Controlling robots in space with necessarily low material and structural stiffness is quite challenging at least in part due to the resulting very low structural resonant frequencies. The frequencies are sometimes so low, the vary act of controlling the robot with medium or high bandwidth controllers lead to excitation of resonant vibrations. Biomimetics or biomimicry emulates models, systems, and elements of nature for solving such complex problems. Recent seminal publications have re-introduced the viability of optimal command shaping, and one recent instantiation mimics baseball pitching to propose control of highly flexible space robots. The readership will find a perhaps dizzying array of thirteen decently performing alternatives in the literature but could be left bereft selecting a method(s) deemed to be best suited for a particular application. Bio–inspired control of space robotics is presented in a quite substantial (perhaps not comprehensive) comparison, and the conclusions of the study indicate the top three performing methods based on minimizing control effort (i.e., fuel) usage, tracking error mean, and tracking error deviation include.

Smart mechatronics system in agriculture can be traced back to the mid-1980s, when research into automated fruit harvesting systems began in Japan, Europe, and the United States. Since then, impressive advances have been made smart mechatronics systems. Furthermore, smart mechatronics systems are promising areas, as results, we were intrigued to learn more about them. Consequently, the purpose of this study was to examine the smart mechatronic systems that have been applied to agricultural areas so far, with inspiration from smart mechatronic system in other sectors. To get an overview of the current state of the art, benefits and drawbacks of the smart mechatronics systems, various approaches were investigated. Moreover, smart mechatronic modules, and various networks applied in agriculture processing were examined. Finally, we were explored how the data retrieved using the one-way analysis of variance related to each other. The result showed that there were strong related keywords for different journals. The virtually limited use of sophisticated mechatronics in the agricultural industry, and at the same time, the low production rate, the demand for food security has fallen dramatically. Therefore, the application of smart mechatronics system in agricultural sectors would be taken into consideration in order to overcome these issues.

Compared with the traditional robots on earth, space robotics present additional difficulties including complicated, multi–body dynamics (including anti–resonances absent with earthly robotic systems), space environmental forces and torques, communication delays, and high expense. Pointing accuracy requirements necessitate control algorithms that can accommodate flexible, multi–body dynamics particularly. The high cost of placing systems in space drives necessarily lightweight systems lacking structural stiffness. Natural frequencies of space robot vibration are often so low, the act of implementing control torques causes structural resonance. Seeking improved performance, this manuscript introduces and compares a dozen options, revealing seventy–percent reduction in tracking error may be achieved with only ten percent increase in control effort. Prequel work recommended tracking sinusoidal shaped trajectories while structurally filtering the first mode’s resonance and anti–resonance. The future research recommended in that prequel is manifest in this present work which recommends a simpler system of lower order, eliminating the notch compensation of the first resonance while no longer compensating the first anti–resonance.

In the field of robotics education, introductory courses would ideally utilize heavy industrial arms for hands-on learning. This would provide students with valuable experience in joint programming, which involves direct control of each joint motor in the arm to accomplish desired path planning and differential movements. This practice requires consideration of the physical dynamics of the arm. However, the use of heavy industrial arms has several drawbacks. They are large and expensive, require specialized maintenance, can pose safety risks, and they typically do not allow for direct control of the joint motors. One solution is to use a small, lightweight, toy-like arm. While these are cost-effective and provide direct access to the joint motors without posing safety risks, their lightweight construction means they exhibit minimal dynamic behavior, which limits their educational value. Another solution involves a robotic arm simulator that uses a virtual arm. However, a virtual arm doesn't offer the same level of hands-on engagement and excitement as a physical arm. We propose a hybrid solution that combines a small physical arm with a virtual arm. This approach provides students with the experience of working with an industrial arm, but without the associated difficulties. We demonstrate how this approach successfully improved the completion rate of joint programming assignments, offering a promising solution for practical robotics education.

Hansenula polymorpha is a non-conventional, methylotrophic, and thermo-tolerant yeast well known for the industrial production of recombinant proteins. However, the research to evaluate this yeast potential for sugar fermentation to produce alcohols for biofuel applications is at an infant stage. For research advancement, the present work investigated the wild type H. polymorpha strain (DSM 70277) for the co-production of methanol, ethanol, and butanol using a batch fermentation reactor and performing experiments at an ideal temperature of 40°C with a pH of 5.5 using different sugars (fructose, glucose, and xylose) as substrates. The maximum specific growth rates (h-1) of H. polymorpha yeast were 0.59–3.02 for fructose, 0.08–2.60 for glucose, and 0.06–0.08 for xylose. The overall yields (g/g) of methanol were higher from fructose (0.132–0.226) than glucose (0.020–0.021) and xylose (0.009–0.030). Ethanol overall yield (g/g) from fructose (0.130–0.325) was more than glucose (0.054–0.167), and xylose (0.042–0.068). The overall butanol yield (g/g) ranged from 0.018–0.031 (fructose), 0.017 (glucose), and 0.009–0.010 (xylose). Due to the methylotrophic nature of H. polymorpha, a shorter time (preferably 2 h) was found suitable for co-production of methanol, ethanol, and butanol.

The bio-oil obtained by pyrolysis of Açaí (Euterpe oleracea Mart.) seeds at 450 ºC, 1.0 atmosphere, in technical scale, submitted to fractional distillation to produce biofuels-like fractions. The distillation of bio-oil carried out in a laboratory distillation column (Vigreux) of 30 cm. The physical-chemistry properties (density, kinematic viscosity, acid value and refractive index) determined by official methods. The chemical functions present in distillation fractions determined by FT-IR and the chemical composition by GC-MS. The distillation of bio-oil yielded gasoline, light kerosene, and kerosene-like fuel fractions of 16.16, 19.56, and 41.89% (wt.), respectively. All the physical-chemistry properties (density, kinematic viscosity, acid value and refractive index) increase with boiling temperature. The gasoline-like fraction is composed by 64.0% (area.) hydrocarbons and 36.0% (area.) oxygenates, while light kerosene-like fraction by 66.67% (area.) hydrocarbons and 33.33% (area.) oxygenates, and kerosene-like fraction by 19.87% (area.) hydrocarbons and 81.13% (area.) oxygenates.

The idea of an extension of life for CubeSats is proposed to reduce space debris in a low-earth orbit. In this work, a gripper is designed for geometry-based grasping in berthing tasks. The grasping operation is outlined for square- and rectangle-profiled CubeSats. Equilibrium conditions are used to choose fingertips shape and parameters for grasping the CubeSat body. A design scheme is proposed to provide the required accuracy. A design concept is developed into a lab prototype by using low-cost 3D printing technique, and a mock-up grasping task that is representative of the berthing operation is evaluated with the lab prototype. Center-mass hanging setup for the prototype and grasped body is used to evaluate the impact of grasping, partially replicating the conditions in space by reducing the effect of gravity on the system.

In recent years, autonomous robots have proven capable of solving tasks in complex environments. In particular, robot manipulations in activities of daily living (ADL) for service robots have been in wide use. However, manipulations such as loading a dishwasher or folding laundry are difficult to automate robustly. In addition, manipulations of grasping multiple objects in domestic environments present difficulty. To perform those applications better, we developed robotic systems based on shared autonomy by combining the cognitive skills of a human operator with autonomous robot behaviors. In this work, we present techniques for integration of a shared autonomy system for assistive mobile manipulation and new strategies to support users in the domestic environment. We demonstrate that the robot can grasp multiple objects with random size at known and unknown table heights. Specifically, we developed three strategies for manipulation. From experimental results, we observed that the first strategy has the highest success rate (70% for random objects) up to 70 cm table height. Two other strategies perform better for 80 cm to 100 cm table height. The success rate of the second and third strategies shows an average 63.3% and 73.3%, respectively, for grasping random objects. We also demonstrated these strategies using two intuitive interfaces, a visual interface in rviz and a voice user interface with speech recognition, which are suitable for elderly people. In addition, the robot can select strategies automatically in random scenarios, which make the robot intelligent and able to make decisions independently in the environment. We obtained interesting results showing that the robot adapts to the environmental variation automatically. After these experimental demonstrations, our robot shows the capabilities for employment in domestic environments to perform actual tasks.

Zero-shot learning ability robotics enables robots to generalize their knowledge and perform tasks for which they have not been explicitly trained. This ability is extremely helpful because in classic learning approaches, robots are trained on specific tasks and require extensive data and labeled examples to perform accurately. However, in real-world scenarios, robots often encounter new or unseen tasks that were not part of their training data. We briefly survey works in this area to give the reader a perspective about progresses in this area.

By combining stochastic variational inference with message passing algorithms we show how to solve the highly complex problem of navigation and avoidance in distributed multi-robot systems in a computationally tractable manner, allowing online implementation. Subsequently, the proposed variational method lends itself to more flexible solutions than prior methodologies. Furthermore, the derived method is verified both through simulations with multiple mobile robots and a real world experiment with two mobile robots. In both cases the robots shares the operating space and needs to cross each other’s paths multiple times without colliding.

Infrastructure monitoring, inspection, repair, and replacement in space is crucial for continued usage and safety, yet it is expensive, time-consuming, and technical very challenging. New robotics technologies and artificial intelligence algorithms are potentially novel approaches that may alleviate such demanding operations using existing or novel sensing technologies. Space structures must necessarily be very light weight due to high costs of placing robots in space. Several methods are proposed and compared to control highly flexible space robotics, where a key challenge is the presence of flexible resonant modes at frequencies so low as to reside inside typical feedback controller bandwidths. Such conditions imply the very action of sending control signals to the ultra-light weight robotics will cause structural resonance. Implementations of incrementally increasing order are offered, achieving over ninety percent performance improvement in trajectory tracking errors, while improvement using unshaped methods merely achieve twenty-four percent improvement in direct comparison (where the only modification is the proposed control methodology). Based on superior performance, single-sinusoidal trajectory shaping is recommended with a corollary benefit of preparing future research into applying deterministic artificial intelligence whose current instantiation relies on single-sinusoidal, autonomous trajectory generation.

The Robotics Vision Lab of Northwest Nazarene University has developed Orchard Robot (OrBot), which was designed for harvesting fruits. OrBot is composed of a machine vision system to locate fruits on the tree, a robotic manipulator to approach the target fruit, and a gripper to remove the target fruit. Field trials conducted at commercial orchards for apples and peaches during the harvesting season of 2021 yielded a harvesting success rate of about 85% and had an average harvesting cycle time of 12 seconds. Building upon this success, the goal of this study is to evaluate the performance of OrBot during nighttime harvesting. The idea is to have OrBot harvest at night, and then human pickers continue the harvesting operation during the day. This human and robot collaboration will leverage the labor shortage issue with a relatively slower robot working at night. The specific objectives are to determine the artificial lighting parameters suitable for nighttime harvesting and to evaluate the harvesting viability of OrBot during the night. LED lighting was selected as the source for artificial illumination with a color temperature of 5600 K and 10% intensity. This combination resulted with the lowest noise in the images. OrBot was tested in a commercial orchard using twenty Pink Lady apple trees. Results showed an increased success rate during the night, with OrBot gaining 94%. compared to 88% during the daytime operations.

The automation of welding processes requires the use of automated systems and equipment, in many cases industrial robotic systems, to carry out welding processes that previously required human intervention. Automation in the industry offers numerous advantages, such as increased efficiency and productivity, cost reduction, improved product quality, increased flexibility and safety, and greater adaptability of companies to market changes. The field of welding automation is currently undergoing a period of profound changes due to a combination of technological, regulatory, and economic factors worldwide. Nowadays, the most relevant aspect of the welding industry is to meet customer requirements by satisfying their needs. To achieve this, the automation of the welding process through sensors and control algorithms ensures the quality of the parts and prevents errors such as porosity, unfused areas, deformations, excessive heat, etc. This paper proposes an intelligent and adaptive system based on the measurement of welding joints using laser scanning and the subsequent analysis of the obtained point cloud to adapt the welding trajectories.

