Toward the intelligent control of robots

A new adaptive control architecture for the intelligent control of robotic manipulators is developed. The design is capable of utilizing external sensory information for the robot control. To achieve this, first a model reference adaptive control (MRAC) is developed which can be applied to a robot arm in the task space. Then the concept of virtual adaptive model is defined, which is used to formulate a maneuvering strategy in response to the external information. Finally, the virtual model provides the modified reference signals to the MRAC system to control the corresponding modified motion of the robot in the environment. The design does not require any knowledge about the dynamic parameters of the robot or that of the environment.     

Preparation and characterization of a novel conducting nanocomposite blended with epoxy coating for antifouling and antibacterial applications

In this study, novel epoxy-based paint was synthesized to be applied on carbon steel. The composition of the paint mainly contains epoxy mixed with an electronically conductive polymer, polyaniline (PANI), alone and combined with its nanocomposite derivation containing ZnO nanorods as an additive. The antifouling properties of the paint applied on carbon steel were investigated. The conductive nanocomposite was synthesized by an in situ chemical oxidative method of aniline in the presence of ZnO nanorods and then well characterized. The antifouling behavior was evaluated for 9 months in the Caspian Sea and Persian Gulf. Results revealed that epoxy/PANI–ZnO nanocomposite coating can prevent accumulation of marine macroorganisms on the coated panel. In addition, the epoxy coating comprising PANI–ZnO nanocomposite as well as the epoxy/ZnO coating exhibit significant antibacterial characteristics against (E. coli and S. epi). We interpret the antifouling and antibacterial behavior of the paint with (i) the presence of emeraldine salt structure in PANI which develops a surface pH in a range of 4–5 preventing the adhesion of microorganisms on the surface and (ii) the antibacterial and antifouling properties of zinc oxide nanorods that occurred by the production of hydrogen peroxide on the surface of the coating.     

Impact of the pull and push‐pull policies on the performance of a three‐stage supply chain

We investigate the performance of two common operating policies (i.e., pull and push‐pull) for a make‐to‐stock product in an un‐capacitated, three‐stage supply chain. The pull policy operates based on periodic orders received from the immediate downstream facility. However, in the push‐pull policy, while processes upstream of the order decoupling point are managed by the push policy, the downstream processes are managed by the pull policy. Simulation experiments are conducted to examine the impact of each operating policy under a variety of experimental conditions, characterised by demand uncertainty and lead‐time variability. Our results indicate that the relative advantage of the two policies is dependent on the type of uncertainty, the level of uncertainty, the inventory control policy and the performance measures of interest. More specifically, while the push‐pull policy results in lower inventory, the pull policy yields a better fill rate. This is in contrast to the notion that the pull policy generally results in superior inventory performance. Our findings suggest that firms should carefully consider the level of uncertainty, the inventory control policy and the performance measures of interest when determining the operating policy.     

Thermal effects on nonlinear vibration behavior of viscoelastic nanosize plates

The nonlinear thermomechanical vibration behavior of viscoelastic nanoplates is investigated based on nonlocal elasticity theory. Based on Kelvin–Voigt model and nonlinear strain–displacement relations, the geometrical nonlinearity is modeled while governing equations are solved applying semi-analytical differential quadrature method (DQM). The detailed derivations are presented while the emphasis is placed on investigating the effects of thermal environment, small scale effects, Winkler and Pasternak elastic coefficients and the viscidity and aspect ratio of the nanoplate on its nonlinear vibrational characteristics. Numerical results are presented to serve as benchmarks for the analysis of viscoelastic nanoplates, which are fundamental elements in nanoelectromechanical systems.     

Experimental study of secondary and tertiary modes combined low salinity water and polymer flooding in sandstone porous media

Combined low salinity water (LSW) and polymer (LSP) flooding is the most attractive method of enhanced oil recovery (EOR). Considerable research has investigated effective mechanisms of LSP flooding. In this study, 10 laboratory core flood tests were carried out to evaluate the effects of LSW injection into samples without any clay particles, the timing of LSW injection, and the advantages of adding polymer to the injection water for EOR. Secondary and tertiary LSW injections were performed on sandpack samples with different wettability states and water salinity. Tertiary LSW injection after secondary synthetic seawater (SSW) injection in oil-wet samples resulted in 13% more oil recovery, while the water-wet sample showed no effect on the oil recovery. Secondary LSW injection in oil-wet porous media improved oil recovery by 8% of the original oil in place (OOIP) more than secondary SSW injection. Tertiary LSP flooding after secondary SSW injection in the oil-wet sample provided a recovery of 67.3% of OOIP, while secondary LSW injection followed by tertiary LSP flooding yielded the maximum ultimate oil recovery of about 77% of OOIP. The findings showed that the positive EOR effects of LSW and LSP flooding were the results of wettability alteration, pH increase, improved mobility ratio, better sweep efficiency, and oil redistribution. In addition, results showed that wettability alteration is possible without the presence of clay particles. The findings of this study can help for a better understanding of fluid propagation through the porous media and an investigation of delays in reaching ultimate oil recovery.     

