In this study we investigated the potential of two non-edible oil extracts from seeds of Colliguaya Integerrima (CIO) and Colliguaja Salicifolia (CSO) to use as a renewable source for polyols and eventually polyurethane foams or biodiesel. For this purpose, two novel polyols from the aforementioned oils were obtained in a one-single step reaction using a mixture of hydrogen peroxide and acetic acid. The polyol derivatives obtained from the two studied oils were characterized by spectral (FT-IR, ¹H NMR and ¹³C NMR), physico-chemical (e.g. chromatographic analysis, acid value, oxidizability values, iodine value, peroxide value, saponification number, kinematic viscosity, theorical molecular weights, density, hydroxyl number and hydroxyl functionality) and thermal (TGA) analyses according to standard methods. Physico-chemical results revealed that all parameters, with the exception of the iodine value, were higher for bio-polyols (CSP and CIP polyols) compared to the starting oils. The NMR, TGA and FT-IR analyses demonstrated the formation of polyols. Finally, the OH functionality values for CIP and CSP polyols were 4.50 and 5.00, respectively. This result indicated the possible used of CIP and CSP polyols as a raw material for the preparation of polyurethane rigid foams.

This paper introduces the implementation of a genetic programming (GP)-based procedure to the automatic design and tuning of process controllers. The proposed approach makes a significant contribution to the field of artificial intelligence (AI) in control engineering. Unlike other controller design methods, the GP-based program handles the entire design in the time domain, including differential operations like derivatives and integrals, without the need for intermediate inverse Laplace transformation. This approach not only simplifies the design process but also ensures that all generated controllers are implementable in physical systems. Furthermore, GP’s functions set includes various mathematical operations beyond basic arithmetic operators, such as trigonometric, exponential, and logarithmic operators. The performance and validity of the resulting controllers generated by the proposed GP-based approach are evaluated by verifying whether the generator can replicate the structure and performance of those produced by traditional controller design methods and, in some cases, achieve even better results. As a result, the GP-based approach presents a promising solution for automating the controller design process and addressing control problems in various engineering applications.

In this paper is shown the dynamic modeling and design of a passivity based controller for the RV-3SB robot. Firstly, the dynamic modeling of the of the Mitsubishi Rv-3SB robot is done by the Euler-Lagrange formulation in order to obtain a decoupled dynamic model considering the actuators orientation besides the position of this analyzed robot. It is important to remark that the dynamic model of the RV-3SB robot is done based in the kinematic model obtention in which is developed by the implementation of screw theory. Then the passivity based controller is obtained by separating the end effector variables and the actuator variables by making an appropriate coordinate transformation. The passivity based controller is obtained by selecting an appropriate storage function and by the Lyapunov theory the passivity based control law is obtained in order to drive the error variaable, which is the difference between the measured end effector position variable and the end effector desired position variable. The passivity based controller makes that the error variable reach the origin in finite time taking into consideration the dissipation properties of the proposed controller in order to stabilizes the desired end effector position. A numerical simulation experiement is performed in order to validate the theoretical results obtained in this research study. It is verified by numerical experimentation that the proposed control strategy is efficient and effective in order to drive the error variable to the origin in comparison with other modified techniques found in the literature. Finally, the appropriate discussion and conclusion of this research study are provided.

Drilling vibrations has been identified as a key performance limiter that prevents successful energy transfer from the surface to the bit. The resultant irregular bit rotation speed causes drilling challenges like poor hole quality and reduction in rate of penetration to name a few. Amongst other vibration suppression techniques, active control of vibrations is widely used and recommended. Active control system utilizes a closed loop feedback control to continuously adapt to downhole vibrations detected at the surface. The system requires regular tuning and upgrades which is done experimentally before field deployment. The paper presents a PID based experimental tuning of horizontal and vertical strings for irregular RPM. In doing so, the paper highlights the need of having horizontal experimental setups for state-of-the-art PID tuning for downhole RPM. The settling time of irregular RPM for horizontal setup is found to be lower than the vertical configuration due to multiple contact points and increased friction coefficient.

Satellites are subject to various severe vibration during different phases of flight. The concept of satellite smart adapter is proposed in this study to achieve active vibration control of launch vehicle on satellite. The satellite smart adapter has 18 active struts in which the middle section of each strut is made of piezoelectric stack actuator. Comprehensive conceptual design of the satellite smart adapter is presented to indicate the design parameters, requirements and philosophy applied which are based on the reliability and durability criterions to ensure successful functionality of the proposed system. The coupled electromechanical virtual work equation for the piezoelectric stack actuator in each active strut is drived by applying D'Alembert's principle. Modal analysis is performed to characterize the inherent properties of the smart adapter and extraction of a mathematical model of the system. Active vibration control analysis was conducted using fuzzy logic control with triangular membership functions and acceleration feedback. The control results conclude that the proposed satellite smart adapter configuration which benefits from piezoelectric stack actuator as elements of its 18 active struts has high strength and shows excellent robustness and effectiveness in vibration suppression of launch vehicle on satellite.

Exoskeleton robots are a rising technology in industrial contexts to assist humans in onerous applications. Mechanical and control design solutions are intensively investigated to achieve a high performance human-robot collaboration (e.g., transparency, ergonomics, safety, etc.). However, the most of the investigated solutions involve high-cost hardware, complex design solutions and standard actuation. In the presented work, an industrial exoskeleton for lifting and transportation of heavy parts is proposed. A low-cost mechanical design solution is proposed, exploiting compliant actuation at the shoulder joint to increase safety and transparency in human-robot cooperation. A hierarchic model-based controller is then proposed (including the modeling of the compliant actuator) to actively assist the human while executing the task. An inner optimal controller is proposed for trajectory tracking, while an outer fuzzy logic controller is proposed to online deform the task trajectory on the basis of the human’s intention of motion. A gain scheduler is also designed to calculate the optimal control gains on the basis of the performed trajectory. Simulations have been performed in order to validate the performance of the proposed device, showing promising results. The prototype is under realization.

The Food and Drug Administration’s 2011 Process Validation Guidance and International Council for Harmonization Quality Guidelines recommend continued process verification (CPV) as a mandatory requirement for pharmaceutical, biopharmaceutical, and other regulated industries. As a part of product life cycle management, after process characterization in stage 1 and process qualification and validation in stage-2, CPV is performed as stage-3 validation during commercial manufacturing. CPV ensures that the process continues to remain within a validated state. CPV requires the collection and analysis of data related to critical quality attributes, critical material attributes, and critical process parameters on a minimum basis. Data is then used to elucidate process control regarding the capability to meet predefined specifications and stability via statistical process control tools. In statistical process control, control charts and Nelson rules are commonly used throughout the industry to monitor and trend data to ensure that a process remains in control. In the control chart, the mean value is taken as the center line, and 3σ limits are placed on either side of the center line. In CPV, manufactured lots are summarized, trended, and discussed at a cross-functional level at pre-defined intervals (either weekly, bi-weekly, or even monthly) based on the batch run rate. A cross-functional team assesses details regarding 1) violation frequency, 2) statistical strength of the signal, 3) violation magnitude and its impact on process or quality, and 4) any potential root causes for out-of-expectation or out-of-trend signals. The cross-functional team must analyze whether any signal identified by the control chart is reliable and must determine whether corrective action should be taken and justify the decision in the CPV meeting minutes based on statistical strength and reliability of the signal. However, basic control charts are susceptible to false alarms and nuisance alarms. Therefore, it is imperative to understand the assumptions behind control charts and the inherent false alarm rates for different Nelson rules. In this article, the authors have detailed the assumptions behind the usage of control charts, the rate of false alarms for different Nelson rules, the impact of skewness and kurtosis of a data distribution on the false alarm rate, and methods for optimizing control chart design by reducing false alarm rates and nuisance signals.

This paper presents a control algorithm for soft-switching series LC converters. The conventional voltage-to-voltage controller is split into a master and a slave controller. The master controller implements constant-current-constant-voltage (CCCV) control, required for demanding applications, i.e. lithium battery charging or laboratory power supplies. It defines the set-current for the open-loop current slave controller, which generates the PWM parameters. The power supply achieves fast large-signal responses, e.g. from 5 V to 24 V, where 95% of the target value is reached in less than 400 µs. The design is evaluated extensively in simulation and on a prototype. A consensus between simulation and measurement is achieved.

The numerical implementation of the controllers allows the use of very complex algorithms with ease. However, in practice, due to its proven advantages, the PID controller (and its variants) is widely used in industrial control systems as well as in many other applications that require continuous control. Most of the methods for tuning the parameters of PID controllers are based on time-invariant linear models of the processes, which in practice can lead to poor performance of the control system. The paper presents an application of reinforcement learning algorithms in tuning of PID controllers for the control of some classes of continuous nonlinear systems. Tuning the parameters of PID controllers is done with the help of Twin Delayed Deep Deterministic Policy Gradients (TD3) algorithm which presents a series of advantages compared to other similar methods from Machine Learning dedicated to continuous state and action spaces. TD3 algorithm is an off-policy Actor-Critic based method and was used as it does not require a system model. The presented technique is applied for control of a biotechnological system which has a strongly nonlinear dynamic. The proposed tuning method is compared to the classical tuning methods of PID controllers. The performance of the tuning method based on the TD3 algorithm is demonstrated through simulation illustrating the effectiveness of the proposed methodology.

Dynamic systems which underly controlled systems are expected to increase in complexity as robots, devices, and connected networks become more intelligent. While classical stable systems converge to a stable point (a sink), another type of stability is to consider a stable path rather than a single point. Such stable paths can be made of saddles which draw in trajectories from certain regions, and then push the trajectory toward the next saddle point. These are chains of saddles are called stable heteroclinic channels (SHCs), and can be used in robotic control to represent time sequences. While we have previously shown that each saddle is visualizable as a trajectory waypoint in phase space, how to increase the fidelity of the trajectory was unclear. In this paper, we hypothesized that the waypoints can be individually modified to locally vary fidelity. Specifically, we expected that increasing the saddle value (ratio of saddle eigenvalues) causes the trajectory to slow to more closely approach a particular saddle. Combined with other parameters that control speed and magnitude, a system expressed with an SHC can be modified locally, point by point, without disrupting the rest of the path, supporting their use in motion primitives. However, even more complex trajectory shape modifications are possible. While some combinations can enable a trajectory to better reach into corners, other combinations can rotate, distort and round the trajectory in the region of a corner. In our example, modifying select saddle values produced a 32% decrease in the trajectory error of a complex trajectory produced using this system. This is an effect not visible in previous 1D studies, that can lead to different learnable and tunable representations of dynamic systems.

In contemporary construction, the prevalence of vibration serviceability issues in lightweight and slender structures has become increasingly common, owing to advancements in building materials and construction methods. While these structures often meet the criteria for ultimate limit states, they can still elicit complaints due to excessive vibrations induced by human activity. To address this challenge, the Integral Resonant Control (IRC) technique has emerged as a favored approach for actively damping vibrations in various systems. This study introduces a fresh perspective on implementing a multi-input multi-output (MIMO) IRC scheme for active vibration control (AVC) specifically tailored for pedestrian structures utilizing inertial mass actuators. Building upon a common framework and design methodology outlined in previous research, this work presents a novel application of MIMO IRC for AVC. The designed controller is rigorously tested and implemented on a laboratory floor structure to validate its efficacy.

