The transition from a dormant to a germinating seed represents a crucial developmental switch in the life cycle of a plant. Subsequent transition from a germinating seed to an autotrophic organism also requires a robust and multi-layered control. Seed germination and seedling growth are multistep processes, involving both internal and external signals, which lead to a fine-tuning control network.

The paper presents the possibility of using KINECT v2 module to control an industrial robot by means of gestures and voice commands. It describes elements of creating software for off-line and on-line robot control. The application for KINECT module was developed in C# language in Visual Studio environment, while the industrial robot control program was developed in RAPID language in RobotStudio environment. The development of a two-threaded application in RAPID language allowed to separate two independent tasks for the IRB120 robot. The main task of the robot is performed in thread no. 1 (responsible for movement). Simultaneously working thread no. 2 ensures continuous communication with the KINECT system and provides information about the gesture and voice commands in real time without any interference in thread no. 1. The applied solution allows the robot to work in industrial conditions without negative impact of communication task on the time of robot’s work cycles. Thanks to the development of a digital twin of the real robot station, tests of proper application functioning in off-line mode (without using a real robot) were conducted. Obtained results were verified online (on the real test station). Tests of correctness of gesture recognition were carried out, the robot recognized all programmed gestures. Another test carried out was the recognition and execution of voice commands. A difference in the time of task completion between the actual and virtual station was noticed - the average difference was 0.67 s. The last test carried out was to examine the impact of interference on the recognition of voice commands. With a 10dB difference between the command and noise, the recognition of voice commands was equal to 91.43%. The developed computer programs have a modular structure, which enables easy adaptation to process requirements.

Object of this work is the design and the simulation of a hybrid UAV with VTOL capabilities that has been designed for landing on naval moving platforms. The work is focused on the innovative propulsion layout adopted on the UAV. Authors discuss how adopted low level control strategies can exploit the innovative features of the proposed system assuring a good rejection of transversal wind disturbances. Particular attention is dedicated to low level modelling and control of the system emphasizing how choices regarding low level actuation and control should improve performances and robustness of the system.

The decarbonization of the built environment, both in new construction and renovation, is crucial to mitigate its relevant impact on climate change and achieve the Paris agreement goals. This study presents a systematic LCA-based methodology to assess the whole life carbon emissions of buildings, applied to a proposal for the regeneration of one of Milan’s disused railway yards. As an entry for the 2020 Reinventing Cities competition, Scalo Lambrate is a project for a mainly residential neighborhood with a public park. Strategies to reduce carbon emissions deriving both from the operational energy and construction and maintenance were evaluated and their effects compared to a reference scenario over a time horizon of 100 years. The results show that, while the opportunities to reduce carbon emissions during the use phase are somehow limited due to the already stringent performance requirements for new builds, the use of fast-growing biogenic materials for construction materials, even if mixed with more traditional ones, can provide a significant reduction of the global warming potential over the whole life cycle, with a reduction of 70% over the baseline. The remaining emissions can be offset with afforestation initiatives that, however, must be assessed against land use issues.

This work aims to investigate the effect of process temperature and catalyst content by thermochemical degradation of municipal solid waste (MSW) fraction (organic matter + paper + plastic) on the yield of reaction products (bio-oil, biochar, H2O and gas), physicochemical properties and chemical composition of bio-oils, as well as on the morphology and crystalline phases of biochar in laboratory scale. The organic matter, paper and plastic segregated from the gravimetric composition of total waste sample were subjected to the pre-treatments of drying, crushing and sieving. The experiments were carried out at 400, 450 and 475 °C and 1.0 atmosphere, and at 450 °C and 1.0 at-mosphere, using 5.0, 10.0 and 15.0% (wt.) of FCC zeolite, bath mode, using a laborato-ry scale glass reactor. The bio-oil was characterized for acidic value. The chemical functions present in the bio-oil identified by FT-IR and the composition by GC-MS. Biochar was characterized by SEM/EDS and XRD. Thermal pyrolysis of the MSW frac-tion (organic matter + paper + plastic) shows bio-oil yields between 9.44 and 9.24% (wt.), aqueous phase yields between 21.93 and 18.78% (wt.), solid phase yields between 67.97 and 40.34% (wt.) and gas yields between 28.27 and 5.92% (wt.). The yield of bio-oil decreases with increasing process temperature. For the experiments using FCC, the biochar and gas yields increase slightly with the FCC content, while that of bio-oil de-creases and the H2O phase remains constant. The GC-MS of bio-oils identified the presence of hydrocarbons and oxygenates, as well as nitrogen-containing compounds, including amides and amines. The acidity of the bio-oil increased with increasing temperature and with the aid of FCC as a catalyst. It has been identified the presence of hydrocarbons within bio-oil by addition of FCC catalyst due to the deoxygenation of carboxylic acids, followed by decarboxylation and decarbonylation reactions, producing aliphatic and aromatic hy-drocarbons.

The well-being and sociability of individuals have always been part of modernity. The development of new technologies that meet these aspirations is receiving increasing attention. Thus, strengthening the desired objectives of these tools and minimizing their undesirable side effects is the subject of a growing commitment. The present contribution aims, in this context, to evaluate and analyze the desired and undesirable effects of the interaction of electromagnetic fields with living tissues in general. This involves routines reinforcing expected functions as well as those controlling and protecting against undesirable effects. First, the interactions of electromagnetic fields with tissues are analyzed, involving their thermal biological effects of desired and undesired exposures. The roles of blood and sap fluids in bio-affected tissues are then analyzed. Secondly, the governing electromagnetic, bio-heat equations, and their coupled solution are studied. Third, the thermal behavior of tissues and the exposure adverse effects are examined. Next, monitoring and defending of the effects of exposures are discussed. This contribution illustrates and discusses mathematical modeling routines based on a generalized interaction of electromagnetic fields with living tissues.

Studying the distribution and transport dynamics of cations in plants is crucial for understanding their response mechanisms to saline-alkali stress conditions. However, our current understanding of how restoration measures affect cation distribution and transport in plants is surprisingly limited. To address this gap, we conducted a split-plot experiment using Medicago sativa L. cv. “Zhongmu No. 1” to investigate the combined effects of biological and chemical restoration measures—with bio-fertilizer as the primary zone and flue gas desulfurization (FGD) gypsum with humic acid as the secondary zone—on soil properties, plant growth, and the content, distribution, and transport of cations in plants. The results revealed that different restoration strategies decreased soil alkalinity and enhanced plant growth. Significantly, bio-fertilizer exhibited positive effects on plant growth and yield. On the contrary, FGD gypsum with humic acid reduced the soil's pH level, exchangeable sodium percentage, and sodium adsorption ratio, while increasing the contents of K+, Ca2+, and Mg2+ in the soil. The triple combination of FGD gypsum and humic acid with bio-fertilizer reduced Na+ transport in M. sativa by enhancing the selective absorption of beneficial ions, such as K+, Ca2+, and Mg2+ in leaves, and by facilitating the transport of Ca2+ and Mg2+ from roots and stems to the leaves. Therefore, the application of FGD gypsum and humic acid combined with bio-fertilizer has the potential to decrease soil alkalinity and the proportions of water-soluble ions in the soil, ultimately enhancing the translocation of key ionic components to leaves. This, in turn, increases the salt tolerance of plants and promotes their growth. Our results offer new insights into the interactions among measures, soil, and plants in saline-alkali land restoration, providing practical solutions for the restoration of saline-alkali soil.

Green synthesis offers a superior alternative to traditional methods for producing metal and metal oxide nanoparticles. This approach is not only benign and safe but also cost-effective, scalable, and straightforward, operating under ambient conditions. Notable metals and metal oxide nanoparticles, such as manganese oxides, iron oxides, silver, and gold, have been produced using various bio-reductants derived from plant extracts. These biological agents not only expedite the reduction process but also stabilize the nanoparticles, serving dual roles as reducing and capping agents. This review presents the green synthesis of nanoparticles (NPs) obtained from biogenic wastes and plant extracts. The green-synthesized nanostructured MnO2 are evaluated as a potential photocatalyst for water treatment and as an electrode material in lithium-ion batteries and supercapacitors. The green-derived iron oxide nanoparticles are examined as promising antioxidant, anti-inflammatory, and anti-diabetic agents. Additionally, this review discusses the green synthesis of precious metal nanoparticles, specifically silver (Ag NPs) and gold (Au NPs), highlighting their potential medical applications in areas like antiviral treatments and cancer therapy.

Series of bifunctional catalysts, MoS2/Al2O3(70 wt.%)-zeolite (30 wt.%) (zeolite – ZSM-5, ZSM-12, ZSM-22 and silica aluminophosphate SAPO-11), were synthesized for hydroconversion of methyl palmitate (10 wt.% in dodecane) in a trickle-bed reactor. Mo loading was about 7 wt.%. Catalyst and supports were characterized by different physical-chemical methods (HRTEM-EDX, SEM-EDX, XRD, N2 physisorption, FTIR spectroscopy). Hydroprocessing was performed at temperature of 250-350°C, hydrogen pressure 3.0-5.0 MPa, liquid hourly space velocity (LHSV) 36 h-1, H2/feed ratio – 600 Nm3/m3. Complete conversion of oxygen-containing compounds was achieved at temperature 310°C in the presence of MoS2/Al2O3-zeolite catalysts, the selectivity for the conversion of methyl palmitate via the ‘direct’ hydrodeoxygenation (HDO) route was over 85%. The yield of iso-alkanes gradually increases in order: MoS2/Al2O3 < MoS2/Al2O3-ZSM-12 < MoS2/Al2O3-ZSM-5 < MoS2/Al2O3-SAPO-11 < MoS2/Al2O3-ZSM-22. The sample MoS2/Al2O3-ZSM-22 demonstrated the highest yield of iso-alkanes (40%). Hydroisomerization activity of the catalysts was in a good correlation with concentration of Brønsted acid sites of synthesized supports.

Cheese whey, a significant byproduct of the dairy industry, poses a substantial environmental challenge due to its organic pollutant load and large size demands for effective and affordable valorization methods. The abundance of lactose and other organic compounds in whey contributes to its elevated Biological Oxygen Demand (BOD) and Chemical Oxygen Demand (COD), further straining natural ecosystems. This study aimed to investigate the nutritional potential of whey and its conversion into value-added products: bioethanol and probiotic drinks. To achieve this, Bacillus megaterium and Bacillus subtilis strains, isolated from soil samples in Nepal, were co-cultured with Lactobacillus and Saccharomyces cerevisiae in the whey broth for fermentation. Ethanol distillation was carried out using a Rota-evaporator to maintain the viability of the fermenting organisms within the broth. Moreover, the probiotic criteria of the fermenting strains were extensively examined. Experimental observations revealed a remarkable concentration of 9.2 g/L of ethanol, resulting in an ethanol yield of 0.23 g/L. Extrapolating this rate, it is theoretically possible to produce an annual global bioethanol output of 5 million tons using whey as a sustainable and abundant resource. Furthermore, the study explores novel advancements in the distillation process, demonstrating the successful extraction of ethanol at room temperature. Additionally, the fermentation organisms employed in this research exhibit robust viability, surviving various in-vitro stress-tolerant tests, including exposure to bile salt, pH fluctuations, and gastric juice. These resilient strains also demonstrated long-term stability in fermented whey broth, making them promising candidates for the development of probiotic beverages. This dual approach not only enables the sustainable management of organic waste but also presents an opportunity to create value-added products with positive implications for both the environment and human health.

Despite the development of biorefinery processes, so far this area does not take into account the possibility of coupling the “conventional” composting process with the production of biochemicals. However, net carbon monoxide (CO) production has been observed during bio-waste composting. So far, O2 concentration and temperature have been identified as main variables influencing CO formation. This study aimed to investigate the CO net production during bio-waste composting under controlled laboratory conditions, depending on different aeration rates and temperatures. A series of composting processes were carried out in conditions ranging from ~psychrophilic to thermophilic (T=35, 45, 55, and 65°C) and an aeration rate of 2.7, 3.4, 4.8, and 7.8 L‧h-1. The highest concentrations of CO in each thermal variant was achieved with oxygen deficit (aeration rate 2.7 L‧h-1); additionally, CO levels increased with temperature, reaching ~300 ppm at 65°C. Production of CO in mesophilic and thermophilic conditions draws attention to the biological CO formation by microorganisms capable of producing the CODH enzyme. Further research on the CO production efficiency in these thermal ranges is necessary with the characterization of the microbial community and analysis of the ability of the identified bacteria to produce the CODH enzyme and convert CO from CO2.