Phenotypic studies require large datasets for accurate inference and prediction. Collecting plant data in a farm can be very labor intensive and costly. This paper presents the design, architecture (hardware and software) and deployment of a distributed modular agricultural multi-robot system for row crop field data collection. The proposed system has been deployed in a soybean research farm at Iowa State University.

In response to global climate challenges and the increasing demand for energy, exploring renewable energy alternatives has become crucial. Bio-oils, derived from biomass pyrolysis, are emerging as potential replacements for fossil fuel-based liquid fuels. This paper shares findings from the Institute of Energy and Fuel Processing Technology on the quality of crude biomass pyrolysis bio-oil samples. These findings highlight their potential as motor liquid fuels. The article details the results of tests on the physicochemical properties of four distinct bio-oil samples. Additionally, it presents preliminary test results on the hydrodeoxygenation of bio-oils in a batch reactor. The production of homogeneous, stable mixtures using other fuel additives, such as diesel oil, rapeseed methyl ester (RME), and butanol, is also discussed.

Mercury toxicity significantly threatens aquatic ecosystems, particularly impacting fish populations and human well-being. This article exposes the effects of mercury contamination on aquatic life and their habitats. Mercury primarily originates from natural degassing and anthropogenic activities and accumulates in aquatic organisms, most notably in predatory fish, through bio-accumulation and bio-magnification. This bio-accumulation, driven by microbial transformation to methyl-mercury, leads to elevated concentrations in top-level predators. The consequences of mercury exposure on fish physiology are stunted growth, reproductive impairments, and compromised immunity, with potential ramifications for population dynamics and ecosystem resilience. This study delves into specific impacts of mercury on fish, ranging from bone deformities to liver damage, developmental anomalies, neurotoxic effects, and disruptions in reproductive systems. The interplay between ecological, physiological, and human health effects underscores the need for a comprehensive understanding of mercury's underlying mechanisms. Monitoring mercury levels in aquatic systems emerges as a crucial strategy for ensuring fish populations' health and ecosystems' sustainability. Urgent collaborative efforts are imperative to address this global concern, promote harmonious coexistence between human activities and aquatic environments, and secure the availability of safe and nutritious fish for future generations. In conclusion, this article highlights the urgent necessity for targeted interventions and informed decision-making to mitigate the influence of mercury contamination on aquatic ecosystems.

Use of porous titanium (Ti) and Ti alloys in orthopedic implants or in light structures requires processing routes that could generate an as-much-as possible control in the pores amount, shape, size and connectivity. In this work, a colloidal approach to the processing of Ti porous structures by the inside foaming of a porogen into a gelled high solid content aqueous suspension of Ti powders, is presented. The prepared slurries contained different amounts of Methyl Cellulose (MC) as gelling agent (8, 10 and 12 g/L) and ammonium bicarbonate (BA) as porogen (15, 20, 25 wt. %). The gel-casted samples were heated at mild temperatures ranging (60, 70 and 80 °C) to promote the gelation and produce, at the same time, the porosity by the thermal decomposition of the ammonium bicarbonate. Different structures are obtained depending on the combination of the study variables

The aim of the present study was to assess the efficacy of All Cosmos Industries (ACI) bio-organic and bio-chemical fertilizers and ACI N-Fixer (N-Bio Booster) on the paddy yields based on the field trial plots at Langkat, Medan, Indonesia. This application of ACI bio-organic fertilizer (NPK 5/5/5) and ACI bio-chemical (NPK 15/15/15) fertilizer and ACI N-Fixer tests were conducted at the paddy farm at Langkat from May-October 2018. This study employed a factorial randomized complete block design which consisted of two factors, namely: Factor I with four types of fertilizers while Factor II consisted of two paddy varieties (Inpari 30 and Inpari 32). Overall, the filled grains in the ACI treatments are significantly (P< 0.05) higher than those in the control treatments that used Normal Chemical Compound NPK. Overall, total weight per meter² (368-617g) in ACI treatments are also significantly (P< 0.05) higher than those (319-371g) in the control treatments. At harvesting time at 105 days after transplanting, significantly higher (P< 0.05) colony counts (13-15 x 10⁶ CFU/mL) (for ACI treatments), than those (8 x 10⁶ CFU/mL) in the controls positively indicated higher total yields of paddy grains per hectare. It was found that the application of ACI bio-organic and bio-chemical fertilizers and ACI N-Fixer can improve paddy yields of the two rice varieties, between 16.4-38.2% (up to 5.75 MT/ha), in the field trial plots at Langkat. These commercial fertilizers play an imperative role in refining the soil fertility and thereby can increase the yield of rice production. Therefore, it is highly recommended that ACI bio-organic and ACI bio-chemical fertilizers and ACI N-Fixer (N-Bio Booster) can be employed to increase the paddy yield in this region.

In recent years, exterior-rotor brushless DC motors have become increasingly popular in robotics applications due to their compact shape and high torque density. However, these motors were originally used for continuous operation in drones. For applications such as exoskeletons, prostheses, or legged robots, short bursts of high power are often required. Unfortunately, vendors do not typically provide data on the motors' performance under these conditions. This paper presents experimental data on the torque-speed relationship, efficiency, and thermal responses of one of the most widely used outrunner-type brushless motors across its full operating range, including high-power, short-duration operation. The results of this study can inform the selection and design of actuators for a range of robotics applications, particularly those that require high power output for brief periods of time.

The daVinci Surgical Robot has revolutionized minimally invasive surgery by enabling greater accuracy and less invasive procedures. However, the system lacks advanced features and autonomy necessary for it to function as a true partner. To enhance its usability, we introduce the implementation of a ChatGPT-based natural language robot interface. Overall, our integration of a ChatGPT-enabled daVinci Surgical Robot has potential to expand the utility of the surgical platform by supplying a more accessible interface. Our system can listen to the operator speak and, through the ChatGPT-enabled interface, translate the sentence and context to execute specific commands to alter the robot’s behavior or to activate certain features. For instance, the surgeon could say (even in Spanish) “please track my left tool” and the system will translate the sentence into a specific track command. This specific error-checked command will then be sent to the hardware which will respond by controlling the camera of the system to continuously adjust to center the left tool in the field of view. We have implemented many commands including “Find my tools” (tools that are not in the field of view) or start/stop recording that can be triggered based on a natural conversational context. Here, we present details of our prototype system, give some accuracy results, and explore its potential implications and limitations. We also discuss how artificial intelligence tools (such as ChatGPT) of the future could be leveraged by robotic surgeons to reduce errors and enhance the efficiency and safety of surgical procedures and even ask for help.

Pruning is one of the most important tree fruit production activities, which is highly dependent on human labor. Skilled labor is in short supply, and the increasing cost of labor is becoming a big issue for the tree fruit industry. Growers are motivated to seek mechanical or robotic solutions for reducing the amount of hand labor required for pruning. This paper reviews the research and development of sensing and automated systems for branch pruning for tree fruit production. Horticultural advancements, pruning strategies, 3D structure reconstruction of tree branches, as well as practice mechanisms or robotics are some of the developments that need to be addressed for an effective tree branch pruning system. Our study summarizes the potential opportunities for automatic pruning with machine-friendly modern tree architectures, previous studies on sensor development, and efforts to develop and deploy mechanical/robotic systems for automated branch pruning. We also describe two examples of qualified pruning strategies that could potentially simplify the automated pruning decision and pruning end-effector design. Finally, the limitations of current pruning technologies and other challenges for automated branch pruning are described, and possible solutions are discussed.

In this paper, we present the design, manufacturing and characterization of a soft textile-based clutch (TBC) that switches between locking and unlocking of its linear displacement by exploiting vacuum stimulation. The applied vacuum locks the relative sliding motion between two elaborated textile webbings covered by an elastic silicone rubber bag. Based on different fabrication techniques, such as silicone casting on textile, melt embossing for direct fabrication of miniature patterns on textile and sewing, we developed three groups of TBC samples based on friction and interlocking principles and we compared their performance in blocking configuration. The clutch with interlocking mechanism presented the highest withstanding force (150 N) respect to the one (54 N) recorded for the friction-based clutch. The simple and compact structure of the proposed clutch, together with the intrinsic adaptability of fabric with other clothing and soft materials, make it a proper solution for applications in soft wearable robotics and generally as locking and variable stiffness solution for soft robotic applications.

Herein we report the expansion of the chemical space available from the chitin, accessible via the biogenic N-platforms 3A5AF, M4A2C and di-HAF. The biologically active heteroaromatics furo[3,2-d]pyrimidin-4-one and furo[3,2-d]pyrimidin-4-amine can be selectively accessed from 3A5AF and M4A2C, respectively. The chiral pool synthon di-HAF is a viable substrate for the Achmatowicz rearrangement, providing streamlined access to 2-aminosugars possessing a versatile hydroxymethyl group at C5.

Wearable touch sensors, which can convert force or pressure signals into quantitative electronic signals, have emerged as an essential smart sensing devices and played an important role in various cutting-edge fields, including wearable health monitoring, soft robots, electronic skin, artificial prosthetics, AR/VR, and the Internet of Things. Flexible touch sensors have made significant advancements, while construction of novel touch sensors via mimicking the unique properties of biological materials and biogenetic structures always remains a hot research topic and significant technological pathway. This review provides a comprehensive summary of the research status of wearable touch sensors constructed by imitating the material and structural characteristics in nature, and also summarizes the scientific challenges and development tendency of this aspect. Firstly, the research status for constructing flexible touch sensors based on biomimetic materials is summarized, including hydrogel materials, self-healing materials, and other bioinspired or biomimetic materials with extraordinary properties. Then, design and fabrication of flexible touch sensors based on bionic structures for performance enhancement are fully discussed. These bionic structures include special structures in plants, special structures insects/animal, and special structures in human body. Moreover, a summary of the current issues and future prospects for developing wearable sensors based on bioinspired materials and structures is discussed.

The article presents several innovative systems developed through student laboratory projects, including two autonomous vehicles, a four-legged walking robot, an active ankle-foot orthosis, a ball on beam balancing mechanism, a ball on plate system, and a manipulator arm—all powered by pneumatic artificial muscles (PAMs). Fluidic muscles offer significant potential in various mechatronic systems, robots, and manipulators due to their flexible, lightweight nature and compliance. Their ability to produce smooth and adaptable motions is particularly beneficial in applications requiring natural and human-like movement, such as rehabilitation and assistive devices. Although PAMs powered control systems face challenges with nonlinear phenomena, their biologically inspired design holds promise for future applications across various industries. These may include innovative applicability in industrial, automotive, and aerospace sectors, as well as use in sports, medical aids, entertainment, and animatronics. Incorporating self-made laboratory systems actuated by PAMs into control systems education offers a comprehensive learning opportunity that combines theoretical concepts with hands-on experience. This approach develops the necessary skills of future engineers, expanding their understanding of technical principles and preparing them for future challenges in engineering practice.

When implementing a control system for a ground-based unmanned vehicle (UV) used in agri-culture, an important factor is the low cost of the equipment used, so the use of cameras without lidars for navigation, avoiding obstacles, and ensuring movement safety seems promising. En-suring the safety of movement of UV consists of developing methods and means that make it possible to bypass static and dynamic obstacles and make an emergency stop if it is impossible to bypass. The article describes methods and software that provide detection of objects surrounding the UV through the use of the YOLOv8 neural network, space free for movement through the use of se-mantic segmentation with the MobileNetV3 network architecture, tools for combining several data sources to build a local perception map, as well as linear and angular speed of the UV based on calculating the optimal direction of movement for avoiding obstacles. Testing of the developed methods and software was realized in the Webots simulation environment. Software is developed with ROS2.