Suppression of chromium depletion and sensitization in austenitic stainless steel by surface mechanical attrition treatment

The effects of surface nanocrystallization via surface mechanical attrition treatment (SMAT) on degree of sensitization (DOS) of an austenitic stainless steel were investigated by means of double loop electrochemical potentiokinetic reactivation (DLEPR) test. The treated sample with grain size about 10 nm showed very low degree of sensitization value which can be considered as the non-sensitized material. This is mainly due to the formation of twin boundaries in the microstructure of the SMATed sample which weren't susceptible to carbide precipitation because of their regular and coherent atomic structure and extreme low grain boundary energy as compared with those of other grain boundaries.     

Foliar Application of Cerium Oxide-Salicylic Acid Nanoparticles (CeO2:SA Nanoparticles) Influences the Growth and Physiological Responses of Portulaca oleracea L. under Salinity

In the present study, the effects of foliar application of salicylic acid (100 μM), cerium oxide (50 mg L⁻¹), and cerium oxide:salicylic acid nanoparticles (CeO₂: SA-nanoparticles, 50 mg L⁻¹ + 100 μM) on the growth and physiological responses of purslane (Portulaca oleracea L.) were examined in non-saline and saline conditions (50 and 100 mM NaCl salinity). Foliar applications mitigated salinity-induced adverse effects, and the highest plant height and N, P, Mg, and Mn content were recorded in the variant with non-saline × foliar use of CeO₂: SA-nanoparticles. The highest values of fresh and dry weight were noted in the treatment with no-salinity × foliar use of CeO₂:SA-nanoparticles. The highest number of sub-branches was observed in the foliar treatments with CeO₂-nanoparticles and CeO₂:SA-nanoparticles without salinity stress, while the lowest number was noted in the 100 mM NaCl treatment. Moreover, the foliar application of CeO₂:SA-nanoparticles and cerium-oxide nanoparticles improved the total soluble solid content, K, Fe, Zn, Ca, chlorophyll a, and oil yield in the plants. The salinity of 0 and 50 mM increased the K content, 1000-seed weight, total soluble solid content, and chlorophyll b content. The use of 100 mM NaCl with no-foliar spray increased the malondialdehyde, Na, and H₂O₂ content and the Na⁺/K⁺ ratio. No-salinity and 50 mM NaCl × CeO₂: SA-nanoparticle interactions improved the anthocyanin content in plants. The phenolic content was influenced by NaCl₁₀₀ and the foliar use of CeO₂:SA-nanoparticles. The study revealed that the foliar treatment with CeO₂:SA-nanoparticles alleviated the side effects of salinity by improving the physiological responses and growth-related traits of purslane plants.     

High-Entropy Alloy-Induced Metallic Glass Transformation: Challenges Posed by in situ Alloying via Additive Manufacturing

In situ alloying and fabricating glassy structures through a layer-by-layer fashion approach are challenging but have high potential to develop novel-graded materials. For the first time, this cost-effective approach is applied to additive manufacturing (AM) of a Zr-based bulk metallic glass (BMG) from high-entropy alloys (HEAs). A newly developed composition of Zr₄₀Al₂₀Cu₂₀Ti₂₀ is fabricated through laser powder bed fusion (LPBF). Process parameters are optimized within a wide range of laser power (50–200 W) as well as scanning speed (50–800 mm s⁻¹). In all printed samples, microscopic and compositional examinations reveal no glass formation, but very fine grains and CuTi and AlTi nanocrystals. Some glassy transitions at the interfaces may be encouraged to occur with proper melting and mixing. However, the main reason for not obtaining a glassy matrix is the substantial proportion of unmelted Zr raw powder throughout the structure as spherical particles. Consequently, glass formation can be hindered by a considerable amount of compositional deviation. During LPBF, in situ alloying poses significant challenges to developing BMGs. Hence, the various stages of the process, including raw material specifications, laser settings, and process parameters, should be investigated further.