A Kane’s based algorithm for closed-form dynamic analysis of a new design of a 3RSS-S spherical parallel manipulator

This paper proposes a systematic methodology to obtain a closed-form formulation for dynamics analysis of a new design of a fully spherical robot that is called a 3(RSS)-S parallel manipulator with real co-axial actuated shafts. The proposed robot can completely rotate about a vertical axis and can be used in celestial orientation and rehabilitation applications. After describing the robot and its inverse position, velocity and acceleration analysis is performed. Next, based on Kane’s method, a methodology for deriving the dynamical equations of motion is developed. The elaborated approach shows that the inverse dynamics of the manipulator can be reduced to solving a system of three linear equations in three unknowns. Finally, a computational algorithm to solve the inverse dynamics of the manipulator is advised and several trajectories of the moving platform are simulated.

     

Continuous Dosing of a Fast Initiator during Suspension Polymerization of Vinyl Chloride for Enhanced Productivity: Mathematical Modeling and Experimental Study

An adopted mathematical model was developed to reduce the batch time required for the suspension polymerization of vinyl chloride in order to improve the productivity by continuous dosage of a fast initiator during polymerization reaction. The model was accompanied by a particle swarm optimization (PSO) algorithm, so as to optimize the initiator dosage rate during the process for a certain conversion. A pilot scale reactor was employed to verify the mathematical model predictions. This showed that the model predictions are in very good agreement with the experimental data. A proper initiator dosage trajectory during the course of the reaction was obtained in such a way that the reaction rate over the course of polymerization was constant and corresponded to the maximum rate in the conventional case (non-continuous addition of a mild initiator). The maximum reduction in reaction time relative to conventional polymerization for the predefined conversion was 53%. Analyzing the molecular characteristics of the samples showed that the molecular characteristics of the final poly(vinyl chloride) (PVC) product remained relatively unchanged under an optimum initiator dosage trajectory compared with the conventional process.     

覆冰棒板间隙直流电晕放电试验及测量

研究结果表明,在带电情况下覆冰绝缘子表面冰棱并未完全桥接,在覆冰绝缘子串两端的伞裙之间存在一定的空气间隙。为了研究这种空气间隙对放电发展的影响,提出了冰棒-冰板空气间隙模型。设计了紫外线成像仪CoroCAM IV+和基于虚拟仪器LabVIEW相结合的电晕测量系统。通过对冰棒-冰板空气间隙电晕放电脉冲的测量,证明该测试系统性能良好,能够满足试验测试要求。同时为下一步深入开展覆冰电极系统内空气间隙电晕放电的机理研究提供了试验平台。     

Nanocomposite Bead (NCB) Based on Bio-polymer Alginate Caged Magnetic Graphene Oxide Synthesized for Adsorption and Preconcentration of Lead(II) and Copper(II) Ions from Urine,Saliva and Water Samples

The present study describes the successful fabrication of bio-polymeric nanocomposite bead (NCB) of alginate caged magnetic graphene oxide (Alg-MGO). NCB was obtained by crosslinking of sodium alginate and calcium ions in the presence of MGO. Analytical techniques Fourier transform infra-red (FT-IR), field emission scanning electron microscope (SEM), and energy-dispersive X-ray spectroscopy (EDX) were used to characterize the Alg-MGO. Analytical application is conducted with magnetic solid phase extraction (MSPE) method for determination of Cu(II) and Pb(II) in urine, saliva and river water sample. The linear concentration range obtained were 0.33–25.00 µg L^??1 with appropriate coefficient of determination (R²?=?0.99) and low limit of detection (LOD?=?0.21–0.71 µg L^??1, n?=?3). The newly developed MSPE-NCB was successfully validated with standard reference material (SRM 2670a, NIST). Metal ions removal process was studied at high concentration level (1–200 mg L^??1) and isotherm models were applied. Langmuir isotherm is well fitted to experiments due to high value of coefficient of determination (R²) and proper adsorption capacity 96.13 and 103.09 mg g^??1 obtained for Cu(II) and Pb(II), respectively. Thermodynamic model is suggested spontaneous process, endothermic nature and physical sorption mechanism for uptake of selected metal ions from aqueous solution.     

Preparation and characterization of hybrid conducting polymer-carbon nanotube yarn

Hybrid polypyrrole (PPy)-multi walled carbon nanotube (MWNT) yarns were obtained by chemical and electrochemical polymerization of pyrrole on the surface and within the porous interior of twisted MWNT yarns. The material was characterized by scanning electron microscopy, electrochemical, mechanical and electrical measurements. It was found that the hybrid PPy-MWNT yarns possessed significantly higher mechanical strength (over 740 MPa) and Young's modulus (over 54 GPa) than the pristine MWNT yarn. The hybrid yarns also exhibited substantially higher electrical conductivity (over 235 S cm(-1)) and their specific capacitance was found to be in excess of 60 F g(-1). Measurements of temperature dependence of electrical conductivity revealed semiconducting behaviour, with a large increase of band gap near 100 K. The collected low temperature data are in good agreement with a three-dimensional variable range hopping model (3D-VRH). The improved durability of the yarns is important for electrical applications. The composite yarns can be produced in commercial quantities and used for applications where the electrical conductivity and good mechanical properties are of primary importance.     