Robot-assisted rehabilitation has emerged as a promising approach for enhancing motor function in stroke survivors. However, the feasibility and effectiveness of home-based robotic training in this population are underexplored, especially in low/middle-income countries. This feasibility study aimed to address this gap by examining the feasibility and effectiveness of independent home-based training using PLUTO, a robotic device for hand training. A total of 7 chronic stroke survivors were recruited, with 5 completing the study. The results revealed high engagement and adherence to the home-based training program, with participants averaging 1659.8 minutes of training over 24.8 days. The PLUTO system demonstrated excellent usability and elicited positive user perceptions. Significant improvements were observed in functional outcomes, as evidenced by a noteworthy increase in Fugl-Meyer Assessment scores (mean increase of 6.2 points, exceeding the minimal clinically important difference (MCID) of 5.35 points). Furthermore, participants showed improvements in the ABILHAND measure (mean improvement of 1.24 logits, surpassing the MCID of 0.2 logits) and the Barthel Index (mean increase of 8.8 points). These findings demonstrate the feasibility and effectiveness of home-based robotic rehabilitation for chronic stroke survivors. This has implications for expanding access to rehabilitation services in low- and middle-income countries, enhancing patient engagement and adherence, and improving functional outcomes. Larger controlled studies are warranted to evaluate the effectiveness of home-based robotic rehabilitation programs.

This study presents review of 7580 papers in 13 academic journals, published from January 2015 to January 2020. After a detailed analysis of all papers, 46 papers were further selected showing research on a student population aged between 6 and 15 years old. In order for the paper to be included in the research, the condition was that the paper deals with teaching at least one of the following content areas: programming languages, game design, computer thinking (CT), algorithmic thinking and robotics programming. This study shows the representation of the listed content area in reviewed papers for the specified time period as well as a detailed analysis of the selected papers. Available data about study, participants and education level, country (first author), learning domain, teaching tools, research questions, hypothesis, pre/post-test results, interviews, control groups, course duration, research design, previous experience, project or grant and re-search purpose in detected papers were analysed. In addition, impact of studying some of the listed content areas on student learning performance, motivation, attitude and perception were investigated.

Proposed article deals with analyses on trends of problem-solving robotic applications in manu-facturing, especially in transportations and manipulations. Intelligent agent-based manufacturing systems with robotic agents are observed. Intelligent core of such units must be able to propose the plan of problem-solving in form of strategy. The logical model of adaptive strategies planning for intelligent robotic system is described in form of predicates with presentation of data processing on base of set theory descriptions. Dynamic structure of workspace and possible change of goals are considered as reasons for functional strategies adaptation. Proposed formal descriptions are sup-ported by model of mobile robotic platform, acting in warehouse.

The increasing trend of studying the innate softness of robotic structures and amalgamating it with the benefits of the extensive developments in the field of embodied intelligence has led to sprouting of a relatively new yet extremely rewarding sphere of technology. The fusion of current deep reinforcement algorithms with physical advantages of a soft bio-inspired structure certainly directs us to a fruitful prospect of designing completely self-sufficient agents that are capable of learning from observations collected from their environment to achieve a task they have been assigned. For soft robotics structure possessing countless degrees of freedom, it is often not easy (something not even possible) to formulate mathematical constraints necessary for training a deep reinforcement learning (DRL) agent for the task in hand, hence, we resolve to imitation learning techniques due to ease of manually performing such tasks like manipulation that could be comfortably mimicked by our agent. Deploying current imitation learning algorithms on soft robotic systems have been observed to provide satisfactory results but there are still challenges in doing so. This review article thus posits an overview of various such algorithms along with instances of them being applied to real world scenarios and yielding state-of-the-art results followed by brief descriptions on various pristine branches of DRL research that may be centers of future research in this field of interest.

This paper presents a system that merges computer vision and surface electromyography techniques to carry out grasping tasks. To perform this, the vision-driven system is used to compute pre-grasping poses of the robotic system based on the analysis of tridimensional object features. Then, the human operator can correct the pre-grasping pose of the robot using surface electromyographic signals from the forearm during wrist flexion and extension. Weak wrist flexions and extensions allow a fine adjustment of the robotic system to grasp the object and finally, when the operator considers that the grasping position is optimal, a strong flexion is performed to initiate the grasping of the object. The system has been tested with several subjects to check its performance showing a grasping accuracy of around 95% of the attempted grasps which increases by around a 9% the grasping accuracy of previous experiments in which electromyographic control was not implemented.

The authors of this paper use an original method of diatomaceous earth fractionation, which allows for obtaining a filler with a specific particle size distribution. The method makes it possible to separate small, disintegrated and broken diatom frustules from those which maintained their original form in diatomaceous earth. The study covers a range of tests conducted to prove that such a separated diatomic fraction shows features different from the base diatomite used as an epoxy resin filler. We have examined mechanical properties of a series of diatomite/resin composites considering the weight fraction of diatoms and the parameters of the composite production process. The studied composites of Epidian 601 epoxy resin cross-linked with amine-based curing agent Z-1 contained 0 to 70% vol. of diatoms or diatomaceous earth. Samples were produced by casting into silicone moulds in vacuum degassing conditions and, alternatively, without degassing. The results have shown that the size and morphology of the filler based on diatomaceous earth affects mechanical and rheological properties of systems based on epoxy resin.

Application of native PGPR as bio inoculant is an alternative sustainable agricultural practice to enhance crop productivity, grain quality, and soil fertility. In this view, a study was to examine the effect of either individual or consortium PGPR inoculation on growth, yield, and grain nutrient uptake of two teff varieties. The pot experiment was carried out in (CRD) three replication and 10 treatments. The PGPR inoculants used in this study were Pseudomonas fluorescens biotype G, Enterobacter cloacae ss disolvens, and Serratia marcescens ss marcescen and their consortium. Dukem and Magna varieties were used in this study. The results of the analysis of variance showed significant differences (P ≤ 0.001) among the treatment and most of the agronomic traits except number of fertile tillers and also significant different (P ≤ 0.01) for grain P and N uptake. The variety was significantly affected grain Mg, Zn and Fe uptake at 5 % probability level and did not significantly influence all agronomic traits of the two varieties. Furthermore, interaction effects of two factors (TM*VT) were significant differences (P ≤ 0.05) for plant height and panicle length. Individual treatments mean comparison results showed that inoculation of native PGPR consortium significantly affected most of the PGP traits at (P ≤ 0.05). The maximum traits like plant height (189cm), panicle length (66.7cm), shoot dry biomass (9.98g), root dry biomass (2.90g) and grain yield per plant (4.55g) were observed from Dz-01-196. It could be concluded that the consortium of native PGPR inoculants for plant growth, yield and grain nutrient uptake improvement performed better than their individual strain.

Composites with HDPE and PLA matrix have been tested to analyse the effect of natural fillers (wood flour, recycled waste paper and a mix of both fillers) and temperature on polymer degradation. Composting tests have been performed in both mesophilic (35°C) and thermophilic (58°C) conditions. Degradation development has been evaluated through mass variation, TGA and DSC. HDPE, as expected, did not display any relevant variation, confirming its stability under our composting conditions. PLA is sensibly influenced by temperature and humidity, with higher reduction of Mw when composting is performed at 58°C. Natural fillers seem to influence degradation process of composites, already at 35°C. In fact, degradation of fillers at 35°C allows a mass reduction during composting of composites, while neat PLA do not display any variation.

Large datasets play a crucial role in the progression of surgical robotics, facilitating advancements in the fields of surgical task recognition and automation. Moreover, public datasets enable the comparative analysis of various algorithms and methodologies, thereby assessing their effectiveness and performance. The ROSMA (Robotics Surgical Maneuvers) dataset provides 206 trials of common surgical training tasks performed with the da Vinci Research Kit (dVRK). In this work, we extend ROSMA dataset with two annotated subsets: ROSMAT24, which contains bounding box annotations for instrument detection, and ROSMAG40, which contains high and low level gesture annotations. We propose an annotation method that provides independent labels for the right-handed tool and the left-handed tool. For instrument identification, we validate our proposal with a YOLOv4 model in two experimental scenarios. We demonstrate the generalization capabilities of the network to detect instruments in unseen scenarios. For gesture segmentation, we propose two label categories: high-level annotations that describe gestures at a maneuvers level, and low-level annotations that describe gestures at a fine-grain level. To validate this proposal, we have designed a recurrent neural network based on a bidirectional long-short term memory layer. We present results for four cross-validation experimental setups, reaching up to a 77.35% mAP.

Currently, the textile industry is a poorly automated sector, due in part to problems in the handling of deformable leather and textile parts during production operations. In this work, several problems in the handling process of leather and textile parts are addressed, introducing methods to increase the automation of the process. A pneumatic actuator designed to pick up textile or leather parts avoiding their deformation during transport has been developed. This actuator maximizes the number of gripping points to improve handling, making it more stable and efficient. Additionally, a vision system has been implemented in the part picking task which, in conjunction with the CAD information of the part, sends the modified gripping position of the part to the robot. This allows customized handling of each textile or leather part. Finally, validation tests have been carried out on this development, both in simulations and in laboratory conditions, demonstrating its viability and direct applicability in the production line.

This paper investigates nonverbal communication in human interactions, with a specific focus on facial expressions. Employing a Long Short-Term Memory (LSTM) architecture and a custom-ized facial expression framework, our approach aims to improve virtual agent interactions by incorporating subtle nonverbal cues. The paper contributes to the emerging field of facial expres-sion generation, addressing gaps in current research and presenting a novel framework within Unreal Engine 5. The model's architecture, trained on the CANDOR corpus, captures temporal dynamics, and refines hyperparameters for optimal performance. During testing, the trained model showed a cosine similarity of -0.95. This enables the algorithm to accurately respond to non-verbal cues and interact with humans in a way that is comparable to human-human interac-tion. Unlike other approaches in the field of facial expression generation, the presented method is more comprehensive and enables the integration of a multi-modal approach for generating facial expressions. Future work involves integrating blendshape generation, real-world testing, and the inclusion of additional modalities to create a comprehensive framework for seamless hu-man-agent interactions beyond facial expressions.

Autonomous Driving (AD) has become a prominent research area in the field of Artificial Intelligence (AI) and Machine Learning (ML) in recent years. This opens the door wider for self-driving cars to surpass conventional vehicles in the current market share. Despite its apparent simplicity, AD is composed of complex and heterogeneous systems, which are in need of a high level of coordination and alignment to ensure both full automation and safety. Therefore, numerous research studies have been conducted over the last few years to facilitate such coordination and accelerate the capacity of these types of vehicles to be self-managed in complex situations. The paper summarises these approaches that led to building what is known nowadays as the autonomous driving pipeline. Moreover, although skepticism exists regarding the practicality of AD as a viable alternative to traditional vehicles, extensive research suggests the multiple benefits of relying on them for mobility. While challenges remain in implementing AD in the real world, including regulation and technical issues, substantial progress in recent years indicates a growing acceptance of AD in the near future. This paper further explores the advantages and opportunities of the conducted such systems in facilitating the practicality of Autonomous Driving.

This prospective study aimed to evaluate the ability of point-of-care Doppler ultrasound measurements of carotid-corrected flow time and changes in corrected carotid flow time (FTc) induced by volume expansion to predict fluid responsiveness in patients undergoing robot-assisted gynecological surgery in a modified head-down lithotomy position. FTc was measured using Doppler images of the common carotid artery before and after volume expansion. The stroke volume index at each time point was recorded using the MostCare instrument. Fluid responsiveness was defined as a stroke volume index ≥10% increase after volume expansion. Half (50%) of the 52 patients responded positively. The areas under the receiver operating characteristic curves measured to predict fluid responsiveness for the corrected carotid flow time and changes in the FTc were 0.82 [95% confidence interval:0.705–0.937; P &lt; 0.0001] and 0.67 (95% confidence interval:0.520–0.815; P &lt; 0.05), respectively. The optimal cut-off value for the FTc and the change in FTc were 356.5 ms and 19.5 ms, respectively. FTc is a more reliable predictor of fluid responsiveness than FTc induced by volume expansion in gynecological patients undergoing robot-assisted laparoscopic surgery in the modified head-down lithotomy position.

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.

In recent years, functional fluidic electrohydrodynamic (EHD) pumps have attracted considerable attention due to their remarkable features, such as simple structure, quiet operation, and energy-efficient utilization. EHD liquid pumps can be used in various industrial applications, like flow transfer, thermal management, and actuator drive. In this paper, the author reviewed EHD liquid pump research in these specific aspects: the first observation of the EHD effect, its mathematical modeling, and the choice of pump structure, electrode configuration, and working medium. Based on the review, a summary of the development and latest research on EHD pumps can be provided for the readers.

