Design and Analysis of Internet-Based Tele-Coordinated Multi-Robot Systems

The coordination of multi-robots is required in many scenarios for efficiency and task completion. Combined with teleoperation capabilities, coordinating robots provide a powerful tool. Add to this the Internet and now it is possible for multi-experts at multi-remote sites to control multi-robots in a coordinated fashion. For this to be feasible there are several hurdles to be crossed including Internet type delays, uncertainties in the environment and uncertainties in the object manipulated. In addition, there is a need to measure and control the quality of tele-coordination. To this end, the measure of force sensed by each robot is suggested and justified as a coordination index. It was proven that if n robots are event-transparent and event-synchronous then they can be teleoperated under random delay conditions to coordinate to any index value, which is feasible under no delay conditions. The design procedure that ensures a system can satisfy a small coordination index was presented and analyzed.In addition, the design and analysis of event-synchronous systems using Petri Nets is detailed. The Petri Net design methodology is presented for both event-synchronous single operator single robot teleoperation systems and event-synchronous multi-operator multi-robot teleoperation systems.The theory developed was tested by bilaterally tele-coordinating two mobile manipulators via the Internet. The experimental results confirmed the theoretical results presented.     

Selection of Methodology for Neural Network Modeling of Constitutive Hystereses Behavior of Soils

Classic constitutive modeling of geomaterials based on the elasticity and plasticity theories suffers from limitations pertaining to formulation complexity, idealization of behavior, and excessive empirical parameters. This article capitalizes on the modeling capabilities of neural networks as substitutes for the classic approaches. The neural network–based modeling overcomes the difficulties encountered in understanding the underlying microscopic processes governing the material's behavior by redirecting the efforts into learning the cause-effect relations from behavioral examples. Several methodologies are presented and cross-compared for effectiveness in approximating a theoretical hysteresis model resembling stress-strain behavior. The most effective methodology was used in modeling the constitutive behavior of an experimentally tested soil and produced models that simulated the real behavior of the soil with high accuracy. Although these models are empirical, they are retrainable and thus, unlike classic constitutive modeling techniques, can be revised and generalized easily when new data become available.     

The shift in US oil demand and its impact on OPEC's market share

Tremendous political pressure is being exerted on the US government by different political parties to diversify its sources of foreign oil supplies by switching from the reliance on OPEC's oil to that originating from non-OPEC nations. Without a doubt, such a shift would adversely impact the market share of some OPEC members, particularly Saudi Arabia, Venezuela and Nigeria. These countries should therefore consider seriously the negative impact of this scenario and consequently formulate individual or joint production policies aiming at protecting their oil market share. To help OPEC achieve this objective, there is a need to estimate the demand function of US oil imports. This paper proffers an estimate of such a function, taking into account, among other variables, the impact of US Strategic Petroleum Reserve (SPR).     

Nb modified structural,magnetic and magnetocaloric properties of double perovskite Ba2FeMo1−xNbxO6

A systematic study focusing on the effect of Niobium (Nb) doping on the structural, magnetic and magnetocaloric properties of Ba₂FeMoO₆ samples is presented here. The samples of interest Ba₂FeMo_1?xNb_xO₆ (0 ≤ x ≤ 0.4) were prepared using the solid state reaction method and were confirmed to possess a cubic structure with Fm-3m space group using the X-ray diffraction analysis and Rietveld refinement. A second order of ferromagnetic phase transition was recorded in both the pure as well as the Nb doped samples using the temperature dependent magnetization and Arrott plots analysis. The pristine Ba₂FeMoO₆ (BFMO) sample indicated a spontaneous magnetization (34.6 emu/g at 100 K) with a relatively sharp magnetic transition at the Curie temperature (T_C) of 315 K as compared to the doped samples. A magnetic entropy change of 0.93 Jkg^?1K^?1 at an applied magnetic field of 2.5 T was measured for the pure BFMO sample. The doped BFMO samples with Mo partially substituted by Nb however, were observed to effectively modify the T_C accompanied by a decrease in magnetization. The results investigated in this work suggest that the magnetic and magnetocaloric properties of the BFMO can be tailored by controlled Nb doping which is of significant importance in order to realize the numerous potential applications of the material in the magnetic refrigeration technology.     