Gas permeation and separation in asymmetric hollow fiber membrane permeators: Mathematical modeling,sensitivity analysis and optimization

Mathematical modeling is useful for analysis of process design and performance and is widely used for membrane separation and other important technologies in the energy sector. This study presents the results of our investigations on the mathematical modeling and optimization of hollow fiber membrane permeators specifically used for air separation as well as natural gas purification. The governing equations and mathematical models are developed based on the consideration of ideal and non-ideal conditions often involved in the separation of gas mixtures using membrane permeators. The influence and consequences of adoption of two distinct numerical methods for solving governing equations are investigated in details. The results obtained by using the models as well as the effect of numerical method type are examined and compared to the experimental data. The findings highlight the important role of the solution method on the validity and accuracy of the models. Moreover, the effect of variations in the operating conditions and physical geometries of the membrane are investigated through comprehensive sensitivity analysis. Accordingly, a set of optimal input parameters is determined using an appropriate statistical method. The findings provide useful information for the design and development of high performance membrane permeators and processes particularly in the case of binary gas mixtures for energy applications.     

Investigating Chemical Properties and Oxidative Stability of Kernel Oil from Pistacia khinjuk Growing Wild in Iran

In this study in order to introduce a new vegetable oil, oxidative stability and chemical characteristics of Pistacia khinjuk kernel oil (PKKO) as compared with P. atlantica kernel oil (PAKO) and extra virgin olive oil (EVOO) were investigated. Oxidative stability of studied oils was considered based on the conjugated diene value (CDV), carbonyl value (CV) and oil/oxidative stability index (OSI) through an 8‐h thermal process at 170 °C. Also, chemical characteristics [fatty acid composition, unsaponifiable matter (USM), total tocopherols (TT), total phenolics (TP) and total sterols (TS), iodine value, saponification number and waxes] of these oils were analyzed. The ratio of polyunsaturated fatty acids to saturated fatty acids and the oxidizability (Cox) value of PKKO (1.14 and 2.78; respectively) were between those of PAKO (2.37 and 4.23; respectively) and EVOO (1.14 and 2.78; respectively). USM content of the three studied oils was between 1.1 and 1.51 %. TT and TP contents of PKKO (619.4 and 26.6 ppm) were lower than those of PAKO (845.33 and 75.22 ppm) and higher than those of EVOO (365.23 and 19.78 ppm). TS contents of PKKO, PAKO and EVOO were 2,500, 2,150 and 3,800 ppm, respectively. Oxidative stability data indicated that PKKO is the most resilient oil against lipid oxidation, followed by PAKO and EVOO. CDV significantly increased by the lowest speed for PKKO, followed by PAKO and EVOO. Increase of CV and reduction of OSI for PKKO, PAKO and EVOO were 29.2, 128 and 338.7 and 32.8, 67.9 and 79.3 %; respectively.     

N-PEGylated Thiazolium Salt: A Green and Reusable Homogenous Organocatalyst for the Synthesis of Benzoins and Acyloins

Catalysis Letters - N-PEGylated-thiazolium salt is used as efficient catalyst for the benzoin condensation. The catalyst was synthesized by reaction of activated polyethylene glycol 10,000...     

Wear resistance and friction coefficient of nano-SiO<Subscript>2</Subscript> and ash-filled HDPE/lignocellulosic fiber composites

This work comparatively evaluates the effect of nano-SiO₂ (at 2 and 3 wt%), rice husk and bagasse ash (at 5 and 10 wt%) on the wear resistance and friction coefficient of HDPE (high-density polyethylene)/lignocellulosic fiber composites. Rice husk and bagasse fibers at 50% by weight contents were mixed with HDPE and 2% maleic anhydride-grafted polyethylene as compatibilizer. SEM images showed a fairly appropriate connection between the polymer matrix and fillers. We found that the fillers improve the wear resistance, and the effect of nano-SiO₂ is more pronounced. The rice husk ash showed a better performance compared to the bagasse ash, probably due to greater SiO₂ content measured by X-ray fluorescence spectrometry. In contrast to nano-SiO₂, both ashes had a reducing effect on other mechanical strengths (Izod impact resistance, modulus of elasticity and modulus of rupture). All fillers remarkably increased the water absorption and thickness swelling. The water uptake of composites increased after wear.     

A volume-of-fluid interfacial flow solver with advected normals

We presented a new approach to calculating normal vectors to fluid interfaces in [JCP, 2007;226:774-97], by advecting unit normals along with an interface. In this paper, we introduce an implementation of the method in an interfacial flow solver. The advected normals are used to compute the interface curvature for calculating the surface tension force, and for reconstructing the interface in a volume-conserving volume-of-fluid (VOF) method. To improve the performance of the method in under-resolved regions of the flow, where normals vary sharply, a curvature-based criterion is used to detect and correct poorly defined normals. We present two-dimensional results of advection as well as actual flow problems and demonstrate that the new method is well suited for problems that involve large interface deformation and breakup (i.e. problems that involve substantial interface movement).