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Abstract

This paper deals with two control algorithms which utilize learning of their models’ parameters. An adaptive and artificial neural network control techniques are described and compared. Both control algorithms are implemented in MATLAB and Simulink environment, and they are used in the simulation of a postion control of the LWR 4+ manipulator subjected to unknown disturbances. The results, showing the better performance of the artificial neural network controller, are shown. Advantages and disadvantages of both controllers are discussed. The usefulness of the learning algorithms for the control of LWR 4+ robots is discussed. Preliminary experiments dealing with dynamic properties of the two LWR 4+ robots are reported.

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Authors and Affiliations

Łukasz Woliński
1

  1. Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Poland.
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Abstract

This article reports the effects of CuO/water based coolant on specific fuel consumption and exhaust emissions of four stroke single cylinder diesel engine. The CuO nanoparticles of 27 nm were used to prepare the nanofluid-based engine coolant. Three different volume concentrations (i.e 0.05%, 0.1%, and 0.2%) of CuO/water nanofluids were prepared by using two-step method. The purpose of this study is to investigate the exhaust emissions (NOx), exhaust gas temperature and specific fuel consumption under different load conditions with CuO/water nanofluid. After a series of experiments, it was observed that the CuO/water nanofluids, even at low volume concentrations, have a significant influence on exhaust emissions. The experimental results revealed that, at full load condition, the specific fuel consumption was reduced by 8.6%, 15.1% and 21.1% for the addition of 0.05%, 0.1% and 0.2% CuO nanoparticles with water, respectively. Also, the emission tests were concluded that 881 ppm, 853 ppm and 833 ppm of NOx emissions were observed at high load with 0.05%, 0.1% and 0.2% volume concentrations of CuO/water nanofluids, respectively.

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Authors and Affiliations

S. Senthilraja
1
KCK Vijayakumar
2
R. Gangadevi
3

  1. Faculty of Mechanical Engineering, Anna University, Chennai, India
  2. Department of Mechanical Engineering, Vivekanandha Institute of Engineering & Technology for Women, Tiruchengode, India
  3. Department of Mechatronics Engineering, SRM University, Chennai, India

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