This work aims to investigate the effect of process temperature and catalyst content by pyrolysis and thermal catalytic cracking of (organic matter + paper) fraction from municipal household solid waste (MHSW) on the yields of reaction products (bio-oil, bio-char, H2O, and gas), acid value and chemical composition of bio-oils, and characterization of bio-chars, in laboratory scale. The collecting sectors of MHSW in the municipality of Belém-Pará-Brazil were chosen based on geographic and socio-economic database. The MHSW collected and transported to the segregation area. The gravimetric analysis of MHSW carried out and the fractions (Paper, Cardboard, Tetra Pack, Hard Plastic, Soft Plastic, Metal, Glass, Organic Matter, and Inert) separated. The selected organic matter and paper submitted to pre-treatment of crushing, drying, and sieving. The experiments carried out at 400, 450, and 475 °C and 1.0 atmosphere, and at 475 °C and 1.0 atmosphere, using 5.0, 10.0, and 15.0% (wt.) Ca(OH)2, in batch mode. The bio-oil characterized for acid value. The chemical functions present in bio-oil identified by FT-IR and the composition by GC-MS. The bio-char characterized by SEM, FT-IR and XRD. The variance in mass (wt.%) for organic fraction of municipal household solid waste, between 56.21 and 67.45% (wt.), lies with the interval of 56% (wt.) and 64% (wt.) of OFMHSW for middle and low income countries. The pyrolysis of MHSW fraction (organic matter + paper) show bio-oil yields between 2.63 and 9.41% (wt.), aqueous phase yields between 28.58 and 35.08% (wt.), solid phase yields between 35.29 and 45.75% (wt.), and gas yields between 16.54 and 26.72% (wt.). The bio-oil yield increases with pyrolysis temperature. For the catalytic cracking, the bio-oil and gas yields increase slightly with CaO content, while that of bio-char decreases, and the H2O phase remains constant. The GC-MS of liquid reaction products identified the presence of hydrocarbons (alkanes, alkenes, alkynes, cycloalkanes, and aromatics) and oxygenates (carboxylic acids, ketones, esters, alcohols, phenols, and aldehydes), as well as compounds containing nitrogen, including amides and amines. The acidity of bio-oil decreases with increasing process temperature and with aid Ca(OH)2 as catalyst. The concentration of hydrocarbons in bio-oil increases with increasing Ca(OH)2-to-MHSW fraction ratio due to the catalytic deoxygenation of fatty acids molecules, by means of de-carboxylation/de-carbonylation, producing aliphatic and aromatic hydrocarbons.

In mobile robotics, laser scanners have a wide spectrum of indoor and outdoor applications, both in structured and unstructured environments, due its accuracy and precision. Most works that use this sensor have their own data representation and their own case-specific modeling strategies, and no common formalism is adopted. To address this issue, this manuscript presents an analytical approach for identification and localization of objects using a 2D LiDARs Our main contribution lies in formally defining laser sensor measurements and their representation, the identification of objects, their main properties and their location in a scene. We validate our proposal with experiments in generic semi-structured environments common in autonomous navigation, and we demonstrate its feasibility on multiple object detection and identification, following strictly its analytical representation. Finally, our proposal further encourages and facilitates the design, modeling and implementation of other applications that use laser scanners as a distance sensor.

Wearable exoskeleton solutions for upper limb rehabilitation or assistance, particularly for the hand area, have become increasingly attractive to researchers, proving to be effective over time in treating hand movement impairments following various neurological diseases. In the present work, the development of a wearable exoskeleton-type device for active hand rehabilitation has been addressed, based on fluid actuators made of elastomeric material and on myoelectric control by capturing myoelectric signals from the forearm area. The flexion movement of the fingers (phalanges) is actively assisted by pneumatic actuation of the built-in actuators and the extension movement is assisted by a depressurization control of the actuator. The device has been designed to be as easy to use as possible, light in weight, and to provide a high degree of comfort when used by the patient for rehabilitation training or daily life activities (ADL), which can be performed in the comfort of one's own home.

3D/4D printing technologies are currently among the fastest growing, cutting edge fabrication technologies. The scale of their applications is vast and applicable to nearly all industries. 3D printing technologies are particularly popular in robotics, and especially in advanced design innovative solutions for areas such as manufacturing, space technology and medicine. The development of robotics, and in particular of the precision of manufactured components, such as actuators, pneumatic muscles, power transmission units, etc., means that new prototypes are still being made, where the use of 3D printers reduces the production time severalfold and allows for completing the necessary simulations and tests. In addition, the use of 3D printers allows for the production of thin-walled and cellular structures, which is a great advantage compared to conventional fabrication technologies. In the range of 3D printers available on the market, only a few selected technologies allow for actual use in the construction of advanced robot elements (muscles, vibration dampers, etc.). In the era of rapid growth of the precision of the available 3D printers and modern materials, 3D printing may soon become a major tool in robotics. This article presents an overview of 3D printing technologies and materials in terms of their application in robotics and provides examples of the use of 3D and 4D printing in prototyping and fabrication of robotic elements with particular emphasis on the current state of the art. The study considered the possibilities of using 3D/4D printing in robotics with the use of polymeric materials. The review of the literature and the research work currently being carried out in this area is very promising and it seems that 3D/4D printing in robotics is widely used and is still developing, which allows to conclude that in the near future the number of research works in this field will increase rapidly.

Imitation Learning is a discipline of Machine Learning primarily concerned with replicating observed behavior of agents known to perform well on a given task, collected in demonstration data sets. In this paper, we set out to introduce a pipeline for collecting demonstrations and training models that can produce motion plans for industrial robots. Object throwing is defined as the motivating use case. Multiple input data modalities are surveyed, and motion capture is selected as the most practicable. Two model architectures operating autoregressively are examined -- feedforward and recurrent neural networks. Trained models execute throws on a real robot successfully, and a battery of quantitative evaluation metrics is proposed, including extrapolated throw accuracy estimates. Recurrent neural networks outperform feedforward ones in most respects, with the best models having an assessed mean throw error on the order of 0.1...0.2 m at distances of 1.5...2.0 m. The data collection, pre-processing, and model training aspects of our proposed approach show promise, but further work is required in developing Cartesian motion planning tools before it is suitable for application in production.

Various designs of spherical robots using barycenter offset mechanisms were previously reported. This kind of robots offers advantages such as turning in placeor moving in any direction at any time. Yet, the approaches resulting in a balanced robot, which could roll with reduced energy costs once accelerated, are scarce. We introduce anovel robot of this type. The feasibility of the approach is verified on a cylindrical robot. This paper presents an open-source, remotely controlled, robotic cylinder. The robot uses a specifically designed mechanism to displace a mass in its center, which causes the cylinder to roll forwards or backwards. The movement characteristics of the cylinder, as well as the mathematical and physical limitations of the mechanism were studied. An intuitive user interface allows the robot to be controlled through WiFi. This robot was manufactured only with readily available and inexpensive materials, which would make it a suitable platform for education, typically in the fields of physics and engineering.

Castor oil may be differentiated from other non-edible vegetable oils because of its main composition of hydroxylated fatty acids. Ricinoleic acid comprises 80–90% wt. of fatty acids in castor oil (Ricinus communis). In this study, the thermo-oxidative stability and tribological behavior of bio-based lubricant samples synthesized from castor oil using isoamyl alcohol were evaluated. Initially, the compositional and physicochemical properties of the obtained samples were assessed using 1H NMR, FTIR, and ASTM methods. Oxidative stability of the samples was evaluated using Rancimat method at 110 °C under air flow. The final biolubricant sample (BL2), obtained after esterification, epoxidation, and oxirane rings opening reactions, presented an oxidation stability time (OST) of 14.3 h. The thermal stability was also evaluated by thermogravimetry (TG) from the mass variations under inert and oxidative atmosphere. BL2 showed higher thermal stability compared to the other samples, demonstrating higher decomposition temperatures in both inert (339.04 °C) and oxidative (338.47 °C) atmospheres, for a mass loss of 50%. The tribological properties of the samples were evaluated using a four-ball tribometer configuration. The BL1 and BL2 samples exhibited lower friction coefficients than the mineral oil sample (MOS) by 21.5% and 43.1%, respectively. Regarding wear, the observed wear scar diameter (WSD) was also lower in BL1 and BL2 compared to MOS by 5.2% and 40.4%, respectively. The results of the tribological evaluation suggest that both samples obtained in this study have promising potential for applications in lubricating machines and mechanical systems.

Wastewater contaminated with antibiotics is a major environmental challenge. We developed here the green synthesis of bio-graphenes by using natural precursors (Xanthan, Chitosan, Boswellia, Tragacanth). The use of these precursors can act as templates to create 3D doped graphene structures with special morphology. Also, this method is a simple method for in-situ synthesis of doped graphenes. The elements present in the natural polymers (N) and other elements in the natural composition (P, S) are easily placed in the graphene structure and improve the catalytic activity due to the structural defects, surface charges, increased electron transfers, and the high absorption. In this mechanism, O2 dissolved in water absorbs onto the positive charged C in doped graphenes to create oxygenated radicals, which enables the degradation of antibiotic molecules. Light irradiation increases the amounts of radicals and rate of antibiotic removal. The results have shown that the hollow cubic Chitosan-derived graphene has shown the best performance due to the doping of N, S, and P. The Boswellia-derived grapheme shows the highest surface area, but lower catalytic performance, which indicates the more effective role of doping in the catalytic activity. The effect of oxygen and light were also studied to accelerate the degradation process.

In this work, the inhibition properties of new bio-based lignine ILs on the corrosion of mild steel in an aqueous solution of 0.01 M NaCl were investigated by Potentiostatic Electrochemical Impedance Spectroscopy (PEIS), Cyclic Potentiodynamic Polarization (CPP). Moreover, the surface was characterized using SEM, EDS, and optical profilometry. The influence of cation and anion on the inhibitor properties and a possible synergistic effect were investigated. The IL choline syringate showed a promising performance, reducing the corrosion current after 24-hour immersion in 0.01 M sodium chloride, from 1.66 µA/cm2 for the control to 0.066 µA/cm2 with 10 mM of the IL present. In addition to the performance as a corrosion inhibitor, both components of this IL also meet or exceed current additional desired properties of such compounds, being readily available, economically efficient, and well tolerated in organisms and the environment.

This study evaluates the production of biohydrogen from agro industrial waste. The worldwide energy demand is increasing exponentially and the reserves of fossil fuels are depleting, the combustion of fossil fuels has the effect on environment because of CO2 emission. Hydrogen generation market size is forecast to cross 180 billion by 2024, according to a new research report by global market. For the production of biohydrogen. we had chosen groundnut shell as our source, using Tween80 as a surfactant we had undergone pre-treatment studies for (10min,20min,30min,40min,50min) we had estimated the content of cellulose, protein, carbohydrates at (1%,2%,3%,4%,5%) and obtained the optimum value in the form of graph. The production of hydrogen is done by using the rumen fluid of the cow and the quantity of the hydrogen produced by this process is identified by using the analytical instrument Gas Chromatography.

The use of biodegradable materials has a growing field of application due to environmental concerns, however, scientific research on incremental forming using biomaterials is scarce. Thus, this study focuses on the single point incremental forming (SPIF) process applied to a composite sheet that combines a biodegradable thermoplastic matrix (Solanyl) reinforced with natural fibres (flax). The influence of the process parameters on the final geometry is determined, evaluating the effect of the following factors: step depth, wall angle and temperature reached during the process. Additionally, a heated aqueous medium is incorporated which facilitates the formability of the composite sheets. This method is especially useful for materials that have poor formability at room temperature. The benefits of using controlled heat include the reduction of formation forces applied to the plate, improved accuracy due to the reduction of elastic recovery, and the manipulation of the samples remarkably close to the glass transition temperatures. Through this experimental study with the variables analysed, a maximum shaping depth of 310 mm is obtained. These results confirm that the single point shaping used with bioplastic materials is possible and has positive outcomes for incremental forming.

