Preparation and characterization of metal-complex imprinted PVDF hollow fiber membranes

Using nickel-2,2′-dipyridyl complex as a template, N-vinyl-2-pyrrolidone as the metal coordination functional monomer, and ethylene glycol dimethacrylate as the crosslinker, polyvinylidene fluoride (PVDF) hollow fiber ultrafiltration membrane as the supported membrane, metal complex imprinted polymeric membranes were prepared. The association constant of template-monomer interaction in the prepolymerization solution was estimated to be 4.38 × 10⁴ (L/mol)² by spectrophotometric titration analysis. The attenuated total reflection Fourier transform infrared spectroscopy and scanning electron micrograph characterization indicated that the surface of the support PVDF membrane was completely coated by the imprinted polymer layer after modification. The imprinted membranes exhibited the selective permeability for the template in certain nickel acetate solution. The molecularly imprinted membranes gave higher permeation separation factors at about pH 6, whereas increasing pressure would lower the separation ability. The effects of ion concentration, cations and counterions, ligand selectivity, pH, and trans-membrane pressure were investigated and the permeation performances of the imprinted membranes could be regarded as facilitated transport mechanism. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Synthesis,characterization, and redox and electrochromic behaviors of poly(3-n-octyloxythiophene)

Poly(3-n-octyloxythiophene), a conjugated polymer, which possessed solubility in common organic solvents, was synthesized by electrochemical polymerization in the presence of lithium perchlorate as the supporting electrolyte and sodium dodecyl sulfate as the surfactant in an aqueous medium. Characterizations of the intermediate, monomer, and polymer were performed by NMR spectroscopy, Fourier transform infrared spectroscopy, ultraviolet–visible spectroscopy, and gel permeation chromatography. The process of electrochemical polymerization and the electrochemical redox behaviors were investigated by cyclic voltammetry and the potentiostatic method. A poly(3-n-octyloxythiophene) film that was deposited on a platinum electrode was found to exhibit electrochromic behaviors, and it switched electrochemically between blue–green oxidized and dark red reduced states. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Hybrid numerical scheme for time-evolving wave fields

Many problems in geophysics, acoustics, elasticity theory, cancer treatment, food process control and electrodynamics involve study of wave field synthesis (WFS) in some form or another. In the present work, modelling of wave propagation phenomena is studied as a static problem, using finite element method and treating time as an additional spatial dimension. In particular, WFS problems are analysed using discrete methods. It is shown that a fully finite element-based scheme is very natural and effective method for the solution of such problems. Distributed WFS in the context of two-dimensional problems is outlined and incorporation of any geometric or material non-linearities is shown to be straightforward. This has significant implications for problems in geophysics or biological media, where material inhomogeneities are quite prevalent. Numerical results are presented for several problems referring to media with material inhomogeneities and predefined absorption profiles. The method can be extended to three-dimensional problems involving anisotropic media properties in a relatively straightforward manner. Copyright © 2006 John Wiley & Sons, Ltd.     

The application of the methodology for secure cyber–physical systems design to improve the semi-natural model of the railway infrastructure

The paper suggests a new methodology for secure cyber–physical systems design. The proposed methodology consists of two main cycles. The main goal of the first cycle is in design of the system model, while the second one is about development of the system prototype. The key idea of the methodology is in providing of the most rational solutions that are improving the security of cyber–physical systems. Such solutions are called alternatives and built according to functional requirements and non-functional limitations to the system. Each cycle of the methodology consists of the verification process and seven stages that are associated with the used cyber–physical system model. The objective of the verification process is in checking of constructed models and prototypes in terms of their correctness and compatibility. The model represents cyber–physical systems as sets of building blocks with network between them, takes elements internal structure into account and allows direct and reverse transformations. The novelty of the suggested methodology is in the combination of design, development and verification techniques within a single approach. To provide an example of the design methodology application, in this paper it is used to improve the semi-natural model of the railway infrastructure.     

Ontological reasoning in the design space exploration of advanced cyber–physical systems

Cyber–physical systems are becoming increasingly complex. In these advanced systems, the different engineering domains involved in the design process become more and more intertwined. Therefore, a traditional (sequential) design process becomes inefficient in finding good design options. Instead, an integrated approach is needed where parameters in multiple different engineering domains can be chosen, evaluated, and optimized to achieve a good overall solution. However, in such an approach, the combined design space becomes vast. As such, methods are needed to mitigate this problem.In this paper, we show a method for systematically capturing and updating domain knowledge in the context of a co-design process involving different engineering domains, i.e. control and embedded. We rely on ontologies to reason about the relationships between parameters in the different domains. This allows us to derive a stepwise design space exploration workflow where this domain knowledge is used to quickly reduce the design space to a subset of likely good candidates. We illustrate our approach by applying it to the design space exploration process for an advanced electric motor control system and its deployment on embedded hardware.     

Experimental investigation and thermodynamic modeling of the Mg–Sn–Sr ternary system

The isothermal sections of the Mg–Sn–Sr ternary system in the Mg-rich region at 415 and 350 °C have been determined using the scanning electron microscopy (SEM) equipped with energy dispersive X-Ray spectrometry (EDS). The existence of the MgSnSr ternary compound was confirmed in these two isothermal sections. Two new compounds, named Mg₅Sn₃Sr and Mg₂₅Sn₂₄Sr_14, were found in the present work based on the SEM/EDS results. Thermodynamic optimization of the Sn–Sr binary and Mg–Sn–Sr ternary systems were carried out using the CALPHAD (CALculation of PHAse Diagrams) technique. The Modified quasi-chemical model (MQM) was used for the liquid solution which exhibits a high degree of short-range ordering behavior. The solid phases were described with the Compound energy formalism (CEF). Finally, a self-consistent thermodynamic databases for the Mg–Sn–Sr ternary system has been constructed in the present work, which can be an efficient and convenient guidance to investigate and develop the Mg-based alloys.     