Discrete-time architectures offer a distinct advantage over their continuous counterparts, as they can be seamlessly implemented on embedded hardware without the necessity for discretization processes. Yet, because of the difficulty of ensuring Lyapunov difference expressions, their designs, which are based on quadratic Lyapunov-based frameworks, are highly complex. As a result, various existing continuous-time results using adaptive control methods to deal with system uncertainties and coupled dynamics in agents of a multiagent system cannot be directly applied to the discrete-time context. Furthermore, compared to their continuous-time equivalent, discrete-time information exchange based on periodic time intervals is more practical in the control of multiagent systems. In this paper, we first introduce a discrete-time adaptive control architecture designed for uncertain scalar multiagent systems without coupled dynamics as a preliminary result. We then introduce another discrete-time adaptive control approach for uncertain multiagent systems in the presence of coupled dynamics. Our approach incorporates observer dynamics to manage unmeasurable coupled dynamics, along with a user-assigned Laplacian matrix to induce cooperative behaviors among multiple agents. Our solution includes Lyapunov analysis with logarithmic and quadratic Lyapunov functions for guaranteeing asymptotic stability with both controllers. To demonstrate the effectiveness of the proposed control architectures, we provide an illustrative example.

This paper is primarily focused on the robust control of an inverted pendulum system based on the policy iteration in reinforcement learning. First, a mathematical model of the single inverted pendulum system is established through a force analysis of the pendulum and trolley. Second, based on the theory of robust optimal control, the robust control of the uncertain linear inverted pendulum system is transformed into an optimal control problem with an appropriate performance index. Moreover, for the uncertain linear and nonlinear systems, two reinforcement-learning control algorithms are proposed using the policy iteration method. Finally, two numerical examples are provided to validate the reinforcement learning algorithms for the robust control of the inverted pendulum systems.

Intelligent transportation systems (ITS) are at the forefront of advancements in transportation, offering enhanced efficiency, safety, and environmental friendliness. To enable ITS, autonomous systems play a pivotal role, leveraging breakthroughs in autonomous driving, data-driven modeling, and multiagent control strategies to establish sustainable and coordinated traffic management. The integration of connected and automated vehicles has garnered significant attention as a potential solution for alleviating traffic congestion and improving fuel economy, achieved through global route optimization and cooperative driving. This study focuses on a predictive control perspective to address the cooperative cruise control problem. Online decision-making is employed during the driving process, utilizing information gathered from the network. By employing bargaining games to establish an operating agreement among vehicles, we formalize a synchronization approach based on predictive control theory. Ultimately, these findings are put to the test in an emulation environment within a hardware-in-the-loop system.

Recent years have seen a massive increase in research on mindfulness as both a therapeutic practice as well as a protective health factor. While many associations have been made between mindfulness and clinical outcomes, understanding of the underlying mechanistic processes is still in its infancy. In this review, associations between mindfulness and other established frameworks in cognitive control are explored—in particular the dual modes of control framework in cognitive control theory. Studies in mindfulness providing evidence towards a dual-mode mindfulness model are reviewed and compared with the proactive and reactive modes of cognitive control to identify common underlying principles. Studies involving cognitive testing, advanced neuroimaging, and neurotransmitter levels and their associations with proactive and reactive control are reviewed in the context of the dual modes of mindfulness. While evidence supporting relationships between proactive and reactive modes of mindfulness and cognitive control are preliminary, existing literature on mindfulness already supports the notion of two components of mindfulness and is in line with the hypothesis that cognitive control and mindfulness are closely related. Since preliminary evidence suggests that proactive forms of mindfulness are more associated with improvement in clinical outcomes, mindfulness programs could be modified to target proactive mindfulness practices to maximize outcomes. The implications of proactive and reactive mindfulness on therapy, limitations of the framework, and necessity of studies providing direct evidence are further discussed.

In this paper, an electromechanical mass lifter system is designed, analyzed and compare using optimal and robust control theories. LQR and μ -synthesis controllers are used to improve the lift displacement by comparison method for tracking the desired step and sinusoidal wave signals input. Finally, the comparison simulation result prove the effectiveness of the electromechanical mass lifter system with μ -synthesis controller for improving the rise time, percentage overshoot, settling time and peak value of tracking the desired step displacement signal and improving the peak value for tracking the desired sinusoidal displacement signal with a good performance.

With the development of IoT technology, various information resources, such as social resources and physical resources, are deeply integrated for different comprehensive applications. Social networking, car networking, medical services, video surveillance and other forms of IoT information Service model gradually change people's daily life. Facing the vast amounts of IoT information data, IoT search technology is used to quickly find accurate information to meet real-time search needs of users. However, IoT search requires to use a large number of user privacy Information, such as personal health information, location information, social relations information, to provide personalized services. User privacy information will meet security problems if an effective access control mechanism is missing during the IoT search process. Access control mechanism can effectively monitor the access activities of resources, and ensure authorized users to access information resources under legitimate conditions. This survey examines the growing literature on access control for IoT search. Problems and challenges of access control mechanism are analyzed to facilitate the adoption of access control solutions in real-life settings. This paper aims to provides theoretical, methodological and technical guidance for IoT search access control mechanism in large-scale dynamic heterogeneous environment. Based on the literature study, we also analyzed future development direction of access control in the age of IoT.

This paper presents a new adaptive and optimal algorithm for the trajectory tracking control of a quadrotor using iterative learning algorithm (ILA) and enumerative learning algorithm. Ordinarily the ILA, as an adaptive method, can perform well with PID control to improve the controller’s performance for a nonlinear system. Quadrotors are considered as non-linear and unstable systems which the use of an adaptive and optimal controller can increase its stability and decrease error level. In this method, a PID controller is proposed for the outer and inner control loops of a quadrotor and the ILA is used to adapt PID control gains. Subsequently, an enumerative learning algorithm is used to optimize the learning rates of the ILA. For this purpose, at first, the dynamic model of the quadrotor is acquired. After that, the structure of the inner and outer control loops is defined. In the end, the simulation results for the trajectory tracking control of a quadrotor are demonstrated. Through simulation, it is concluded that as time increases, the performance of the suggested control method in trajectory tracking control becomes better and better and error signals convergence to zero.

The goal of the manuscript is to design a relatively best control structure for the noise suppression of a drone’s camera gimbal action. The gimbal’s movement can be simplified as a rest-to-rest reorientation system that can achieve the boundary result of a dynamic system. Six different control architectures are proposed and evaluated based on their ability to control the trajectory of the dynamic-system position and speed, their running time, and quadratic cost. The robustness of the control architecture to uncertainties in inertia and sensor noise is also analyzed. Monte Carlo figures are used to assess the performance of the six control systems. The conditions for applying different architectures are identified through this analysis. The analysis and experimental tests reveal the most suitable control of the drone’s camera gimbal rotation.

The objective of this study is to evaluate how two varying amounts of sepiolite-based powder, infused with indigo extract, affect the appearance and durability of a water-based white primer. To examine the influence of this eco-friendly pigment on the coatings' overall appearance, assessments were performed for color, gloss, and surface roughness. Additionally, the coatings were investigated through optical and electron microscopic observations, to evaluate the distribution of the pigment within the polymer matrix. The effect of the pigment on the coating's durability was assessed through accelerated tests, including exposure in a salt spray chamber and a UV-B chamber. These tests aimed to evaluate the emergence of defects and changes in the appearance of the samples over time. Furthermore, the impact of different quantities of sepiolite-based powder on the coating's ability to act as a barrier was assessed using liquid resistance tests and contact angle measurements. These evaluations aimed to understand how the coating responded to various liquids and its surface properties concerning repellency or absorption. In essence, this study underscores the considerable influence of the eco-friendly pigment, demonstrating its capacity to introduce unique color and texture variations to the paint. Moreover, the inclusion of the pigment has enhanced the coating's color stability, its ability to act as a barrier, and overall durability when exposed to harsh environments.

This research explores the enhancement of bio-oil quality through upgrading with the magnetic bimetallic oxide (CuO-Fe3O4) catalysts supported on the activated rice straw biochar (AcB). These catalysts were employed in a supercritical ethanol-based upgrading process. Various characterization techniques, including elemental analysis, XRD, BET, TGA, and SEM, were utilized to characterize the prepared catalyst. The study revealed significant improvements in the physical characteristics and chemical composition of the bio-oil, with higher heating value (HHV) increasing from 21.3 to 32.1 MJ/kg. Esterification and transesterification were identified as key reactions contributing to this improvement. Notably, the pH of bio-oil increased from 4.3 (raw bio-oil) to 5.63 (after upgrading), signifying reduced acidity. The analysis of the bio-oil's chemical composition highlighted a decrease in oxygen content and an increase in carbon and hydrogen content. At the optimum conditions, the application of supercritical ethanol proved to be an efficient method for enhancing the bio-oil's properties. A crucial transformation occurred during the upgrading process and more than 90% % of carboxylic acids were converted into esters, primarily ethyl acetate at the optimal conditions. This study has demonstrated the effective enhancement of raw bio-oil from rice straw through the utilization of carbon-based bimetallic oxide catalysts in a supercritical upgrading procedure.

Metachrony is defined as coordinated asynchronous movement throughout multiple appendages, such as the cilia of cells and swimmerets of crustaceans. We investigate the process of metachronal propulsion, notably used by species of crustaceans and microscopic cells to move through fluid. A rigid crustacean model with paddles moving in symmetric strokes was created to simulate metachronal movement. Coupled with the surrounding fluid domain, we employ the immersed boundary method to analyze fluid-structure interactions. To explore the effect of nonlinear morphology on the efficiency of metachronal propulsion, we generate and simulate a range of crustacean body shapes, from upward curves to downwards curves. We found that the highest propulsion velocity is achieved when the crustacean model morphology follows a downwards curve, specifically a parabola of leading coefficient k=−0.4. This curved morphology results in 4.5% higher velocity compared to the linear model. As k deviates from −0.4, the propulsion velocity decreases with increasing magnitude, forming a concave downward trend. The impact of body shape on propulsion velocity is shown by how the optimal velocity with k=−0.4 is 71.5% larger than the velocity at k=1. Overall, this study suggests that morphology has a significant impact on metachronal propulsion.

Chitin/chitosan and collagen are two of the most important bioactive compounds with applications in the pharmaceutical, veterinary, nutraceutical, cosmetic, biomaterials, and other industries. When extracted from fish and shellfish non-edible parts, by-catches, and invasive species, their use contributes to a more sustainable and circular economy. The present article reviews the scientific knowledge and publication trends along the marine chitin/chitosan and collagen value-chains and assesses how researchers, industry players, and end-users can bridge the gap between scientific understanding and industrial applications. Overall, research on chitin/chitosan remains focused on the compound itself rather than its market applications. Still, chitin/chitosan use is expected to increase in food and biomedical applications, while that of collagen is expected to increase in biomedical, cosmetic, pharmaceutical, and nutritional applications. Sustainable practices, such as the reuse of waste materials, contribute to strengthen both value-chains; the identified weaknesses include the lack of studies considering market trends, social sustainability, and profitability, as well as insufficient examination of intellectual property rights. Government regulations, market demand, consumer preferences, technological advancements, environmental challenges, and legal frameworks play significant roles in shaping both value-chains. Addressing these factors is crucial for seizing opportunities, fostering sustainability, complying with regulations, and maintaining competitiveness in these constantly evolving value-chains.