Growth of all-carbon horizontally aligned single-walled carbon nanotubes nucleated from fullerene-based structures

All-carbon single-walled carbon nanotubes (SWCNTs) were successfully synthesized, nucleated using a fullerene derivative. A systematic investigation into the initial preparation of C₆₀ fullerenes as growth nucleators for the SWCNTs was conducted. Enhancement in the yield of the produced SWCNT has been achieved with exploring different dispersing media for the fullerenes, the period, and environment of the initial thermal treatment of the fullerenes in addition to the use of different fullerene-based structures. The systematic studies significantly advance our understanding of the growth of the all-carbon catalyst-free single-walled carbon nanotubes. Field-effect transistors were fabricated using the catalyst-free SWCNT and then electrically characterized, showing current capacity as high as the well-studied catalyst-assisted nanotubes.     

Vital parameters for high gamma-aminobutyric acid (GABA) production by an industrial soy sauce koji Aspergillus oryzae NSK in submerged-liquid fermentation

Food Science and Biotechnology - In submerged-liquid fermentation, seven key parameters were assessed using one-factor-at-a-time to obtain the highest GABA yield using an industrial soy sauce koji...     

Use of Zebrafish Embryo Assay to Evaluate Toxicity and Safety of Bioreactor-Grown Exopolysaccharides and Endopolysaccharides from European Ganoderma applanatum Mycelium for Future Aquaculture Applications

Natural mycelial exopolysaccharide (EPS) and endopolysaccharide (ENS) extracted from bioreactor-cultivated European Ganoderma applanatum mushrooms are of potential high commercial value for both food and adjacent biopharmaceutical industries. In order to evaluate their potential toxicity for aquaculture application, both EPS (0.01–10 mg/mL) and ENS (0.01–10 mg/mL) extracts were tested for Zebrafish Embryo Toxicity (ZFET); early development effects on Zebrafish Embryos (ZE) were also analyzed between 24 and 120 h post-fertilization (HPF). Both EPS and ENS are considered non-toxic with LC₅₀ of 1.41 mg/mL and 0.87 mg/mL respectively. Both EPS and ENS did not delay hatching and teratogenic defect towards ZE with <1.0 mg/mL, respectively. No significant changes in the ZE heart rate were detected following treatment with the two compounds tested (EPS: 0.01–10 mg/mL: 176.44 ± 0.77 beats/min and ENS: 0.01–10 mg/mL: 148.44 ± 17.75 beats/min) compared to normal ZE (120–180 beats/min). These initial findings support future pre-clinical trials in adult fish models with view to safely using EPS and ENS as potential feed supplements for supplements for development of the aquaculture industry.     

Correction to: Security analysis of an audio data encryption scheme based on key chaining and DNA encoding

Multimedia Tools and Applications - A Correction to this paper has been published: https://doi.org/10.1007/s11042-021-10592-x     

Pressure control in a PEM fuel cell via second order sliding mode

Pressure difference inside the Polymer Electrolyte Membrane Fuel Cells (PEMFC) arises due to load variations, during which the pressure difference between anode and cathode rises. Practically, this problem can be avoided by equalizing anode and cathode pressures, to protect the fuel cell from permanent damage. This paper focuses on pressure regulation in the anode and cathode sides of the PEMFC. The control objective is achieved using second order sliding mode multi-input multi-output (MIMO) controller based on “Twisting algorithm”. Parametric uncertainty is formally presented and included in a nonlinear dynamic fuel cell model. The resultant nonlinear controller is robust and is proved to guarantee performance around any equilibrium point and under parametric uncertainty. Simulation results show that the proposed controller has a good transient response under load variations.