Effect of alloying on stability of grain boundary in γ phase of the U–Mo and U–Nb systems

U–Mo and U–Nb alloys are both extensively used in nuclear industry. γ phase in U–Mo or U–Nb alloy is a solid solution, being metastable in low temperature region. In this work, the effect of alloying on stability of grain boundary in meta-stable γ phase in U–Mo and U–Nb alloys are investigate through first-principles calculations. At first, crystal structure and elastic constants of Mo, Nb and γ-U metals are calculated and the obtain results show the mechanical unstable nature of γ phase at 0 K, no matter with GGA or GGA + U treatment, which agrees with most of the theoretical results in the literature. Furthermore, from the calculated symmetric tilt grain boundary (STGB) formation energies of Σ3[110]/(111) and Σ5[001]/(310) in Mo, Nb, and γ-U, it is found that due to the mechanical unstable character of the γ-U phase, negative GB formation energy is predicted at 0 K for Σ5[001]/(310) if the STGB model is relaxed with all degrees of freedom. Therefore, by using special quasirandom structure (SQS) method, Σ5[001]/(310) and Σ3[110]/(111) STGBs with different solute concentrations in U-rich side in U–Mo and U–Nb systems are further investigated. It is found that, when alloying with Mo or Nb, unlike Σ3[110]/(111), although the fixed-atom constraint is applied, the GB formation energy of Σ5[001]/(310) STGB is becoming negative when the solute concentration is in U-rich side. Only when the concentration of Mo or Nb is larger than 27 at.% or 30 at.%, respectively, or sufficient small, the GB formation energy is becoming positive, suggesting a cooperative effects of solute concentration, unstable character, and grain size on GB structures in γ phase. The predicted different stability of alloyed GB structures at 0 K suggest that although γ phase is metastable at low temperature, its metastability can be controlled through alloying with different solutes, or with different GBs. And grain refinement should be relatively easy in U-rich part than U-poor part of the U–Mo and U–Nb systems.     

A CALPHAD-type Young's modulus database of Ti-rich Ti–Nb–Zr–Mo system

Accurate Young's modulus is the necessity for the design of biomedical Ti alloys. A combinatorial method of the diffusion couple, nanoindentation, electron probe microanalysis (EPMA), and CALculation of PHAse Diagrams (CALPHAD) techniques has been utilized to construct the Young's modulus database of Ti alloys with various compositions in the present work. Two groups of body-centered cubic (bcc) Ti–Nb–Zr–Mo quaternary diffusion couples annealed at 1273 K for 25 h were experimentally prepared. Subsequently, the composition-dependent mechanical properties in the wide compositional range of Ti-based alloys were obtained by using EPMA and nanoindentation probes. Finally, on the basis of the measured Young's moduli in the present and previous work and the modeling parameters of Young's modulus of Ti–Nb–Zr system, the Young's modulus database of bcc Ti–Nb–Zr–Mo system was established through the CALPHAD approach. The CALPHAD-type database of bcc Ti–Nb–Zr–Mo system can provide the accurate Young's moduli of Ti alloys with wide compositions.     

Improving human robot collaboration through Force/Torque based learning for object manipulation

Human–Robot Collaboration (HRC) is a term used to describe tasks in which robots and humans work together to achieve a goal. Unlike traditional industrial robots, collaborative robots need to be adaptive; able to alter their approach to better suit the situation and the needs of the human partner. As traditional programming techniques can struggle with the complexity required, an emerging approach is to learn a skill by observing human demonstration and imitating the motions; commonly known as Learning from Demonstration (LfD). In this work, we present a LfD methodology that combines an ensemble machine learning algorithm (i.e. Random Forest (RF)) with stochastic regression, using haptic information captured from human demonstration. The capabilities of the proposed method are evaluated using two collaborative tasks; co-manipulation of an object (where the human provides the guidance but the robot handles the objects weight) and collaborative assembly of simple interlocking parts. The proposed method is shown to be capable of imitation learning; interpreting human actions and producing equivalent robot motion across a diverse range of initial and final conditions. After verifying that ensemble machine learning can be utilised for real robotics problems, we propose a further extension utilising Weighted Random Forest (WRF) that attaches weights to each tree based on its performance. It is then shown that the WRF approach outperforms RF in HRC tasks.     

Safe and intuitive manual guidance of a robot manipulator using adaptive admittance control towards robot agility

Key areas of robot agility include methods that increase capability and flexibility of industrial robots and facilitate robot re-tasking. Manual guidance can achieve robot agility effectively, provided that a safe and smooth interaction is guaranteed when the user exerts an external force on the end effector. We approach this by designing an adaptive admittance law that can adjust its parameters to modify the robot compliance in critical areas of the workspace, such as near and on configuration singularities, joint limits, and workspace limits, for a smooth and safe operation. Experimental validation was done with two tests: a constraint activation test and a 3D shape tracing task. In the first one, we validate the proper response to constraints and in the second one, we compare the proposed approach with different admittance parameter tuning strategies using a drawing task where the user is asked to guide the robot to trace a 3D profile with an accuracy or speed directive and evaluate performance considering path length error and execution time as metrics, and a questionnaire for user perception. Results show that appropriate response to individual and simultaneous activation of the aforementioned constraints for a safe and intuitive manual guidance interaction is achieved and that the proposed parameter tuning strategy has better performance in terms of accuracy, execution time, and subjective evaluation of users.