Microbe laden air particles, known as bio-aerosols, are routinely generated, in clinical dentistry due to the operative instrumentation within a milieu rich in salivary organisms. As the major mode of transmission of SARS-CoV-2 appears to be airborne aerosols and droplets, there has been an intense focus on such aerosol generating procedures (AGP). As there has been no systematic reviews on the efficacy of bio-aerosol reducing measure in dentistry, the objective of this systematic review was to evaluate the literature on three major AGPs, rubber dam application, pre-procedural oral rinse, and high-volume evacuation (HVE) aimed at reducing dental bio-aerosols. Method: PubMed via Ovid MEDLINE, EBSCO host, Cochrane Library, and Web of Science databases between January 01, 1985, and April 30, 2020, were searched.Results: A total of 156 records in the English language literature were identified, of which 17 clinical studies with 724 patients were included in the final analyses. The eligible reviewed articles revealed the inadequacy of the afore mentioned three principal AGPs used in contemporary dental practice to minimise bio-aerosols. HVE appears to be the most efficacious method, although no single approach provides total elimination of bio-aerosols. Conclusion:This, the first systematic review on methods of controlling bio-aerosols in dental operatory settings, indicates that employing combination strategies of rubber dam, with a pre-procedural antimicrobial oral rinse, and HVE can significantly minimize bio-aerosols. As the quality of the currently available data on dental bio-aerosols are rather poor, further, controlled, multi-centre studies are essential to address this critical issue.

Surface Plasmon Resonance (SPR) is an attracting property of certain transition metals when they are synthesized in nano-range giving rise to promising optical applications. However, most SPR and associated applications are limited to the noble metal nanoparticles, which limits their potential due to high production cost. We report surface plasmon resonance in copper-copper oxide core-shell quantum dots synthesized via chemical route studied by using UV-Visible spectrophotometry. Tuning of the plasmonic resonance with respect to the particle diameter is achieved by an inexpensive all chemical route. Photoluminescence measurements also support the data. This size reduction leads to remarkable changes in its optical response as compared to the bulk metal. The results point towards applications of these materials in tunable SPR based biosensors.

The Needleman-Wunsch process is a classic tool in bioinformatics, being a dynamic programming algorithm that performs a pairwise alignment of two input biological sequences, either protein or nucleic acid. A distance matrix between the tokens used in the sequences is also required as input. The distance matrix is used to generate a positional pairwise similarity matrix between the input sequences, which is in turn used to generate a dynamic programming matrix. The best path through the dynamic programming matrix is navigated using a traceback procedure that maximises similarity, inserting gaps as necessary. Needleman-Wunsch can align both nucleic acids or proteins, which use alphabets of size 4 and 20 tokens respectively. It can also be applied to any other kind of sequence where distance matrices can be specified. Here, we apply it to chains of Pousseur’s Scambi electronic music fragments, of which there are 32, and which Pousseur categorised by their sonic properties, thus permitting the consecutive construction of distance, similarity and dynamic programming matrices. Traceback through the dynamic programming matrix thus produces contrapuntal duet compositions in which two Scambi chains are played in the maximally euphonious manner, providing also an illustration of the principles of biological sequence alignment in sound.

As the EU is moving towards a low carbon economy and seeks to further develop its renewable energy policy, this paper quantitatively investigates the impact of plausible energy market reforms from the perspective of bio-renewables. Employing a state-of-the-art biobased variant of a computable general equilibrium model, this study assesses the perceived medium-term benefits, risks and trade-offs which arise from an advanced biofuels plan, two exploratory scenarios of a more 'sustainable' conventional biofuels plan and a 'no-mandate' scenario. Consistent with more recent studies, none of the scenarios considered present significant challenges to EU food-security or agricultural land usage. An illustrative advanced biofuels plan simulation requires non-trivial public support to implement whilst a degree of competition for biomass with (high-value) advanced biomass material industries is observed. On the other hand, it significantly alleviates land use pressures, whilst lignocellulose biomass prices are not expected to increase to unsustainable levels. Clearly, these observations are subject to assumptions on technological change, sustainable biomass limits, expected trends in fossil fuel prices and EU access to third-country trade. With these same caveats in mind, the switch to increased bioethanol production does not result in significant market tensions in biomass markets.

Driven by environmental sustainability concerns, the integration of biobased components in curtain wall systems is gaining traction in both research and the construction market. This paper explores the development and validation of a bio-based façade system within the Basajaun H2020 project. The project aimed to demonstrate the feasibility of introducing environmentally friendly bio-based components into the mature curtain wall façade industry. The paper focuses on identifying technological solutions for replacing key components such as profiles, insulation, and the tightness system with bio-based and less environmental impact alternatives presenting the results achieved in the façade system design of the Basajaun project funded by European Union. These solutions aimed at creating a bio-composite-based curtain wall façade that adheres to current building envelope standards and normative; to implement diverse façade typologies for vision panels, opaque sections, and integrated windows; to engineer the prefabrication process for industrialization, enabling wider market replication and simplified transport and installation. The results demonstrate that the Basajaun façade successfully integrates selected components and meets the performance requirements set by regulations. However, questions remain regarding the workability of bio-based profiles as a commercially viable, ready-to-market solution that can replace traditional aluminum profiles in the curtain wall façade industry.

The rapid increasing rate of soil and water bodies pollution is the main anthropogenic effect caused by the mismanagement of post-consumer plastics. This research evaluated the effectiveness of cattail (Typha Latifolia) fibers (CFs) as bio-adsorbents of microplastic particles (MPPs) from wastewater. The effect of the adsorption environment composition on the adsorption rate was investigated. Batch tests were conducted to evaluate the “spontaneous” adsorption of MPs onto CFs. Five MPPs materials (PVC, PP, LDPE, HDPE, and Nylon 6) were evaluated. An industrial wastewater (PW) and Type II Distilled Water (DW) were employed as adsorption environments. The batch tests results show that CFs are effective in removing MPPs from DW and PW. However, higher removal percentage of MPPs were obtained in PW, ranging from 89% to 100% for PVC, PP, LDPE, and HDPE; while the adsorption of Nylon 6 increased to 29.9%, a removal increased of 50%. These observations indicate that hydrophobic interactions drive the “spontaneous and instantaneous” adsorption process and that adjusting the adsorption environment effectively enhances the MPPs removal rate. This research demonstrates the important role that bio-substrates can play in reducing the environmental pollution as efficient, sustainable, low cost, and reliable adsorbents for the removal of MPPs from wastewaters.

Indigo leaves form various plant species are sources of dyes/pigments, not fully exploited for making sustainable textiles. Blue indigo vat dye extracted from indigo leaves, yields high wash colorfastness but fades slowly with light, and is not easily used for direct printing. Indigo leaves can be used to produce textiles of various color shades, while light resistant Mayan-inspired hybrid pigments have not yet been used for textile coloring. Using blue indigo dyes from 3 plant species, with exhaustion dyeing, intense wash resistant blue colored textiles are produced, and in the case of Indigofera Persicaria tinctoria, textiles have antibacterial activity against S. Epidermis and E. Coli.100% Natural Mayan-inspired blue indigo pigment, made from Sepiolite clay and indigo dye, was used both in powdered and paste forms to perform pigment textile dyeing by pad cure process, and direct screen printing on textiles. A water-based bio-binder (40%) was used efficiently for both padding and printing. Bio-based Na Alginate thickener allowed color fast printing on both polyester and cotton fabrics, while bio-based glycerin allowed good print color fastness on polyester only, yielding prints with excellent color fastness to wash (5/5), to dry and wet rubbing (5/5) and light (7/7).

Through the refinement of approaches to applying visual augmentation to virtual environments, the possibilities of utilising this process in robotics continues to be explored. However these endeavours have only yielded a collaborative relationship between the two technologies, where the augmented reality (AR) component is separate from the robot functionality. Regarding telepresence robots, research has shown that their perceived usefulness wanes in comparison to that of video conferencing tools as they do not offer a level of immersion and modified visual experience to justify their use. Therefore this paper contributes a novel virtually augmented robot (VAR) model that embeds AR functionality into telepresence, through the use of augmentation and facial recognition sub-models and algorithms. Experimental results show that using pulse width modulation (PWM), duty cycles, digital signals and accelerometer angles provides an approach for stabilising robot motion and the transference of human to robot head movement. The results also show the benefit of having a robot model with intrinsic AR functionality, as it offers a greater level of immersion and visual control of an environment.

In recent times, the soft robotics field is gaining numerous research focus owing to its high level of manipulation capabilities unlike traditional rigid robots, which gives room for an increasing use in other areas. However, compared to traditional rigid gripper robots, being capable of controlling/obtaining overall body stiffness when required is yet to be further explored since soft gripper robots have inherently less rigid properties. unlike previous designs with very complex variable stiffness systems, this paper demonstrates a soft gripper design with minimum system complexity while being capable of varying the stiffness of a continuum soft robotic actuator and proves to have potential applications in gripping objects of various shapes, weights &amp; sizes. The soft gripper actuator comprises two separate mechanisms; the pneumatic mechanism for bending control and the mechanical structure for stiffness variation by pulling tendons using stepper motors which compresses the actuator, thereby changing the overall stiffness. The pneumatic mechanism was first fabricated and then embedded into another silicon layer during which it was as well merged with the mechanical structure for stiffness control. By first pneumatically actuating the actuator which causes bending and then pulling the tendons, we found out that the actuator stiffness value can be increased up to 145 % its initial value, and the gripper can grasp &amp; lift a weight of up to 2.075 kg.

The importance of performance excellence and operator’s safety is fundamental not only when operators perform repetitive and controlled industrial tasks, but also in case of abrupt gestures due to inattention and unexpected circumstances. Since optical systems work at too low frequencies and they are not able to detect gestures as early as possible, combining the use of wearable magneto-inertial measurement units (MIMUs) with the adoption of deep learning techniques can be useful to instruct the machine about human motion. To improve the initial training phase of neural networks for high classification performance, gestures repeatability over time has to be verified. Since test-retest approach has been poorly applied based on MIMUs signals in a context of human-machine interaction, the aim of this work was to evaluate the repeatability of pick-and-place gestures composed of both normal and abrupt movements. Overall, results demonstrated an excellent test-retest repeatability for normal movements and a fair-to-good test-retest repeatability for abrupt movements. Moreover whereas the reduction of time between test and retest sessions increased repeatability indices.. In detail, results of the test suggested how to improve the reinforcement learning for the identification of gestures onset, whereas results of the retest gave important information about the time necessary to retrain the network.

Palpation is a simple but effective method to differentiate tumors from healthy tissues. Development of miniaturized tactile sensors embedded on endoscopic or robotic devices are the key toward precise palpation diagnosis and the subsequent timely treatment. This paper reports on the fabrication and characterization of a novel tactile sensor with mechanical flexibility and optical transparency that can be easily mounted on soft surgical endoscopes and robotics. Utilizing the pneumatic sensing mechanism, the sensor offers a high sensitivity of 1.25 mbar and negligible hysteresis, enabling the detection of phantom tissues with different stiffnesses ranging from 0 to 2.5 MPa. Our configuration combining pneumatic sensing and hydraulic actuating also eliminates electrical wiring from the functional elements located at the robot end-effector, thereby enhancing the system safety. The optical transparency path in the sensors together with its mechanical sensing capability open interesting possibility in early detection of solid tumor as well as in the development of all in-one soft surgical robots that can perform visual/mechanical feedback and optical therapy.