This work demonstrates that microbial fuel cells (MFCs), optimized for energy recovery, can be used as an effective tool to detect the presence of antibiotics in water-based environments. MFCs directly convert chemical energy of organic matter in electrical energy thanks to electroactive biofilms. The efficiency of the conversion process can be significantly affected by the presence of contaminants acting as toxicants for the biofilm. In the present work, we demonstrate that MFCs can successfully detect the presence of antibiotic residues in water and water-based electrolytes associated to the food industry, especially using honey as a new and more complex electron donor. The effectiveness of MFCs to sense antibiotics is here demonstrated for tetracycline that was added to both water and water/honey electrolytes with a minimum concentration close to 3.5 μg⁄kg. MFCs not only efficiently detect the presence of tetracycline in both the electrolytes, but also recover the same performance after each cycle of exposure, showing to a be very robust and reliable technology for both biosensing and energy recovery.

With the development of bioinspired green solutions for sustainable construction over the past two decades, bio-cementation, which exploits the naturally occurring phenomenon of calcium carbonate precipitation in different environments, has drawn a lot of attention in both building construction and soil stabilization. Various types of microorganisms, along with specific enzymes derived from these microorganisms, have been utilized to harness the benefits of bio-cementation. Different application methods for incorporating this mechanism into the production process of the construction material, as well as a variety of experimental techniques for characterizing the outcomes of bio-cementation, have been developed and tested. Despite the success of bio-cementation as a sustainable method to construction has been demonstrated in a significant body of literature at the laboratory scale, the expansion of this strategy to construction sites and field application remains a pending subject. The issue may be attributed to two primary challenges. Firstly, the complexity of the bio-cementation phenomenon is influenced by a variety of factors. Secondly, the extensive body of literature examines various types of microorganisms under different conditions, leading to a wide range of outcomes. Hence, this study aims to examine the recent advancements in utilizing the most commonly employed microorganism, Sporosarcina Pasteurii, to emphasize the significance of influential factors identified in the literature, discuss the findings that have been brought to light, and outline future research directions toward scaling up the process.

While biologic originators’ patents are expiring, biosimilars are emerging to take their place, offering significant cost savings to healthcare systems. Many challenges still need to be addressed in the clinical practice of inflammatory bowel disease (IBD). A global survey was organized to highlight physicians’ current knowledge and beliefs and to gain insight about their practical management and remaining concerns and obstacles associated with starting a biosimilar, switching from an originator to a biosimilar, or switching from one biosimilar to another (multiple switches and reverse switching). Fifteen physicians with expertise in the field of IBD from 13 countries attended a virtual international consensus meeting to develop practical guidance regarding biosimilar adoption worldwide, considering the survey results. Consensus was reached on 10 statements regarding biosimilar effectiveness, safety, indications and rationale, multiple switches, therapeutic drug monitoring of biosimilars, non-medical switching and future perspectives.

This study investigates the influence of the porous structure, on the density and the mechanical behaviour of new foam concretes incorporating hemp shives. A total of eight batches of foam concretes were manufactured and tested, made with a protein-based foam agent, containing cement, ground granulated blast furnace slag and Metakaolin as binder and hemp shives as natural aggregate. The effect of several parameters is studied, elaboration method (direct and preformed), amount of pozzolanic additions (0% and 30%) and incorporation of hemp shives (5 and 15 vol%) on the resulting physical properties, microstructure, porous structure and mechanical behaviour of the concretes. Hemp shives incorporation results in increased concrete porosity and air bubble radius, decreased uniformity and mechanical strength, and lower cohesion with the cement matrix compared to standard concretes.

Polymeric wet-strength agents are important additives used in the paper industry to improve the mechanical properties of paper products, especially when they come in contact with water. These agents play a crucial role in enhancing the durability, strength, and dimensional stability of paper products. The aim of this review is to provide an overview of the different types of wet-strength agents available and their mechanisms of action. We will also discuss the challenges associated with the use of wet-strength agents and the recent advances in the development of more sustainable and environmentally friendly agents. As the demand for more sustainable and durable paper products continues to grow, the use of wet strength agents is expected to increase in the coming years.

Bionic robotic hand can perform many movements similar to human hand. But there is still a significant gap in manipulation between robot and human hand. It is necessary to understand the finger kinematics and motion patterns of human hand to improve the performance of robotic hand. This study aimed to comprehensively investigate normal hand motion patterns by evaluating the kinematics of hand grip and release in healthy individuals. The data corresponding to rapid grip and release were collected from the dominant hand of 22 healthy people by sensory glove. The kinematics of 14 finger joints were analyzed, including the dynamic range of motion (ROM), peak velocity, joint sequence and finger sequence. The results show that the proximal interphalangeal (PIP) joint had a largest dynamic ROM than metacarpophalangeal (MCP) and distal interphalangeal (DIP) joints. Besides, the PIP joint had the highest peak velocity, both in flexion and extension. For joint sequence, the PIP joint moved prior to the DIP or MCP joints during flexion, while extension started in DIP or MCP joints, followed by PIP joint. Regarding the finger sequence, the thumb started to move before four fingers, and stopped moving after the fingers during both grip and release. This study explored the normal motion patterns in hand grip and release, which provided kinematic reference for the design of robotic hand and thus contribute to its development.

From the merge of arts and crafts towards a practice for mass production of desirability, consumption and product development in a capitalist economy of scale, design has lost its natural ability of problem comprehension and tension alleviation. The modern world needs the creativity, flexibility, and responsiveness embedded into design practices, mostly when a behavioural change, either individual or organizational, is intended. Still, the informality nature of the field is creating a gap between the study, research, and industrial design practice. Here it is presented the Biology of Creativity Model (BoC) which is a design-by-analogy method that promotes an empowered design practice through analysis of mostly biology reference texts for enhanced creativity and innovation performance in a diverse array of contexts.

Rice is considered as the most important crop for most of the world population. Utilization of seaweed as bio-stimulant can be an alternative way to enhance rice plant growth and productivity, as well as a strategic move to reduce the use of inorganic fertilizer that is harmful to the environment. Seaweed and its derivative products have been widely used as bio-stimulant in the agricultural industry because of their potential use in increasing plant growth and productivity. Auxins, gibberellins, and cytokinin are some of growth regulators found in seaweed extract, as well as macro and micronutrients required for plant growth and development. Several studies have found that seaweed extract has a variety of favorable effects as a plant growth promoter, including early seed germination and establishment, improved nutritional quality, increased yield and crop performance, and increased tolerance to environmental stress. The purpose of this paper is to give a comprehensive overview of the impacts of several seaweed species on seed germination, crop development and production, enhancement of rice plants (Oryza sativa) nutritional quality and the modes of action of seaweed extract includes the chemical components that might be causing plant physiological changes.

Literature revealed the potential of using guayule resin for asphalt cement replacement from the binder’s perspective. However, monitoring guayule resin through binder-aggregate mixture could disclose its performance through field. In this study, designated binders were employed to investigate the applicability of such an innovative replacer through mixture, which were neat asphalt and guayule-based binders (neat guayule, asphalt-rubber-guayule, guayule-rubber binders). Consecutively, field-simulated lab mixtures were prepared to investigate the major distresses. Moisture damage, rutting, fatigue cracking, and thermal cracking resistances were investigated using the modified Lottman (TSR) test, rut test by asphalt pavement analyzer (APA), semi-circular bending (SCB) test, and disk-shaped compact tension (DCT) test, respectively. Additionally, the Hamburg wheel-tracking (HWT) test was employed to evaluate moisture susceptibility and rutting resistance. Outcomes revealed that the neat guayule was susceptible to moisture damage at a 7% air content (V_a) when the TSR test was employed. In contrast, all investigated mixtures yielded perfect performances against moisture susceptibility under the HWT test. Guayule-based mixtures perfectly resisted rutting, as analyzed by the rut test and HWT test. Generally, changing parameters (e.g., V_a, rubber addition, and partial asphalt replacement by guayule and rubber) enhanced the guayule-based mixture resistance to rutting and moisture damage resulting in acceptable performances. Guayule-based mixture had a high fracture toughness at low temperatures, hence fatigue fracture resistance at intermediate temperatures. Neat guayule mixture with or without rubber addition did not entirely resist thermal fracture. However, partial asphalt replacement by guayule and rubber resisted the thermal fracture to a great extent.

Dermal interstitial fluid (ISF) is a novel source of biomarkers that can be considered as an alternative to blood sampling for disease diagnosis and treatment. Nevertheless, in vivo extraction and analysis of ISF are challenging. On the other hand, microneedle (MN) technology can address most of the challenges associated with dermal ISF extraction and is well-suited for long-term, continuous ISF monitoring as well as in situ detection. In this review, we first briefly summarise the different dermal ISF collection methods and compare them with MN methods. Next, we elaborate on the design considerations and biocompatibility of MNs. Subsequently, the fabrication technologies of various MNs used for dermal ISF extraction, including solid MNs, hollow MNs, porous MNs and hydrogel MNs, are thoroughly explained. In addition, different sensing mechanisms of ISF detection will be discussed in detail. Subsequently, we identify the challenges and propose the possible solutions associated with ISF extraction. A detailed investigation is provided for the transport and sampling mechanism of ISF in vivo. Also, the current in vitro skin model integrated with the MN arrays will be discussed. Finally, future directions to develop a point-of-care (POC) device to sample ISF are proposed.

Bacteria a Microscopic organisms are the most inexhaustible and flexible of microorganisms and constitute a huge division of the whole living earthly biomass, certain microorganisms were found to amass metallic components at a high limit Was Known as Bacterial Bio-sorption Due to their little size, capacity to become under controlled conditions, and their Accommodation to an extensive variety of ecological situations; Potent metal bio-sorbents among microorganisms, at low pH esteems, cell divider ligands are protonated and contend essentially with metals for official. With expanding pH, more ligands, such as amino and carboxyl groups, could be exposed, leading to attraction between these negative charges and the metals, and consequently increment bio-sorption onto the cell surface. Starting with Isolation and identification of heavy metal-resistant bacteria from rock Ore. Studying Factors Affecting Uranium Bio-sorption, Optimization of bacterial growth conditions and optimum for metal uptake by free and immobilized bacterial cells and Desorption ratio of uranium ions adsorbed by Coli. /alginate, All this evidence suggest that functions groups Represented in our study are responsible for metal uptake in our bacterial biomass beside change in peaks position which assigned for it's groups confirm bio-sorption of metal ions from waste due to ions charge interaction comparing with immobilized we found increase in no of binding sites indicate that immobilized bacterial have high efficiency for metal up take which also change in peaks position which assigned for its groups confirm bio-sorption of metal ions from waste due to ions charge interaction, Where the high bio-sorption yield obtained by bacteria, the Uranium & heavy metal bioremediation process expects microorganisms to be joined to a strong surface.

Artificial reefs have been deployed in multiple regions of the world for different purposes including habitat restoration and protection, biodiversity and fish stock enhancement, fisheries management and recreation. Artificial reefs can be a valuable tool for ecosystem protection and rehabilitation, helping mitigate the effects of anthropogenic impacts that we face today. However, knowledge on artificial reefs is unevenly distributed worldwide, with some regions having much more quality information available and published (e.g. European Mediterranean Sea area), while others, for instance the North-East Atlantic area, do not. Here, we provide a characterization of purposely built artificial reefs in North-East Atlantic area based on all available literature (i.e. research papers and reports), highlighting the needs and gaps that are vital for establishing future perspectives for artificial reef deployment and research. In the North-East Atlantic area, sixty-one purposely built artificial reefs have been deployed since 1970, mostly between the years 1990-2009, with Spain being the country with the highest number of artificial reefs. The most reported purpose for their deployment is fisheries productivity and habitat/species protection, although, most artificial reefs are multipurpose in order to maximise the benefits of a given financial investment. The majority of artificial reefs were submerged at < 50 m, mainly between 10-20 m of depth. The most used designs were cubic blocks and complex designs made by an array of combined shapes, which mostly consist of concrete (79%). From all the analysed data on artificial reefs, 67% of the cases reported surveys to assess biodiversity after the deployment. However, in 26% of those cases, data was not available. When data was available, only 31% of cases reported long-term biomonitoring surveys (3 years or more). Based upon these findings, we noticed a general lack of scientifically robust data, including records of species and abundance of both fish and invertebrates, as well as macroalgae. Preventing an adequate determination of the best balance between shape, construction material and bio-colonization. Critiques and suggestions are discussed in the light of current available data in order to perform more efficient research, evaluation and functioning of future artificial reefs.

