Gripper Design for Radio Base Station Autonomous Maintenance System

For an autonomous system to perform maintenance tasks in a networking device or a radio base station (RBS), it has to deal with a series of technological challenges ranging from identifying hardware-related problems to manipulating connectors. This paper describes the development of a robot maintenance system dedicated to detect and resolve faulty links caused by unplugged or poorly connected cables. Although the maintenance system relies on four subsystems, we significantly focus on our low-cost and efficient custom gripper solution developed to handle RJ45 Ethernet connectors. To examine our gripper, we conducted three experiments. First, a qualitative questionnaire was submitted to 30 users in the case of the teleoperated scenario of the gripper attached to a robotic arm. Similarly, we also tested the automatic operation mode. The results showed that our system is reliable and delivers a highly efficient maintenance tool in both teleoperated and autonomous operation modes. The practical experiment containing the removal or unplugging of connectors demonstrated our gripper’s ability to adequately handle these, whereas the feedback from the questionnaire pointed to a positive user experience. The automatic test assessed the gripper’s robustness against the continuous operation.

     

Influence of different reactor types on Nannochloropsis oculata microalgae culture for lipids and fatty acid production

Greenhouse gases emitted into the atmosphere by burning of fossil fuels cause global warming. One option is obtaining biodiesel. Nannochloropsis oculata was cultured under different light intensities and reactors at 25°C for 21 days with f/2 medium to assess their effects on cell density, lipid, and fatty acids (FAs). N. oculata improved cell density on fed-batch glass tubular reactor (7 L) at 200 μmol E m⁻² s⁻¹, yielding 3.5 × 10⁸ cells ml⁻¹, followed by fed-batch Erlenmeyer flask (1 L) at 650 μmol E m⁻² s⁻¹ with 1.7 × 10⁸ cells ml⁻¹. The highest total lipid contents (% g lipid × g dry biomass⁻¹) were 44.4 ± 0.8% for the reactor (1 L) at 650 μmol E m⁻² s⁻¹ and 35.2 ± 0.2% for the tubular reactor (7 L) at 200 μmol E m⁻² s⁻¹, until twice as high compared with the control culture (Erlenmeyer flask 1 L, 80 μmol E m⁻² s⁻¹) with 21.2 ± 1%. Comparing the total lipid content at 200 μmol E m⁻² s⁻¹, tubular reactor (7 L) and reactor 1 L achieved 35.2 ± 0.2% and 28.3 ± 1%, respectively, indicating the effect of shape reactor. The FAs were affected by high light intensity, decreasing SFAs to 2.5%, and increased monounsaturated fatty acids + polyunsaturated fatty acids to 2.5%. PUFAs (20:5n-3) and (20:4n-3) were affected by reactor shape, decreasing by half in the tubular reactor. In the best culture, fed-batch tubular reactor (7 L) at 200 μmol E m⁻² s⁻¹ contains major FAs (16:0; 38.06 ± 0.16%), (16:1n-7; 30.74 ± 0.58%), and (18:1n-9; 17.15 ± 0.91%).     

Fabrication of hybrid proton-exchange membranes using a brandnew high temperature ionic liquid as charge transporting and clay modifier

The search for more compatibility between ionic liquids (ILs) and polymer matrices in proton-exchange membrane fuel cells (PEMFCs) is one of the ways in which IL leaking from proton-exchange membranes could be minimized. In this work, it is presented the synthesis of an aromatic high temperature ionic liquid (HTIL), which, incorporated into an aromatic matrix such as sulfonated polyether ether ketone (sPEEK), is expected to diminish the IL leaking that normally affects PEMFC. Phenylethylammonium trifluoromethane sulfonate (PhetaTfO) was successfully synthesized and characterized. Its melting point of 88°C makes it to classify as a HTIL and it was employed as modifier of natural Montmorillonite, forming the phenylethylammonium intercalated montmorillonite (MmtPheta) and thus, ternary membranes containing PhetaTfO, MmtPheta, and sPEEK were prepared and characterized. Immersion tests demonstrated a higher compatibility of PhetaTfO with matrix when compared to the reference DemaTfO, which was reflected in up to 30% lower IL loss by the synthesized IL than the DemaTfO; X-rays diffraction (XRD) patterns demonstrated that the modified clay was properly dispersed inside the membranes, while dynamic mechanical analyses (DMA) results indicated a strong plasticizer effect along the increase of PhetaTfO content inside the membrane, while at the same time, the conductivity increased in an exponential manner, which permitted to identify an empiric exponential equation to evaluate the effect of concentration on ionic conductivity. The maximum conductivity obtained at IL concentrations of around 38 wt% was 0.2 mS/cm. It could expect high ionic conductivities of 10 mS/cm when the concentration of this IL is 60%; nevertheless, in order to achieve that, crosslinking treatments should be done to give the membranes enough mechanical resistance.     