Nations of the world have seen unprecedented changes in climate variables in recent decades. But it is unclear to what extent climate change has impacted and will impact food systems in some developing regions, and how policymakers can frame an approach to encouraging adaptation and advancing climate-smart agriculture. Many studies attempting to link agroecology to climate change adaptation do so without understanding the potential of Agroecology not only to mitigate climate change – which is the weak response – but to reverse its impact and ‘climate proof’ our food systems. By modeling the near and far future impacts of climate change on crop production, we showed how climate will impact crop production under two crop production systems (agroecology and non-agroecology production systems). The overarching aim is to derive sustainable development strategies and lessons for policymakers and climate researchers - essential components of environment and Agricultural development. Using case studies from Nigeria, we observed that transitioning to agroecology, even at the farm level also transforms farm designs, thereby affecting their overall food and nutrition status. The result showed that the use of agroecology management practices not only reduces the impact of climate change in the near future but will also lead to increased crop yield in the future. The finding suggests that to feed the over 400 million projected population of Nigeria by 2050, the use of agroecological practices will be a better alternative to the conventional farming methods. To advance the use of agroecological farming methods, governments at every level in Nigeria need to mainstream organic agriculture in national government policies. This is important as it will not only address climate change impacts but also hunger and poverty.

Among the various methods for collecting oil spills and oil products, including from the water surface, one of the most effective is the use of sorbents. In this work, three-component bio-based composite granular adsorbents were produced and studied for oil products pollution collection. A bio-based binder made of peat, devulcanised crumb rubber from used tyres, and part fly ash as cenospheres were used for absorbent production. The structure, surface morphology, porosity, mechanical properties, and sorption kinetics of the obtained samples were studied. Composite hydrophobicity and sorption capacity to oil products such as diesel fuel (DF) and motor oil (MO) were determined. The obtained pellets are characterised by a sufficiently pronounced ability to absorb oil products such as DF. As the amount of CR in the granules increases, the diesel absorption capacity increases significantly. The case of 30-70-0 is almost 3 times higher than the granules from homogenised peat. The increase in q is due to two factors: pronounced surface hydrophobicity of the samples (Θ = 152°) and a heterogeneous porous granule structure. The presence of the cenosphere in the biocomposite reduces its surface hydrophobicity while increasing the diesel absorption capacity. Relatively rapid realisation of the maximum saturation by the MO was noted. In common, the designed absorbent shows up to 0.7 g·g^-1 sorption capacity for MO and up to 1.55 g·g^-1 sorption capacity for diesel. A possible mechanism of DF absorption and the limiting stages of the process approximated for different kinetic models are discussed. The Weber-Morris diffusion model is used to primarily distinguish the limiting effect of external and internal diffusion of adsorbate on the absorption process

RNAi technology is a versatile, effective, safe, and eco-friendly alternative for crop protection. There is plenty of evidence of its use through host-induced gene silencing (HIGS) and spray-induced gene silencing (SIGS) techniques to control viruses, bacteria, fungi, insects, and nematodes. For SIGS, its most significant challenge is achieving stability and avoiding premature degradation of RNAi in the environment or during its absorption by the target organism. One alternative is encapsulation in liposomes, virus-like particles, polyplex nanoparticles, and bioclay, which can be obtained through the recombinant production of RNAi in vectors, transgenesis, and micro/nanoencapsulation. The materials must be safe, biodegradable, and stable in multiple chemical environments, favoring the controlled release of RNAi. Most of the current research on encapsulated RNAi focuses primarily on oral delivery to control insects by silencing essential genes. The regulation of RNAi technology focuses on risk assessment using different approaches; however, this technology has positive economic, environmental, and human health implications for its use in agriculture. The emergence of alternatives combining RNAi gene silencing with the induction of resistance in crops by elicitation and metabolic control is expected, as well as multiple silencing and biotechnological optimization of its large-scale production.

Cotton is a potential and excellent candidate to balance both agricultural production and reme-diation of mercury-contained soil, as its main production fiber hardly involve into food chains. However, there is known rarely about the tolerance and response to Hg environments in cotton. In this study, The biochemical and physiological damages, in response to mercury (Hg), were investigated in upland cotton seedlings. The results on cottonseeds germination, indicated the germination rate were suppressed by high Hg levels, as the decrease of percentage was more than 10% at 1000 µM Hg. Shoots and roots’ growth were significantly inhibited above 10 µM Hg. The inhibitor rates (IR) in fresh weight were close between shoots and roots, whereas that in dry weight the root growth was more obviously influenced by Hg. In comparison of organs, the growth inhibition ranked as root > leaf > stem. The declining of translocation factor (TF) op-posed the Hg level even as low to 0.05 at 50 µM Hg. The assimilation of cotton plants was af-fected negatively by Hg toxicity, as evidenced from the performances on photosynthesis pig-ments (chlorophyll a and b) and gas exchange (Intercellular CO2 concentration (Ci), CO2 assimila-tion rate (Pn) and stomatal conductance (Gs)). Sick phenotypes on leaf surface included small white zone, shrinking and necrosis. Membrane lipid peroxidation and leakage were Hg dose-dependent as indicated by malondialdehyde (MDA) content and relative conductivity (RC) values in leaves and roots. More than 10 µM Hg damaged antioxidant enzyme system in both leaves and roots (P<0.05). Concludingly, 10 µM Hg post negative consequences to upland cotton plants in growth, physiology and biochemistry, whereas high phytotoxicity and damage ap-peared at more than 50 µM Hg concentration.

As part of the efforts to reduce the environmental impacts caused by the aviation sector, the use of bio-based instead of fossil-based materials has been assessed as a possible mitigation option. Natural Fibre Polymer Composites have proven to have a higher environmental performance in the automotive sector and are emerging as an option for weight reduction in aircraft. This study quantifies, though Life Cycle Assessment, the environmental performance of specific flax-based composite panels intended for aircrafts as interior fitting elements (i.e. partition panels, tray tables, baggage compartments) compared to a glass fibre/epoxy composite with a honeycomb core. Through system expansion, the fate of co-products issued from the production of the flax fibre technical textile used as reinforcement in the biocomposite material were considered in the assessment. Results showed that for an application in the aeronautics sector, the weight of the panels is the upmost critical parameter shaping the overall environmental performance of panels. Focusing on the panel production only, the biocomposite panel showed a higher environmental performance in the categories of climate change and marine eutrophication compared to the conventional panel, and the fire suppressant agent was identified as the main contributor to the environmental impacts of the bio-based panel. Yet these gains were negligible when considering the full life cycle of the panels, due to the higher weight (14%) of the bio-based panels; which is linked to the bio-based panel being at a prototype stage.In order to improve the environmental performance of the biocomposite panel and thus reduce its weight, it was shown relevant to optimize geometry of the panel itself, especially its core, so less resin could be used.

Efficient use of agricultural wastes and by-products, basically transforming waste materials into value added products, is considered as pivotal for an effective bioeconomy strategy for the rural development. To this scope, citrus waste management represents a major issue for citrus processors but, at the same time, it embodies a potentially unexploited resource for the rural sustainable development. This study focuses on analyzing the current management of citrus waste in South Italy and identifying the determinants and barriers that may affect an entrepreneur’s choice on the destination of citrus waste. Citrus processors’ preferences about the contract characteristics needed to take part in a co-investment scheme have been investigated. Both analyses are preliminary steps to design an innovative and sustainable citrus by-product supply chain. Results show that the distance between the citrus processors and the citrus by-products plant is one of the main criteria for choosing alternative valorization pathways. Moreover, the required guaranteed capital, the short duration of the contract, and low risk are contract scheme characteristics that improve entrepreneurs’ willingness to co-invest in the development of a citrus waste multifunctional plant.

Lead, known as a metal with high neurotoxicity to children, cadmium, which is a carcinogenic and bioaccumulative contaminant, and arsenic, a class 1 carcinogenic according to the International Agency for Research on Cancer, are toxic elements (TEs) whose relevant route of exposure may be diet. We determined the bio-accessible fraction of lead, cadmium, and arsenic from the diet of preschool children from two day care centers (DCC). A cross-sectional study was conducted with 64 one–four-year-old children from two DCCs where the 24-h duplicate diet samples were collected. The diet samples were analyzed by ICP-MS for lead, cadmium, and arsenic total concentrations (n = 64) and their bio-accessibility were analyzed for a subsample (n = 10). The dietary intake (DI) mean for lead, cadmium, and arsenic were 0.18 ± 0.11 µg kg⁻¹ bw, 0.08 ± 0.04 µg kg⁻¹ bw, and 0.61 ± 0.41 µg kg⁻¹ bw, respectively. All DI calculated for TEs, considering total intake, were found lower than the tolerable limits (TL) (European Union, or World Health Organization, WHO, when applicable) except for one child’s Pb intake. Bio-accessibilities ranged between 0% to 93%, 0% to 103%, and 0% to 69%, for lead, cadmium, and arsenic, respectively. Although DI for TEs has been found lower than TL, these reference values have been recently decreased or withdrawn since it was for lead and arsenic whose TL were withdrawn by WHO.

When phenomena in quantum mechanics are interpreted from the perspective of bio-psychology, wave function collapse from several to a single eigenstate must be plausibly explained. Quantum mechanics requires a context, yet the context of an observer is rarely considered. On the other hand, in bio-psychology, the observer context is examined to explain superposition and collapse by different mental functions used in everyday life. Three mental functions are described, one of which is responsible for observation, and the others for conservation and treatment of information in mental representation. Whereas observation produces information with certainty, the subsequent processes result in uncertain potentiality. In order to encompass uncertainty, multiple possibilities are simultaneously considered in mental superposition, one of which should represent the unknown future outcome. During observation, all suggested potentialities necessarily collapse to one real outcome. The collapse of superposition does not occur in observable physical reality, but in its mental representation. Some physical principles—such as superposition, infinity and nothingness before the Big Bang—are pure phenomena of mental representation, which will always remain unverifiable by observation. This argument proves that mental representation brought about by the observer context participates in the production of mental models for the best approximation of physical reality.

Electromagnetic actuation can support many fields of technology, such as robotics or biomedical applications. In this context, fully understanding the system behavior and proposing a low-cost package for feedback control is challenging. Modeling the electromagnetic force is particularly tricky because it is a nonlinear function of the actuated object’s position and coil’s current. Measuring in real time the position of the actuated object with the precision required for accurate motion control is also nontrivial. In this study, we propose a novel, cost-effective electromagnetic set-up to achieve position control via visual feedback. We actuate vertically and under different experimental conditions a 10 mm diameter steel ball hanging on a low-stiffness spring, demonstrating good tracking performance (the position error remains within ±0.5 mm with a negligible phase delay in the best scenarios). The experimental results confirm the feasibility of the proposed set-up, which is characterized by minimum complexity and realized with off-the-shelf and cost-effective components. For these reasons, such a contribution helps to understand and apply electromagnetic actuation even further.

This study investigates the fixed-time consensus-based attitude control problem for large telescope on-orbit construction subject to discrete-time communication, unknown tiny disturbance torque, model uncertainty, and actuator saturation under an undirected communication graph. Motivated by the need to save wireless communication resources, the communication scheme was designed to exploit interference, which can save communication resources in proportion to the number of modular unit mirrors. Then, a fixed-time observer with discrete-time communication was proposed, which also handles the unknown channel attenuation problem when exploiting information interference. Moreover, based on the backstepping procedure and the suitably defined adaptive compensation law, the fixed-time attitude consensus control law was proposed to handle unknown tiny disturbance torque, model uncertainty, and actuator saturation. Finally, comparative simulation results were provided to verify the effectiveness of the fixed-time observer and proposed fixed-time control law.

: To improve the efficiency of rhizobial inoculation operations and address the current situation of rhizobial inoculation being labor-intensive, a spraying and control system for variable rate application (VRA) of liquid rhizobia was developed. The system can accurately regulate the spraying rate of liquid rhizobia according to the desired rate of rhizobia by incremental Proportional Integral Derivative (PID) closed-loop control algorithm, making it particularly suitable for precise spraying with small amounts. In the laboratory experiment of precise flow control, variation coefficient of spraying nozzle from 0.10 MP to 0.20 MP pressure were no more than 1.2%. A clear linear relationship was observed between the spraying rate and pressure. The maximum response time was 1.93 seconds, while the average response time was 1.62 seconds when controlling the spraying system for small amounts. Field trial was conducted in Heilongjiang Agricultural Xianghe Farm of China. Average seeds number and 100-seed weight of soybean plant with rhizobia inoculation treatment were better than control group, and average yield of spraying liquid rhizobia agent with full base fertilizer increased by 232.5 kg/hm2, representing a significant 7.4% improvement over the control group. The results of these trails clearly showed the positive effect of the spraying and control system for liquid rhizobial inoculation, which has superior to existing inoculation manners, and provides an important technical support for the widespread adoption of rhizobia technology.

