Quadratic approximate dynamic programming for input‐affine systems

We consider the use of quadratic approximate value functions for stochastic control problems with input‐affine dynamics and convex stage cost and constraints. Evaluating the approximate dynamic programming policy in such cases requires the solution of an explicit convex optimization problem, such as a quadratic program, which can be carried out efficiently. We describe a simple and general method for approximate value iteration that also relies on our ability to solve convex optimization problems, in this case, typically a semidefinite program. Although we have no theoretical guarantee on the performance attained using our method, we observe that very good performance can be obtained in practice.Copyright © 2012 John Wiley & Sons, Ltd.     

Lossless,Passive Transportation of Low Surface Tension Liquids Induced by Patterned Omniphobic Liquidlike Polymer Brushes

Surfaces enabling directional liquid transportation are of great interest for a wide range of applications such as water collection, microfluidics, and heat transfer systems. Surfaces capable of lossless, long-range passive transportation of low surface tension (LST) liquids using wettability patterned, liquidlike coatings with minimal contact angle hysteresis are reported. Lossless LST droplet travel distances over 150 mm are achieved, enabled by a two-phase transportation mechanism: morphological transformation from a bulge to a channel shape, followed by directional transportation along the asymmetrical wedge-shaped channel. The developed surfaces can split, merge, and precisely transport various low-surface tension liquids, including alcohols, alkanes, and solvents. The developed transportation strategy can also enhance LST liquid dropwise condensation through continuous removal of the condensate, even on horizontally positioned surfaces without the assistance of gravity.     

A hybrid multi-criteria decision-making model for firms competence evaluation

In this paper, we present a hybrid multi-criteria decision-making (MCDM) model to evaluate the competence of the firms. According to the competence-based theory reveals that firm competencies are recognized from exclusive and unique capabilities that each firm enjoy in marketplace and are tightly intertwined within different business functions throughout the company. Therefore, competence in the firm is a composite of various attributes. Among them many intangible and tangible attributes are difficult to measure. In order to overcome the issue, we invite fuzzy set theory into the measurement of performance. In this paper first we calculate the weight of each criterion through adaptive analytic hierarchy process (AHP) approach (A³) method, and then we appraise the performance of firms via linguistic variables which are expressed as trapezoidal fuzzy numbers. In the next step we transform these fuzzy numbers into interval data by means of α-cut. Then considering different values for α we rank the firms through TOPSIS method with interval data. Since there are different ranks for different α values, we apply linear assignment method to obtain final rank for alternatives.     

A soft robotics nonlinear hybrid position/force control for tendon driven catheters

Minimally invasive steerable catheters, commonly implemented in cardiac ablation, are currently operated by interventionalists exposing them to X-ray radiation and requiring the dexterity for accurate steering. To conduct robot-assisted cardiac ablation, highly accurate stable control platform for precise force/position control on the moving tissue is required. This paper introduces hybrid force/position control strategy to apply a constant force to the cardiac tissue while tracking the desired trajectory. The position controller is based on a nonlinear model predictive tracking control satisfying the input constraints. Cosserat rod theory is incorporated for the distal shaft modeling of tendon-driven catheters, and the model is reformulated for controller design and stability proof. Lyapunov-based stability analysis is conducted. To apply the controller, the force-displacement mapping of the cardiac tissue is obtained through ex vivo experimental tests. The performance of the controller is evaluated, and the catheter is capable of regulating the force with the RMSE of 4.9 mN and tracking the position with the RMSE of 0.89 mm. The promising results verify the potential of the application of the introduced approach in real applications including in vitro and clinical cardiac ablation.     