Ca-bentonite (CB) alone and in a mixture with limestone (L), tobacco biochar (TB) and zeolite (Z) on the fixation, geochemical fractions and absorption of Cd and Zn by Chinese cabbage in smelter heavily polluted (S-HP) and smelter low polluted (S-LP) soils were investigated. The results showed that the CB+TB and CB+L+TB treatments significantly immobilized Cd up to 22.03% and 29.68%, respectively, and reduced uptake by Chinese cabbage shoot to 35.98% with CB+Z+L and 61.35% with CB+L in S-HP and S-LP soils compared with the control. The CB+ Z+ L+TB treatment mobilized Cd up to 4.45% and increased absorption in the shoot by 9.85% in S-HP soil. The greatest immobilization of Zn was 53.18% and 58.20% with the CB+Z+L+TB treatment, which reduced Zn uptake in the plant shoot by 9.94% with CB + L and 58.04 with CB+Z+L+TB in S-HP and S-LP soils. The CB+Z+TB and CB+TB treatments mobilized Zn up to 35.40% and 4.80%, respectively, in both soils. Furthermore, the uptake of Zn in plant shoot was observed by 58.96% and 7.82% with application of CB+Z and CB+TB treatments, respectively, in S-HP and S-LP soils. Overall, our results suggest that Ca-bentonite alone and in mixtures with different amendments can be used to reduce the phyto-extraction of Cd and Zn in Zn-smelter polluted soils.

Egyptian mongoose (Herpestes ichneumon) is a medium-size carnivore that in Europe is restricted to Iberia. The bio-ecology of this species remains to be elucidated in several dimensions, including gut microbiota that is nowadays recognized as a fundamental component of mammals. In this work, we investigated the gut microbiota of this herpestid by single-molecule real-time sequencing of twenty paired male (n=10) and female (n=10) intestinal samples. This culture-independent approach enabled microbial profiling based on 16S rDNA and investigation of taxonomical and functional features. The core gut microbiome of the adult subpopulation was dominated by Firmicutes, Fusobacteria, Actinobacteria, and Proteobacteria. Eight genera were uniquely found in adults and five in non-adults. When comparing gut bacterial communities across sex, four genera were exclusive of females and six uniquely found in males. Despite these compositional distinctions, alpha- and beta-diversity analyses showed no statistically significant differences across sex or between adult and non-adult specimens. However, males presented a significantly higher abundance of amino acid and citrate cycle metabolic pathways, compared to the significant overrepresentation in females of galactose’ metabolic pathways. Adults showed a significantly higher abundance of cationic antimicrobial peptide resistance pathways, while non-adults bared a significant overrepresentation of two-component systems associated with antibiotic synthesis, flagellin production and chemotaxis control. This study adds new insights into mongoose bio-ecology palette, highlighting taxonomical and functional microbiome dissimilarities across sex and age classes, possibly related to primary production resources and life-history traits that impact on behavior, diet and gut ecosystem.

Developments in technology have enabled envisioning the derivation of materials and products from renewable biomass, as an alternative to finite fossil-based resource consumption. Therefore, bioeconomy is regarded as an opportunity for sustainable economic growth. Countries are formulating strategies in accordance with their goals to attain from bioeconomy. Proper measurement, monitoring and reporting of the outcomes of these strategies is crucial for long-term success. This study aims to critically evaluate the national methods used for the measurement, monitoring and reporting of bioeconomy contribution to the total economy. For this purpose, research and surveys have been conducted on selected countries (Argentina, Germany, Malaysia, the Netherlands, South Africa and the United States). The results reveal that the bioeconomy targets set up in the strategies often reflect country’s priorities and comparative advantages. However, comprehensive approaches to measure and monitor bioeconomy progress are frequently lacking. Most countries only measure the contribution to gross domestic product (GDP), turnover and employment of the sectors included in their bioeconomy definition, which may provide an incomplete picture. In addition, this study identifies the mismatch between the targets and measurement methods, as the environmental and social impacts of bioeconomy are often foreseen, but not measured. It is concluded that existing global efforts towards a sustainable bioeconomy monitoring can be strengthened and leveraged to measure progress towards sustainable goals.

This work deals with the numerical investigation of the delivery of potential therapeutic agents through dentinal discs (i.e. a cylindrical segment of the dentinal tissue) towards the dentin-pulp junction. The aim is to assess the main key features (i.e. molecular size, initial concentration, consumption rate, disc porosity and thickness) that affect the delivery of therapeutic substances to the dental pulp and consequently to define the necessary quantitative and qualitative issues related to a specific agent before its potential application in clinical practice. The CFD code used for the computational study is validated with relevant experimental data obtained using micro Laser Induced Fluorescence (μ-LIF) a non-intrusive optical measuring technique. As the phenomenon is diffusion dominated and strongly dependent on the molecular size, the time needed for the concentration of released molecules to attain a required value can be controlled by their initial concentration. Finally, a model is proposed which, given the maximum acceptable time for the drug concentration to attain a required value at the pulpal side of the tissue along with the aforementioned key design parameters, is able to estimate the initial concentration to be imposed and vice versa.

In this paper, the problem of observer-based adaptive sliding mode control is discussed for nonlinear systems with sensor and actuator faults. The time-varying actuator degradation factor and external disturbance are considered in the system simultaneously. In this study, the original system is described as a new normal system by combining the state vector, sensor faults and external disturbance into a new state vector. For the augmented system, a new sliding mode observer is designed, where a discontinuous term is introduced such that the effects of sensor and actuator faults and external disturbance will be eliminated. In addition, based on a tricky design of the observer, the time-varying actuator degradation factor term is developed in the error system. On the basis of the state estimation, an integral-type adaptive fuzzy sliding mode controller is constructed to ensure the stability of the closed-loop system. Finally, the effectiveness of the proposed control methods can be illustrated with a numerical example.

Number of studies claim that tobacco control (TC) regulations are associated with reductions in smoking-related hospitalisation rates, however very few have estimated the impact of TC laws (TCL) at both countrywide and regional levels, and none of them - in relation to compliance with TC regulations. This study evaluates the effects of Russian TCL on hospital admission (HA) rates for pneumonia countrywide and in 10 Russian regions and the extent of these effects in connection with the compliance to TCL. Methods: HA rates for pneumonia during 2005–2019 were analysed to compare the periods before and after the adoption of TCL in 2013. An interrupted time series design and a Poisson regression model were used to estimate the immediate and long-term effects of TCL on pneumonia annual hospitalisation rates after the TCL adoption, compared with the pre-law period. The 10 Russian regions were compared using the TCL Implementation Scale (TCIS) developed on the basis of the results of Russian TC policy evaluation survey; Spearman’s rank correlation and linear regression models were employed. Results showed a 14.3% reduction in HA rates for pneumonia (RR 0.88; p=0.01) after the adoption of TCL in Russia with significant long-term effect after 2013 (RR 0.86; p=0.006). Regions with better enforcement of TCL exhibited greater reductions in pneumonia HA rates (rsp=−0.55; p=0.04); (=−4.21; p=0.02). Conclusions: TCL resulted in a sustained reduction in pneumonia hospitalisation rates, but these effects, varying by region, may depend on the scale of the TCL enforcement.

In some applications of microgrid and distributed generation, it is required to feed islanded or stand-alone loads with high-quality voltage to provide low total harmonic distortion (THD). To fulfil these demands, an LC filter is connected to the output terminals of power electronics converters. A cascaded voltage and current control loop with pulse-width modulation schemes are used to regulate the voltage and current in these systems. However, these strategies have some drawbacks, particularly when multiple-input multiple-output plants (MIMO) are controlled using single-input single-output (SISO) design methods. This methodology usually produces a sluggish transient response and cross-coupling between different control loops. In this paper, a model predictive control (MPC) strategy based on the concept of optimal switching sequences (OSS) is designed to control voltage and current in an LC filter connected to a three-level neutral-point clamped converter. The strategy solves two well-formulated optimisation problems to achieve control of the LC filter variables and the voltages of the DC-link capacitors. Hardware-in-the-Loop (HIL) results are obtained to validate the feasibility of the proposed strategy, using a PLECS-RT HIL platform and a DSP Microlab Box controller. In addition to the good dynamic performance of the proposed OSS-MPC, it is demonstrated by the HIL results that the control algorithm is capable of obtaining low total harmonic distortion (THD) in the output voltage for different conditions.

In today's human society, diesel generators (DGs) are highly applied into the human energy and electricity supply system due to its technical, operational and economic advantages. This paper proposes an intelligent nonlinear $H_2/H_{\infty}$ robust controller based on the chaos particle swarm gravity search optimization algorithm (CPSOGSA), which controls the speed and excitation of a DG. In this method, firstly, establish the nonlinear mathematical model of the DG and then design the nonlinear $H_2/H_{\infty}$ robust controller based on this. The direct feedback linearization and the $H_2/H_{\infty}$ robust control theory are combined and applied. Based on the design of the integrated controller for DG speed and excitation, the system's performance requirements are transformed into a standard robust $H_2/H_{\infty}$ control problem. The parameters of the proposed solution controller are optimized by using the proposed CPSOGSA. The introduction of CPSOGSA completes the design of an intelligent nonlinear $H_2/H_{\infty}$ robust controller for DG. The simulation is implemented in MATLAB/Simulink, and the results are compared with the PID control method. The obtained results prove that the proposed method can effectively improve the dynamic accuracy of the system and the ability to suppress disturbances and improve the stability of the system.

Physical rehabilitation aims to help people recover their mobility and strength after an injury or illness. One way to evaluate progress in rehabilitation is through isokinetic prototype tests that describe the dynamic characteristics of an isokinetic leg extension device for rehabilitation and control action. These tests use an isokinetic system to assess muscle strength and performance in a patient during isometric or isokinetic contraction. An experimental prototype allows the performance of the device to be evaluated in a controlled environment prior to use by the patient. In order to achieve physical recovery from musculoskeletal injuries in the lower limbs and achieve the reintegration of the affected subject into society as an independent and autonomous individual in their daily activities, a control model is presented that introduces a medical isokinetic rehabilitation protocol, where the element that allows carrying out such protocol consists of a magnetic particle brake whose control action is strongly influenced by the dynamics of the system when in contact with the end user, specifically the patient's legs in the stretch from the knee to the ankle. The results of these tests are valuable for health professionals seeking to measure their patient’s progress during the rehabilitation process and determine when it is safe and appropriate to advance in their treatment.