The uncertainty in the secondary path of an Active Noise Control (ANC) headphone affects the waterbed effect and stability of the feedback system. This study focuses on the uncertainty of the secondary path when real users wear headphones, and proposes a new uncertainty constraint based on the measured results of the secondary path transfer function under different wearing conditions of dummy head and limited subjects. This constraint and a cascaded second-order infinite impulse response filter with fixed coefficients are used to formulate a control strategic function, which is optimized by the Improved Grey Wolf Optimizer (IGWO) algorithm to obtain the optimal controller with better noise reduction performance. The proposed method and simulation model are validated based on the experimental test results. The results demonstrate that the safety factor and waterbed suppressing factor contained in the proposed uncertainty constraint ensures more stable noise reduction and effective suppression of the waterbed effect for new subjects without a priori data.

This paper presents a cascade predictive control structure based on the field-oriented control (FOC) in the dq rotor reference frame for the synchronous reluctance machine (SynRM). The constant d-axis current control strategy was used and thus, the electromagnetic torque was directly controlled by the q-axis current. Because the model of the two axes currents from the inner loop is a coupled non-linear multivariable one, to non-interaction linear control the two currents, their decoupling was achieved through feedforward components. Following the decoupling, two independent monovariable linear systems resulted for the two currents dynamics that were controlled using model predictive control (MPC) algorithms, considering their ability to automatically handle the state bounds. The most important bounds for SynRM are the limits imposed on currents and voltages, which in the dq plane correspond to a circular limit. To avoid computational effort, linear limitations were adopted through polygonal approximations, resulting in rectangular regions in the dq plane. For the outer loop that controls the angular speed with a constrained MPC algorithm, as plant was considered the q-axis current closed loop dynamics and the torque linear equation. To evaluate the performances of the proposed cascade predictive control structure, a simulation study using MPC controllers versus PI ones was conducted.

A novel approach to the remote-control system for the compact multi-crystal energy-dispersive spectrometer for x-ray emission spectroscopy (XES) applications has been developed. This new approach is based on asynchronous communication between software components and on reactive design principles. In this paper, we identify the challenges we have faced, our solution to them as well as the implementation and future development prospects. The main motivation of this work was the development of a new holistic communication protocol that can be implemented to control various hardware components.

The purpose of this paper is to find the time optimal control to a target set for semilinear stochastic functional differential equations involving time delays or memories under general conditions on a target set and nonlinear terms even though the equations contain unbounded principal operators. Our research approach is construct a fundamental solution for corresponding linear systems and establish variations of constant formula of solutions for given stochastic equations. The existence result of time optimal controls for one point target set governed by the given semilinear stochastic equation is also established.

Abstract: The article proposes to consider the possibility of connecting the problems of engineering synthesis of frequency control systems for asynchronous electric drives with the basic provisions of the theory of identification of asynchronous electric motors based on the equations of a generalized AC electric machine.The article presents the results of experimental studies of load parrying processes in asynchronous electric drives with vector and scalar controls. These results indicate the absence of fundamental advantages as processes in a drive with vector control. This advantage should have manifested itself in a more efficient formation of the moment and fast transients. It is suggested that the reason for this is in too significant errors, assumptions and simplifications of the equations adopted in the derivation of vector control and which are its theoretical basis. A method is proposed for describing asynchronous electric motors by nonlinear transfer functions, which made it possible to formulate the principle of correction of electric drives and a method for assessing their efficiency.The article shows. that the correction based on the proposed nonlinear transfer functions of the induction motor is much more efficient than the traditional vector control, which was confirmed by detailed experiments and modeling. The results of the most important of which are given in the article. An assumption was made. that the advantage in efficiency is due to a more accurate identification of the dynamics of an asynchronous electric motor with a gear function instead of vector equations.

In this paper, modelling designing and simulation of a simple voltage amplidyne system is done using robust control theory. In order to increase the performance of the voltage amplidyne system with H ∞ optimal control synthesis and H ∞ optimal control synthesis via ∞-iteration controllers are used. The open loop response of the voltage amplidyne system shows that the system can amplify the input 7 times. Comparison of the voltage amplidyne system with H ∞ optimal control synthesis and H ∞ optimal control synthesis via ∞-iteration controllers to track a desired step input have been done. Finally, the comparative simulation results prove the effectiveness of the proposed voltage amplidyne system with H ∞ optimal control synthesis controller in improving the percentage overshoot and the settling time.

This paper studies the integrated design problems of control and guidance with parameter uncertainties, target disturbances, input constraints and actuator faults. Firstly, based on the integrated design idea of the missile guidance and control, the auxiliary variable is used to establish and transform it into a cascade system with input constraints, actuator faults and disturbances of unknown upper bounds. Secondly, the adaptive anti-saturation dynamic surface fault-tolerant controller is designed by using the back-stepping method, adaptive control, auxiliary system and tracking differentiator. By introducing the tracking differentiator and tangent barrier Lyapunov function, the computational explosion problem in the traditional back-stepping method is avoided and the angle of attack can be guaranteed in prospective range, respectively. Finally, the theoretical proof of the designed control strategy is given to ensure that the states of the closed-loop system are bounded. At the same time, the digital simulation of the maneuvering target of different maneuvering forms is carried out, which further illustrate the effectiveness and robustness of the designed control schemes.

Cloud-based CNC is an emerging paradigm of Industry 4.0 where computer numerical control (CNC) functionalities are moved to the cloud and provided to manufacturing machines as a service. Among many benefits, C-CNC allows manufacturing machines to leverage advanced control algorithms running on cloud computers to boost their performance at low cost, without need for major hardware upgrades. However, a fundamental challenge of C-CNC is how to guarantee safety and reliability of machine control given variable Internet quality of service, especially on public Internet networks. We propose a three-tier redundant architecture to address this challenge. We then prototype tier one of the architecture on a 3D printer successfully controlled via C-CNC over public Internet connections, and discuss follow-on research opportunities.

This contribution considers an improved control scheme for three-phase two-stage grid-tied photovoltaic (PV) power system based on integral sliding mode control (ISMC) theory. The proposed control scheme consists of maximum power point tracking (MPPT), DC-Link voltage regulation and grid currents synchronization. A modified voltage-oriented maximum power point tracking (VO-MPPT) method based on ISMC theory is proposed for design of an enhanced MPPT under irradiation changes. Moreover, a novel DC-Link voltage control based on ISMC theory is proposed in order to achieve good regulation of DC-Link voltage over its reference. To inject the generated PV power into the grid with high quality, a voltage oriented control based on space vector modulation (SVM) and ISMC (VOC-ISMC-SVM) has been developed to control the grid currents synchronization. Numerical simulations are performed in Matlab/SimulinkTM environment in order to evaluate the proposed control strategy. In comparison with conventional control scheme, the developed control strategy provides an accurate MPP tracking with less power oscillation as well as a fast and an accurate DC-Link regulation under climatic conditions variations. Moreover, the transfer of the extracted power into the grid is achieved with high quality.

We used light, electron microscope and teased fiber autoradiography to show that myelinating Schwann cells synthesize phospholipids and proteins in perinuclear cytoplasm and superficial cytoplasmic channels or Cajal bands (SCC/CB). Neither phospholipid nor protein syntheses occur in paranodal loops, Schmidt-Lanterman incisures or adaxonal cytoplasm. Autoradiographic studies also show that in support of local protein synthesis, RNAs move from the nucleus into perinuclear cytoplasm and out along SCC/CB. Unlike other phospholipids, phosphatidylinositol synthesis occurs extensively in axons. This finding indicates differences in the distributions of phospholipid synthesizing enzymes in smooth endoplasmic reticulum of Schwann cell processes and axoplasm.Autoradiographs of nerves at longer survival times show that tritiated phosphatidylcholine and fucose-labeled glycoproteins move from synthetic sites to outermost myelin lamellae. From there, phosphatidylcholine spreads inward reaching innermost lamellae of thicker sheaths in days. Coupled with retention of fucose glycoproteins in outer myelin lamellae is the presence of fucose glycoprotein synthesized during early myelination in inner lamellae of thicker sheaths, a result consistent with growth of myelin sheaths from inner lamellae out. In this review, we revisit these studies because they provide temporal and spatial perspectives needed in understanding dynamic aspects of myelinogenesis and how myelinating cells respond to injury and from altered gene expression.

This paper explores if plants are capable of responding to human movement by changes in their electrical signals. Towards that goal we conducted a series of experiments, where humans over a period of 6 months were performing different types of eurythmic gestures in proximity of garden plants, namely salad, basil, and tomatoes. To measure plant perception, we used the plant spikerbox, a device that measures changes in voltage differentials of plants between roots and leaves. Using machine learning, we find that the voltage differentials over time of the plant predict if (a) eurythmy has been performed, and (b) which kind of eurythmy gestures has been performed. We also find that the signals are different based on the species of the plant. In other words, the perception of a salad, tomato, or basil might differ just as perception of different species of animals differ. This opens new ways of studying plant ecosystems, while also paving the way to use plants as biosensors for analyzing human movement.

ABSTRACT Heavy metals have been classified as dangerous environmental pollutants. Interest in feasible ways to reduce heavy metals pollution is a noble goal. Adsorption is an effective method based on its effectiveness and low- cost. Nowadays, low-cost bio-sorbents have been utilized to replace costly expensive adsorbents. Rich cellulose materials are effective heavy metal adsorbents, and their performance can be enhanced via chemical modification. The present work reviews the steady progress in the utilization of agriculture by-product wastes as heavy metal bio-sorbent. The unique advantages of these by-products such as renewability, abundance, simple processing, and low cost, justifier this work. The results confirm that the chemically treated agro-wastes exhibit high- removal efficiency (reaches 95% in most cases). The adsorption isotherm studies indicate that the concentration of the metal ions has a significant effect on the adsorption process. The Freundlich model provides a physical adsorption model of the metal ions on the bio-sorbent surface. Langmuir isotherm offers an estimate of the effect of different factors on the efficiency of the process. The adsorption kinetics studies offer an idea of reaction pathways including the adsorption mechanism and the efficiency of the metal ion removal. Applying the pseudo-first-order and pseudo-second-order models describes the adsorption kinetics. This information can be utilized in developing effective strategies to remove heavy metal ions using chemically treated agro-waste. The data confirmed that chemical modification is a significant parameter in the efficiency of metal ion removal. The feasibility and effectiveness of using these cellulosic by-products as bio-sorbent should be given attention and encouraged.

Based on the Flashing Ratchet Potential (FRP) and Electro-Spectroscopy detection techniques, a new detection method was experimentally examined. This method allows the detection of sub-micro particles in the human exhaled air such as viral particles and other biological agents. The detection signal created by this method is carried out by electron current buildup forming an Electric Current-Spectrum (ECS) distinguishing the contents of the exhaled air samples. The detection method was developed based on FRP and a beam of free charges passing through the electrodes of the FRP. The ECS is characterized by low-energy free charges interacting with the medium through which they pass, where numerous free charges are scattered (delayed) as a result of these interactions. The resulting ECS is characterized by FRP's capacity to drift back the delayed free charges to their original starting positions. By comparing the ECS of two exhale air samples, this new technology can be utilized to identify the presence of viral and microorganisms’ particles. The time-escalating ECS difference quickly indicates the presence of such particles. Moreover, the FRP's optimal operating settings was experimentally defined, in addition to the experimental evaluation of its functionality to confirm the FRP's promising sensing capabilities, which were statistically examined several times to ensure the reproducibility of the results.

The windowpane oyster Placuna placenta, lives in brackish coastal waters and has long been economically important to the Philippines because of its durable and translucent shell, which is used as a glass substitute and material for making windowpanes and handicrafts. There has been considerable degradation of the windowpane oyster fishery in past decades. Moreover, there are waste and under-exploited by-products such as the meat, which though nutritious and edible, currently has a very low value; its use being confined to dishes consumed by families in the fishing community. Historically there are instances of excellent practice in terms of regulating the windowpane oyster fishery, while in recent times there have been local initiatives to restore this and to develop high value food products from the meat. These initiatives have, however, never been followed through at a provincial or national level. Research on other molluscs and marine organisms highlights that these also contain high value pharmaceutical products. This review compiles evidence to establish the groundwork for an essential and comprehensive multidisciplinary research program centred around the windowpane oyster, which would ensure a high value for all parts of the oyster, including those currently discarded. By fostering a sustainable and circular economy within this fishery sector and its associated industry, its economic value would be amplified. This is particularly important for oyster harvesters in the Philippines, who often find themselves at the economic ladder's lower rungs. By integrating the principles of a circular economy, this initiative would not only aim to uplift the economic prospects of these harvesters but in doing so would drive the restoration of the windowpane oyster to its former range.

