Some investigations into the optimal dimensional synthesis of parallel robots

In this paper, we will perform a comparison between two approaches of dimensional synthesis of parallel robots. The first one concerns the single-objective optimization approach; in this case, the dimensional synthesis is expressed by taking into account only one performance criterion but enables to get a final solution if it exists. The second one concerns the multi-objective optimization approach; it enables to simultaneously take into account several performance criteria. However, this approach appears to provide a set of solutions instead of a single expected final solution which should directly enable to carry out the structural synthesis. In fact, the search of a single final solution is postponed to a further step where the designers have to impose and/or restrict certain parameters. And we will establish if it is really necessary to make a multi-objective optimization approach or if a single-objective is sufficient to reach the objectives set in the specifications (user requirements). A discussion is proposed concerning the arising questions related to each approach and leading to the optimal dimensional synthesis. The PAR2 robot with two degree-of-freedom is used to exemplify the analysis and the comparison of the two approaches. The proposed comparison can be applied to any classes of parallel robots.     

Recovery of Hydroxytyrosol Rich Extract from Two‐Phase Chemlali Olive Pomace by Chemical Treatment

Abstract: A very simple method is proposed to produce hydroxytyrosol, a commercially unavailable compound with well‐known biological properties which justify a potential commercial application. The 2‐phase Chemlali olive pomace is selected as substrate for chemical treatment. Different conditions of chemical treatment, including concentration of acid and alkaline solutions, time and temperature, were assayed. A high amount of hydroxytyrosol (1360 mg/kg of fresh 2‐phase olive pomace) was obtained using water bath after treatment at 80 °C for 90 min with 1 M of H₃PO₄. However, treatment of 2‐phase Chemlali olive pomace using autoclave apparatus could produce a large amount of hydroxytyrosol (1993.60 and 1515.88 mg/kg of fresh alperujo, 1 M acid and basic catalyst, respectively). By taking into consideration practical and economic aspects, acid‐catalyzed treatment was more effective using autoclave conditions, whereas the alkali catalyzed conditions were not very suitable. This study could provide useful information for industry to produce the potentially bioactive compound. Practical Application: The 2‐phase Chemlali olive pomace is selected as substrate for chemical treatment. Treatment of “alperujo” using water bath or autoclave apparatus was carried out. A high amount of hydroxytyrosol was obtained using autoclave apparatus.     

Enhancing the Tribological Behavior of Lubricating Oil by Adding TiO2, Graphene,and TiO2/Graphene Nanoparticles

This article investigates the tribological behavior of nanoparticles (NPs) of titanium dioxide anatase TiO₂ (A), graphene, and TiO₂ (A) + graphene added to the pure base oil group ΙΙ (PBO-GΙΙ). The morphology of these two nanostructures of TiO₂ (A) and graphene was characterized by transmission electron microscopy (TEM). Oleic acid (OA) was blended as a surfactant into the formulation to help stabilize the NPs in the lubricant oil. A four-ball test rig was used to determine the tribological performance of six different samples, and an image acquisition system was used to examine and measure the wear scar diameter of the stationary balls. Field emission–scanning electron microscopy (FE-SEM) was used to examine the wear morphology. Energy-dispersive X-ray spectroscopy (EDX), element mapping, and Raman spectroscopy were employed to confirm the presence of (TiO₂ (A) + graphene) and the formation of a tribolayer/film on the mating surfaces. Moreover, a 3D optical surface texture analyzer was utilized to investigate the scar topography and tribological performance. The experiments proved that adding (0.4?wt% TiO₂ (A) + 0.2?wt% graphene) to the PBO-GΙΙ optimized its tribological behavior. These excellent results can be attributed to the dual additive effect and the formation of a tribofilm of NPs during sliding motion. Furthermore, the average reductions in the coefficient of friction (COF), wear scar diameter (WSD), and specific wear rate (SWR) were 38.83, 36.78, and 15.78%, respectively, for (0.4?wt% TiO₂ (A) + 0.2?wt% graphene) nanolubricant compared to plain PBO-GΙΙ lubricant.     