The coffee leaf miner (CLM) Leucoptera coffeella moth is a major threat to coffee production. Insect damage is related to the feeding behavior of the larvae on the leaf. During the immature life stages, the insect feeds in the mesophyll, triggering necrosis and causing loss of photosynthetic capacity, defoliation, and significant yield loss to coffee crops. Chemical control is mandatory to sustain the coffee production chain, though market requirements move towards conscious consumption, claiming for more sustainable methods. In this overview, we discuss aspects about the CLM concerning biology, history, geographical distribution, economic impacts, and the most relevant control strategies in progress. Insights to develop an integrate approach for a safer and eco-friendly control of the CLM are discussed, including bio-extracts, nanotechnology, pheromones, and tolerant cultivars.

In this paper, the fixed-time stabilization problem for a class of uncertain chained system is addressed by using a novel nonsingular recursive terminal sliding mode control approach. A fixed-time controller and an adaptive law are designed to guarantee the uncertain chained form system both Lyapunov stable and fixed-time convergent within the settling time. The advantage of the controller based on the sliding mode is that the settling time does not depend on the system initial state. Furthermore, we use RBF neural network to estimate the uncertainty of the system. Finally, the simulation results demonstrate the performance of the control laws.

Human African Trypanosomiasis (HAT) commonly known as sleeping sickness, is a neglected tropical vector borne disease caused by trypanosome protozoa. It is transmitted by bites of infected tsetse fly. In this paper we first present the vector-host model which describes the general transmission dynamics of HAT. In the tsetse fly population, the HAT is modelled by three compartments while in the human population, the HAT is modelled by four compartments. The next generation matrix approach is used to derive the basic reproduction number, R₀, and also it is proved that if R₀ ≤ 1 the disease free equilibrium is globally asymptotically stable, which means the disease dies out. The disease persist in the population if the value of R₀ > 1. Furthermore, the optimal control model is determined by using the Pontryagin’s maximum principle with control measures such as education, treatment and insecticides used to optimize the objective function. The model simulations confirm that the use of the three control measures are very efficient and effective to eliminate HAT in Africa.

Multiobjective optimization plays an increasingly important role in modern applications, where several criteria are often of equal importance. The task in multiobjective optimization and multiobjective optimal control is therefore to compute the set of optimal compromises (the Pareto set) between the conflicting objectives. The advances in algorithms and the increasing interest in Pareto optimal solutions have led to a wide range of new applications related to optimal and feedback control which results in new challenges such as expensive models or real-time applicability. Since the Pareto set generally consists of an infinite number of solutions, the computational effort can quickly become challenging which is particularly problematic when the objectives are costly to evaluate or when a solution has to be presented very quickly. This article gives an overview over recent developments in accelerating multiobjective optimal control for complex problems where either PDE constraints are present or where a feedback behavior has to be achieved. In the first case, surrogate models yield significant speed-ups. Besides classical meta-modeling techniques for multiobjective optimization, a promising alternative for control problems is to introduce a surrogate model for the system dynamics. In the case of real-time requirements, various promising model predictive control approaches have been proposed, using either fast online solvers or offline-online decomposition. We also briefly comment on dimension reduction in many-objective optimization problems as another technique for reducing the numerical effort.

To address the trajectory tracking issue for quadrotors working under the influence of external disturbances, a control scheme is designed for position and attitude trajectory tracking. Firstly, the quadrotor dynamic model is derived for control design. Secondly, adaptive integral backstepping control (AIBS) is employed in the position loop in which adaptive estimation is used to estimate the upper bounds of disturbances. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) is proposed to follow desired Euler angles. The intro-duction of fast nonsingular terminal sliding mode and integral element is to realize fast convergence and accurate tracking. Dead zone technique is applied to minimize estimation errors. Besides, a saturation function is utilized to eliminate chattering phenomenon. Finally, simulation experiments are conducted under the Simulink environment. The proposed control is verified by comparing it with traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS).

Chronic kidney disease (CKD) is characterized by a continuous decline in kidney function, often persisting for years or even a lifetime. This study presents a new exploration into the extraction and application of insect chitosan (Tenebrio molitor) targeting hemodialysis (HD). Initially, the potential of insect-derived chitosan as a sustainable and effective alternative to traditional sources (i.e. crustaceans) is demonstrated. Efficient extraction methods were developed (totaling between 6 h and 12 h), producing chitosan. Firstly, chitin was efficiently isolated from T. molitor through deproteinization and demineralization, with yields of approximately 5% (w/w). Subsequently, chitosan was obtained from the extracted chitin resulting in yields of between 65.0 ± 0.8% (w/w) and 79.3 ± 0.8% (w/w). Characterization using Fourier Transform Infrared Spectroscopy (FTIR) confirmed structural similarities with commercial chitosan and degrees of deacetylation in the 73 - 75% range. The bioactive properties of chitosan obtained from T. molitor, including antimicrobial and antioxidant activities, were evaluated. All the microorganisms tested were inhibited, exhibiting minimum lethal concentrations between 2 and 8 mg/mL, confirming the antimicrobial activity of the extracted chitosan. In addition, chitosan showed antioxidant activity in the range of 60 to 65 µmol Trolox equivalent/g, suggesting its viability for various medical applications.This study also developed a chitosan-based membrane (CH - M) culminating in a proof-of-concept phase for hemodialysis. The permeation characteristics of CH-M for urea and albumin were studied in vitro to assess their suitability as HD membranes. Urea was permeable to values of over 70% and albumin was retained.

The aim of this study was to assess the influence of thermocompression conditions on lignocellulosic biomass such as sugarcane bagasse (SCB) in the production of 100% binderless bio-based materials. Five parameters were investigated: pressure applied (7-102 MPa), molding temperature (60-240°C), molding time (5-30 min), fiber/fine particle ratio (0/100-100/0) and moisture content (0-20%). These parameters affected the properties and chemical composition of the materials. The density ranged from 1198 to 1507 kg/m3, the flexural modulus from 0.9 to 6.9 GPa and the flexural strength at breaking point from 6.1 to 43.6 MPa. Water absorption (WA) and thickness swelling (TS) respectively ranged from 21% to 240% and from 9% to 208%. Higher mechanical properties were obtained using SCB with fine particles, low moisture content (4-10%), high temperature (≥ 200°C) and pressure (≥ 68 MPa), while water resistance was improved using more severe thermocompression conditions with the highest temperature (240°C) and time (30 min) or a higher moisture content (≥ 12.5%). Correlations were noted between the mechanical properties and density, while the material obtained with only fine particles had the highest mechanical properties and density. Material obtained with a 30 min molding time had the lowest WA and TS due to internal chemical reorganization followed by hemicellulose hydrolysis into water-soluble extractables.

We use COMSOL Multiphysics software to model optical processes in media and the effects of light propagation in whispering gallery mode resonators (WGMRs). Although plane wave irradiating on resonator does not create resonances, it was shown that they can be obtained when focused tangentially on the perimeter of the resonator. We demonstrate that resonances can be excited in resonators by prism coupling when the incident angle of the light is larger than the angle of total internal reflection. We determined the optimal distance between the prism and the resonator to get the strongest resonances. Bio-sensing principle of WGMRs is shown by demonstrating that the shift of resonances increases with a larger number of "bio-molecules" attached to the surface of WGMR. Surface functionalization and surface roughness were explored.

Given its exceptional attributes, aerogel is viewed as a material with immense potential. Being a natural polymer, cellulose offers the advantage of being both replenishable and capable of breaking down naturally. Cellulose-derived aerogels encompass the replenish ability, biocompatible nature, and ability to degrade naturally inherent in cellulose, along with additional benefits like minimal weight, extensive porousness, and expansive specific surface area. Even with increasing appreciation and acceptance, the undiscovered possibilities of aerogels within the textile sphere continue to be predominantly uninvestigated. In this context, we outline the latest advancements in the study of cellulose aerogel formulation and their diverse impacts on textile formations. Drawing from the latest studies, we reviewed the materials used for the creation of various kinds of cellulose-focused aerogels and their properties, analytical techniques, and multiple functionalities in relation to textiles. This comprehensive analysis extensively covers the diverse strategies employed to enhance the multi-functionality of cellulose-based aerogels in the textile industry. Additionally, we focused on the global market size of bio-derivative aerogels, companies in the industry producing goods, and prospects moving forward.

Platinum group metals (PGMs) high-grade ore tonnage from Merensky reef keeps on depreciating forcing the metallurgical industry to explore beneficiating PGMs from upper group 2 (UG2) ore which has up to 60% content of chromite and from secondary sources. The PGMs are naturally associated with base metal sulphides and the efficacy of the PGMs extraction processes is dependent on the processing of PGMs-bearing base metal sulphides. These processes include concentrating PGMs-bearing base metal sulphides through flotation, oxidation, etc. prior the metal extraction processes. The evolving mineralogy of PGMs ores has necessitated the use of multiple reagents to enhance the efficiency of the concentration process. This has led to an increased amount of inor-ganic chemicals disposal to the environment and the processing of PGMs to be less economic. Bio-technology has been investigated as a potential low cost, ecologically safe substitute for many current minerals processing methods. The metabolites produced by microorganisms have been used for many years with great success in the leaching and flotation of metals from medium and low-grade sulphide minerals. The possible application of microorganism mainly Acidithiobacillus ferrooxidans (A. ferrooxidans) in the metallurgical processing of PGMs-bearing base metal sulphides is systematically reviewed in this paper. The main emphasis is on the use of A. ferrooxidans in bio-oxidation and bioleaching, as well as their potential to substitute inorganic reagents in the flo-tation of PGMs-bearing base metal sulphides from primary and secondary sources

The production of oxygenated bio-additives for traditional fuels represents a key challenge due to the depletion of fossil fuels in the next future and their contribution to environmental pollu-tion. In this context, the present study considers the synthesis of different mixtures of 1-hexanol/hexyl hexanoate produced through the catalytic hydrogenation of hexanoic acid, a car-boxylic acid obtainable from the fermentation of a wide variety of waste biomasses. In particu-lar, crude hexanoic acid deriving from the fermentation of grape pomace, an abundant Italian agrifood waste, has been taken into consideration. The reaction was carried out with the com-mercial 5 wt% Re/γ-Al2O3 catalyst, whose acidity allowed the tuning of the reaction selectivity towards the preferential formation of hexyl hexanoate instead of 1-hexanol. As consequence, the tunable composition of the obtained 1-hexanol/hexyl hexanoate mixtures was leveraged for en-gine applications, thus allowing studying each component influence on the Diesel engine per-formances and verifying their synergistic effects. The engine experimental activity highlighted that both 1-hexanol and hexyl hexanoate, as well as their mixtures, can be used in Diesel engine with a commercial Diesel fuel up to high loadings (20 vol%) without altering engine perfor-mances and significantly lowering soot and CO emissions by more than 40%.

Sustainable bio-economy is considered to be one of the most promising routes towards the transition to a circular and climate-neutral economy. The valorization industry of bio-waste and agri-food by-products represents a key player in bioeconomy. In this article the design and the development of a web platform aiming at promoting synergies enabling the agricultural waste valorization is presented. The platform consists of: (i) the AgriPLaCE Waste Management Database which provides the users with an extended list of potential utilization measures for a variety of agricultural waste streams (ii) the AgriPLaCE Synergies Tool which aims to create synergies between different actors involved in the value chain from agricultural waste production to waste treatment and new valuable products’ exploitation. At the initial stage, the conceptual design of both tools took place by conducting an in-depth analysis for the user needs and services alongside the system architecture. Following, the AgriPLaCE platform development stage took place, with the implementation of all the necessary subsystems. The results showed that multiple potential collaborations can arise by the use of the AgriPLaCE platform, while users can also deepen on alternative and emerging treatment technologies and valuable products that can derive from a wide range of agricultural waste streams.

