Model reference adaptive impedance control in Cartesian coordinates for physical human–robot interaction

In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human–robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robot’s end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations; however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations and experiments on a two DOFs robot, the effectiveness of the proposed controller is investigated.     

Resistance of concrete protected by fabric to projectile impact

This paper reports on impact behavior of concrete panels protected by Polypropylene and Zylon fabric, respectively. Concrete panels were cast with different thickness and subjected to impact by a steel projectile. The initial and residual velocities were measured experimentally and the energy absorbed by the different concrete panels with and without fabric was calculated. All concrete panels were able to absorb almost all the kinetic energy of the projectiles. For concrete panels protected by fabric scabbing of concrete from the back face was considerably reduced and the debris contained by the fabric. Upper and lower bounds are proposed for energy absorbed per unit thickness and penetration results are compared with the available empirical formulas. It is shown that current penetration equations do not accurately predict impact parameters for concrete protected by fabric.     

Flow resistance in a compound gravel-bed bend

In this paper, the effect of a gravel-bed in a compound bend (similar to sinusoidal top view) of a natural river (Zayandehrud River flowing through Isfahan, Iran) has been investigated for flow resistance analysis, measuring the velocity with a micro current meter. The data were analysed and the following observations were made. In a compound bend, the law of the wall can be valid for up to 66% of the flow depth from the bed. The parabolic law is the most effective method for the determination of shear velocity. Based on the existing criteria for verifying the equilibrium boundary layer, the flow cannot be in equilibrium. The shear stress distribution and the sediment transport parameters have considerable influence on resistance to flow. Froude number and the flow depth relative to the representative gravel size have little effect on the flow resistance estimation.     

Investigation of decision making process: a hypermedia approach

Research in decision making has concentrated mainly on the decision outcome (choice) rather than on the process of the decision making. This pattern is primarily due to the lack of an acceptable unobtrusive tool for investigation of the decision process. Further, the lack of a consistent decision aid in empirical works has hindered the comparison of results. The purpose of this paper is to present a flexible and adaptable computer-based system for empirical examination of information processing. The main thrust of the proposed system is to provide guidelines to the restrictive/channeling approach to system design. This system can be easily modified to suit different experimental research requirements. It should support more realistic decision tasks, which often are criticized in decision experiments. Furthermore, availability of this system should encourage more research work on the process of decision making. The nature of this support system is linked to the literature, and specifications and components of the system are provided.     

Multiscale analysis of viscoelastic laminated composite plates using generalized differential quadrature

In this paper, a laminated composite plate is analyzed using a multiscale method. At first, material properties of a lamina are obtained using an analytical micromechanical approach called simplified unit cell method (SUCM), and then in structural level, the generalized differential quadrature method (GDQM) is used to analyze a laminated composite plate. By means of the Boltzmann superposition principle, the viscoelastic behavior of the matrix is obtained. The Prony series is considered to define the compliance of matrix. To verify the results, graphiteT300/epoxy5208 composite material is analyzed and the results are compared with existing experimental data. The multiscale algorithm includes obtaining overall properties of the composite by SUCM; then, these properties are used to define the bending stiffness. Governing equations of motion of laminated composite plate are solved via GDQM and Newton–Raphson method. Variations of stresses and displacements versus time and volume fraction of the fibers are shown for laminated composite plates with different boundary conditions.     

Acoustic damping flexible polyurethane foams: Effect of isocyanate index and water content on the soundproofing

High-efficiency sound absorbing flexible polyurethane foams (FPUFs) are manufactured using nonpolar polyester resin, methylene diphenyl diisocyanate, and other reagents by one-shot bulk polymerization. In this study, the impact of the isocyanate index (90, 100, and 110) and water content (2.5 and 5%) on the microphase separation and soundproofing behavior of FPUFs are examined using atomic force microscopy, Fourier transform infrared spectroscopy, optical microscope, and an impedance tube device. The results reveal that the increase of the isocyanate index and water content leads to the increase of the cell size, cell size distribution, open-cell content, cell wall roughness, and microphase separation. Also, maximum sound absorption coefficient (α) reaches to 0.98 and the average of α in the frequency range of 1500–4000 Hz increases from 0.7 to 0.87 by increasing the water content from 2.5 to 5% and isocyanate index from 90 to 110; therefore, acoustic damping performance enhances up to 26.24% due to the synergic effects of microphase separation on the viscose media formation, open-cell content, cell wall roughness, cell size, and cell size distribution. In conclusion, FPUFs with an optimal amount of microphase separation and drainage flow can be a promising candidate for sound insulating materials. © 2018 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47363.     