: Medical gloves, along with masks and gowns, serve as the initial line of defense against poten-tially infectious microorganisms and hazardous substances in the health sector. During the COVID-19 pandemic, medical gloves played a significant role, as they were widely utilized by society in daily activities as a preventive measure. These products demonstrated their value as important personal protection equipment (PPE) and reaffirmed their relevance as infec-tion-prevention tools. This review describes the evolution of medical gloves since the discovery of vulcanization by Charles Goodyear in 1839, which fostered the development of this industry. Regarding the current market, a comparison of the main properties, benefits, and drawbacks of the most widespread types of sanitary gloves is presented. The most usual gloves are produced from natural rubber (NR), polyisoprene (IR), acrylonitrile butadiene rubber (NBR), polychloroprene (CR), polyethylene (PE), and poly(vinyl chloride) (PVC). Furthermore, the environmental impacts of the conventional natural rubber gloves manufacturing process and mitigation strate-gies, such as bioremediation and rubber recycling, are addressed. In order to create new smart medical gloves with improved properties, several biopolymers (e.g. poly(vinyl alcohol) and starch) and additives such as biodegradable fillers (e.g., cellulose and chitin), reinforcing fillers (e.g. silica and cellulose nanocrystals), and antimicrobial agents (e.g., biguanides and quaternary ammonium salts) have been evaluated. This paper covers these smart materials and describes different innovative prototypes of gloves and coatings designed with them.

Reactive transport (RT) couples bio-geo-chemical reactions and transport. RT is important to understand numerous scientific questions and solve some engineering problems. RT is highly multidisciplinary, which hinders the development of a body of knowledge shared by RT modelers and developers. The goal of this paper is to review the basic conceptual issues shared by all RT problems, so as to facilitate advance along the current frontier: biochemical reactions. To this end, we review the basic equations to point that chemical systems are controlled by the set of equilibrium reactions, which are easy to model, but whose rate is controlled by mixing. Since mixing is not properly represented by the standard advection-dispersion equation (ADE), we conclude that this equation is poor for RT. This leads us to review alternative transport formulations, and the methods to solve RT problems using both the ADE and alternative equations. Since equilibrium is easy, difficulties arise for kinetic reactions, which is especially true for biochemistry, where numerous frontiers are open (how to represent microbial communities, impact of genomics, effect of biofilms on flow and transport, etc.). We conclude with the basic 10 issues that we consider fundamental for any conceptually sound RT effort.

In this study, effluent water was produced through Submerged Membrane Bio-Reactor (SMBR) process, which is a simple system and decomposes organic matter contained in wastewater with biological treatment process and performs solid-liquid separation, Especially, ozone oxidation treatment process is applied to effluent water containing fluorescent whitening agent, which is a trace pollutant which is not removed by biological treatment, and influences the quality of reused water. The concentration of COD in the SMBR was 449.3 mg/ℓ-COD, and the concentration of permeate water was 100.3 mg/ℓ-COD. The removal efficiency was about 70.1%. The amount of ozone re- quired for the removal of the fluorescent whitening agent in the permeated water in SMBR was 6.67 g-O3/min, and the amount of ozone required to remove COD relative to the permeate water was calculated to remove 0.997 mg-COD for 1 mg of O3.

This paper reports 2 × 4 hybrid Mach-zehnder interferometer (MZI) - multi-mode interferometers (MMI) based compact thermo-optical switch consisting of slab waveguides on silicon-on-insulator, SOI, platform. The device consists of two identical MMIs, each of 6 μm wide and 140 μm long connected with two phase shifters MMIs each with 2 μm wide and 8 μm long and linear tappers each 4 μm long, connected at both ends of the MMIs to minimize the power coupling loss. The loss for linear taper is found to be below 0.02dB. The footprint of the whole device is six 6 μm × 324 μm. This structure is based on unique multimode region shape, which leads optical switch to have less coupling loss and reduced cross-talk. The average thermo-optical switching power consumption is 1.4 mW, the excess losses are 0.8 dB, and the imbalances are 0.1 dB. Aluminum is used as a heating pad, and a trench is created around this pad to prevent from spreading of heat and reduce power loss almost by a factor of 2 to the adjacent phase shifter. Our new heating method has advantages of compact size and ease of fabrication with the current CMOS technology.

Carbon nanotubes have been attracting considerable interest among material scientists, physicists, chemists and engineers for almost 30 years. Owing to their high aspect ratio, coupled with remarkable mechanical, electronic and thermal properties, carbon nanotubes have found application in diverse fields. In this review, we will cover the work on carbon nanotubes used for sensing applications. In particular, we will see examples where carbon nanotubes act as main players in devices sensing biomolecules, gas, light or pressure changes. Furthermore, we will discuss how to improve the performance of carbon nanotube-based sensors after proper modification.

Activated carbons can be produced from biomass in a thermal process either in a direct carbonization-activation process or by first carbonizing the biomass and later on activating the biochars into activated carbons. The properties of the ACs are dependent on the type of process used for production. In this study, the properties of activated carbons produced in a one-stage and a two-stage process are considered. Activated carbons were produced by physical activation of two types of starting materials, bio chars produced from spruce and birch chips in a commercial carbonization plant and from the corresponding raw chips. The activated carbons produced were characterized regarding specific surfaces, pore volumes and pore size distributions. The un-activated bio chars had some degree of surface area 190 and 140 m²g^-1 for spruce and birch and pore volumes of 0.067 and 0.092 cm³g^-1. According to the results obtained, two slightly different types of activated carbons are produced depending if a one-stage or a two-stage carbonization and activation process is used. The ACs produced in the one-stage process had higher specific surface areas compared to the ones produced in a two-stage process (761-940 m²g^-1 vs. 540-650 m²g^-1) . In addition, total pore volumes were higher in one-stage process but development of micropores is greater compared to two-stage process. There was no significant difference in total carbon content between one-stage and two-stage process.

Disrupted nutrient recycling is a significant problem for Europe, while phosphorus and nitrogen are wasted instead of being used for plant nutrition. Mineral phosphate is critical raw material, which contains environmentally hazardous elements such as cadmium and uranium. Therefore, phosphorus recovery from agricultural by-product streams is critically important key priority. Phosphorus recovery from food grade animal bone by-products have been applied researched since 2002 with objective driven evolution progress towards specialized pyrolysis processing technology and animal bone char product (ABC) developments in economical industrial scale. Different animal bone by-products tested under different conditions at 400 kg/h throughput capacity in the continuously operated 3R zero emission autothermal carbonization system. The different material core treatment temperatures (between >300°C and <850°C) were combined with different residence times under industrial productive processing conditions. It has been industrial demonstrated that material core treatment temperature <850°C with 20 minutes residence time is necessary to achieve high quality ABC with useful agronomic value. The output ABC product having concentrated >30% phosphorus pentoxide (P2O5) and specific quality innovative fertilizer for agronomical efficient organic and low input farming applications as functional organic fertilizer, soil improver, growing medium and/or fertilizing product blend with high mineral phosphate fertiliser replacement value.

The control of stereo-, regio-, and chemo-selectivity in transition-metal-catalyzed coupling reactions is a key topic in organic synthesis. Several methods for controlling selectivity have been reported thus far. On the other hand, the reduction of the catalyst loading in the reaction is one of the most important issues in organic synthesis from the standpoint of green sustainable chemistry. As another advantage of reducing the catalyst loading, the expression of the reaction selectivity and the substituent effect caused by the reduction of the catalyst loading to the parts-par-million (ppm) level in various catalytic reactions is presented herein.

Nano-emulsions of essential oils (EO) and their chemical constituents are promising raw materials for the ecological control of Tribolium castaneum. Curcuma longa Linn is a plant known for the properties of its rhizome which is used in food, health and hygiene products. Its leaves are by-products with no commercial value, but with unexplored bioactive volatile constituents. This study aims to evaluate the repellency of nano-emulsions containing the EO from leaves of C. longa or its three main chemical constituents against T. castaneum. The representative mixture of EO extracted in four different months showed p-cymene (26.0%), 1,8-cineole (15.1%) and terpinolene (15.5%) as major compounds. Nano-emulsions of EO (HLB 16.7), terpinolene (HLB 15.0), 1,8-cineole (HLB15.0) and p-cymene (HLB 15.0) were repellent at concentrations of 11 μg/cm2 (EO, terpinolene and p-cymene) and 1.1 μg/cm2 (1,8-cineole). The EO nano-emulsion droplet size increased linearly over time, remaining below 300 nm for 35 days and below 600 nm for 80 days. The EO nano-emulsion proved to be a green alternative to synthetic pesticides, as it was safe against the bioindicator Chlorella vulgaris. Terpinolene, 1,8-cineol and p-cymene were able to inhibit the enzyme telomerase from T. castaneum in an in silico assay, which may explain the repellency of these samples. This study provides ideas for the utilization of EO from leaves of C. longa as raw material of new environmentally friendly plant-derived nanobiopesticides.

Primates have an unparalleled ability to produce a wide range of dexterous movements, each sensitive to context and robust to perturbation. Recent progress in understanding the neural basis of movement generation comes from two largely independent ideas, “Optimal Feedback Control” and “Neural Dynamical Systems”. The optimal control framework was largely inspired by research programs from the ‘80s showing that the brain doesn’t seem to plan a simple desired movement trajectory, but instead produces movements by transforming sensory information into motor output that satisfies an optimality criterion. The more recent idea that the motor cortex acts as a dynamical system came about only as it became possible to analyze large numbers of simultaneously recorded single neurons. These two framings of the motor system have been largely incommensurate, neither able to contribute much to the understanding of the other. In this review, we reconcile these two views into a single model we call “Dynamical Feedback Control”. We propose that the dynamics in the motor cortex emerge from a sensorimotor transformation that couples the motor cortex to sensory input from the periphery, and to contextual inputs from other cortical and subcortical areas. Dynamics in motor cortex can be thought to approximate gains of a feedback controller, and by moving the neural state to different regions of state space, the motor system can rapidly alternate between different controllers. The DFC framework presents a new lens to interpret neural dynamics, and to understand how ensembles of neurons generate flexible and responsive patterns of muscle activity.

The aim of this paper is to examine the beneficial impact of feedback information in the dynamics of production-inventory control systems. Two production-inventory control system models are analyzed: APIOBPCS and 2APIOBPCS models. The simulation-based experiment designs were conducted by using the state-space equations of the two models. The bullwhip effect as measured by the variance ratio between the order rate and the consumption rate, and inventory responsiveness as measured by the Integral of Absolute Error between the actual and the target levels of inventory, are two metrics used to evaluate the performance of the production-inventory control system in response to a random customer demand. To ensure that both models work under optimal performance, multi-objective particle swarm optimization (MOPSO) is employed to address the problem of tuning the controller’s parameters. The simulation results show the 2APIOBPCS model outperforms the APIOBPCS model at achieving the desired bullwhip effect and being able to provide better inventory responsiveness. The improvement in the inventory responsiveness becomes more significant when the system operates under mismatched lead time and/or an initial condition.

A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) has been designed. It is applied to a shape memory alloy (SMA) actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according data collected online during the first seconds of~therapy sessions. The control algorithm uses the sEMG signals to promote active participation of patients during the therapy session. In order to generate the position reference pattern with good precision, the sEMG normalized signal is compared with a pressure sensor signal to detect the intention of each movement. The algorithm has been tested in simulations and with healthy people for control of an elbow exoskeleton in flexion–extension movements. The results indicate that sEMG signals from elbow muscles in combination with pressure sensors that measure arm–exoskeleton interaction can be used as inputs for the control algorithm, which adapts the reference for exoskeleton movements according a patient's intention.

Mozambique is endemic to aflatoxigenic Aspergillus but the country has to heavily rely on foreign research to deduct what is happening locally. There is some information produced by local scholars and institutions but it needs to be “tied” together. This review briefly synthetizes the country’s major findings in relation to the toxin’s etiology, epidemiology, detection and control, discussing and meta-analyzing them as far as they allow. The causes and foods affected are the same as in most tropical countries, the toxin is widespread and the level of exposure is high. Regarding the control, it is still marginal but some institutions have driven efforts in this direction. Learning from other countries is still the best approach to take, as the solutions are probably the same for most places.

