Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

Performance of orthogonal frequency division multiplexing based M-ary quadrature amplitude modulation in asymmetrical dual-hop mixed RF-FSO transmission system

This paper investigates the performance of a dual-hop mixed relay system with radio frequency (RF) and free-space optics (FSO) communication under the effect of pointing error (PE) and atmospheric turbulence (AT). This paper considers a system where RF and FSO links are cascaded. The RF link is modeled by Nakagami-m fading, and the FSO link is modeled as gamma–gamma (G-G) fading channel. Both the channel models use orthogonal frequency division multiplexing (OFDM) with M-ary quadrature amplitude modulation (QAM). The expressions for probability density function, cumulative distribution function, signal-to-noise ratio, and ergodic capacity are derived. The moment generating function (MGF) of fading and the bit error rate (BER) of the OFDM-based M-ary QAM scheme is derived in terms of Meijer's G-function. It has been observed that, in fixed gain relay systems, the modulation scheme's BER is dominated by the SNR of the RF link. While in a variable gain relay system, the turbulence conditions of the FSO system affect the SNR and the BER of the modulation method. The feasibility of heterodyne detection and intensity modulation direct detection (IM/DD) is analyzed in terms of outage probability and ergodic capacity. The results can be used to choose the optimal modulation order and relay system for QAM-OFDM-based optical wireless systems.     

A Synthetic Dynamic Polyvinyl Alcohol Photoresin for Fast Volumetric Bioprinting of Functional Ultrasoft Hydrogel Constructs

Tomographic volumetric bioprinting (VBP) enables fast photofabrication of cell-laden hydrogel constructs in one step, addressing the limitations of conventional layer-by-layer additive manufacturing. However, existing biomaterials that fulfill the physicochemical requirements of VBP are limited to gelatin-based photoresins of high polymer concentrations. The printed microenvironments are predominantly static and stiff, lacking sufficient capacity to support 3D cell growth. Here a dynamic resin based on thiol–ene photo-clickable polyvinyl alcohol (PVA) and thermo-sensitive sacrificial gelatin for fast VBP of functional ultrasoft cell-laden hydrogel constructs within 7–15 s is reported. Using gelatin allows VBP of permissive hydrogels with low PVA contents of 1.5%, providing a stress-relaxing environment for fast cell spreading, 3D osteogenic differentiation of embedded human mesenchymal stem cells and matrix mineralization. Additionally, site-specific immobilization of molecules-of-interest inside a PVA hydrogel is achieved by 3D tomographic thiol–ene photopatterning. This technique may enable spatiotemporal control of cell-material interactions and guides in vitro tissue formation using programmed cell-friendly light. Altogether, this study introduces a synthetic dynamic photoresin enabling fast VBP of functional ultrasoft hydrogel constructs with well-defined physicochemical properties and high efficiency.     

The Heterointerface between Fe1/NC and Selenides Boosts Reversible Oxygen Electrocatalysis

The rational design and construction of efficient and inexpensive bifunctional oxygen electrocatalysts are highly desirable for the development of rechargeable Zn–air batteries (ZABs). Although single-atom Fe sites anchored on N-doped carbon catalysts (Fe₁/NC) ensure high oxygen reduction reaction activity, their unitary atomically dispersed active center faces difficult condition in catalyzing oxygen evolution reaction simultaneously. Herein, a composite catalyst containing heterointerface between Fe₁/NC and selenides ((Fe,Co)Se₂) is constructed. The obtained (Fe,Co)Se₂@Fe₁/NC exhibits extremely narrow potential gap of 0.616 V and remarkable stability in alkaline media, outperforming the benchmark catalysts (Pt/C+RuO₂: 0.720 V). Experimental results and density functional theory calculations reveal that heterointerface between Fe₁/NC and (Fe,Co)Se₂ accelerates the electron transfer and provides more moderate adsorption sites, which endow (Fe,Co)Se₂@Fe₁/NC with extremely high bifunctional oxygen catalytic activity. This study not only provides a superior bifunctional catalyst for ZABs, but also enriches the application of single-atom catalysts in multifunctional energy storage and conversion devices.     