Emerging soft actuators with various soft materials and traveling-wave motion have been frequently discussed. Various configurations and the resulting performances have been proposed, and it is very challenging for soft actuators in realizing large strokes. This study presents an experimentally validated nonlinear finite element model to predict the deformation produced by a spiral pneumatic rubber actuator to generate traveling-wave motion. The actuator consists of a membrane mounted on a rubber substrate with three air chambers in a spiral configuration, simplifying the actuator's structure. The sequential deformations of the successive chambers interact with each other and produce radial traveling-waves on the membrane surface, driving the objects placed on the actuator. Finite element analysis using ANSYS computer software analyzed the elastic movement by considering the influence of different initial structural types. The structure with three different length ratios was introduced using the four parameters: membrane thickness, chamber width, chamber depth, and wall thickness. The simulation results indicated an optimal structure with specific ratios. A reasonable correlation was obtained during experimental validation; the predicted displacement values were approximately 17% smaller than the experimental values. Finally, the transportation performance of the prototype was tested and a velocity of 2.28 mm/s in the desired direction was achieved. We expect that our demonstration will expand the range of applications of the spiral pneumatic rubber actuator to include conveying or worm-like robots.

For a mobile robot, navigation in a densely crowded space can be a challenging and sometimes impossible task, especially with traditional techniques. In this paper, we present a framework to train neural controllers for differential drive mobile robots which must safely navigate a crowded environment while trying to reach a target location. To learn the robot’s policy, we train a convolutional neural network using two reinforcement learning algorithms, Deep Q-Networks (DQN) and Asynchronous Advantage Actor Critic (A3C), and develop a training pipeline that allows to scale the process to several compute nodes. We show that the asynchronous training procedure in A3C can be leveraged to quickly train neural controllers and test them on a real robot in a crowded environment.

Trajectory Optimization (TO) is the sequence of processes that are considered in order to produce the best path that mends the overall performance or reduces the consumption of the resources where the restriction system remains maintained. In this survey, an inclusive review of the latest advancements in modeling and optimization of trajectory generation in robotic applications will be discussed broadly. In recent times, numerous studies have employed optimal control techniques involving direct and indirect methods in order to convert the authentic Trajectory Optimization problem into a constrained parameter optimization problem. Moreover, a huge variety of optimization algorithms such as Genetic Algorithms (GA), Simulated Annealing (SA), Sequential Quadratic Programming (SQP), and Particle Swarm Optimization (PSO) are used aiming to find the optimal solutions for trajectory planning. It is observable that, minimizing the jerk, energy consumption, and execution time among the most widely used design objectives, on the other hand, the robot’s joints configurations and the motor torques are the most used design variables. This paper aims to review the fundamental techniques and their coincident robotic applications in the field of trajectory optimization aiming to afford some steering for related researchers.

In the rescue operations the full time of action plays important role. It is a sum of planning, travel, and manipulation (in the action place) phases times. The time minimization of first two phases by autonomous vehicle for remote action is considered in the paper. For known a priori map the path planning consists of local optimal decision collected next in the general algorithm of the optimal path. Such approach significantly reduces time of path planning. The robot features and known sparse obstacles reduce the allowable robot speeds. The time of travel is calculated from allowable velocity profile. So, it can be used to estimate the travel performance. Genetic algorithm and random search-based methods for path finding with travel time optimization are exploited and compared in the paper. All the proposed time optimisation solutions of rescue operation are checked during computer simulations and results of simulation are presented.

In this study, a field experiment was conducted to evaluate the growth and yield responses of Sri Lankan lowland rice (Oryza sativa L.) with the application of beneficial Arbuscular mycorrhizal fungi (AMF) inoculum, and inter-cropping with highly mycorrhizal dependent vetiver grass (Chrysopogon zizanioides L.) under two different soil nutrient management systems (NMSs): conventional/chemical (CNMS) and organic (ONMS). The experiment was designed as a split plot with three blocks. Each CNMS and ONMS experiment included untreated control (T0), and three treatments—AMF inoculation (T1), vetiver intercropping (T2), and the combination of AMF and vetiver (T3). According to the results, colonization of rice roots with AMF was not affected significantly by the treatments and ranged from 0‒15.8%. The effect was very low or absent in the early stage and then higher in the later stages of the rice plant. Furthermore, plant growth was not significantly different between the two NMSs, although grain yield was significantly higher (P &lt; 0.05), with the order T1 (0.45 kg/m2) &gt;T2 (0.42 kg/m2) &gt;T3 (0.41 kg/m2) in CNMS and T2 (0.44 kg/m2) &gt;T1 (0.41 kg/m2) &gt;T3 (0.40 kg/m2), in ONMS than for the respective controls (T0), thus suggesting beneficial utilization of AMF and vetiver in the lowland rice farming system.

Antimicrobial peptides (AMPs) have emerged as a promising class of bioactive molecules with the potential to combat infections associated with medical implants and biomaterials. This review article aims to provide a comprehensive analysis of the role of antimicrobial peptides in medical implants and biomaterials, along with their diverse clinical applications. The incorporation of AMPs into various medical implants and biomaterials has shown immense potential in mitigating biofilm formation and preventing implant-related infections. We review the latest advancements in biomedical sciences and discuss the AMPs that were immobilized successfully to enhance their efficacy and stability within the implant environment. We also highlight successful examples of AMP coatings for the treatment of surgical site infections (SSIs), Contact lenses, Dental Applications, AMP-Incorporated Bone Grafts, Urinary tract infections (UTIs), Medical Implants, etc. Additionally, we discuss the potential challenges and prospects of AMPs in medical implants, such as effectiveness, instability and implant-related complications. We also discuss strategies that can be employed to overcome the limitations of AMP-coated biomaterials for prolonged longevity in clinical settings.

The utilization of lignocellulosic biomass as an alternative energy source presents a promising opportunity to achieve a future energy system that is clean and free from CO2 emissions. To realize this potential, it is crucial to develop effective techniques for converting biomass and organic solid waste into secondary energy sources. Among the available options, hydrogen production stands out due to its numerous advantages, including its cleanliness, versatility in conversion and utilization technologies, high energy efficiency, and dense energy content per unit weight. This article offers a comprehensive overview of different conversion pathways and important technologies for generating hydrogen from biomass and organic solid waste. It specifically focuses on the thermochemical conversion process, which shows promise as an economically viable approach. While certain thermochemical conversion processes are still in the developmental phase, utilizing organic biomass for hydrogen production is widely recommended due to its ability to yield higher amounts of end products and its compatibility with existing facilities. However, it should be noted that this method necessitates a substantial amount of energy due to its endothermic nature. The article also explores alternative hydrogen conversion technologies and their potential for utilizing organic biomass as a feedstock, while addressing the challenges and limitations associated with these methods.

: Microbial fuel cell (MFCs) devices utilise the metabolic processes of bacteria to generate electricity from various organic substrates. Due to the enormous amount of energy that organic waste produces, scientists are highly interested in advanced MFCs. MFCs serve as a multidisciplinary research platform at the engineering and natural sciences intersection. MFCs have various uses besides being used as energy sources, such as sensing capabilities. Despite showing considerable promise, only a few marine sediment MFCs have been deployed in real-world applications to supply current for low-power devices. It is now required to maintain track of the work being done by research groups worldwide and regularly compile significant discoveries due to the rising quantity of research publications. Review papers are a traditional beginning point for a literature review for new scholars. This review is a fast reckoner that directs readers to pertinent reviews and research publications detailing significant advances in microbial fuel cell research during the previous two decades. An overview of key advances in MFC research over the past two decades is provided as a quick reference in this review article. In addition, the report identifies research gaps that, if filled, could bring this technology closer to real-world use.

Natural astaxanthin is a precious substance obtained from some organisms such as microalgae. This plant has many benefits for humans, so research into its cost-effective and economical production has recently increased. For this purpose, some methods such as the use of different culture media, gene engineering, different stresses, nanoparticles, bio acids, and phytohormones are important. Accordingly, this review study was conducted to demonstrate the effect of the factors mentioned above for the high production of astaxanthin in microalgae, especially Haematococcus pluvialis (H.p).

Briquetting of biomass is an ideal technique for improvising both its volumetric and net energy density; besides, serving as an effective means for reducing pollution. In general, numerous biomass and organic by-products are discarded as wastes, citing their non-edibility, composition of chemical compounds present in their raw form, in addition to their zero usage value. Yet, these biomass wastes hold significant heating values, which promote them into promising solid biofuels, either in their existing or pre-treated form. Accordingly, this review article discusses about the various biomasses used as raw feedstock for briquetting, besides summarising the works carried out in relevance to their respective briquettes. In addition, proximate and lignocellulosic composition of these biomasses, and their pre-treatment techniques followed to prepare them for briquetting, have also been discussed. This study suggested that the heating value of biomasses ranged between 10-20 MJ/kg, whilst, their briquettes reported between 15 and 25 MJ/kg; thereby citing their potential as viable replacement for existing fossil coals. Besides, factors affecting different thermal and physicochemical properties of these briquettes have also been studied and concluded that these properties play a crucial role in deciding the overall quality of the briquettes. Ultimately, this study proposed that any biomass with good calorific value and lignin content can be processed into briquettes with good strength and durability; however, the choice of biomass will also be accounted for by its availability, geographical distribution, and handleability.

The natural forests of Northern Thailand are the mother source of many utilisable natural products because of their diverse flora and fauna. Among many plant species found within Northern Thai forests, detergent plants are known for its distinctive cleansing properties. Several local species of detergent plants in Thailand are traditionally used by the locals and indigenous people. However, these plants may become extinct because their habitats have been replaced by industrial agriculture, and their uses have been replaced by chemically synthesised detergents. Researchers need to study and communicate the biology, phytochemistry, and the importance of these plants to conserve natural biodiversity of Northern Thailand. Of many utilisable detergent phytochemicals, natural saponins are known as bio-surfactant and foaming agents. Their physiochemical and biological properties feature structural diversity, which leads to many industrial applications. In this review, we explained the term “detergent” from the physiological mechanism perspective and the detergent effects of saponin. We also compiled a list of Thai local plants with cleansing properties focusing on the saponin-containing plants. Future studies should investigate information relative to plant environment, ethnobotanical data and bioactive compound content of these plants. The knowledge acquired from this study will promote the maintenance of the local biodiversity and the conservation of the detergent plant species found in Thailand.

Water and sanitation facilities in sub-Saharan Africa and Africa in general are appalling and for the most part absent. Progress continues with respect to the development of plant materials as potent adsorbents, disinfectants, coagulants, flocculants, wetland species and lots more as substitutes for the dangerous chemical disinfectants. This research presents the potential of phyto-active components of Zanthoxylum zanthoxyloides and Gongronema latifolium as effective biocides against water microbial contaminants. Dry powder of Zanthoxylum zanthoxyloides and Gongronema latifolium were extracted and prepared into different concentrations with ethyl acetate and chloroform, ranging from 25 to 500 mg/ml. These fractions were then examined for antimicrobial activities against inherent bacterial and fungal water contaminants using disc diffusion assay. Fractions were afterwards screened for phytochemical active compounds using standard methods. Crude extracts of the different plant examined selectively comprise saponins, tannins, reducing sugars, anthraquinones, flavonoids, terpenoids, phlobatanins and alkaloids. All plant extracts showed broad spectrum antibiosis against selected gram positive and gram negative bacteria including E. coli, P. aeruginosa, Klebsiella sp, S. pneumoniae and B. cereus, as well as tested fungi, including A. niger, A. flavus, Trichoderma sp and Candida sp. While all extracts exhibited maximum antibiosis at 500 mg/ml, the chloroform extracts compared well than ethyl acetate extracts. The overall results revealed that antimicrobial activities of the plant extracts are dose dependent with comparative activity greater than that of commercial antibiotics at the concentration of extracts tested. E.coli was the most susceptible microbial isolate tested and represents the potential of the extract against a group of coliform which are important indicators of microbial pollution in water. Other microbial isolates also recorded sensitivity to extracts tested at varying degrees. The findings indicate that microbes tested were mostly susceptible to chloroform extract of Z. zanthoxyloides and G. latifolium except for the activity of ethyl acetate extract of Z. zanthoxyloide against E.coli. Results of phytochemical screening of the extract also showed the varied presence of alkaloids, saponins, tannins, flavonoids, terpenoids and anthraquinones The results indicated that plant materials investigated can be developed as effective biocides against water microbial contaminants

Collaborative robotics is a major topic in current robotics research posing new challenges, especially in Human-Robot Interaction. The crucial aspect in this area of research focuses on understanding the behavior of robots when engaging with humans, where reinforcement learning is a key discipline that allows us to explore sophisticated emerging reactions. This review aims to delve into the relevance of different sensors and techniques, with special attention to EEG (electroencephalography data on brain activity) and its influence on the behavior of robots interacting with humans. In addition, mechanisms available to mitigate potential risks during the experimentation process such as virtual reality will also be addressed. In the final part of the paper, future lines of research combining the areas of collaborative robotics, reinforcement learning, virtual reality and human factors will be explored, as this last aspect is vital to ensure safe and effective Human-Robot Interactions.