This paper builds on previous work introducing the Secure Remote Update Protocol (SRUP)—a secure communications protocol for Command & Control applications in the Internet of Things, built on top of MQTT. This paper builds on the original protocol, and introduces a number of additional message types: adding additional capabilities to the protocol. We also discuss the difficulty of proving that a physical device has an identity corresponding with a logical device on the network, and propose a mechanism to overcome this within the protocol.

The need for industrial and commercial machinery to maintain high torque while accurately following a variable angular speed is increasing. To meet this demand, induction motors (IMs) are commonly used with variable speed drives (VSDs) that employ a field-oriented control (FOC) scheme. Over the last thirty years, IMs have been replacing independent connection direct current motors due to their cost-effectiveness, reduced maintenance needs, and increased efficiency. However, IMs and VSDs exhibit nonlinear behavior, uncertainties, and disturbances. This paper proposes a robust combined adaptive passivity-based control (CAPBC) for this class of nonlinear systems that applies to angular rotor speed and stator current regulation inside an FOC scheme for IMs´ VSDs. It uses general Lyapunov-based design energy functions and adaptive laws with σ-modification to assure robustness after combining control and monitoring variables. Lyapunov’s second method and Barbalat Lemma prove that the control and identification error tends to be zero over time. Moreover, comparative experimental results with standard Proportional Integer controller (PIC) and direct APBC, show the proposed CAPBC effectiveness and robustness under normal and changing conditions

The purpose of this study is to investigate the impact of the voltage drop of a three-phase voltage source inverter in driving brushless motors. This study also proposes an enhanced Field Oriented Control scheme that accounts for the inverter voltage drop enabling efficient drive at very low motor-speeds. Experimental results are provided to verify the theoretical study and the proposed control scheme.

Thermal fluctuations in two-dimensional (2D) isotropy systems at non zero finite temperatures can destroy the long-range (LR) magnetic order due to Mermin-Wanger theory. Interestingly, the magnetic anisotropy related to spin-orbit coupling (SOC) could stabilize magnetic order in 2D systems. Recently, 2D FexGeTe2 (3≤x≤7) with high curie temperature (TC), as a typical 2D van der Waals metallic ferromagnet, has not only made significant progress in synthetic methods and controlling ferromagnetism (FM), but also actively explored many device applications. In this Review, we introduce six experimental methods, ten ferromagnetic modulation strategies, and three spintronic devices of 2D FexGeTe2 materials. Overall, we have outlined the challenges and potential research directions in this field.

Wind power generation is one of the mainstream renewable energy resources. Voltage stability is as important as the frequency stability of a power system with a high penetration of wind power generation. The advantages of high-voltage direct current (HVDC) transmission systems become more significant with the increase of both installed capacity and transmission distance in offshore wind farms. Therefore, this study discusses about various voltage control methods for wind turbines and HVDC transmission systems. First, various voltage control methods of a wind farm were introduced, and they include QV control and voltage droop control. The reactive power of a wind turbine varies with active power, while the active power from each wind turbine may be different owing to wake effects. Thus, QV and voltage droop control with varying gain values were also discussed in this paper. Next, the voltage control methods for a HVDC transmission system, such as power factor control, voltage control, and Vac-Q control, are also summarized and tested in this study. When a three-phase short circuit fault occurs or a suddan reactive power load increases, the system voltage would drop immediately. Thus, various voltage control methods for wind turbines or HVDC can make the system's transient response more stable. Therefore, this study implemented the simulation scenarios, including a three-phase short circuit fault at the point of common coupling (PCC) or a sudden increase of reactive power load, and adopted various voltage control methods, which aims to verify whether additional voltage control methods are effective to improve the performance of transient voltage.

The paper aims to study the workflow of the detection center of stealthy attacks on industrial installations that generate increase in energy consumption while avoiding triggering fault detection and damaging the installation. Such long-lasting attacks on industrial facilities make production more expensive and less competitive. We present the concept of the remote detection system of cyberattacks directed at maliciously changing the controlled variable in an industrial process air conditioning system. The monitored signals are gathered at the PLC-controlled installation and sent to the remote detection system, where the discrepancies of signals are analyzed based on the Control Performance Assessment indices. The results of performed tests prove the legitimacy of the adopted approach.

Attitude control of a novel regional truss-braced wing aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications, particularly, autonomous flight control. However, a significant predicament confronting discrete RL algorithms is the dimension limitation of the state-action table and difficulties in defining the elements of the RL environment. To address these issues, in this paper, a detailed mathematical model of the mentioned aircraft is first developed to shape an RL environment. Subsequently, Q-learning, the most prevalent discrete RL algorithm will be implemented in both the Markov Decision Process (MDP), and Partially Observable Markov Decision Process (POMDP) frameworks to control the longitudinal mode of the air vehicle. In order to eliminate residual fluctuations that are a consequence of discrete action selection, and simultaneously track variable pitch angles, a Fuzzy Action Assignment (FAA) method is proposed to generate continuous control commands using the trained Q-table. Accordingly, it will be proved that by defining an accurate reward function, along with observing all crucial states (which is equivalent to satisfying the Markov Property), the performance of the introduced control system surpasses a well-tuned Proportional–Integral–Derivative (PID) controller.

This paper is an extension to previous work that introduced successful classical-control for indoor lighting system that simultaneously control LED system and roller curtain to achieve accurate light intensity for indoor lighting applications. In this paper, Multi Input Multi Output Fuzzy Logic Controller (MIMO FLC) is proposed to replace the classical-controller. Detailed method is provided to illustrate the steps to design the required MIMO FLC that has two fuzzy input, two fuzzy output and forty-five fuzzy rules with mamdani fuzzy engine. The proposed MIMO FLC is simulated in Matlab using Simulink tools. The results are illustrated, analyzed and compared with the classical-control. The response showed very close performance to the classical-controller. The maximum average error and the maximum error with respect to “Desired Lux” inside the room is -6% and -10% respectively.

To determine the adequacy of management practices in Social Health Organization (SHO) in face of compliance guidelines established by Brazilian organizations. This was qualitative research. Data were gathered through interviews and documentary analysis and were analyzed through the interpretation of significances and content analysis. The entity structures the compliance function based on three axes: a) normative - institutionalization of the integrity program, ethical conduct, internal controls and risk management; b) commercial - institutionalization of mechanisms aimed at transparency and accountability of the funds raised. However, the Covid-19 pandemic generated unforeseen contingencies such as accountability for funds from private donations; c) organizational - adherence by top management in maintaining a structure for inspection and control of the institution’s processes and behaviors in the market in which it operates. Based on the analysis of documents there is 76% adequacy of adherence of management practices to the compliance guidelines. It is concluded that organizations that depend on resources and understand that the subsidies they receive, whether government, whether public or private donations, will make the necessary efforts to ensure high levels of compliance, their choices and conduct preserve their image and the achievement of greater credibility and legitimacy.

In this paper, the power quality of interconnected microgrids is managed using a Model Predictive Control (MPC) methodology which manipulates the power converters of the microgrids in order to achieve the requirements. The control algorithm is developed for the microgrids working modes: grid-connected, islanded and interconnected. The results and simulations are also applied to the transition between the different working modes. In order to show the potential of the control algorithm, a comparison study is carried out with classical Proportional-Integral Pulse Width Modulation (PI-PWM) based controllers. The proposed control algorithm not only improves the transient response in comparison with classical methods but also shows an optimal behavior in all the working modes, minimizing the harmonics content in current and voltage even with the presence of non-balanced and non-harmonic-free three-phase voltage and current systems

In this manuscript, we present a high-fidelity physics-based truth model of a Single Machine Infinite Bus (SMIB) system. We also present reduced-order control-oriented nonlinear and linear models of a synchronous generator-turbine system connected to a power grid. The reduced-order control-oriented models are next used to design various control strategies such as: proportional-integral-derivative (PID), linear-quadratic regulator (LQR), pole placement-based state feedback, observer-based output feedback, loop transfer recovery (LTR)-based linear-quadratic-Gaussian (LQG), and nonlinear feedback-linearizing control for the SMIB system. The controllers developed are then validated on the high-fidelity physics-based truth model of the SMIB system. Finally, a comparison is made of the performance of the controllers at different operating points of the SMIB system.

Precise and fast position tracking is essential for the correct operation of many industrial robots and CNC machine tools. This subject is also important in the control of the mount of the astronomical telescope, especially for the tracking of artificial satellites. As system parameters can change, a control method that is robust to changes in parameters must be used. Such a method is the sliding control, which, however, ensures the robustness only after reaching the sliding surface. Therefore, a new method was proposed in the paper, which eliminates the phase of reaching the sliding surface. The method consists of using a reference trajectory generator and determining the generalized error in relation to this trajectory. The procedure for designing the control system is presented. Next, the proposed method was verified on the laboratory stand. The described control method provides a robust system operation and can be easily implemented in the control system.

HybridAC/DC microgrids(HMG) are emerging as an attracting method for integrating the AC/DC distributed energy resources(DERs) with the features of high-performance and low-cost. In the isolated hybrid AC/DC microgrid (IHMG), the key problem is how to balance the power variation and regulate the voltage and frequency. Various energy storage systems (ESS)and interlinking converter (IC) technologies are viable for this application. The present study proposes a novel unified power flow model to evaluate and compare the abilities of the ESS with different connection topologies and ICs with different control approaches to maintain the voltage and frequency stability of the IHMG. In order to investigate the performance of the proposed scheme, five operation modes of the IHMG are defined and explained. The classification is based on the connection topologies and control modes of the ESS/IC in the IHMG. Then, a set of generic PF equations are derived. Moreover, three binary matrices are applied in the construction of the unified power equations. These matrices are used for describing the running state of the IHMG. Finally, in order to verify the proposed scheme, it is applied to several case studies of the IHMG. The operation characteristics of multi-DC subgrids IHMG in different modes, particularly when an external disturbance occurs, are investigated.

A fluid power industry powering the agricultural machinery faces big challenges nowadays. An issue of energy saving has become important due to increasing fuel costs and more stringent emissions regulations impacting vehicle development. A recent study conducted by the U.S. Department of Energy shows that the efficiency of fluid power averages 21 percent. This offers a huge opportunity to improve the current state-of-the-art of fluid power machines, in particular to improve the energy consumption of current applications and create innovative solutions. To increase energy efficiency of fluid power systems reduction of throttling losses and potential energy recovery strategies are needed. Aim of this work is to present classification of current energy saving architectures and aid the development of new techniques for mobile fluid power machines.

This paper presents experimental identification and vibration suppression of a flexible manipulator with non-collocated piezoelectric actuators and strain sensors using optimal multi-poles placement control. To precisely identify the system model, a reduced order transfer function with relocated zeros is proposed, and a first-order inertia element is added to the model to compensate the non-collocation. Comparisons show the identified model match closely with the experimental results both in the time and frequency domains, and a fit of 97.2% is achieved. Based on the identified model, a full-state multi-poles placement controller is designed, and the optimal locations of the closed loop poles are determined. The feasibility of the proposed controller is validated by simulations. Moreover, the controller is tested for different locations of the closed loop poles, and an excellent performance of the optimal locations of the closed loop poles is shown. Finally, the effectiveness of the proposed controller is demonstrated by experiments. Results show that the vibrations of the expected modes are significantly diminished. Besides, vibrations of the higher modes are also slightly suppressed. Accordingly, multi-mode vibrations of the manipulator are well attenuated, and the tip displacement converges quickly with the proposed method.

The object of study in the article is the auxiliary variable-frequency electric drive onboard of an AC electric locomotive, and more precisely, the structure and parameters of the control system of the active corrector of power factor (ACPF), which is part of the electric drive, as a unit that ensures electromagnetic compatibility of the electric drive with other equipment on board the electric locomotive and catenary and its energy efficiency. The topic of the article's research is the substantiation of the structure of the ACPF control system, the choice of types (transfer functions) of controllers and the calculation of their parameters. The research method chosen was the calculation of the transfer functions of the controllers of the cascaded loops control system, followed by computer simulation using the OrCAD software. The results of simulating a cascaded two loops control system of an ACPF with different types of controllers are presented and analytically compared. It is concluded that it is advisable to use a cascaded two loops control system, containing a voltage control loop and a current control loop. The best results show the simulation when using an aperiodic current controller (A-controller) and a proportional-integral voltage controller (PI-controller). The data obtained serve as the basis for further improvement of the operation of the ACPF by enhancing and optimizing the settings, structure and algorithms of the control system, which, with the selected hardware of power converter unit, will allow the ACPF to perform its functions with a high degree of reliability in an entire range of disturbing and control influences.