This paper is part of a study of earthen mixtures for 3D printing of buildings. To meet the ever-growing environmental needs, the focus of the paper is on a particular type of bio-composite for the stabilization of earthen mixtures – the rice husk-lime bio-composite – and on how to enhance its effect on the long-term mechanical properties of the hardened product. Having assumed that the shredding of the vegetable fiber is precisely one of the possible ways to improve the mechanical properties, we compared the results of uniaxial compression tests performed on cubic specimens made with both shredded and raw vegetable fiber, for three curing periods. The results showed that the hardened earthen mixture is not a brittle material in the strict sense, because it exhibits some peculiar behaviors, anomalous for a brittle material. However, being a “designable” material, its properties can be varied with a certain flexibility to get as close as possible to the desired ones. One of the peculiar properties of the hardened earthen mixture deserves further investigation, rather than corrections. This is the vulcanization that occurs (in a completely natural way) in the long term, thanks to the mineralization of the vegetable fiber by carbonation of the lime.

Novel bio-inspired materials have gained recently great attention, especially in medical applications. Applying sophisticated design and engineering methods, various polymer-polymer hybrid systems with outstanding performance have been developed in last decades. Hybrid systems composed of bioelastomers and hydrogels are very attractive due to their high biocompatibility and elastic nature for advanced biomaterials used in various medical applications such as drug delivery systems and scaffolds for tissue engineering. Herein, we describe the advances in current state-of-the-art design, properties and applications of polymer-polymer hybrid systems in medical applications. Bio-inspired functionalities, including bioadhesiveness, injectability, antibacterial properties and degradability applicable to advanced drug delivery systems and medical devices will be discussed in a context of future efforts towards development of bioinspired materials.

Machine learning (ML) is penetrating in all walks of life and is one of the major driving forces behind the fourth industrial revolution, typically known as Industry 4.0. This study reviews the state-of-the-art ML applications in the biofuels’ life cycle stages, i.e., soil, feedstock, production, consumption, and emissions. A keyword search is performed to retrieve relevant articles from the databases of the Web of Science and Google Scholar. ML applications in the soil stage were mostly based on the use of satellite images of land for estimation of biofuels yield or suitability analysis of agricultural land. In the second stage of the life cycle, assessment of rheological properties of the feedstocks and their effect on the quality of biofuels were dominant studies reported in the literature. The production stage included estimation and optimization of quality, quantity, and process conditions. The fuel consumption and emissions stage included analysis of engine performance and estimation of emissions temperature and composition, such as NOx, CO, and CO2. This study identified the following trends: dominant ML method, the stage of life cycle getting more usage of ML, the type of data used for the development of the ML-based models, and the stage-wise frequently used input and output variables. The findings of this article are beneficial for academia and industry-related people involved in model development in different stages of biofuel’s life cycle.

Machine learning (ML) is penetrating in all walks of life and is one of the major driving forces behind the fourth industrial revolution, typically known as Industry 4.0. The purpose of the present study is to review the state-of-the-art ML applications in the biofuels' life cycle stages, i.e., soil, feedstock, production, consumption, and emissions. A keyword search is performed to retrieve relevant articles from the databases of the Web of Science and Google Scholar. ML applications in the soil stage were mostly based on the use of satellite images of land for estimation of biofuels yield or suitability analysis of agricultural land. In the second stage of the life cycle, assessment of rheological properties of the feedstocks and their effect on the quality of biofuels were dominant studies reported in the literature. The production stage included estimation and optimization of quality, quantity, and process conditions. The fuel consumption and emissions stage included analysis of engine performance and estimation of emissions temperature and composition, such as NOx CO, and CO2. This study identified the following trends: dominant ML method, the stage of life cycle getting more usage of ML, the type of data used for the development of the ML-based models, and the stage-wise frequently used input and output variables. The findings of this article are beneficial for academia and industry-related people involved in model development in different stages of biofuel’s life cycle.

How did life begin on Earth? And is there life elsewhere in the Cosmos? Challenging questions, indeed. The series of conferences established by NoR CEL in 2013, addresses these very same questions. The basis for this paper is the summary report of oral presentations that were delivered by NoR CEL’s network members during the 2018 Athens conference and, as such, disseminates the latest research which they have put forward. More in depth material can be found by consulting the contributors referenced papers. Overall, the outcome of this conspectus on the conference demonstrates a case for the existence of “probable chemistry” during the prebiotic epoch.

Instead of simplified steady-state models, with modern computers, one can solve the complete aero-thermodynamics happening in gas turbine engines. In the present article, we describe a mathematical model and numerical procedure to represent the transient response of a PT6A gas turbine engine operating at off-design conditions. The aero-thermal model consists of a set of algebraic and ordinary differential equations that arise from the application of the mass, linear momentum, angular momentum, and energy balances in each engine's component. The solution code has been developed in Matlab-Simulink using a block-oriented approach. Transient simulations of the PT6A engine start-up have been carried out by changing the original Jet-A1 fuel with biodiesel blends. Time plots of the main thermodynamic variables are shown, especially those regarding the structural integrity of the burner. Numerical results have been validated against reported experimental measurements and GasTurb simulations. The computer model has been capable to predict acceptable fuel blends, such that the real PT6A engine can be substituted to avoid the risk of damaging it.

In this research paper a novel Ultra Violet Photo Catalyst Oxidation (UVPCO) sensor for air and surface sanitization using Common Source (CS) amplifier is presented. The ultra violet photo catalysis is the process in which the highly reactive radicals like H+, OH-and peroxides ions are produced from air in the presence of the ultra violet radiation and photo catalyst. In this process, the free radicals outbreaks the bio aerosols like bacteria, fungus and volatile organic compounds (VOCs) and destroy them. The proposed system is relies on the fast operation of PCS which operates under sub-threshold conditions and reduced computation time. The properties of common source amplifier like very high voltage gain and input output resistance increased the sensitivity as well as stability of the circuit. The system is more user friendly and the outcomes of simulation are fairly in agreement with the theoretical estimation. Keywords: bio aerosol, Photo Catalytic Oxidation (PCO), hydroxyl, hydrogen peroxide, SPICE, surface sanitizer.

Tail-sitters aim to combine the advantages of fixed-wing and rotor-craft, but demand a robust and fast stabilization strategy to perform vertical maneuvers and transitions to and from aerodynamic flight. The research conducted in this work intends to assess the performance of nonlinear control strategies to stabilize the attitude of a X-Vert VTOL aircraft when hovering, comparing existing solutions to applications of Nonlinear Dynamics Inversion (NDI) and its incremental version, INDI. Such controllers are implemented and tuned in simulation in order to stabilize a model of the tail-sitter , complemented by estimation methods that allow to feed back the necessary variables. These estimators and controllers are then implemented in a microcontroller, validating them in a Hardware-in-the-Loop (HITL) scenario, with simple maneuvers in vertical flight. Lastly, the developed control solutions are used to stabilize the aircraft in experimental flight, being monitored by a motion capture system. The experimental results allow to validate the model of the X-Vert and compare the effectiveness of the different control solutions in stabilizing it, with the INDI presenting itself as a more robust control strategy, with better tracking capabilities and less actuator demands.

Gain-scheduled autopilots have emerged as a dominant strategy to achieve adaptive control of coupled, non-linear engineering complexities, owing to an ability to adapt to changing operational conditions and uncertainties. This study focuses on utilizing bilinear interpolation of gain-scheduled autopilots, emphasizing enhanced system performance and robustness. Through a comprehensive investigation and comparative analysis using three disparate cases, advantages over conventional methods are revealed. Strengths and weaknesses of both simple and specialized variants (such as linear, and real-time gain-scheduling) are introduced. Three missile guidance case–studies utilize simulation time and miss distance figures of merit. Potential to achieve precise control across various mission scenarios, while ensuring reduced computational complexity is revealed by nearly two–hundred percent improved missile miss distances with comparable distances traveled and slightly improved computational burden.

Dynamic variables in the non-equilibrium systems of life are determined by catalytic activities. These relate to the expression of the genome. The extent to which such a variable depends on the catalytic activity defined by a gene has become more and more important in view of the possibilities to modulate gene expression or intervene with enzyme function through the use of medicinal drugs. With all the complexity of cellular systems biology, there are still some very simple principles that guide the control of variables such as fluxes, concentrations, and half-times. Using time-unit invariance we here derive a multitude of laws governing the sums of the control coefficients that quantify the control of multiple variables by all the catalytic activities. We show that the sum of the control coefficients of any dynamic variable over all catalytic activities is determined by the control of the same property by time. When the variable is at a maximum, minimum or steady, this limits the sums to simple integers like 0, -1, 1, and -2, depending on the variable under consideration. Some of the implications for biological control are discussed as is the dependence of these results on the precise definition of control.

An adaptive deep neural network is used in an inverse system identification setting to approximate the inverse of a nonlinear plant with the aim of constituting the plant controller by copying to the latter the weights and architecture of the converging deep neural network. This deep learning (DL) approach to the adaptive inverse control (AIC) problem is shown to outperform adaptive filtering techniques and algorithms normally used in adaptive control, especially when the plant is nonlinear. The deeper the controller the better the inverse function approximation, provided that the nonlinear plant have an inverse and that this inverse can be approximated. Simulation results prove the feasibility of this DL-based adaptive inverse control scheme. The DL-based AIC system is robust to parameter change of the nonlinear plant in that, under such change, the plant output reassumes the value of the reference signal considerably faster than with the adaptive filter counterpart of the deep neural network. Settling times and rise times of the step response are shown to improve in the DL-based AIC system.

In many practical applications, it is more convenient to characterize the quality of production processes or service operations throughout the count of nonconformities. In the context of SPC, nonconformities are usually assumed to appear according to the binomial probability model. The conventional way for monitoring nonconformities involves Shewhart-type control procedures based on both constant and time-varying sample sizes. In this article, an EWMA scheme is proposed for monitoring the fraction of nonconforming items with time-varying sample sizes. The proposed control chart is referred to as the EWMAG-B and can be easily adapted to work with a constant sample size by fixing it at a needed value. By means of simulation, it was found out that the EWMAG-B chart outperforms the conventional p control chart in Phase II while detecting changes in the process level is wanted.

Autonomous navigation of spacecraft necessitates innovative technologies, methods, and algorithms, particularly when orbiting in proximity of other space objects. Optimization methods are useful for autonomous spacecraft navigation, guidance, and control, but their performance is hampered by noisy multi-sensor technologies and poorly modeled system equations, and real-time on-board utilization is generally computationally burdensome. Some proposed methods use noisy sensor data to learn the optimal guidance and control solutions real-time (online), where non-iterative instantiations are preferred to reduce computational burdens. This study aims to highlight efficacy and limitations of several common methods for optimizing guidance and control while proposing a few more, where all methods are applied to the full, nonlinear, coupled equations of motion including cross-products of motion from the transport theorem. Five disparate types of optimum guidance and control algorithms are presented and compared to a classical benchmark. Comparative analysis is based on tracking errors (both states and rates), fuel usage, and computational burden. Real-time optimalization with singular switching plus nonlinear transport theorem decoupling proves superior by matching open-loop solutions to the constrained optimization problem (in terms of state and rate errors and fuel usage), while robustness is validated in the utilization of mixed, noisy state and rate sensors and uniformly varying mass and mass moments of inertia. State tracking errors are reduced one-hundred ten percent. Rate tracking errors are reduced one-hundred thirteen percent. Control utilization (e.g., fuel) is reduced eighty four percent, while computational burden in reduced ten percent simultaneously.

