in the present research mixed convection flow through a copper-water nanofluid in a driven cavity in the presence of magnetic field is investigated numerically. the cavity is heated from top and cooled from bottom while its two vertical walls are insulated. the governing equations including continuity, n-s and energy equations are solved over a staggered grid system. the study is conducted for ...

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

the fluid flow and heat transfer in lid-driven enclosures filled with cu-water nanofluid is numerically investigated. the moving vertical walls of the enclosure  are maintained in a constant temperature, while the horizontal walls are insulated. the hybrid scheme is used to discretize the convection terms and simpler algorithm is adopted to couple the velocity field and pressure in the momentum...

a thermodynamic study of copper ions by jack bean urease (jbu) was carried out at two temperatures of 27 and 37?c in tris buffer (30 mm; ph=7.0) using an isothermal titration calorimetry. there is a set of twelve identical and non-interacting binding sites for copper ions. the intrinsic dissociation equilibrium constant and the molar enthalpy of binding are 285 µm and ?15.2 kj/mol at 27?c and 3...

this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...

Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...