Fractional differential systems have received much attention in recent decades likely due to its powerful ability in modeling memory processes, which are mostly observed in real world. Fractional models have been widely investigated and applied in many fields such as physics, biochemistry, electrical engineering, continuum and statistical mechanics. It is shown by many researchers that fractional derivatives can provide more accurate models than integer order derivatives do. Obviously, bang-bang property is of a significant importance in optimal control theory. In this paper a Bang-Bang property and time-optimal control problem for time-Fractional Differential System (FDS) is under consideration. First we formulate our problem and we prove the existence theorem. We state and prove the bang-bang theorem. Finally we give the optimality conditions that characterized the optimal control. Some illustrate applications are given to clarify our results.

Inspired by the reflective and deliberative control mechanisms used in cognitive architectures such as SOAR and Sigma, we propose an alternative decision mechanism driven by architectural appraisals allowing robots to overcome impasses. The presented work builds on and improves on our previous work on a generally applicable decision mechanism with roots in the Standard Model of the Mind and the Generalized Cognitive Hour-glass Model. The proposed decision mechanism provides automatic context-dependent switching between exploration-oriented, goal-oriented, and backtracking behavior, allowing a robot to overcome impasses. A simulation study of two applications utilizing the proposed decision mechanism is presented demonstrating the applicability of the proposed decision mechanism.

The main objective of this paper is to continue the development of activities of basic and applied research related to wind energy and to develop methods of optimal control to improve the performance and production of electrical energy from wind. A new control technique of Double fed induction generator for wind turbine is undertaken through a robust approach tagged nonlinear sliding mode control (SMC) with exponential reaching law control (ERL). The SMC with ERL proves to be capable of reducing the system chattering phenomenon as well as accelerating the approaching process. A nonlinear case numerical simulation test is employed to verify the superior performance of the ERL method over traditional power rate reaching strategy. Results obtained in Matlab/Simulink environment show that the SMC with ERL is more robust, prove excellent performance for the control unit by improving power quality and stability of wind turbine.

Reducing the carbon footprint of energy production is one of the most pressing challenges facing humanity today. Lignocellulosic biomass residues from fruit production industries show promise as a viable energy source. This paper presents a study of the Italian context concerning the utilization of orchard lignocellulosic residues for energy production as electricity or bioethanol. The potential of various orchard residues was assessed through chemical and physical analysis, and an equivalent electrical energy of about 6441.62 GWh or an amount of 0.48 Mt/y of bioethanol was obtained based on the average annual dry residue mass availability of about 3.04 Mt/y. These data represent the 9.30% of the national electrical energy production from renewable sources, as well as the 6.21% of the Italian demand for gasoline in 2022. Electricity generation from these residues shown its potential as a reliable and sustainable baseload power source, as well as source of renewable transportation fuel. The studied process could be a valuable reference to expand these concepts on global scale to achieve a greener and more sustainable energy future.

The objective of this paper was to verify the applicability of statistical learning (SL) compared to human reasoning with respect to the Universal Thermal Climate Index (UTCI), a complex tool for the assessment of outdoor thermal stress. UTCI is an equivalent temperature index based on the 48-dimensional output of an advanced model of human thermoregulation formed by 12 variables at four consecutive 30-minute intervals, which were calculated for 105642 thermal conditions from extreme cold to extreme heat. Comparing the performance of SL algorithms to the results accomplished by an international endeavor involving more than 40 experts from 23 countries, we found that random forests and k-nearest neighbors closely predicted UTCI values, but that clustering applied after dimension reduction algorithms (principal component analysis and t-distributed stochastic neighbor embedding) were inadequate for risk assessment in relation to the UTCI stress categories. This indicates a potential supportive role for SL, as it will not (yet) fully replace the bio-meteorological expert knowledge.

Recent development for synthesis of bio-based long chain aliphatic polyesters by acyclic diene metathesis (ADMET) polymerization of α,ω-dienes, derived from plant oils and bio-based chemicals, like bis(10-undecenoate) with isosorbide, using ruthenium-carbene catalysts have been reviewed. Development of subsequent (one-pot) tandem hydrogenation afforded saturated polyesters under mild conditions. The polymerizations under bulk (without solvent, 80-90 ºC) or in ionic liquids (50 ºC) under vacuum conditions enabled synthesis of high molar mass polymers (Mn &gt;30,000 g/mol). The polymerization by molybdenum-alkylidene catalyst afforded the highest molecular weight polyesters (44000‒49400 g/mol, in toluene at 25 ºC) exhibiting promising tensile properties (strength and elongation at break) beyond polyethylene, polypropylene. Depolymerizations of these polyesters including closed loop chemical recycling were also demonstrated. Catalyst developments (more active, under mild conditions) play a key role for the efficient synthesis.

The design of binders plays a pivotal role in achieving enduring high power in lithium-ion batteries (LIBs) and extending their overall lifespan. This review underscores the indispensable characteristics that a binder must possess when utilized in LIBs, considering factors such as electrochemical, thermal, and dispersion stability, compatibility with electrolytes, solubility in solvents, mechanical properties, and conductivity. In the case of anode materials, binders with robust mechanical properties and elasticity are imperative to uphold electrode integrity, par-ticularly in materials experiencing substantial volume changes. For cathode materials, the se-lection of a binder hinges on the crystal structure of the cathode material. Other vital consid-erations in binder design encompass cost-effectiveness, adhesion, processability, and envi-ronmental friendliness. Incorporating low-cost, eco-friendly, and biodegradable polymers can contribute significantly to sustainable battery development. This review serves as an invaluable resource for comprehending the prerequisites of binder design in high-performance LIBs and offers insights into binder selection for diverse electrode materials. The findings and principles articulated in this review can be extrapolated to other advanced battery systems, charting a course for the development of next-generation batteries characterized by enhanced perfor-mance and sustainability.

Introduction: The distribution of typical bacterial redox enzymes such as pyruvate-ferredoxin oxidoreductase (PFOR) in protozoa remains interestingly puzzling. Previous studies have demonstrated diverse cellular localizations of PFOR in amitochondriate anaerobic protozoa such as Trichomonas vaginalis. PFOR is of particular pharmacological importance because it catalyzes the reductive bio-activation of nitro-based prodrugs to cytotoxic radical metabolites. Metronidazole was developed primarily as an antiprotozoal agent against infections caused by T. vaginalis. However, its antimicrobial spectrum was subsequently expanded to cover anaerobic bacterial infections. It has been shown that mutations in the genes encoding PFOR result in inherent resistance of T. vaginalis and anaerobic bacteria to metronidazole. Aims: To analyze the phylogenetic distribution of PFOR in selected protozoa and bacteria using proteins encoded by housekeeping genes as controls. Using comparative bioinformatics to test the hypothesis that PFOR was most likely acquired through horizontal gene transfer from bacteria, proteome-wide analysis and gene expression analysis to identify other genes that were putatively acquired through horizontal gene transfer from bacteria to protozoa. Methods: Sequence similarity queries were performed using the proteins of interest against the NCBI non-redundant protein sequence database with BLASTP version 2.12.0+ from the NCBI website. Multiple sequence alignments were performed with MEGA version X software using the Muscle algorithm. These were then exported in Mega format to construct phylogenetic trees using the neighbor-joining algorithm and the Poisson substitution model. Complete proteomes of representative protozoan and bacterial species were downloaded in fasta format from the ensemblgenomes database. HMM profile libraries were used to screen the proteomes with hmmscan of the HMMer package. Whole proteome BLAST searches were performed between protozoan species of interest against closely related protozoa. The results were compared to the proteome BLAST against the intestinal bacteria Desulfovibrio vulgaris. Gene enrichment analysis was performed between the exclusively present proteins in the protozoa and D. vulgaris. Only results with p-values <0.05 were considered for analysis. Results and conclusions: A plausible explanation for the restricted occurrence of PFOR in protozoa is based on the hypothesis that bacteria serve as potential sources of genes that enhance optimal adaptation of protozoa in hostile environments. The expanded cladograms of Entamoeba and Cryptosporidium with their closely related genera substantiated this hypothesis. The exclusively expressed proteins obtained from E. histolytica and the putative bacterial gene donor, D. vulgaris, showed an over-representation of eleven genes involved in small molecule metabolism, generation of precursor metabolites, and carbohydrate metabolism. If these results can be reproduced in other PFOR-possessing protozoa, it would provide a more validated evidence to support the horizontal transfer of pfor from bacteria. Subsequent syntenic analyses of the significantly enriched genes would be required to provide further information regarding the positional relatedness of these genes at the chromosomal level. Since metronidazole is an established and well tolerated drug for treating infections caused by PFOR-possessing pathogens, it can be considered as a potential drug candidate for the treatment of infections caused by Cryptosporidium, Spironucleus and Blastocystis.

This study focused on the optimization of the flexural strength of bio-composite samples of palm kernel, whelks, clams, periwinkles shells and bamboo fiber, reinforced with resin for engineering applications. The aim of the study was to: formulate different samples of bio-composite reinforce with resin for engineering applications and to evaluate the flexural strength, of the fabricated composite. The hand lay-up technique was used for the composites produced by incorporating different percentage compositions of the shells/fiber (10%, 15%, 20%, 25% and 30%) into varied proportions of epoxy resin and catalyst. The cured samples after 24hours were subjected to tensile, impact, flexural and water absorption test. The experiments were conducted using Taguchi optimization method L25 (5x5) with five design parameters and five level combinations in Minitab 18 statistical software. The results showed that the average values of flexural was 114.87MPa when compared to the unreinforced of 72.33MPa bio-composite. The study recommended that agricultural waste like palm kernel shells, whelk shells, clams, periwinkle shells and bamboo fiber, should be converted into important engineering applications.

Reducing the costs of repairing concrete structures damaged due to the appearance of cracks and reducing the number of people involved in the process of their repair is the subject of a multitude of experimental studies. Special emphasis should be placed on research involving industrial by-products, the disposal of which has a negative environmental impact, as is the case in the research presented in this paper. The basic idea was to prepare a mortar with added granulated blast furnace slag from Smederevo Steel Mill and then treat artificialy produced cracks with a Sporosarcina pasteurii DSM 33 suspension under the conditions of sterile demineralized and water from Danube river in order to simulate natural conditions. The results show a bio-stimulated healing efficiency of 32.02% in sterile demineralized water and 42.74% in Danube water already after 14 days. The SEM images clearly show calcium carbonate crystals as the main compound that has started to fill the crack, and the crystals are much more developed under the Danube water conditions. As a special type of research, microscopic images of cracks were classified into those with and without the presence of bacterial culture. By applying convolutional neural networks (ResNet 50), the classification success rate was 91.55%.

We report the isolation of two novel degrading bacterial strains active against the potential environmental pollutant acetamino-phen/paracetamol. Streptomyces Chrestomyceticus (RS2) and Streptomyces Flavofuscus (M33) collected from El-Natrun Valley, Egypt, water, sediment, and sand samples were taxonomically characterized via conidiophores morphologic characterization under Trans-mission Electron Microscope (TEM). Genotypic identification, done based on their 16S rRNA gene sequence analysis followed by BLAST alignment and deposited on the NCBI as 2 novel strains. The phylogenetic tree was constructed using an appropriate software. Acetaminophen degradation-products chemical structure was identified by GC/LC MS. The biological antimicrobial activity of some selected acetaminophen degradation-products extracts and derived compounds was examined against panel of test micro-organisms and found to be have high anti-microbial effect. In addition, in silico cheminformatics Swiss ADMET evaluation of these selected deg-radation extract for gastric absorption, distribution, hepatic metabolism, renal excretion as well as distribution to CNS and finally not mutagenic/teratogenic or genotoxic virtually. In vitro cytotoxic activity of these selected bio-degradation products was performed against HepG2 and MCF7 cancer cell lines, revealing that M33 and RS2 extract effect on acetaminophen/paracetamol bio-degradation products are potentially safe with higher IC50 on HepG2 and MCF7, in comparison to acetaminophen/paracetamol with IC50 of 108.5 μg/ml. Moreover, the in vivo acute oral single dose toxicity experiment was conducted, being compared with acetamino-phen/paracetamol to confirm that the bio-degradation products have lower toxicity than acetaminophen in vivo and in silico.