Gaze tracking of high-speed moving targets is a novel application mode for low Earth orbit microsatellites. In this mode, small satellites are equipped with high-resolution narrow-field-of-view video cameras for stable gaze-tracking imaging of high-speed moving targets. This paper proposes a high-precision attitude adaptive integral sliding mode control method with a feedforward compensation disturbance observer to enhance the capability of a microsatellite attitude control system for gaze tracking of high-speed moving targets. Specifically, first, we present the attitude control system model for microsatellites and the calculation method for the desired attitude of target tracking based on image feedback. Then, an adaptive integral sliding mode attitude control algorithm with a feedforward compensation disturbance observer, which meets the requirements of high-precision tracking control, is designed. The developed algorithm utilizes the disturbance observer to observe the friction torque of the flywheel and compensates for it through feedforward control. It also employs the adaptive integral sliding mode control algorithm to reduce the impact of uncertain disturbances, decrease the steady-state error of the system, and enhance the attitude control precision. Simulation experiments demonstrated that the designed disturbance observer can successfully observe the frictional disturbance torque of the flywheel. The attitude Euler angle control precision for high-speed moving target tracking reached 0.009°, and the angular velocity control precision reached 0.005°/s, validating the effectiveness of the proposed approach.

In this paper, an adaptive proportional and integral (PI) controller for speed control of electric drives is developed. The adaptive PI controller is designed based on model reference adaptive identification and the Lyapunov function so that the system stability can be proved. To identify the inertia, the viscous friction torque coefficient, and the load torque simultaneously and smoothly, sinusoidal speed reference is usually employed. A modified motion equation considering the low-pass filter for feedback speed and the Coulomb friction torque is introduced and the relationship between the identified parameters and their actual values are clarified. A high-precision digital simulation model is built based on MATLAB/Simulink. The effectiveness of the proposed method is verified by simulations under various conditions.

This study presents a novel kinematic tracking model, designed for a networked exoskeleton system that is asynchronously taught by a remote therapist. On the server side, the therapist’s rehabilitation exercises are quantitatively assessed using a monocular passive vision system. The resultant analytical metrics are then transmitted asynchronously over the network to patients equipped with exoskeletons. On the client side, the exoskeleton utilizes these analytical metrics as reference paths for exercises, complemented by electromyography (EMG) feedback. This work introduces a calibration approach aimed at estimating angular positions by utilizing EMG observations. The calibration model establishes real-time correlations between polynomial reference positions. This calibration mechanism is integrated into simulations of both upper and lower limb exoskeletons. We further explore redundant kinematics, incorporating an EMG observer for linear, time-variant rehabilitation tracking control. Our methodology is validated using vision-based metric data and experimental EMG measurements for various exercises, including shoulder flexion, elbow flexion, and rowing-like movements. This work also includes computer simulations for tracking the control of rehabilitation exercises, demonstrating the adaptability of the system in reliably, robustly, and effectively following desired trajectories.

Modern electrical power systems integrate ancillary services to provide security and quality of service in real-time operation because of the intense variations in frequency caused by the massive development and uncertainty of solar-wind generation. Therefore, this ancillary services market focuses on power reserves for secondary and tertiary frequency control. Adjusting reserves and dispatching plants is a manual instruction executed by the system operator to maintain the frequency in the normal operating state (49.80≤f≤50.20 Hz). However, in the absence of an economic model for real-time power reserve reallocation in the ancillary services market, the reserve adjustments made by the system operator are not always optimal since they generate a displacement between the scheduled and actual marginal costs. Then, this work proposes a methodology for operating the ancillary services market in real-time through a dynamic and hourly mathematical model that integrates the variability of solar-wind generation, the demand monitoring curve, and the trajectory of the marginal cost. This model minimizes power reserve costs, which are governed by hourly price auctions, for candidate plants classified as supra/infra-marginal and can optimally reallocate power reserves for secondary and tertiary frequency control.

Green hydrogen is likely to play an important role in meeting the net zero targets of countries around the globe. Hence, producing green hydrogen cheaply and effectively is an important area of research. One potential option for green hydrogen production is to run electrolysers directly from offshore wind turbines, with no grid connection and hence no expensive cabling to shore. The removal of the grid presents an unusual integration challenge. The variable nature of wind turbines and farms results in a power output that can fluctuate more quickly than the electrolyser’s ability to respond without significantly stressing the electrolyser. Thus, the use of a battery, with the wind farm, becomes essential to even out some of the power variations that the electrolyser cannot deal with. In this work, a proof of concept of a wind farm control methodology designed to reduce variability in wind farm active power output is presented. Smoothing the power supplied by the wind farm to the battery reduces the size and number of battery charge cycles and helps to increase battery lifetime. Considering off-grid wind farms which exclusively power an electrolyser, this work quantifies the impact of the wind farm control method on battery lifetime for wind farms of 1, 4, 9 and 16 wind turbines. This is achieved using suitable wind farm, battery and electrolyser models. As an example, for the largest wind farm studied, consisting of 16 x 5 MW wind turbines, batteries with a lifetime of 15 years have approximately a 30 % reduction in required capacity (reduced from 14 MWh to 10 MWh) compared to operating without wind farm control. It is found that reducing the variability of the active power output of wind farms through the wind farm control methodology presented can have a significant impact on battery degradation and hence on battery lifetime. Hence, wind farm control can reduce the required battery capacity for a given lifetime or it can increase the lifetime of a given battery capacity. The work presented shows that wind farm control could play a critical role in reducing the levelised cost of green hydrogen produced from wind farms with no grid connection and paves the way for the design and testing of a full implementation of the wind farm control.

Cloud Computing is a promising and emerging technology that is rapidly being adopted by many IT companies due to a number of benefits that it provides, such as large storage space, low investment cost, virtualization, resource sharing, etc. Users are able to store a vast amount of data and information in the cloud and access it from anywhere, anytime on a pay-per-use basis. Since many users are able to share the data and the resources stored in the cloud, there arises a need to provide access to the data to only those users who are authorized to access it. This can be done through access control schemes which allow the authenticated and authorized users to access the data and deny access to unauthorized users. In this paper, a comprehensive review of all the existing access control schemes has been discussed along with analysis. Keywords: role-based access control, attribute-based access control, attribute-based encryption

This paper presents three types of sliding mode controllers for a magnetic levitation system. First, a proportional-integral sliding mode controller (PI-SMC) is designed using a new switching surface and a proportional plus power rate reaching law. The PI-SMC is more robust than a feedback linearization controller in the presence of mismatched uncertainties and outperforms the SMC schemes reported recently in the literature in terms of the convergence rate and settling time. Next, to reduce the chattering phenomenon in the PI-SMC, a state feedback-based discrete-time SMC algorithm is developed. However, the disturbance rejection ability is compromised to some extent. Furthermore, to improve the robustness without compromising the chattering reduction benefits of the discrete-time SMC, mismatched uncertainties like sensor noise and track input disturbance are incorporated in a robust discrete-time SMC design using multirate output feedback (MROF). With this technique, it is possible to realize the effect of a full-state feedback controller without incurring the complexity of a dynamic controller or an additional discrete-time observer. Also, the MROF-based discrete-time SMC strategy can stabilize the magnetic levitation system with excellent dynamic and steady-state performance with superior robustness in the presence of mismatched uncertainties. The stability of the closed-loop system under the proposed controllers is proved by using the Lyapunov stability theory. The simulation results and analytical comparisons demonstrate the effectiveness and robustness of the proposed control schemes.

This study presents a vibration control using actively tunable vibration absorbers (ATVA) to suppress vibration of a thin plate. The ATVA’s is made of a sandwich hollow structure embedded with the electrorheological fluid (ERF). ERF is considered to be one of the most important smart fluids and it is suitable to be embedded in a smart structure due to its controllable viscosity property. ERF’s apparent viscosity can be controlled in response to the electric field and the change is reversible in 10 microseconds. Therefore, the physical properties of the ERF-embedded smart structure, such as the stiffness and damping coefficients, can be changed in response to the applied electric field. A mathematical model is difficult to be obtained to describe the exact characteristics of the ERF embedded ATVA because of the nonlinearity of ERF’s viscosity. Therefore, a fuzzy modeling and experimental validations of ERF-based ATVA from stationary random vibrations of thin plates are presented in this study. Because Type-2 fuzzy sets generalize Type-1 fuzzy sets so that more modelling uncertainties can be handled, a semi-active vibration controller is proposed based on Type-2 fuzzy sets. To investigate the different performances by using different types of fuzzy controllers, the experimental measurements employing type-1 fuzzy and interval type-2 fuzzy controllers are implemented by the Compact RIO embedded system. The fuzzy modeling framework and solution methods presented in this work can be used for design, performance analysis, and optimization of ATVA from stationary random vibration of thin plates.

Motor control, movement impairment and postural control recovery targeted in rehabilitation could be affected by pain. The main objective of this comprehensive review is to provide a synthesis of the effect of experimental and chronic pain on postural control throughout the available literature. After presenting the neurophysiological pathways of pain, we demonstrated that pain, preferentially localized at low back or in the leg induced postural control alteration. While proprioceptive and cortical excitability seems modified with pain, spinal modulation assessment might provide new understanding of the pain phenomenon related to postural control. Literature highlight that the motor control of trunk muscles in patient presenting with low back pain could be dichotomized in two populations, where the first one over-activate trunk muscles, the second one under-activate trunk muscles, and both generating increase of tissues loading. Taking account all this findings, will help clinician to provide adapted treatment for managing both pain and postural control.

TeamIndus’ Lunar Logistics vision includes multiple lunar missions over the coming years to meet requirements of science, commercial and efforts towards building readiness for crewed missions to Mars in the global exploration roadmap. TeamIndus is the only Indian team that participated in the Google Lunar X Prize. The challenge called for privately funded spaceflight teams to be the first to land a robotic spacecraft on the Moon, travel 500 meters, and transmit back high-definition video and images. The first mission is expected to have a net landed payload capacity of 50 kg. The prime objective is to demonstrate autonomous lunar landing, and operations for a Surface Exploration Rover - to collect data in the vicinity of the landing site. The rover is designed to execute the commands given by the operations manager autonomously. The rover software architecture relevant to the navigation and control is described in detail. The functional modes are defined to functionally distinguish the rover drive. Among the various operations performed by the rover are execution of simple drive steps through navigation and control algorithms. The kinematic model of the rover is studied in the hardware locomotion tests performed. The Kalman filter formulation to estimate the sensor bias and to get attitude estimate is discussed. The structural model and the frame definitions are described in a relevant section. A simple heading control algorithm is designed to control the heading direction of the rover according to the operations requirement. The path planning process and visual odometry processes are described. Finally the SIMULINK$^{\textregistered}$ model is tested on the prototype rover and the test experience results are discussed in the last section.

This paper addresses the input coupling problem for the shape memory alloy (SMA) actuated parallel platform with completely unknown nonlinear dynamics. The problem means that in a parallel platform with multiple SMA actuators acting together, the displacement of one of the actuators will simultaneously affect the remaining actuators to change. Due to the coupling problem and nonlinear characteristics of the SMA actuators, it is not easy to control the platform to achieve bi-directional swing with completely unknown nonlinear dynamics. Therefore, a model-free adaptive sliding mode control method is proposed to improve the control accuracy of the complex motion of the platform, avoiding the complex modeling process of the SMA actuated parallel platform. Based on the model-free adaptive control (MFAC) theory, a multiple input and multiple output (MIMO) dynamic linearized mathematical model of the parallel platform is established using the online input and output data of the system. Then, a sliding mode controller is designed based on the dynamic model. A rigorous theoretical analysis proves that the proposed model-free adaptive sliding mode controller is able to stably control the SMA actuated parallel platform, and its tracking error is uniformly ultimately bounded (UUB). Finally, experiments are conducted on the established SMA actuated parallel platform. The results show that the proposed model-free controller is feasible and effective, and can control the system well to achieve the complex motion of bi-directional swing.