Enhancing Planar Inverted Perovskite Solar Cells with Innovative Dumbbell-Shaped HTMs: A Study of Hexabenzocoronene and Pyrene-BODIPY-Triarylamine Derivatives

Dumbbell-shaped systems based on PAHs-BODIPY-triarylamine hybrids TM-(01-04) are designed as novel and highly efficient hole-transporting materials for usage in planar inverted perovskite solar cells. BODIPY is employed as a bridge between the PAH units, and the effects of the conjugated π-system's covalent attachment and size are investigated. Fluorescence quenching, 3D fluorescence heat maps, and theoretical studies support energy transfer within the moieties. The systems are extremely resistant to UVC 254 nm germicidal light sources and present remarkable thermal stability at degradation temperatures exceeding 350 °C. Integrating these systems into perovskite solar cells results in outstanding power conversion efficiency (PCE), with TM-02-based devices exhibiting a PCE of 20.26%. The devices base on TM-01, TM-03, and TM-04 achieve PCE values of 16.98%, 17.58%, and 18.80%, respectively. The long-term stability of these devices is measured for 600 h, with initial efficiency retention between 94% and 86%. The TM-04-based device presents noticeable stability of 94%, better than the reference polymer PTAA with 91%. These findings highlight the exciting potential of dumbbell-shaped systems based on PAHs-BODIPY-triarylamine derivatives for next-generation photovoltaics.     

Effect of pressure of the onset of asphaltene precipitation during gas flooding

In order to prevent and eliminate the asphaltene precipitation during gas flooding, the rules of the changes of the pressure under different conditions are systematically studied by the laser solid detection system, the light transmission method, and the P–T phase diagram when the asphaltene precipitation occurs. When the pressure is reducing to a certain value, the penetrating light intensity of the crude oil is markedly decreased, which shows that the pressure at this point is the pressure of the onset of asphaltene precipitation (AOPP). The AOPP value decreases with an increase in the temperature. During gas flooding, the AOPP value increases with an increase in the content of gas in the crude oil, and these two nearly do have a linear relationship. According to the P–T phase behaviors of the gas–crude oil system, with an increase in the content of gas in the crude oil, the asphaltene precipitation envelope curve (APE) is gradually moved up, which shows that the possibility of asphaltene precipitation is much higher. During oil production, for the oil reservoirs with rich asphaltene, the production pressure drop should be kept a small value to ensure that the flowing bottom-hole pressure is higher than AOPP and it is necessary to help complement producing energy timely by using water injection, gas injection, etc. Besides, according to the intersection of T–P curve and APE curve in the P–T phase diagram, the location where the asphaltene precipitation occurs in the wellbore can be roughly predicted. The experimental results can provide the theoretical foundation for taking measures to prevent and eliminate the asphaltene precipitation.     

Adsorption separation of condensate oil from produced water using ACTF prepared of oil palm leaves by batch and fixed bed techniques

A novel method is applied to produce amorphous carbon thin film (ACTF) from oil palm leaves. The novel prepared ACTF is in the form of thin films like graphene sheets having winding surface. ACTF was characterized by different methods of characterization: FTIR, BET, SEM, EDX, TEM, and Raman. ACTF employed as an adsorbent to separate emulsified condensate oil from synthetic produced water as a treatment process before reinjection in oil reservoirs. The adsorption performance of batch and fixed bed adsorption systems were investigated. Contact time, initial concentration of condensate oil ($C_o$ = 100–2500 mg/l) and temperature were studied by batch experiments. The obtained results indicated that the adsorption capacity and the removal efficiency increased with time up to 132.77 mg condensate/g adsorbent and 66.38% respectively, within 6 h equilibrium time at 308 K. The thermodynamic adsorption experiments conducted at 288, 308 and 318 K, referring exothermic nature of the adsorption process.The performance study of fixed bed adsorption described through the breakthrough curves concept with two parameters: column bed heights (5, 10 and 15 mm) and flow rate (2.2, 5 and 8.4 ml/min). Two models (Thomas and Yoon-Nelson models) were applied to expect different parameters of fixed bed as adsorption capacity and time need for 50% breakthrough. The results exhibited that 2.2 ml /min feed flowrate and 5 mm bed height at 1000 mg/l initial oil condensate concentration were the optimum conditions for the ACTF column. The experimental breakthrough curves showed acceptable fit with the calculated breakthrough profiles obtained by Thomas model.     