CO₂ emissions have been identified as the main driver for climate change, with devastating consequences for the global natural environment. The steel industry is responsible for ca. 8%-11% of global CO₂ emissions, due to high fossil-fuel and energy consumption. The onus is therefore on industry to remedy the environmental damage caused and to decarbonise production. This desk research report follows a two-tiered route: 1) exploring the Bio Steel Cycle; 2) proposing a seven-step strategy to overcome the challenges within the iron and steel industry. The true levels of CO₂ emissions in the steelmaking process, during the blast-furnace/basic-oxygen-furnace operation, will be detailed first, at 4.61t of CO₂ emissions/t of steel produced. The manuscript proposes a solution for reduced carbon emissions steelmaking with the Bio Steel Cycle components and detail on how to reach net-zero carbon emissions steel production. The 7-step-implementation-strategy as a potential solution to achieve net and true zero carbon emissions steel production in the short to medium-term. The findings of this are pointing towards the conclusion that CO₂ emissions seem to have been under-reported and under-estimated in the past, but the emission can be addressed if the correct scenarios for net-zero steel manufacturing are implemented by 2050.

The nutraceutical value of pomegranate in the treatment of many neoplastic, cardiovascular, viral, inflammatory, metabolic, microbial, intestinal, reproductive and skin diseases is well-documented and is linked to its richness in phenolic compounds. This study aims to evaluate nutraceutical and genetic diversity of novel pomegranate genotypes (G1-G5) in comparison to leading commercial pomegranate varieties i.e. ‘Wonderful’, ‘Primosole’, ‘Dente di Cavallo’ and ‘Valenciana’. Morphometric measurements were carried out on fruits, accompanied by chemical characterization and the development of four new polymorphic SSR markers involved in the flavonoid pathway. The cultivars displayed a marked variability in the weight and shape of fruits, as well as in the weight of arils and juice yield. The highest level of total phenolic content and antioxidant activity was found in ‘Wonderful’ and G4, while the lowest was in ‘Dente di Cavallo’. Furthermore, the results showed that the pomegranate juice, is an excellent source of minerals, especially potassium, which plays a key role in organ functioning. The new flavonoid-related markers effectively differentiated the cultivars with the same diversity pattern as morpho-chemical characterization, so the SSRs developed in the present study can be used as a rapid tool for the identification of pomegranate cultivars with relevant nutraceutical traits.

The utilisation of the industrial residual products to create new value-added materials and to reduce footprint is a modern challenge of science and industry. Development of the new multifunctional and bio-based composites is an excellent opportunity for complex utilisation of industrial residual products. The study describes the preparation and characterisation of the three-phases bio-based composites. The main components are bio-based binder made of peat, devulcanised crumb rubber (DCR) from used tires and part of the fly ash the cenosphere (CS). Three-phase composite prepared in the form of a block for investigation of the mechanical properties and density and a form of granules for determination of the water and oil products sorption was investigated. This work investigated the dependence of the properties on the main component DCR and CS fraction. Is found, that maximum compression strength (in block form) observed for composition without CS and DCR addition - 79.3 MPa, the second highest value of compression strength is 11.2 MPa for composition with 27.3 wt% of CS. For compositions with bio binder content from 17.4 to 55.8 wt% and with DCR contents in range from 11.0 to 62.0 wt% compression strength is in range 1.1 to 2.0 MPa. Liquid sorption analysis (water and diesel) showed that the maximum saturation of liquids in both cases is set after 35 minutes and ranges from 1.05 to 1.4 g·g -1 for water and 0.77 to 1.25 g·g-1 for diesel. It was noted that 90% of the maximum saturation with diesel fuel comes after 10 minutes and for water after 35 minutes.

Delipidation is a method of defatting that is generally associated with the removal of residual lipids or lipid groups from matrices in which they are present in minute quantities. The bio-delipidation of protein-rich poultry slaughterhouse wastewater (PSW) pre-treated with a dissolved air flotation (DAF) system was developed using microbial lipases from bacterial strains isolated from the PSW. The efficacy of the bio-delipidation system was quantitatively characterised by comparing the quality parameters i.e., fats, oil and grease (FOGs), turbidity, total suspended solutes (TSS), total chemical oxygen demand (tCOD) and protein concentration of the DAF pre-treated PSW and bio-lipidized samples. As hypothesised, the bio-delipidation system was able to effectively reduce the levels of these quality parameters when crude lipases of Bacillus cereus AB1 (BF3) and Bacillus cereus CC-1 (B30) strains were used. Strain-dependent quality characteristics were also observed in bio-delipidized samples. The study successfully managed to complement physical reduction techniques (DAF) with biological strategies (bio-delipidation) for improved PSW quality, with potential industrial applications.

Aiming at the problems of high labor intensity and high cost of manual picking, high loss rate of mechanical picking seeds, low mechanization level and difficult to guarantee the quality of picking plates in the process of picking plates of edible sunflower. Based on the principle of manual plate taking, a plate taking control system for sunflower harvesting table was designed. Through the research and analysis of the principle of taking the plate of the edible sunflower harvesting table. According to the actual operation requirements, the overall scheme of the sunflower plate control system is determined, and the control strategy of imitating artificial low loss harvesting is designed. To reduce the grain loss in the process of taking the plate and improve the control accuracy of the system on the movement speed and displacement of the key components in the process of taking the plate, a trapezoidal acceleration and deceleration control algorithm is designed as the control algorithm of taking the plate. To verify the working performance of the plate control system, with the absolute error, relative error and total loss rate of the harvest as objectives. The bench and field verification experiments were both carried out. The bench experiment showed that the speed error of the plate parts was not more than 0.028 m/s. In the bench experiments of the device, the maximum positioning error was 1.25 mm, the average relative error is only 0.94 %, and the grain loss rate was not more than 2.26 %. It result showed that the system algorithm was reliable, the positioning accuracy was high, and the taking plate operation can be completed well. The field verification experiment showed that the forward speed of the unit was in the range of 0.4~0.8 m/s, and the total loss rate of harvest was less than 5 %. When the forward speed is 0.6 m/s, the minimum harvest loss rate is 2.32 %, and which indicated the control system meets the requirements of sunflower harvesting operation.

The purpose of this review is to elucidate the actual threat of the most prevalent mycotoxins in agricultural commodities and human/animal food/feed for appearance of foodborne ailments and diseases. The underestimated hazard of joint mycotoxin uptake of animals or humans is critically discussed with regards to synergistic or additive interaction between some target mycotoxins. The real toxicity of target mycotoxin combinations as it happens in practice is evaluated and possible lower limit values or control measures are suggested in such cases. Some critical points in adequate risk assessment, hygiene control and regulation of mycotoxns are discussed. The efficiency of current mycotoxin regulations and control measures is evaluated in regards to human/animal health hazard. The risk assessment in the case of multiple mycotoxin exposure of humans/animals via the food/feed or agricultural commodities is evaluated and some suggestions are proposed in such cases. Appropriate control measures and food safety issues throughout the food supply chain are proposed in order to prevent target foodborne diseases. Some preventive measures and possible veterinary hygiene control or risk assessment are proposed in some practical cases of foodborne diseases for preventing mycotoxin contamination of animal products designed for human consumption and to avoid possible public health issues.

Modern power systems are confronted with a spread concern on the frequency stability issue due to the widespread integration of randomly fluctuating renewable resources. To address the above concern, this work introduces a load frequency control (LFC) scheme based on a hydrogen based energy-storage unit and a parameter tuning strategy for fractional-order proportional-integral-derivative (FOPID) controller. Firstly, a two-area interconnected power system (IPS) model, including thermal, hydro, solar, wind, gas power generator, and hydrogen based energy-storage unit, is established. Then, a FOPID controller is designed for this IPS model, and an improved gradient-based optimizer (IGBO) is developed to adaptively regulate the parameters of the FOPID controllers. Finally, the effectiveness of the offered LFC scheme are tested through load disturbance and renewable energy fluctuations test scenarios, and provides comparison and robustness analysis among different schemes. The test results validated that the offered LFC scheme can effectively suppress the frequency fluctuations of IPS and has excellent robustness.

The human-centric approach is a leading trend for future production processes, and collaborative roboticists are key to its realization. This article addresses the challenge of designing a new cus-tom-made non-conventional machine or robot involving toolpath control (interpolated axes) with collaborative functionalities but by using “general-purpose standard" safety and motion control technologies. This is done on a non-conventional Cable-Driven Parallel Robot (CDPR). Safety is assured by safe commands to individual axes, known as Safe Motion Monitoring Functionalities, which limits the axes speed in the event of human intrusion. At the same time, the robot's Motion Controller applies an override to the toolpath speed to accommodate the robot's path speed to the axis’s limitations. The implementation of a new Pre-Warning Zone, prevent unnecessary stops due to the approach of the human operator. The article also details a real experiment that validates the effectiveness of the proposed strategy.

This paper presents designing an attitude motion control strategy for a half-car model using an anti-jerk predictive controller. Anti-jerk predictive controller based on active aerodynamics surfaces is employed to deal with the anticipated future road maneuvers and improve vehicle ride performance by canceling out external jerks acting on the vehicle body. The body jerks are produced during vehicle traversing on a double lane-change maneuver, acceleration, or braking. The control strategy helps the vehicle to achieve a realistic operation of the active aerodynamic surface to improve the vehicle’s ride performance, i.e., ride comfort and road holding during cornering, acceleration, or braking. The anti-jerk predictive controller is developed based on the predictive control strategy, which predicts future road inputs and uses them to compensate for the vehicle’s attitude motion. The simulation results show that the proposed control strategy effectively reduces the effects of vehicle body jerks transmitted to the passengers, improving ride comfort without degrading vehicle handling. The anti-jerk predictive controller successfully tracks the desired attitude position by canceling the external body jerks.

Modelling errors, robust stabilization/tracking problems under parameter and model uncertainties complicate the control of the flexible underactuated systems. Chattering-free sliding-mode based input-output control law realizes robustness against the structured and unstructured uncertainties in the system dynamics and avoids excitation of unmodeled dynamics. The main purpose is to propose a robust adaptive solution for stabilizing and tracking direct-drive (DD) flexible robot arms under parameter and model uncertainties, as well as external disturbances. A lightweight robot arm subject to external and internal dynamic effects was taken into consideration. The challenges are compensating actuator dynamics with the inverter switching effects and torque ripples, stabilizing the zero dynamics under parameter/model uncertainties and disturbances while precisely track the predefined reference position. The precise control of this kind of system demands an accurate system model and knowledge of all sources that excite unmodeled dynamics. For this purpose, equations of motion for a flexible robot arm were derived and formulated for the large motion via Lagrange’s method. The goals were determined to achieve high-speed, precise position control, and satisfied accuracy by compensating the unwanted torque ripple and friction that degrades performance through an adaptive robust control approach. The actuator dynamics and their effect on the torque output were investigated due to the transmitted torque to the load side. The high-performance goals, precision&robustness issues, and stability concerns were satisfied by using robust-adaptive input-output linearization-based control law combining chattering-free sliding mode control (SMC) while avoiding the excitation of unmodeled dynamics.

Pyrethroid resistance is widespread in malaria vectors. However, differential mortality in discriminating dose assays to different pyrethroids is often observed in wild populations. When this occurs, it is unclear if this differential mortality should be interpreted as an indication of differential levels of susceptibility within the pyrethroid class, and if so, if countries should consider selecting one specific pyrethroid for programmatic use over another. A review of evidence from molecular studies, resistance testing with laboratory colonies and wild populations, and mosquito behavioural assays was conducted to answer these questions. Evidence suggests that in areas where pyrethroid resistance exists, different results in insecticide susceptibility assays with specific pyrethroids currently in common use (deltamethrin, permethrin, α-cypermethrin and λ-cyhalothrin) are not necessarily indicative of an operationally relevant difference in potential performance. Consequently, it is not advisable to use rotation between these pyrethroids as an insecticide resistance management strategy. Less commonly used pyrethroids (bifenthrin and etofenprox) may have sufficiently different modes of action, though further work would be needed to examine how this may apply to insecticide resistance management.

The high dimensions and governing non linear dynamics in wind farm systems make the design of numerical optimal controllers computationally expensive. A possible pathway to circumvent this challenge lies in finding reduced order models which can accurately embed the existing non linearities. The work here presented applies the ideas motivated by non linear dynamical systems theory - the Koopman Operator - to an innovative algorithm in the context of wind farm systems - Input Output Dynamic Mode Decomposition - to improve on the ability to model the aerodynamic interaction between wind turbines in a wind farm and uncover insights into the existing dynamics. It is shown that a reduced order linear state space model can reproduce the downstream turbine generator power dynamics and reconstruct the upstream turbine wake. It is further shown that the fit can be improved by judiciously choosing the Koopman observables used in the IODMD algorithm without jeopardizing the models ability to rebuild the turbine wake. The extensions to the IODMD algorithm provide an important step towards the design of linear reduced order models which can accurately reproduce the dynamics in a wind farm.