We consider a constrained optimal control problem and an extension of it, in which the set of strict-sense trajectories is enlarged. Extension is a common procedure in optimal control, used to derive necessary and sufficient optimality conditions for the original problem from the extended one, which usually admits a minimizer and has a more regular structure. However, this procedure fails if the two problems have different infima. It is therefore relevant to identify such situations. Following on from earlier work by Warga but adopting perturbation techniques developed in non-smooth analysis, we investigate the relation between the occurrence of an infimum gap and abnormality of necessary conditions. For a notion of local minimizer based on control distance and an extension including the impulsive one, we prove that (i) a local extended minimizer which is not a local minimizer of the original problem and (ii) a local strict-sense minimizer which is not a local minimizer of the extended problem, both satisfy the extended maximum principle in abnormal form. The main novelty is result (ii), as until now it had only been shown that a strict-sense minimizer which is not an extended minimizer is abnormal for an `averaged version’ of the maximum principle.

In the last decade, robotic-mediated rehabilitation has emerged as a potential solution to improve repetitive task training. Each device in this field has a unique development history shaped by engineers’ expertise in specific programming languages or platforms. In this work we adopt an approach that tries to abstract from the final implementation with the aim to make control logic more shareable and understandable. The authors will present the outcomes of the application of a Rapid Control Prototyping strategy to an upper-limb robotic exoskeleton. A model-based design approach implemented on a real-time target machine is presented. This modern design approach was explored with several control strategies and was used to test the exoskeleton’s performances. The proposed method highlights how it is possible to develop the entire control architecture in a single programming environment.

The increased cultivation of high THC-containing Cannabis sativa L. (cannabis), particularly in greenhouses, has resulted in a greater incidence of diseases and molds that can negatively affect the growth and quality of the crop. Among them, the most important diseases are root rots (Fusarium and Pythium spp.), Botrytis bud rot (Botrytis cinerea), powdery mildew (Golovinomyces ambrosiae), cannabis stunt disease (caused by Hop latent viroid), and a range of microbes that reduce post-harvest quality. An integrated management approach to reduce the impact of these diseases/microbes requires combining different approaches that target the reproduction, spread and survival of the associated pathogens, many of which can occur on the same plant simultaneously. These approaches will be discussed in the context of developing an integrated plan to manage the important pathogens of greenhouse-grown cannabis at different stages of plant development. These stages include maintenance of stock plants, propagation through cuttings, vegetative growth of plants, and flowering. The cultivation of cannabis genotypes with tolerance or resistance to various pathogens is a very important approach, followed by the maintenance of pathogen-free stock plants. When combined with cultural approaches (sanitation, management of irrigation, and monitoring for diseases) and environmental approaches (greenhouse climate modification), a significant reduction in pathogen development and spread can be achieved. The use of preventive applications of microbial biological control agents and reduced risk biorational products can also reduce disease development at all stages of production in jurisdictions where they are registered for use. The combined use of promising strategies for integrated disease management on cannabis plants during greenhouse production will be reviewed. Future areas for research are identified.

Artificial intelligence (AI) has found extensive applications in the sustainability domain. The municipal solid waste incineration (MSWI) process can achieve waste-to-energy (WTE) goals through the assistance of automation and information technologies. In theory, AI can facilitate the intelligent operation of the MSWI process, simultaneously achieving low pollution emissions and high production efficiency. This study provides an overview of AI applications in the MSWI process. Addressing fundamental challenges, the optimal control of the MSWI process is categorized into four aspects: modeling, control, optimization, and maintenance. Subsequently, this study conducts a detailed analysis and discussion of AI applications in each of these technological domains. In conclusion, this paper outlines the future research directions and provides an outlook on the fundamental issues pertaining to AI applications in the optimal control of the MSWI process.

To mitigate the interference of waves on offshore operation vessels, heave compensation systems find widespread application. The performance of heave compensation systems significantly influences the efficiency and safety of maritime operations. This paper establishes a mathematical model for winch-based active heave compensation system. It introduces a three-loop active disturbance rejection control (ADRC) strategy encompassing piston position control, winch speed control, and load displacement control, enabling real-time estimation and compensation of system disturbances, thereby enhancing the performance of the heave compensation system. To assess the effectiveness of this control strategy, the study employs Matlab/Simulink and AME Sim to construct a co-simulation model and conducts a comparative analysis with traditional PID control systems. The research findings indicate that the three-loop ADRC position control strategy consistently delivers superior compensation performance across various operational scenarios.

A novel reinforcement learning deep deterministic policy gradient agent-based sliding mode control (DDPG-SMC) approach is proposed to suppress the chattering phenomenon in the attitude control for quadrotors, in the presence of external disturbances. First, the attitude dynamics model of the studied quadrotor is derived and the attitude control problem is described by formulas. Second, a sliding mode controller including its sliding mode surface and reaching law is selected for the nonlinear dynamic system, and the stability of the designed SMC system is supported by Lyapunov stability theorem. Third, a reinforcement learning (RL) agent based on deep deterministic policy gradient (DDPG) is trained to adjust the switching control gain adaptively. During the training process, the input signals of agent are the actual and desired attitude angles, and the output action is the time-varying control gain. Finally, the above trained agent is applied to the SMC as a parameter regulator, to implement the adaptive adjustment of the switching control gain related to reaching law, and the simulation results verify the robustness and effectiveness of the proposed DDPG-SMC method.

This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with a pneumatic manipulator on the follower side, and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position control and external force detection on the follower side, thereby solving the problem of low rigidity and response delay of pneumatic manipulators and providing highly stable sensor-less force presentation against variable environments. In this study, dynamic response analyses of a 1-DOF master-follower system were performed by numerical simulation using a linear system model, followed by experimental verification by implementing an actual system with an external force estimator. The results showed that the proposed force-projecting bilateral control has significantly higher positioning rigidity and better force control stability than the conventional force-reflecting bilateral control. A theoretical consideration was also given using equivalent transformation of force transfer functions to provide evidence for the high stability.

With the development of artificial intelligence technology, manipulators, as an important part of the work of intelligent robots, can replace humans to perform various complex tasks. In recent years, there have been many studies on the remote control of manipulators using various control technologies. Starting from the manufacturing materials of flexible sensors used for manipulators, this paper introduces the base materials, sensing materials, and flexible electrode materials of flexible sensors, respectively, and summarizes the performance of flexible sensors made based on the characteristics of different materials. The basic principles of dipping and coating, lithography, inkjet printing, screen printing, 3D printing and so on are introduced from the perspective of flexible sensor manufacturing process. Some different functions of sensors achieved by different structural designs, such as: tensile cracking, microchannels, etc. are also introduced. Then, from the perspective of recognition accuracy of the manipulator, two kinds of control methods based on flexible sensor by data glove control and surface EMG control are classified and introduced, and the problems existing in three aspects of flexible sensor material preparation, manufacturing process and control series design are summarized. Finally, the possible future research directions in this field are suggested.

This paper presents an analysis of the sensitivity of controlling an autonomous surface object among a group of encountered objects to the inaccuracy of state control process data. For this purpose, a safe and optimal model of the control process was defined. An algorithm for determining the optimal and safe trajectory of an object, based on the multi-object game model, was developed; for comparative analysis, an algorithm for calculating only the optimal trajectory, not taking into account the maneuverability of other objects, was additionally developed. First, simulation-based studies of the algorithms enabled a comparative analysis of a number of different acceptable strategies for optimally shifting the trajectory of maneuvering objects from a single initial direction. Thereafter, the main goal of this paper was implemented: an analysis of the sensitivity characteristics of safe control, assessed with the risk of collision, both on the inaccuracy of navigation data and on the number of possible control strategies. Finally, final conclusions and a plan for further research on the subject of the paper were formulated.

The reactive nature of traditional frequency stability methods can lead to delayed corrective actions and unnecessary loss-of-load. This work presents a distributed model predictive control method for proactive power system frequency stability. Dynamic state estimation model is derived through a particle filter. By being able to estimate the future state of frequency, corrective actions can be taken before the system reaches a critical condition. Proactive approach makes it possible to optimize the response to a disturbance, which results in a decrease of the amount of compensation utilized. The method is tested via Matlab simulations based on Kundur's Two-Area System, and the IEEE 14-Bus system. Performance metrics are provided and evaluated against other contemporary solutions found in literature. Easy-to-derive model, without hard-to-design parameters, indicate potential towards real-life applications.

Chaotic systems are systems whose results are sensitive to the initial conditions. Chaotic systems generally have nonlinearities that can be difficult to model. One example of a chaotic system with nonlinearities is the Lorenz system. The Lorenz system can be used to model weather, wind disturbances, and electronic circuit design, among other applications. In this manuscript, the Lorenz system is modeled and various control methods are applied in an effort to dictate the system’s state and rate trajectories. The combination of the linear feedback and nonlinear feedforward controllers can show over an 80% improvement in state trajectory errors when compared to the baseline run. However, the improved state trajectory performance comes at a cost of as much as 1800% error in the rate trajectories.

For a decade, the studies of dynamic control for unmanned aerial vehicles took a large interest, where drones as a useful technology in different areas were always suffering from several issues like instability-high energy consumption of batteries - inaccuracy of tracking targets. Different approaches are proposed for dealing with the non-linearity issues which present the most important features of this system. This paper describes our focus on the most common control strategies, known as model predictive control MPC, by developing a model based on the sensors embedded in our Tello quadrotor used for indoor purposes. The original controller of Tello quadrotor is supposed to be a slave, where the designed model predictive controller is created in MATLAB and imported to another embedded system, considered as a master; the objective of this model is to track the reference trajectory, almost keeping the stability of the system and ensure the low energy consumption. In the first part, a profound description of the modelling process of a dynamic model for drones is presented, explaining the design of MPC controller with both linear and non-linear strategies built in MATLAB. In the final part, simulation and results are discussed regarding its behaviour and performance, highlighting the MPC model's important role on drones' energy consumption profile.

Across the global construction industry, fatalities continue to occur from high-risk activities where the risk controls have been defined, however were unreliable. In the mining industry, Critical Control Risk Management has provided positive results in reducing major accidents, which raises the question, could the Critical Control approach reduce the fatality rate in the construction industry? This study analysed 10 years of serious and fatal incident investigation reports from four international construction companies to i) assess the reliability of their Critical Controls (CCs) and ii) assess the factors which affect the reliability of CCs. The results show the reliability of CCs, measured by implementation and effectiveness, averaged just 42%. Human performance factors including risk identification, decision-making and competency together with supervision, job planning, communication organisational factors were identified as affecting the reliability of CCs. The study used bow-tie diagrams with real event data to find the actual CC effectiveness. This gave actionable findings directly related to individual CCs enabling the participating organization to focus resources on improving specific verification processes. The results confirm the applicability of CCs for the Major Accident Event hazards analyzed and highlights further review is required of the factors which need to be considered when implementing a CC program. This paper details our methodology and results, to assist others apply CCs as a risk management tool.

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.

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.