Modular Robotic Systems: Characteristics and Applications

Employing Modular Robotic Systems (MRS) in different application domains confronts a large number of challenging problems in design, optimization, and planning, and so identifying characteristics of such problems is an important step toward finding proper solution approaches for them. In this paper, we address this issue and provide a comprehensive study on MRS through a structured survey about MRS characteristics and their applications. A novel framework called MITE is proposed to characterize both the properties and applications of MRS from four perspectives of Module, Information, Task, and Environment, based on more than 120 domain-specific features, supplemented by a mapping scheme for describing the interrelations of the four basic aspects of the Task component, namely, Application (for describing high-level tasks such as navigation and rescue), Behavior (for referring to constitutive behaviors like locomotion and manipulation which bring about Applications), Goal (for characterizing the way Behaviors are accomplished), and Operation (for designating activities specific to modular robots, such as self-reconfiguration and gait control). Also, by providing a methodical review on modular robotics, the paper deals with some analyses on recent trends, research gaps and challenges, as well as open problems in the field of MRS.     

Role of morphology in electrochemical hydrogen storage using binary DyFeO3-ZnO nanocomposites as electrode materials

Hydrogen storage technology is one of the most challenging issues due to the increasing demand for fossil fuel replacement and the reduction of greenhouse gas emissions. In the current paper, the main aim is one-step and eco-friendly preparation of DyFeO₃-ZnO nanocomposites using Barberry fruit extract as natural precursor (with the role of both fuel and capping agent) to compare with various conventional carboxylic acids. To further examine, the effect of different parameters like calcination temperature and the type of the chelating agent was scrutinized to acquire optimum shape, structure, morphology and size of the obtained products. This is the first effort on the investigation of the hydrogen storage capacity of DyFeO₃-ZnO nanocomposites in terms of role of morphology. The electrochemical hydrogen storage capacity of obtained DyFeO₃-ZnO nanocomposites was studied mediated by chronopotentiometry charge-discharge methods in KOH medium. The synthesis of nanocomposites in the presence of chemical or natural capping agent (carboxylic acids or Barberry fruit extract) led to different morphologies which affects to the electrochemical performance. As a result, the electrode which is provided by plate-like DyFeO₃-ZnO nanocomposites performed 600.11 mAh/g discharge capacity compared with other samples. Based on the obtained results, DyFeO₃-ZnO nanocomposites can be promising compounds to improve the electrochemical performance of hydrogen storage.     

Hybrid solar parabolic dish power plant and high‐temperature phase change material energy storage system

In this study, a conventional steam power plant with two regenerative boilers is considered, and one of its boilers is replaced with parabolic solar dish collectors and storing the produced thermal energy by the phase change material (PCM) in a storage tank. The results show the necessity of the existence of an auxiliary fired‐gas boiler to provide constant load during the whole 24 hours. The performance of the proposed hybridized system is evaluated through energy and exergy analyses. It was demonstrated that substituting solar collectors with one of the boilers marginally lowers the energy efficiency but increases the exergy efficiency of the whole power plant up to 41.76%. Moreover, it is found out that this hybridization decreases the total irreversibility of the power plant in comparison with the base case, from 51.1 to 47.2 MW. The parametric analysis states that raising the mass flow rate of the heat transfer fluid in the solar collectors not only enhances the system performance but also increases the volume of the PCM tank.     

Describing a strategy to estimate the CO2-heavy oil minimum miscibility pressure based on the experimental methods

To measure MMP, slim tube method is time consuming, especially for heavy oils. In this study, a strategy is considered to measure the MMP in one of the Iranian heavy oil reservoirs. The strategy steps were done through; partial data of slim tube, coupling numerical model (CNM), full slim tube, and VIT test. The results showed that CNM technique with two experimental data obtains the MMP value faster than running a full slim tube with low error result. However, VIT determined MMP faster and its results illustrated that miscibility pressure for heavy oil occurs at zero IFT, unlike light oils.     

Influence of chitosan/clay functional bionanocomposite activated with rosemary essential oil on the shelf life of fresh silver carp

A combination of chitosan biopolymer, nanoclay and rosemary essential oil was prepared as a functional bionanocomposite (FBN). Its ability to improve the shelf life of refrigerated (4 ± 1 °C) silver carp fillets was studied. The fresh fillets were left untreated as a control or coated with chitosan, chitosan/clay bionanocomposite and chitosan/clay/rosemary essential oil (Ch/clay/REO) FBN. Then, they were evaluated for chemical, microbial and sensory properties over 16‐day storage. The samples coated with the FBN had the lowest pH and total volatile basic nitrogen. Ch/clay/REO coating efficiently retarded lipid oxidation by decreasing peroxide, free fatty acid and thiobarbituric acid production in the samples. The coating also reduced total viable and psychrotrophic count of the fillets more than 1.5 log by the end of storage.     

Comparing rutting of airfield pavements to simulations using Pavement Analysis Using Nonlinear Damage Approach (PANDA)

This study presents the rutting performance results of full-scale pavement test sections subjected to F-15E and C-17 aircraft wheels at two different temperatures. Pavement structures for the tests were constructed under shelter in the U.S. Army Engineer Research and Development Center's (ERDC) pavement test facility. The full-scale test results are used to validate viscoelastic, viscoplastic and hardening-relaxation constitutive relationships implemented in the Pavement Analysis Using Nonlinear Damage Approach (PANDA) model. PANDA is a mechanistic-based model which incorporates nonlinear viscoelastic, viscoplastic, hardening-relaxation, viscodamage, moisture-induced damage and ageing constitutive relationships. Results of dynamic modulus and different repeated creep-recovery laboratory tests are analysed to extract the parameters associated with viscoelastic, viscoplastic and hardening-relaxation constitutive relationships implemented in PANDA. Once calibrated, PANDA is used to predict the rutting performance observed in full-scale pavement test sections. The simulation results illustrate that PANDA is capable of predicting the rutting of airfield pavements subjected to heavy aircraft wheel loads at intermediate and high temperatures. It is shown that PANDA successfully predicts the effect of shear flow and upheaval at the edges of the wheel. The data from simulation suggested that PANDA, once calibrated, can provide insight into the critical locations of tensile and compressive stresses within the pavement structure. PANDA simulations not only provide a tool for evaluating existing structures, but also can be used in designing more sustainable pavement structures and materials.     

Effect of parameters on roll dynamic response of an articulated vehicle carrying liquids

Directional response and roll stability characteristics of a partly filled tractor semi-trailer vehicle, with cylindrical tank, under different parameters and conditions are investigated. The effective parameters and conditions in the stability of a tractor semi-trailer carrying liquid can be considered as filled volume, kinematic viscosity of liquid cargo and vehicle steering input. The dynamic interaction of liquid cargo with the tractor semi-trailer vehicle is evaluated by integrating a dynamic slosh model of the partly filled tank with five-degrees-offreedom of a tractor semi-trailer tank model. The dynamic fluid slosh within the tank is modeled using three-dimensional Navier-Stokes equations, coupled with the volume-of-fluid equations and analyzed using FLUENT software. The coupled tank-vehicle model is subsequently analyzed to determine the roll stability characteristics for different conditions and maneuvers. The results show effects of parameter variations on roll stability of the vehicle carrying liquid and also fluid’s behavior in interaction with a vehicle’s dynamics.