Poly(vinylidene fluoride) with zinc oxide and carbon nanotubes applied to pressure sheath layers in oil and gas pipelines

In this work, PVDF composites containing 0.2% (m/m) of carbon nanotubes (MWCNTs), PVDF with 5.0% (m/m) of zinc oxide (ZnO), and composites containing both particles in the same contents in the matrix were melt processed in a mini-extruder machine with double screws, using the counter-rotation mode. Composites were characterized by scanning electron microscopy (SEM), Fourier-transform infrared spectroscopy (FTIR), thermogravimetric analysis (TGA), differential scanning calorimetry (DSC), X-ray diffraction (XRD), dynamic-mechanical analysis (DMA), and contact angle tests (CA). The samples presented the predominance of the α phase, with an increased degree of crystallinity as well as an increase in dimensional stability by incorporating both fillers, showing a synergistic effect between these particles, as shown on FTIR, DSC, and XRD results. SEM images showed a good dispersion of high aspect ratio particles. In general, DMA and TGA analysis showed that composites had not decreased their thermal and mechanical performance when compared to neat PVDF. Results of CA analysis showed an increase in the hydrophobicity of the sample containing MWCNTs. Permeability tests were also performed using a differential pressure system, combining high temperature and pressure, obtaining permeability measures and time lag. This work presents an alternative of composite materials, suggesting its application in the internal pressure sheath layers of oil and gas flexible pipes.     

Synthesis and characterization of photopolymerizable hydrogels based on poly (ethylene glycol) for biomedical applications

Hydrogels are polymeric materials widely used in medicine due to their similarity with the biological components of the body. Hydrogels are biocompatible materials that have the potential to promote cell proliferation and tissue support because of their hydrophilic nature, porous structure, and elastic mechanical properties. In this work, we demonstrate the microwave-assisted synthesis of three molecular weight varieties of poly(ethylene glycol) dimethacrylate (PEGDMA) with different mechanical and thermal properties and the rapid photo of them using 1-hydroxy-cyclohexyl-phenyl-ketone (Irgacure 184) as UV photoinitiator. The effects of the poly(ethylene glycol) molecular weight and degree of acrylation on swelling, mechanical, and rheological properties of hydrogels were investigated. The biodegradability of the PEGDMA hydrogels, as well as the ability to grow and proliferate cells, was examined for its viability as a scaffold in tissue engineering. Altogether, the biomaterial hydrogel properties open the way for applications in the field of regenerative medicine for functional scaffolds and tissues.     

Synthesis of amphiphilic (meth)acrylates with oligo(ethylene glycol) and (or) oligo(propylene glycol) blocks by the esterification of (meth)acrylic acid

