This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...

In this study we present the results of the equilibrium, dissociation kinetics, DFT and X-ray crystallographic studies performed on the complexes of metal ions of biomedical importance (Mn(2+), Cu(2+) and Gd(3+)) formed with octadentate ligands based on a cyclen platform incorporating two picolinate pendant arms (dodpa(2-) and Medodpa(2-)). The stability constants of the complexes were accessed...

The complexation reactions between diacetyl monooxime (Damo), imidazole (Him), histamine (Hist) and histidine (His) with Co2+, Ni2+ and Cu2+ were studied potentiometrically in aqueous solution at 25 °C and m= 0.5 M KNO3. The overall stability constants log b's of species were obtained by computer refinement of p...

This survey is conducted with the purpose of studying factors effective in vitality of residential complexes. This is an important subject because through recognition of the reciprocal relation between human being and environment -as far as vitality is concerned- various attitudes and approaches can be recognized and on the other hand, for the purpose of explaining the concept of vitality in th...

The determination of stoichiometries and stability constants of complexes by means of UV-visible spectrophotometry applying traditional methods does not evaluate the quality of the values obtained, since the classic application of these methods does not provide coverage intervals. However, the use of chemometric techniques in different steps of the application of these methods makes it possible...

In the paper we propose a new synchronization principle. To guarantee synchronization between coupled chaotic oscillators, proper coupling constants are selected by the Liapunov stability theory and Hurwitz Theorem. As an example and application, we prove the conjecture [Wu & Chua, 1994] that synchronization between two chaotic Chua’s circuits can be achieved by using the second state as feedba...

The objective of this work is to track the amount of metal complexes distributed in the extraction cell, collection vial, and tubing used in supercritical fluid extraction (SFE) systems after progressive removal of metal ions in supercritical carbon dioxide (SC-CO2). Sodium diethyldithiocarbamate (NaDDC) and dibutylammonium dibutyldithiocarbamate (DBDC) ligands were used to form complexes with ...

Indium is a heavy metal belonging to group IIIa. It is used as a radioimaging and chemotherapeutic agent in diagnosis and also in the treatment of cancers. It is believed that indium may interfere with iron metabolism and reduce cell growth in cancer tissue. The present report was established to study the binding of iron and indium to apo-transferrin (apo-tf) and to identify amino acids involv...

Mixed ligand complexes of some transition metals[ Cu(II),Ni(II), Co(II) and Zn(II)] have been investigated Potentiometrically with Pyridine-2,6-dicarboxylic acid(PDA) and 2-hydroxy benzalidine-anthranilic acid (HBAA) in aqueous solution at 298.15 K and 313.15 K. The ionic strength of 0.1 mol dm-3 was kept constant using KNO3. The stability constants of these 1:1:1 ternary complex have been eval...