Considering the actual world economical trends, one of the most important questions is now and in the future: how to reduce power consumption of electronic systems. Since the invention of computers, the electrical energy consumption step by step increased. Now when not only computers, but electric vehicles, robots, automation, and unmanned aerial vehicles play a very important role of our life, the main problem of system designers is how to reduce energy consumption in these systems. But also the existing already working systems must be revised in order to decrease their electric power consumption. The importance of this subject (energy control) shows that a huge number of research publications and survey papers deal with it. Just focusing on the last one or two years (2021 and 2022) the search hit 221000 titles (103000 hits only in 2022). Analyzing all the research areas is almost impossible, but focusing on some important research subjects, where one of the main topic is “energy saving methods” can give an overview about the subject. The paper focuses on the area of industrial robotic systems, electric vehicles, and embedded systems.

Robot-assisted gait training (RAGT) is a promising treatment for stroke rehabilitation. Although the coordination between the upper and lower limbs is important for locomotor training, commercially available robotics for gait training mainly focus on the restoration of lower limb function. We aimed to evaluate the feasibility and usability of complex upper and lower limb RAGT in stroke patients using the GTR-A®, end effector-type robotic device. Patients with subacute stroke (N=9) received 30-minute RAGT thrice a week for two weeks (six sessions). Functionally, the hand grip strength (HGS), Functional Ambulatory Categories, modified Barthel Index, muscle strength test sum score, Berg Balance Scale, Timed Up and Go test, and Short Physical Performance Battery were used. The heart rate and a structured questionnaire were used to evaluate cardiorespiratory fitness and the usability of RAGT. Among the nine patients, all functional parameters between the baseline and post-training were significantly improved after RAGT, except for HGS and the muscle strength test. The questionnaire’s mean scores for each domain were as follows: safety 4.40±0.35, effects 4.23±0.31, efficiency 4.22±0.77, and satisfaction 4.41±0.25. The GTR-A® is a feasible and safe robotic device for patients with gait impairment after stroke. It showed functional improvement with endurance training effects.

Emerging technologies have a potential future impact on the developments in higher education and teaching practices at the universities. The paper is based on the project “My future colleague robot” that aims to improve the competence of university teachers in the implementation of Emerging Technologies (ETs) in the teaching practices at the university. In this paper, we identified the strengths and weaknesses, opportunities and threats that are related to the adoption of two ETs, robotics and Artificial Intelligence (AI), in higher education. Additionally, we analyzed the perceptions of faculty about these ETs. The empirical data was collected using written essays from 18 university teachers and students. Deductive and inductive approaches with thematic analysis were used for the data analysis. The findings support the idea that previous experience related to ETs can support positive attitudes and the implementations of ET in university teaching. University teachers had optimistic expectations towards ETs accepting them as part of teaching practice development, while discussion about the negative effects of ETs was negligible.

The sTetro is a stair cleaning robot which can climb the staircase with its shapeshifting capabilities. As this robot is intended to traverse multi-floor environment autonomously, hence its localization/positioning information is an essential component of the overall system. Usually, the indoor mobile robots rely on some external system for localization information, e.g., WiFi, UWB, vision, RFID signals, or indoor Global Positioning System (GPS). This requires the installation of additional hardware and/or modification of the working environment for precise positioning information of the mobile platform. As the dimensions of the staircase are known a priori, this knowledge can be used to localize the sTetro robot on the stairs. In this article, the geometry of the staircase has been exploited to localize the robot in 3D space with measurements from the onboard time-of-flight (ToF) range sensors only. The heading angle of the robot is also estimated with two ToF sensors installed in front of the sTetro robot. Results achieved by conducting experiments on real robot prove the efficacy of the proposed approach.

Structural DNA nanotechnology provides an excellent foundation for diverse nanoscale shapes that can be used in various bioapplications and materials research. From all existing DNA assembly techniques, DNA origami has proven to be the most robust one for creating custom nanoshapes. Since its invention in 2006, building from the bottom up using DNA has drastically advanced, and therefore, more and more complex DNA-based systems have become accessible. So far, vast majority of the demonstrated DNA origami frameworks are static by nature, but interestingly, there also exist dynamic DNA origami devices that are increasingly coming into view. In this review, we discuss DNA origami nanostructures that perform controlled translational or rotational movement triggered by predefined DNA strands, various molecular interactions and/or other external stimuli such as light, pH, temperature and electromagnetic fields. The rapid evolution of such dynamic DNA origami tools will undoubtedly have a significant impact on molecular scale precision measurements, targeted drug delivery and diagnostics, but they can also play a role in development of optical/plasmonic sensors, nanophotonic devices and nanorobotics for numerous different tasks.

This paper presents a state machine based architecture which enhances flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating presented approach versus traditional robot programming techniques.

The use of haptic devices in rehabilitation of impaired limbs has become rather popular, given the proven effectiveness in promoting recovery. In a standard framework, such devices are used in rehabilitation centers, where patients interact with virtual tasks, presented on a screen. To track their sessions, kinematic/dynamic parameters or performance scores are recorded. However, as Internet access is now available at almost every home, and in order to reduce the hospitalization time of the patient, the idea of doing rehabilitation at home is gaining wide consent. Medical care programs can be synchronized with the home rehabilitation device; patient data can be sent to the central server that could redirect to the therapist laptop (tele-healthcare). The controversial issue is that the recorded data do not actually represent the clinical conditions of the patients according to the medical assessment scales, forcing them to frequently undergo clinical tests at the hospital. To respond to this demand, we propose the use of a bilateral master/slave haptic system that could allow the clinician, who interacts with the master, to assess remotely and in real time the clinical conditions of the patient that uses the home rehabilitation device as the slave. In this paper, we describe a proof of concept to highlight the main issues of such an application, limited to one degree of freedom, and to the measure of the stiffness and range of motion of the hand.

Molluscs are significant species in aquatic ecology. Molluscs are crucial for maintaining ecological balance as secondary consumers and serving as bioindicator species in biomonitoring systems. Molluscs are threatened by pesticides such as commonly used pyrethroid insecticides. Pyrethroids are typical insecticides used to control insects in agriculture and gardening. Pyrethroids are increasingly being utilized in both agricultural and human activities. Pyrethroids enter aquatic bodies through rainfall and drainage systems. The use of pyrethroids is becoming a significant concern for aquatic creatures, particularly molluscs. The discussion will focus on the increasing issue of pyrethroids becoming a nightmare for molluscs. Pyrethroids, due to their lipophilic nature, pose a significant risk to molluscs by affecting their metabolites, producing reactive oxygen species, and influencing neurotransmitter actions. Molluscs are crucial organisms in aquatic ecosystems, and their threats warrant significant discussion and attention. This review will delve into the behaviour of pyrethroids on molluscs.

The biofibres wide application as mortars enhancement have been so far restricted by factors related to their chemical composition and hygroscopic nature. Their hydrophilic behavior increases the water demand of mortar-mixtures and diminishes their adhesion to the matrix, while further moisture-related fibre degradation issues may arise. Additionally, the natural fibres seem to be susceptible to degradation caused during the exposure to alkaline environments conditions, such as those of cement mortars, restricting their utilization in construction industry. Therefore, the current study focusses on the potential of fibre modification through treatments that would permanently alter their structure and chemical composition in the whole mass or surface towards their performance improvement. In this study, mild hydrothermally treated wood fibres of black pine and beech species were prepared and incorporated in cement mortars to assess their performance, applying the proportion of 1.5% v/v in the mortar. The mortars workability (at fresh state), physical, hygroscopic, chemical, thermal, and mechanical characteristics at the age of 28, 90 and 365 days and weathering performance by subjecting them at different artificial ageing environments (freeze-thaw cycles or outdoor exposure) were examined. The results indicated the beneficial role of the treated fibres in the dimensional stability, flexural strength, thermal insulation properties and capillary absorption of the mortar specimens, especially during ageing process, with the black pine fibres to reveal the highest improvement. The hydrothermally treated wood fibres seem to ensure the integrity maintenance of cement mortars under all ageing conditions, proving that the specific bio-additives could provide low-cost and eco-friendly mortar enhancement pathways.

The results of the investigation showed that second-order kinetics govern the adsorption process, and the corresponding rate constants were found. To evaluate the parameters related to the adsorption process, the adsorption equilibrium was examined using a variety of mathematical models, such as the Langmuir, Freundlich, Temkin, and Dubinin-Radushkevich isotherm models. The Langmuir isotherm was found to be the best appropriate among all models for describing the adsorption of Cu2+ and Ni2+ ions using bio-nanocomposite beads. The positive values of ΔH° indicate that the adsorption is physical and endothermic, in agreement with experimental results. The negative value of ∆G° shows that the adsorption process is spontaneous. Positive ΔS° values indicate increased randomness at the solid/liquid interface, during adsorption of Cu2+ and Ni2+ cations onto the engineered bio-nanocomposite. The maximum adsorbed amounts of metal ions by the bio-nanocomposite used were 370.37 mg/g for Ni2+ and 454.54 mg/g for Cu2+ from single system. For the binary system, according to the Langmuir isotherm, the maximum adsorbed amounts of Ni2+ and Cu2+ were 357.14 mg/g and 370,37 mg/g, respectively. There is proof that Alginate-Moroccan clay bio-nanocomposites can serve as a different, less expensive source of sorbents for the removal of metal ions from single and binary systems.

Tomato quality is intricately regulated by a combination of factors, including the presence of bioactive compounds referred to as secondary metabolites and various organoleptic characteristics. These attributes are notably influenced and harmonized by the specific growing conditions, with a particular emphasis on the type of fertilization employed. Traditionally, chemical fertilizers have been favoured in crop cultivation due to their cost-effectiveness and ability to accelerate crop growth. However, in pursuit of sustainable and intelligent agricultural practices, there is a growing need for alternative fertilizers. In this context, the present study aimed to assess the impact of fertilizers derived from waste materials, specifically sulphur bentonite and orange residue (referred to as SB), on tomato quality. This assessment extended to examining qualitative and quantitative alterations in aroma-related volatile compounds and the antioxidant systems of tomatoes, in comparison to the conventional use of fertilizers such as horse manure and NPK (nitrogen, phosphorus, and potassium). The results obtained revealed distinct effects of different fertilizers on tomato quality. Notably, parameters such as TPRO (total protein), TCARB (total carbohydrate), LIC (lycopene content), TCAR (total carotenoid content), total phenols, total flavonoids, and aroma profiling exhibited significantly superior values in the group treated with SB fertilizer. These findings strongly suggest that the novel fertilizer functioned as a bio-stimulant, enhancing the nutraceutical and sensory attributes of tomatoes, with a pronounced impact on the synthesis of secondary metabolites and the aroma profile of the fruits.

This paper investigates the dynamic properties of artificial neural networks using differential equations and explores the influence of parameters on stability and neural oscillations. By analyzing the equilibrium point of the differential equations, we identify conditions for asymptotic stability and criteria for oscillation in artificial neural networks. Furthermore, we demonstrate how adjusting synaptic weights between neurons can effectively control stability and oscillation. The proposed model offers potential insights into the malfunctioning mechanisms of biological neural networks implicated in neurological disorders like Parkinson's disease tremors and epilepsy seizures, which are characterized by abnormal oscillations.