Thermoresponsive PEG-based (PEG stands polyethylene glycol) polymers are unique for use in medicine because of their low toxicity, good biocompatibility and biodegradability, but usually more hydrophobic and more toxic comonomers are used to adjust lower critical solution temperature (LCST). A convenient way to overcome this problem and to finely tune LCST is to use alkoxy oligo(ethylene glycol)- or alkoxy oligo(propylene glycol) (meth)acrylates as starting comonomers. Here we report on the conditions for the simple and affordable synthesis of methoxy oligo(propylene glycol) (meth)acrylate- and methoxy oligo(propylene glycol)-block-oligo(ethylene glycol) (meth)acrylate-based macromonomers with high yields (80%–98.7%) by the acid-catalyzed esterification of (meth)acrylic acid with alkoxy oligo(alkylene glycols) containing oligo(ethylene glycol) (OEG) and/or oligo(propylene glycol) (OPG) blocks. p-Toluene sulphonic acid (pTSA), alkyl(C₁₂–C₁₄)benzene sulfonic acid (ABSA) and H₂SO₄ were used as catalysts. It has been shown that pTSA and ABSA are practically the same in catalytic activity and are superior to sulfuric acid. The reaction orders with respect to catalyst was found to be close to 1 in all cases. It has been shown that the reaction is actually insensitive to the lengths of OEG and OPG blocks, as well as to the structure of the terminal alkyl group, while the esterification of acrylic acid (AA) proceeds much faster compared to methacrylic acid (MAA) one under the same conditions. The influence of temperature on the equilibrium conversions of alcohols was determined, which were found to be 89%–93% for the esterification of AA and 61%–86% for MAA in the temperature range of 60–120°C. A further increase in conversion was achieved by introducing an azeotropic agent (toluene), its optimal concentration was found to be 10%–15%.     

Monitoring the curing processes of epoxy oligomers with partially substituted polyethoxymetallosiloxanes by IR spectroscopy and thermomechanical analysis

In this work, the curing of «ED-20» epoxy resin with partially siloxy-substituted aluminum, iron, and zirconium siloxanes that we obtained previously was studied. The initial content of a metallosiloxane in the compositions was 5–50 wt% with respect to the resin. In all the cases, thermal curing was used to obtain a series of samples in the form of solid homogeneous materials. The fact of the epoxy ring opening in the resin was confirmed by IR spectroscopy. The catalytic properties of the metal atom in a metallosiloxane were found to affect the curing process. The samples demonstrate rather a high resistance to thermooxidative destruction, and in most cases, their glass transition temperatures are lower than those obtained upon standard curing of «ED-20» resin with triethylenetetramine. Partially siloxy-substituted metalloalkoxysiloxanes can be efficient agents for curing and formation of a hybrid material based on epoxy resins.     

pH sensitive phosphate crosslinked films of starch-carboxymethyl cellulose

This work aims to develop hydrogel films of starch and carboxymethyl cellulose (CMC) crosslinked with sodium trimetaphosphate (STMP) and to characterize some of their properties. Starch and STMP (S/T), starch and CMC (S/C), and mixed (S/T/C) films were prepared by casting. The degree of substitution, morphology, swelling degree, FTIR, mechanical properties, and sorption isotherms were studied. Reticulated samples (S/T and S/T/C) showed the same degree of substitution (0.050 ± 0.001). All films presented homogeneous morphology, but the mixed film showed greater roughness. Crosslinking increased the swelling capacity of the mixed hydrogel at pH 7, although it remained decreased concerning the S/T hydrogel. However, this property was sensitive to pH variations. The mixed film (S/T/C) showed greater mechanical resistance. The casting process was efficient to produce hydrogel films of starch/CMC crosslinked with STMP and the general results demonstrated the advantages of the mixed hydrogel.     

Mechanical characterization and modeling stress relaxation behavior of acrylic–polyurethane-based graft-interpenetrating polymer networks

The stress relaxation behavior of acrylic–polyurethane (PU)-based graft-interpenetrating polymer networks (IPNs) was characterized via dynamic mechanical analysis (DMA) and modeled using finite element method (FEM) analysis. Stress relaxation of glassy IPN specimens was experimentally studied under flexural testing, while rubbery IPN specimens were tested in tension. The effects of varying the styrene content in the acrylic copolymer phase, compatibility of the two phases in IPNs, and changing the concentration of acrylic copolymer and PU were studied. A higher percentage of styrene content resulted in higher homogeneity of IPN specimens, and decrease in initial modulus for acrylic copolymer specimens. Additionally, glassy IPN specimens with 90% styrene shows resistance to relaxation as high as acrylic copolymer samples. Experimental results were used to develop a numerical model to study stress relaxation response of specimens. While polymer systems have been studied computationally, numerical modeling of IPN systems is still in its infancy. A three-dimensional FEM model was developed using the Generalized Maxwell model and four-term Prony series constants, which were extracted from the stress relaxation experiments. With four terms in the Prony series, a good match was observed between experimental observations and results from the FEM model.