Intelligent nonsingular terminal sliding-mode control using MIMO Elman neural network for piezo-flexural nanopositioning stage.

The objective of this study is to develop an intelligent nonsingular terminal sliding-mode control (INTSMC) system using an Elman neural network (ENN) for the threedimensional motion control of a piezo-flexural nanopositioning stage (PFNS). First, the dynamic model of the PFNS is derived in detail. Then, to achieve robust, accurate trajectory-tracking performance, a nonsingular terminal sliding-mode control (NTSMC) system is proposed for the tracking of the reference contours.

Crystal-engineering studies of coordination polymers and a molecular-looped complex containing dipyridyl-amide ligands.

We report herein crystal-engineering studies of coordination polymers and a molecular-looped complex containing two dipyridyl-amide ligands, 1,3-bis-pyridin-4-ylmethyl urea (L1) and N,N'-bis-4-methylpyridyl oxalamide (L2). The reaction of Cd(OAc)2 with L1 gives rise to [Cd(OAc)2(L1)]n (1), a 1-D chain through coordination to two L1 and two acetate ligands, and then the axial coordination to one urea's carbonyl group through the third L1 ligand leads 1 to form "a dimer of 1-D chains". With a slight change in the structural backbone from L1 to L2, the reaction of L2 with Cd(OAc)2 gives [Cd(OAc)2(L2)(H2O)]n (2), a 1-D chain structure.