Considering the current energy environment, both efficient and environmentally friendly solutions have to be developed for building construction. Bio-based building materials offer new perspectives through their insulating and natural humidity regulation capacities. Nevertheless, these materials are as complex as they are promising and grey areas still remain regarding their behavior. Their water sorption and desorption curves recorded in experimental work demonstrate a hysteresis phenomenon and, although plausible hypotheses have been formulated in the literature, there is currently no consensus on its causes. Furthermore, it is important to emphasize that no reference considers the hydrophilic nature of the resource. Yet this is a specificity of raw material coming from the plant world. In this context, this paper explores the microstructure and chemical composition of plant aggregates to propose a new explanation for the hysteresis. It is based on recent work demonstrating the existence of differentiated hydrogen bonds between the water sorption and desorption phase in cellulose. Obviously, hysteresis also has an origin at the molecular scale. Lastly, the hypothesis put forward here is supported by the swelling of bio-based materials that has been observed at high relative humidity and this study aims to identify a link between the mechanical (swelling/shrinking) of bio-based materials and their hygroscopic behavior. This leads to a better understanding of the hydro-mechanical coupling of these materials.

In terms of obtaining fuels as well as chemicals with or without catalysts at different conditions, the plum seed stands out as an alternative biomass source. Under varying heating rates (10, 50, and 100ºC min-1) and pyrolysis temperatures (400, 450, 500, 550 and 600 °C), the plum seed was pyrolysed at constant sweep gas flow at a constant rate (100 cm3min-1) in a tubular fixed bed reactor. According to the results, an oil yield reaching to a maximum of %45 was procured at the heating rate of 100 ºCmin-1 and the pyrolysis temperature of 550ºC in non-catalytic procedure. The catalytic pyrolysis was carried out in optimum conditions with two selected commercial catalysts, namely ZSM-5 and PURMOL-CTX and clinoptilolite (natural zeolite, NZ) with catalyst ratio of 10 % of raw material. Along with the catalyst addition, the quantity and the quality of bio-oil increased including the calorific value, removal of oxygenated groups, and hydrocarbon distribution. An increase related to the desirable products like phenols, alkene, and alkane and a decrease in undesirable products like acids were observed in the presence of catalysts. When all the results are considered and evaluated, using zeolite materials in the pyrolysis as catalysts is a recommendable option to achieve enhanced chemicals and fuels.

This work aimed to study the thermal and crystalline properties of poly (1,4-phenylene sulfide)@carbon char nanocomposites. Coagulation-processed nanocomposites of polyphenylene sulfide were prepared using synthesized mesoporous nanocarbon of coconut shell as reinforcement. The mesoporous reinforcement was synthesized using a facile carbonization method. The investigation of the properties of nanocarbon was done by SAP, XRD, and FESEM analysis. The research was further propagated via the synthesis of nanocomposite by the addition of characterized nanofiller into poly (1,4-phenylene sulfide) at five different combinations. The coagulation method was utilized for the nanocomposite formation. The obtained nanocomposite was analyzed using FTIR, TGA, DSC, and FESEM analysis. The BET surface area and average pore volume of bio-carbon prepared from coconut shell residue were calculated to be 1517 m2/g and 2.51 nm respectively. The addition of nanocarbon to poly (1,4-phenylene sulfide) has led to an increase in thermal stability and crystallinity up to 6% loading of filler. The minimum achievable glass transition temperature is for 6 % doping of filler into the polymer matrix. It was established that the thermal, morphological, and crystalline properties have been tailored by synthesizing their nanocomposites with mesoporous bio-nanocarbon obtained from coconut shells. So, the loading of filler into poly (1,4-phenylene sulfide) can be optimized to enhance its thermoplastic properties for surface applications.

Recent advances in microscopy imaging and image analysis motivate more and more institutes world-wide to establish dedicated core-facilities for bio-image analysis. To maximize the benefits research groups at these institutes gain from their core-facilities, they should be established to fit well into their respective environment. In this article, we introduce common collaborator requests and corresponding potential services core-facilities can offer. We also discuss potential conflicts of interests between the targeted missions and implementations of services to guide decision makers and core-facility founders to circumvent common pitfalls.

Molecular communication (MC) is a promising bio-inspired paradigm for exchanging molecule information among nanomachines. This paper proposes a synchronisation-assist photolysis MC system that aims to transmit the bio-sensing signal of the tumour microenvironment, facilitated by mitigating redundant molecules for improved bit error rate (BER) performance. Benefits from bio-compatible MC, biosensors could transmit bio-sensing signals of the tumour in $vivo$ instead of converting them to electrical signals. Due to diffusion motion's slow and stochastic nature, inter-symbol interference (ISI), resulting from previous symbols' residual information molecules, inevitably occurs in diffusion-based MC. ISI is one of the challenges in diffusion-based MC, which significantly impacts signal detection. Inspired by on-off keying (OOK) modulation, the proposed modulation implements a switch of molecules and light alternatively. The light emitted is triggered by a synchronisation signal, and the photolysis reactions could reduce the redundant molecules. An expression for the relevant channel impulse response (CIR) is derived from a hybrid channel model of diffusion and photolysis-reaction. This paper implements the maximum posterior estimation scheme to find the optimal decision threshold and analysis the BER performance in terms of different time intervals of the system. Numerical simulations demonstrate that the proposed method can improve the channel capacity and BER performance. We believe that our work may pave the way for MC application in bio-sensing.

The green biomass of horticultural plants contains valuable secondary metabolites (SM) which can potentially be extracted and sold. When exposed to stress, plants accumulate higher amounts of these SMs, making the extraction and commercialization even more attractive. We evaluated the potential for accumulating of the flavones cynaroside and graveobioside A in leaves of two bell pepper cultivars (Mavras and Stayer) when exposed to salt stress (100 mM NaCl), UVA/B excitation (UVA 4-5 W/m²; UVB 10-14 W/m² for 3 hours per day) or a combination of both stressors. HPLC analyses proved the enhanced accumulation of both metabolites under stress conditions. Cynaroside accumulation is effectively triggered by high-UV stress, whereas graveobioside A contents increase under salt stress. Highest contents were observed in plants exposed to combined stress. Effects of stress on overall plant performance differed significantly between treatments, with least negative impact on aboveground biomass found for high-UV stressed plants. The usage of two non-destructive instruments (Dualex and Multiplex) allowed us to gain insights in ontogenetical effects at the leaf level and temporal development of SM contents over time. Indices provided by those devices correlate fairly with amounts detected via HPLC (Cynaroside: R2 = 0.46 – 0.66; Graveobioside A: R2 = 0.51 – 0.71). The concentrations of both metabolites tend to decrease at leaf level during the ontogenetical development even under stress conditions. High-UV stress is a promising tool for enriching plant leaves with valuable SM without major effects on plant biomass. All data is available online [1].

Bio-economy is a major area of the strategy that can afford the European Union to achieve growth: (i) smart, through the development of knowledge and innovation; and (ii) sustainable, based on a greener, more efficient economy in resource management. We believe that the progress of bio-economy cannot be achieved without the harnessing of intellectual capital. Our research aimed to emphasize the benefits of the dynamics of the intellectual capital growth on the evolution of the bio-economy. Thus, the information published by Eurostat (European Statistic Institute) during a period spanning seven years (2011-2018) was used to assess the influence exerted by the conduct of the harness of intellectual capital related to sustainability as well as for the reporting of indicators relevant to appreciating an economic progress and sustainability (renewable waste material, share of renewable energy and energy intensity of the economy). The ultimate goal was represented by the generation of a regression model to see what factor influences mostly the progress of the bio-economy at European and Romanian level. Significant dependency relationships were identified. The results remain robust even after the introduction of certain control variables, such as gross domestic product rate, food production, population growth, urbanization growth and inflation. Our paper sets out to contribute to expanding the specialty literature by highlighting the involvement of intellectual capital as a factor in optimizing sustainability growth and, at a methodological level, by using a multiple regression.

Bio-economy is a major area of the strategy that must enable the European Union to achieve growth: smart, through the development of knowledge and innovation; and sustainable, based on a greener, more efficient economy in resource management. We believe that the progress of bio-economy cannot be achieved without the harnessing of intellectual capital. Our research aimed to emphasize the benefits of the dynamics of the intellectual capital growth on the evolution of the bio-economy. The aim of this analysis was to study the established link between the Energy Intensity of the Economy (EIE) and a number of factors that can measure the intellectual capital, such as: Market Capitalization of Bitcoin, Patent applications listed by European Patent Office and the Turnover from Innovation as a proportion of the total Turnover. The ultimate goal was represented by the generation of a regression model to see what factor influences mostly the progress of the bio-economy at European and Romanian level.

Bio-separation of natural molecules as well as clinical compounds has been constantly developed in last decades. Several techniques are available but the majority of them presents drawbacks such us impossibility to be applied for industrial purposes. The main limitations for the scaling up are high costs and the fact that the devices work with microfluid dynamics. Nevertheless, magnetic bio-separation is considered the most prone to be used for large scale applications. Herein, we propose a simple magnetic separation method that is not based on microfluid dynamics, can work in a continuous- and high-flow rate and can be easily automated in order to be used for standard separation purposes. It is based on the use of an anisotropic flexible ferric magnetic strip, Teflon hoses and a pumping device. We show the modelling of the separation process along with an experimental test on iron oxide magnetic particles. The results showed that it is possible to remove, and separately collect, more than 92% of magnetic particles from a liquid solution of 100 ml in roughly 15 minutes.

The characteristics of biogenic aerosols in urban area were explored by determining the composition, temporal distribution of saccharides in PM_2.5 in Shanghai. The total saccharides showed a wide range of 15.2 ng/m³ to 1752.8 ng/m³, with the averaged concentrations were 169.8 ng/m³，300.5 ng/m³，288.4 ng/m³，688 ng/m³ in spring, summer, autumn, and winter, respectively. The concerned saccharides include anhydrosaccharides (levoglucosan and mannosan), which were higher in cold seasons due to the increased biomass burning, saccharide alcohols (mannitol, arabitol, sorbitol) and monosaccharides (fructose, glucose), which showed more abundant in warm seasons attributed to the biological emissions. By PMF analysis, four emission sources of saccharides were demonstrated, including biomass burning, fungal spores, soil suspension and plant pollens. Resolution of backward trajectory and fire points showed a process of high concentrations of levoglucosan. We found that concentrations of anhydrosaccharides showed relatively stable under different pollution levels while saccharide alcohols exhibited an obvious decrease, indicated that biomass burning was not the core reason of the heavy haze pollution, however, and high level PM_2.5 pollution might inhibit effects of biological activities.

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.

Modularity in the construction of industrial robots is becoming increasingly popular, as the modules can be assembled in different ways so as to obtain various architectures of industrial robots determined by the requirements of specific applications. Such a robot with modular structure is considered in this paper. The tracked mobile robot, with translation – rotation – translation – translation – rotation (TRTTR) modular serial structure, is the subject of national invention patent number RO132301 B1/2021, granted by the State Office for Inventions and Trademarks of Bucharest, to “Nicolae Bălcescu” Land Forces Academy of Sibiu, Romania [1]. The tracked mobile robot has been designed to perform the task of humanitarian demining operations and the mechanical structure, respectively the kinematic analysis were described in detail in papers [1,2]. A first general objective of this paper is to highlight a dynamic-organological method to achieve an architectural structure of mobile robot on tracks, able to replace the human element in areas with high risk for health and life, for detection and demining anti-personnel and anti-armor minefields in countries where military conflicts have taken place. For this scope it was performed the dynamic modeling using the Lagrange’s formalism and to achieve the constructive optimization of the TRTTR mechanical structure, in order to obtain a minimum energy consumption through an optimal arrangement of the modules in its structure. A second objective is to improve the action flexibility of the technological product in humanitarian detection and demining operations, as well as for educational purposes, by training highly educated and specialized human resources in the field of advanced military technologies. The differential equations of motion of the robot has obtained and respectively the mechanical design equations, which lead to the optimal choice of the drive motors of the modules in the robot structure. Also, it is presented the mathematical model for obtaining the driving motor of base translation modulus (MTB SIL) of the modular serial tracked robot and the constructive solution of the MTB SIL module.