The worldwide interconnected objects, called Internet of Things (IoTs), have been increasingly growing in the last several years. Different social media platforms and devices are continuously generating data about individuals and facilitate the technological and the social convergence of their Internet-based data and services with globalized users. These social and device-related IoTs create rooms for data breaches as such platforms provide ability to collect private and sensitive data. We assert that data breaches are fundamentally failures of access control - most users are too busy or technically ill-equipped to understand access control policy expressions and decisions. We argue that this is symptomatic of globalised societies structured by the conditions of algorithmic modernity; an era in which our data is increasingly interdependent on, and enmeshed with, ever more complex systems and processes that are vulnerable to attack. Ethically managing data breaches is now too complex for current access control systems, such as Role-Based Access Control (RBAC) and Context-Aware Access Control (CAAC). These systems do not provide an explicit mechanism to engage in decision making processes, about who should have access to what data and when, that are involved in data breaches. We argue that a policy ontology will contribute towards the development of Ethical CAAC better suited to attributing accountability for data breaches in the context of algorithmic modernity. We interrogate our proposed Ethical CAAC as a theoretical construct with implications for future policy ontology models and data breach countermeasures. An experimental study on the performance of the proposed framework is carried out with respect to a more generic CAAC framework.

Rabies persists as a longstanding issue in Zambia, despite being preventable. The current control measures, including dog vaccination, population control, and movement restriction, guided by ‘The Control of Dogs Act Chapter 247 of the Laws of Zambia’, have not yielded the desired impact in many areas of the country including Manyinga and Mwansabombwe districts. These two districts continue to report low dog vaccination rates, unrestricted dog movements, and escalating cases of animal and human rabies, along with dog bites. Aligned with global aspirations to achieve zero human rabies cases by 2030, this study scrutinizes the determinants and obstacles hampering the execution of rabies control initiatives in Manyinga and Mwansabombwe. Spanning approximately 11 months, this cross-sectional study gathered pre- and post-vaccination data from 301 households in Manyinga and 100 households in Mwansabombwe. Questionnaires probed knowledge, attitudes, and practices related to rabies prevention and control. A transect survey, key informant interviews, and assessment of rabies vaccination and dog bite records complemented the data collection. Findings revealed that 88% of respondents from both districts possessed knowledge about rabies, confirming affected species and transmission. Moreover, 76.8% in Manyinga and 88.6% in Mwansabombwe were acquainted with rabies prevention and control methods. Concerning dog owners, 89% were aware of rabies, 66% understood its prevention and control, and the majority identified bites as the primary mode of transmission. Vaccination coverage stood at 64% in Manyinga and 21% in Mwansabombwe. Notably, education and occupation exhibited a positive significant association with rabies knowledge. In terms of dog bite cases, Manyinga recorded 538 dog bite cases from 2017 to June 2022 while Mwansabombwe recorded 81 dog bite and 23 jackal bite cases from 2021 to June 2022. The study underscores critical knowledge gaps in rural areas and emphasizes the imperative for enhanced public education and awareness programs, improved rabies surveillance, free mass vaccination campaigns, and community engagement to augment vaccination coverage and knowledge about rabies.

There are many problems based on solving non-autonomous differential equations of the form x¨(t)+ω2(t)x(t)=0, where x(t) represents the coordinate of a material point and ω is the angular frequency. The inverse problem involves finding the bounded coefficient ω. Continuity of the function ω(t) is not required. The trajectory x(t) is unknown, but the initial and final values of the phase variables are given. The variation principle of minimum time for the entire dynamic process allows for the determination of the optimal solution {x(t),ω(t)}. Thus, the inverse problem is an optimal control problem. No simplifying assumptions were made.

Active flow control is a promising technology for reducing noise, emissions, and power consumption in various applications. To better understand the performance of synthetic jet actuators, a computational model that couples structural mechanics with electrostatics, pressure acoustics, and fluid dynamics has been needed. The model presented here has been validated against experimental data and then used to investigate the fluid behavior inside and outside the synthetic jet actuator cavity, impacts of thermoviscous losses on capturing the acoustic response of the actuator, and viability of different modeling methods of diaphragms in computational simulations. The results capture the feedback from the fluid onto the diaphragm and highlight the need for careful acoustic modeling.

The quality of cellular products used in biological research can directly impact the ability to ob-tain accurate results. Epstein-Barr virus (EBV) is a latent virus that spreads extensively world-wide, and cell lines used in experiments may carry EBV and pose an infection risk. The presence of EBV in a single cell line can contaminate other cell lines used in the same laboratory, affecting experimental results. We developed three EBV detection systems: (1) a polymerase chain reac-tion (PCR)-based detection system, (2) a recombinase polymerase amplification (RPA)-based de-tection system, and (3) a combined RPA-lateral flow assay (LFA) detection system. The mini-mum EBV detection limits were 1×103 copy numbers for the RPA-based and RPA-LFA systems and 1×104 copy numbers for the PCR-based system. Both the PCR and RPA detection systems were applied to 192 cell lines, and the results were consistent with those obtained by the EBV assay methods specified in the pharma-ceutical industry standards of the People's Republic of China. 10 EBV-positive cell lines were identified. The combined RPA-LFA system is simple to operate, allowing for rapid results visualization. This system can be implemented in laborato-ries and cell banks as part of a daily quality control strategy to ensure cell quality and experi-mental safety and may represent a potential new technique for the rapid detection of EBV in clinical samples.

Traditional aquaculture systems appear to be confronted with the high total ammonia nitrogen (TAN) produced during production, which can be harmful to aquatic life. As the demand for global fish production continues to increase, farmers should adopt Recirculating Aquaculture Systems (RAS) to improve production. The biofilter plays a vital role in ammonia removal. However, the drawback of the biofilter operation is needed an automatic and controlled system with a water quality monitoring system to guarantee optimal performance. RAS utilize a monitoring and control system to maintain the water quality and control the biofilm growth in the biofilter to reduce the ammonia. Therefore, this study focuses on developing a water quality monitoring and control system to achieve optimum biofilm performance. From 35 days of the experiment, the water quality was controlled at a level save for the aquatic environment, such as dissolved oxygen, pH, temperature, and TDS. Thus, the highest TAN removal efficiency is 50% when biofilm thickness reaches 119.88 µm.

Sustained-release drug delivery systems have evolved significantly over the years, playing a pivotal role in pharmaceutical research and enhancing patient care [1]. This abstract synthesizes key insights from various references to highlight the noteworthy advancements in this field. Recent research has emphasized the importance of understanding drug properties and their impact on sustained-release system design [2] [9]. These advancements enable tailoring drug delivery to optimize therapeutic outcomes [2] [9]. Incorporating innovative technologies such as nanotechnology [1], biodegradable polymers [3], and matrix systems [4] has led to the development of more efficient and patient-friendly sustained-release systems [1] [3] [4] Moreover, the concept of personalized medicine is gaining prominence [5], opening doors to individualized drug delivery strategies [5]. These strategies promise to enhance treatment efficacy while minimizing adverse effects [5]. Theoretical analyses, as exemplified by Higuchi’s work [6], continue to shape the understanding of sustained-release mechanisms [6]. Furthermore, studies on enteric-coated timed-release tablets [10]. highlight advancements in specific drug formulations to meet patient needs [10]. In conclusion, advancements in sustained-release drug delivery systems reflect a dynamic landscape where drug properties, innovative technologies, and personalized approaches converge to improve patient outcomes and drug therapy [7] [8] [10].

Plant-based insecticides are considered among the most economical and eco-friendly chemicals for the protection of field plants and even stored grains. The sweet melon (Cucumis melo L.) insect pest causes more than 90% damage to most melon leaves, vines, and balls at its growth stage. The study looked at how effective the plant extract from Africa Basil and the synthetic insecticide Cymbush were at killing insects on sweet melon (Cucumis melo L.). The study explored four different concentrations (2.5, 50, 75, and 100%) and a synthetic insecticide, Cymbush, against insect pests of sweet melon and compared the effects of distilled water, which is used as a control in a Randomized Complete Block Design (RCBD). The toxicity percentage levels of the African basil extracts against field pests of sweet melon were 25, 50, 75, and 100%. Maximum plant protection of the crop was achieved by the synthetic insecticide Cymbush (3.0 pest point), followed by Africa basil extract B100 (3.3 pest point), whereas weak and minimum insect pest protection were observed in the control (5.53 pest point). In conclusion, these results indicate the utility of African basil plant extracts against field insect pests of sweet melon as potential botanicals to control field insect pests and mitigate the hazardous use of synthetic insecticides on humans, animals, and the environment

Proprioception is an essential part of human movement and body awareness. It is the body's perception of its own spatial understanding, which helps us to accurately move our limbs and maintain balance. Purpose: This study aims to provide a comprehensive overview of the current state of knowledge and analyse bibliometric data about proprioception in gymnastics and acrobatics. Methodology: This article consisted of two phases: 1) a bibliometric review (based Web of Science) and 2) a systematic review (Web of Science, PubMed, and Scopus) of literature. "Gymnast*", "propriocep*", were utilized as search terms to find and choose published data. From a total of 164 studies, 30 were included for data extraction (n participants= 1432 of different age, sports, physical activities, and physical condition. Heterogeneity of studies design and assessment make it difficult to interpret the outcomes and the effect of proprioceptive interventions and comparations between samples. Proprioception is difficult to define in gymnastics considering the evidence references and the physiological considerations. Also, assessment tools used do not necessary evaluate proprioception globally considering the senses involved in gymnastics. Gymnastics training enhances joint awareness and force sense, improving proprioception and reducing injury risk. Proprioceptive exercises should be incorporated into gymnastics programs to enhance stability and precision in movements.

Children's screen time may affect their growth and development. However, different aspects of children and their parents that affect children's screen time has not been investigated in the Japanese context. This study aimed to explore the relationship between relevant factors affecting children's screen time based on their sleep, difficulties, and parental control, among Japanese elementary and junior high school students. A cross-sectional survey was conducted among parents in Japan. Data on screen time duration, parent-child background, strengths and difficulties, sleep variables, and parental control types were collected from 225 households. Path analysis revealed that high Strengths and Difficulties Questionnaire (SDQ) scores (β = 0.167, p = 0.007), sleep duration (β = -0.282, p &lt; 0.001), and parental control (β = -0.205, p &lt; 0.001) were significantly related to children's screen time. Additionally, late parental bedtime negatively correlated with children's sleep duration (β = -0.326, p &lt; 0.001). The findings suggest that children's difficulties, sleep duration, and parental control are associated with children's screen time. This study, together with previous research, provides comprehensive insights to design interventions to decrease screen time in children in the Japanese context.

The global agricultural sector is increasingly pressured to adopt sustainable practices and reduce its environmental impact. In this context, greenhouses play a crucial role in enabling year-round crop production, ensuring food security, and minimizing reliance on traditional open-field farming. However, the energy consumption associated with greenhouse operations poses a significant challenge to achieving sustainability goals. As a result, there is a growing emphasis on transitioning greenhouses towards near-zero energy consumption. Near-zero energy consumption in greenhouses refers to the ambitious objective of minimizing energy usage to the greatest extent possible while maintaining optimal growing conditions for crops. This goal encompasses reducing energy consumption for heating, cooling, lighting, and other operational needs, as well as exploring renewable energy sources to power greenhouse operations. This review article offers a comprehensive overview of greenhouse energy consumption, with the main goal of analyzing the present situation, identifying key challenges, exploring potential opportunities, and proposing future perspectives for decreasing energy usage in greenhouse environments. As the focus on sustainable agricultural practices grows, the need to reduce energy consumption in greenhouses becomes increasingly important. The review critically examines current technological models and strategies applied in smart greenhouse applications, as well as the monitoring of microclimatic conditions inside the greenhouse, encompassing factors such as temperature, humidity, CO2 levels, soil quality, and crop cultivation. Moreover, it aims to present existing literature that investigates the advancement of greenhouses toward achieving significant reductions in energy consumption.

In this paper is presented the design and syntheis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasable representation for this kind of robot. Then two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control, this means, that considering that the velocity vector of the mobile robot is orthogonal to its restriction a dynamic output feedback and neural network controller is designed in order that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then another control strategy is designed for trajectory tracking purposes, which similar to the driftless controller, a kinematic control scheme is provided but suitable to implement in more sophisticated hardware. In both control strategy a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory the stability and convergence to the origin of the mobile robot position coordinates is ensured. Finally, two numerical experiment are presented in order to validate the theoretical results synthetized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.