A latency-aware task scheduling algorithm for allocating virtual machines in a cost-effective and time-sensitive fog-cloud architecture

The Journal of Supercomputing - Recently, with the expansion of communications and generated data, the need for processing this high volume of data in minimum time and maximum speed has increased....     

Unraveling robustness of deep face anti-spoofing models against pixel attacks

Multimedia Tools and Applications - In the last few decades, deep-learning-based face verification and recognition systems have had enormous success in solving complex security problems. However,...     

Effect of fuel type on structural and physicochemical properties of solution combustion synthesized CoCr2O4 ceramic pigment nanoparticles

Due to importance and wide applications, CoCr₂O₄ ceramic pigment nanoparticles were synthesized via low-temperature solution combustion route by different fuels including ethylenediamine/oxalic acid, ethylenediamine/citric acid, oxalic acid/citric acid and ethylenediamine/oxalic acid/citric acid. Physicochemical properties of the synthesized samples were determined by different techniques such as fourier transform infrared spectroscopy (FT-IR), X-ray diffraction (XRD), field emission scanning electron microscopy (FE-SEM) and energy dispersive X-ray spectroscopy (EDX) and color/optical properties were evaluated based on CIELAB system by spectrophotometer. Moreover, thermodynamic considerations of combustion reactions for CoCr₂O₄ nanopigments formation in terms of calculated adiabatic flame temperature and enthalpy of combustion reaction were studied. The Comparison of results and data showed that cobalt chromite pigment nanoparticles synthesized by using ethylenediamine/citric acid and ethylenediamine/oxalic acid/citric acid fuels exhibited higher purity, smaller crystallite size and lower degree agglomeration.     

Serine Protease Inhibitors as Good Predictors of Meat Tenderness: Which Are They and What Are Their Functions?

Since years, serine proteases and their inhibitors were an enigma to meat scientists. They were indeed considered to be extracellular and to play no role in postmortem muscle proteolysis. In the 1990's, we observed that protease inhibitors levels in muscles are a better predictor of meat tenderness than their target enzymes. From a practical point of view, we therefore choose to look for serine protease inhibitors rather than their target enzymes, i.e. serine proteases and the purpose of this report was to overview the findings obtained. Fractionation of a muscle crude extract by gel filtration revealed three major trypsin inhibitory fractions designed as F1 (Mr:50–70 kDa), F2 (Mr:40–60 kDa) and F3 (Mr:10–15kD) which were analyzed separately. Besides antithrombin III, an heparin dependent thrombin inhibitor, F1 and F2 comprised a large set of closely related trypsin inhibitors encoded by at least 8 genes bovSERPINA3-1 to A3-8 and able to inhibit also strongly initiator and effector caspases. They all belong to the serpin superfamily, known to form covalent complexes with their target enzymes, were located within muscle cells and found in all tissues and fluids examined irrespective of the animal species. Potential biological functions in living and postmortem muscle were proposed for all of them. In contrast to F1 and F2 which have been more extensively investigated only preliminary findings were provided for F3. Taken together, these results tend to ascertain the onset of apoptosis in postmortem muscle. However, the exact mechanisms driving the cell towards apoptosis and how apoptosis, an energy dependent process, can be completed postmortem remain still unclear.     

Overaluminizing of a CoNiCrAlY Coating by Inward and Outward Diffusion Treatments

Overaluminizing is a commercially accepted treatment to enhance high temperature oxidation resistance of MCrAlY overlay coatings. In the current investigation, a low pressure plasma-sprayed CoNiCrAlY coating was aluminized by two different growth modes: outward growth and inward growth. The resultant microstructures were characterized by means of scanning electron microscopy, energy dispersive spectroscopy, and X-ray diffraction analysis. The results showed that the final microstructure of both types of overaluminized coatings was similar and included Al-rich NiAl and Ni-rich NiAl zones from the top to the bottom. The details of the microstructures are discussed and compared with the results of simple aluminizing of the nickel-based substrate.