. As can be expected, the governing equations of motion, in general, are highly nonlinear, nonautonomous, and coupled, and are amenable only to numerical integration. The control is achieved through time dependent offset of the tether attachment point, as determined through the Liapunov method, thus providing regulated amount of tether tension induced damping moment. Results suggest that the controller is quite successful in stabilizing the platform about its nominal equilibrium position in a few orbits, even in the presence of relatively large disturbances. Furthermore, extensive parametric study suggests that the controller is quite versatile in imparting any desired orientation to the platform. This would enable the system to undertake diverse missions aimed at communications, launch and retrieval of spacecraft, monitoring the Earth's environment, planetary, and galactic observations, etc.

Background: Lacidipine (LCDP) is a 1,4-dihydropyridine derivative categorized as an anti-hypertensive Ca2+ channel blocker having very low solubility, and thus very low oral bioavailability, which presents a challenge to the formulation scientists. Homogeneous distribution of poorly water-soluble drugs like LCDP in polyvinylpyrrolidone (PVP), a hydrophilic carrier, is definitely a suitable way to improve the bioavailability of such drugs. Materials and Methods: The aim of the study was to develop a combined thermal, imaging, and spectroscopic approach, and characterize physical state, dissolution behavior, and elucidation of drug--PVP interaction in LCDP/PVP solid dispersion (SD) using differential scanning calorimetry (DSC), X-ray diffractometry (XRD), fourier transform infrared (FTIR) spectroscopy, and hot stage microscopy (HSM), which is the prerequisite for the development of a useful drug product. Results: Dissolution studies of LCDP and its physical mixture with PVP showed less than 50% release even after 60 min, whereas SD of LCDP/ PVP ratio of 1:10% w/w showed complete dissolution within 45 min. DSC and powder XRD proved the absence of crystallinity in LCDP/PVP SD at a ratio of 1:10% w/w. The FTIR spectroscopy indicated formation of hydrogen bond between LCDP and PVP. In the SD FTIR spectra, the -NH stretching vibrations and the -C=O stretch in esteric groups of LCDP shift to free -NH and C=O regions, indicating the rupture of intermolecular hydrogen bond in the crystalline structure of LCDP. Conclusion: Solid-state characterization by HSM, DSC, XRD, and FTIR studies, in comparison with corresponding physical mixtures, revealed the changes in solid state during the formation of dispersion and justified the formation of high-energy amorphous phase. [ABSTRACT FROM AUTHOR]