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Abstract

Abstract This paper present a new fuzzy iterative learning control design to solve the trajectory tracking problem and performing repetitive tasks for rigid robot manipulators. Several times’ iterations are needed to make the system tracking error converge, especially in the first iteration without experience. In order to solve that problem, fuzzy control and iterative learning control are combined, where fuzzy control is used to tracking trajectory at the first learning period, and the output of fuzzy control is recorded as the initial control inputs of ILC. The new algorithm also adopts gain self-tuning by fuzzy control, in order to improve the convergence rate. Simulations illustrate the effectiveness and convergence of the new algorithm and advantages compared to traditional method.
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Abstract

In this paper, we propose and experimentally demonstrate a new method for optical frequency transfer over fibre. Instead of dual acousto-optic modulators (AOMs) as adopted in the traditional fibre phase noise compensation setup, here an active fibre phase noise compensation scheme with a single acousto-optic modulator (AOM) is used. The configuration simplifies the equipment of the user end while maintaining a high-performance optical frequency transfer stability. We demonstrate an actively stabilized coherent transfer at an optical frequency of 193.55THz over 10-km spooled fibre, obtaining a relative frequency stability (Allan deviation) of 3:84 #2; 10��16/1 s and 4:08 #2; 10��18/104 s, which is improved by about 2#24;3 orders of magnitude in comparison with the one without any phase noise compensation that achieves a relative frequency stability of 1:81 #2; 10��14/1 s and 2:48 #2; 10��15/104 s.
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Abstract

An efficient system of micropropagation via somatic embryogenesis from root-derived callus was established in Arabica coffee (Coffea arabica L.). Twenty-six callus lines were induced on MS (Murashige and Skoog, 1962) medium supplemented with combinations of NAA (0, 0.1, 0.5, 1 and 2 mg/L) plus BA (0, 1 and 2 mg/L), or 2,4-D (0, 0.1, 0.5, 1 and 2 mg/L) plus TDZ (0, 1 and 2 mg/L). Subsequently, two types of somatic embryos were obtained from callus cultures and named S-type and I-type embryos. The S-type embryos were obtained from an 18-monthold callus line which was induced and maintained at 2 mg/L TDZ and 0.1 mg/L 2,4-D near the end of each period of the subculture. These embryos have a developmental barrier, which did not pass through the torpedo stage and could be overcome by a supplement of 2 or 5 mg/L BA. The I-type embryos were induced from 3-month-old callus when transferred onto induction media, i.e., MS supplemented with TDZ (2 and 5 mg/L) plus 2,4-D (0 and 0.1 mg/L). The significantly highest response, i.e., 13.3 embryos per callus clump was obtained at 2 mg/L TDZ. In this study, the results reveal that TDZ has a crucial effect on embryogenic callus induction, proliferation and subsequent somatic embryogenesis.
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