Waterborne acrylic–polyaniline nanocomposite as antistatic coating: preparation and characterization

An antistatic and electrically conductive acrylic–polyaniline nanocomposite coating was successfully synthesized by interfacial polymerization of aniline in the presence of acrylic latex. The acrylic latex was prepared through emulsion polymerization, and aniline was polymerized by in situ interfacial polymerization at the interface of acrylic latex/chloroform phase. Fourier transform infrared spectroscopy (FTIR), UV–Vis spectroscopy and CHNS elemental analysis revealed the existence of 6.24 wt% emeraldine salt of polyaniline (PAni) in the dried film of the nanocomposite. Scanning electron microscopy (SEM) confirmed the presence of colloidal polymer particles in the aqueous phase which was confirmed to have some advantages, including prevention of aggregation of particles, dispersibility improvement and enhancement of the PAni nanofibers aspect ratio in the acrylic polymer matrix. According to SEM results, PAni fibers with the length ranging from 12 to 67 µm and diameters between 0.078 and 1 µm, highly dispersed in the acrylic polymer matrix, were successfully synthesized. Thermal, electrical and mechanical properties of the acrylic copolymer were significantly affected by PAni incorporation. The onset degradation temperature in thermogravimetric analysis revealed that the thermal stability of the nanocomposite was improved compared to that of the pure acrylic copolymer. The nanocomposite film showed electrical conductivity of about 0.025 S/cm at room temperature, along with satisfactory mechanical properties, attractive as an antistatic material in coating applications.     

Feasibility of Treatment of Refinery Wastewater by a Pilot Scale MF/UF and UF/RO System for Reuse at Boilers and Cooling Towers

A pilot-scale hybrid membrane system, consisting of a ceramic microfilter (MF), two differentpolyvinyl chloride (PVC) and polyacrylonitrile (PAN) ultrafilters (UF), and a polyamide reverse osmosis (RO) filter, has been utilized to decrease harmful and damaging components in wastewater produced from Tehran Refinery with aim to be reused at boilers and cooling towers. Taguchi method was employed to find optimum operating conditions including transmembrane pressure, cross flow velocity (CFV), temperature, and backwash time. Further, analysis of variance (ANOVA) was performed to determine the significance of controlling factors on total organic carbon rejection and normalized permeate flux. MF (ceramic)/UF (PVC) system reduced, %: oil 99.7; chemical oxygen demand (COD) 82; biochemical oxygen demand (BOD) 79.3; conductivity 60.5; total dissolved solids (TDS) 52.6; turbidity 99.7 and total hardness 73.2. MF(ceramic)/UF (PAN) system reduced: oil, COD, BOD, conductivity, TDS, turbidity, and total hardness by 99.8; 84.2; 80.8; 62.72; 55; 99.9 and 78.4%, respectively. UF (PAN)/RO system decreased, %: oil 99.5; COD 99; BOD 99; conductivity 98; TDS 98; turbidity 98.7 and total hardness 99.94. Obtained treated wastewater by this system can be reused as feed water of boilers.     

Remineralization effects of self-assembling peptide P11-4 associated with three materials on early enamel carious lesions: An in vitro study

The aim of this study was to assess the remineralization of enamel caries lesions using the self-assembling peptide P₁₁-4 associated with different materials. Artificial early enamel lesions were prepared on 154 primary teeth. The samples were randomly divided into eight groups: (1) control, (2) P₁₁-4, (3) fluoridate toothpaste (FT), (4) P₁₁-4 + FT, (5) casein phosphopeptide–amorphous calcium phosphate (CPP–ACP), (6) P₁₁-4 + CPP–ACP, (7) fluoridate bioactive glass toothpaste (BT), and (8) P₁₁-4 + BT. The surface enamel microhardness (EMH) and energy-dispersive X-ray spectroscopy (EDS) of the teeth were then measured at the baseline, after demineralization, and after 28 days of remineralization. The enamel surfaces were assessed by field emission scanning electron microscopy (FESEM) and atomic force microscopy (AFM). The data were analyzed with one-way analysis of variance (ANOVA) (p < .05). EMH after demineralization was significantly lower than the baseline value (p < .001). The interventions led to an enhanced percentage of EMH recovery (%REMH), which was higher in Groups 6 and 7. There was no significant difference between Groups 3 and 4. Groups 1 and 2 had the lowest %REMH. The mean calcium/phosphate weight percentage ratio of P₁₁-4 was significantly lower than the others (p < .001). The FESEM and AFM images revealed mineral deposition on the eroded enamel and reductions in surface roughness in Groups 5 and 7.     

Nonlinear Viscoelastic Response of Unidirectional Polymeric Laminated Composite Plates Under Bending Loads

Nonlinear bending analysis of polymeric laminated composite plate is examined considering material nonlinearity for viscoelastic matrix material through a Micro–macro approach. The micromechanical Simplified Unit Cell Method (SUCM) in three-dimensional closed-form solution is used for the overall behavior of the unidirectional composite in any combination of loading conditions. The elastic fibers are transversely isotropic where Schapery single integral equation in multiaxial stress state describes the matrix material by recursive-iterative formulation. The finite difference Dynamic Relaxation (DR) method is utilized to study the bending behavior of Mindlin annular sector plate including geometric nonlinearity under uniform lateral pressure with clamped and hinged edge constraints. The unsymmetrical laminated plate deflection is predicted for different thicknesses and also various pressures in different time steps and they are compared with elastic finite element results. As a main objective, the deflection results of viscoelastic laminated sector plate are obtained for various fiber volume fractions in the composite system.