Assessing sustainable forest biomass potential and bioenergy implications for the northern Lake States region,USA

Forestlands in the United States have tremendous potential for providing feedstocks necessary to meet emerging renewable energy standards. The Lake States region is one area recognized for its high potential of supplying forest-derived biomass; however, the long-term availability of roundwood harvests and associated residues from this region has not been fully explored. Better distribution and temporal availability estimates are needed to formulate emerging state policies regarding renewable energy development. We used a novel predictive methodology to quantify sustainable biomass availability and likely harvest levels over a 100-year period in the Lake States region. USDA Forest Inventory and Analysis estimates of timberland were combined with published growth and yield models, and historic harvest data using the Forest Age Class Change Simulator (FACCS) to generate availability estimates. Monte-Carlo simulation was used to develop probability distributions of biomass harvests and to incorporate the uncertainty of future harvest levels. Our results indicate that 11.27–15.71 Mt y⁻¹ dry roundwood could be sustainably harvested from the Lake States. Assuming 65% collection rate, 1.87–2.62 Mt y⁻¹ residue could be removed, which if substituted for coal would generate 2.12–2.99 GW h of electricity on equivalent energy basis while reducing GHG (CO₂e) emission by 1.91–2.69 Mt annually. In addition to promoting energy security and reducing GHG emissions, forest residues for energy may create additional revenues and employment opportunities in a region historically dependent on forest-based industries.     

Continuous liquid-phase valorization of bio-ethanol towards bio-butanol over metal modified alumina

Commercial mixed-phase aluminum oxide was used as a heterogeneous catalyst support, providing slightly basic properties which are well-suited for the condensation of bio-ethanol to C₄ hydrocarbons, such as 1-butanol. Different metals (Cu, Ni and Co), at various metal loadings were deposited on the support. Consequently, the catalytic reactions were carried out in a continuous laboratory-scale fixed bed reactor operated at 240 °C and 70 bar. The catalysts were characterized by means of XRD, TEM, FT-IR, XPS and ICP-OES. Different metals were found to give entirely different product distributions. With the best catalysts, the selectivities towards 1-butanol close to 70% were reached, while the ethanol conversion typically varied between 10 and 30% – strongly depending on the metal applied. It was observed that low loading of copper and high loading of nickel were responsible for the formation of 1-butanol, whereas cobalt and high loading of copper resulted in the production of ethyl acetate. The reaction was found to be extremely sensitive to catalyst preparation conditions and procedures such as metal loading, calcination/reduction temperature and, thereby, to the formation of corresponding crystallite structure.     

Fractional Order Digital Differentiator Design Based on Power Function and Least squares

In this article, we propose the use of power function and least squares method for designing of a fractional order digital differentiator. The input signal is transformed into a power function by using Taylor series expansion, and its fractional derivative is computed using the Grunwald–Letnikov (G–L) definition. Next, the fractional order digital differentiator is modelled as a finite impulse response (FIR) system that yields fractional order derivative of the G–L type for a power function. The FIR system coefficients are obtained by using the least squares method. Two examples are used to demonstrate that the fractional derivative of the digital signals is computed by using the proposed technique. The results of the third and fourth examples reveal that the proposed technique gives superior performance in comparison with the existing techniques.