Modeling industrial thickener using computational fluid dynamics (CFD), a case study: Tailing thickener in the Sarcheshmeh copper mine

Separation of particles from liquid in the large gravitational tanks is widely used in mining and industrial wastewater treatment process. Thickener is key unit in the operational processes of hydrometallurgy and is used to separate solid from liquid. In this study, population balance models were combined with computational fluid dynamics (CFD) for modeling the tailing thickener. Parameters such as feed flow rate, flocculant dosage, inlet solid percent and feedwell were investigated. CFD was used to simulate the industrial tailing thickener with settled bed of 120 m diameter which is located in the Sarcheshmeh copper mine. Important factor of drag force that defines the rake torque of rotating paddles on the bed was also determined. Two phases turbulence model of Eulerian/Eulerian in accordance with turbulence model of k-ε was used in the steady-state. Also population balance model consists of 15 groups of particle sizes with Luo and Lehr kernel was used for aggregation/breakage kernel. The simulation results showed good agreement with the operational data.     

A Demonstration of High-Throughput Electrophoresis

Automating electrophoresis significantly reduces the time required for loading a large number of samples, increases the speed of electrophoresis analysis, and maximizes the resolution power (clear separation of fragments) of this technique. In addition, automation increases the precision of electrophoresis analysis. Here we demonstrate an automated, high-throughput method of loading 96 samples simultaneously onto an electrophoresis gel, using the Apogent Discoveries Tango™ system and the Invitrogen™ E-Gel® 96 system.     

Error from Delay Drift in Terahertz Attenuated Total Reflection Spectroscopy

In this article we discuss the influence of temporal stability on the value obtained for dielectric properties of materials measured by terahertz time-domain spectroscopy with particular emphasis on attenuated total reflection. The stability of three different terahertz attenuated total reflection spectroscopy systems is carefully characterized. The formalism for the complex refractive index extraction is presented and the effect of delay errors is calculated numerically. We found that good thermal stability of the terahertz system helps to minimize delay fluctuations and therefore the uncertainty of the resulting complex refractive index.     

The Effect of Ti on Mechanical Properties of Extruded In-Situ Al-15 pct Mg2Si Composite

This work was carried out to investigate the effect of different Ti concentrations as a modifying agent on the microstructure and tensile properties of an in-situ Al-15 pctMg₂Si composite. Cast, modified, and homogenized small ingots were extruded at 753 K (480 °C) at the extrusion ratio of 18:1 and ram speed of 1 mm/s. Various techniques including metallography, tensile testing, and scanning electron microscopy were used to characterize the mechanical behavior, microstructural observations, and fracture mechanisms of this composite. The results showed that 0.5 pctTi addition and homogenizing treatment were highly effective in modifying Mg₂Si particles. The results also exhibited that the addition of Ti up to 0.5 pct increases both ultimate tensile strength (UTS) and tensile elongation values. The highest UTS and elongation values were found to be 245 MPa and 9.5 pct for homogenized and extruded Al-15 pctMg₂Si-0.5 pctTi composite, respectively. Fracture surface examinations revealed a transition from brittle fracture mode in the as-cast composite to ductile fracture in homogenized and extruded specimens. This can be attributed to the changes in size and morphology of Mg₂Si intermetallic and porosity content.     

Sulfonated Beet Pulp as Solid Catalyst in One-Step Esterification of Industrial Palm Fatty Acid Distillate

In this research a new heterogeneous catalyst has been prepared for biodiesel production. The catalyst was prepared by sulfonating industrial sugar waste. Unlike homogeneous catalysts, which require further purification and separation from the biodiesel production reaction media, this inexpensive synthetic catalyst does not need to go through an additional separation process. This advantage consequently minimizes the total application costs. The catalyst was prepared by partially carbonizing sugar beet pulp at 400 °C. The carbonization product was then sulfonated with concentrated H₂SO₄ vapor in order to produce a solid catalyst. The prepared catalyst was used in the esterification reaction between palm fatty acid distillate (PFAD) and methanol. The effects of the temperature, methanol/PFAD ratio, reaction time and catalyst dosage on the efficiency of the production were individually investigated. The optimum biodiesel production occurred at 85 °C, a reaction time of 300 min, catalyst dosage of 3 g and methanol/PFAD ratio of 5:1 (mol/mol), lowering the acid value from 198 to 13.1 (mg KOH/g oil) or the equivalent, with a fatty acid methyl ester yield of around 92 %. The results suggest that the synthesized inexpensive catalyst is useful for biodiesel production from PFAD.     

Removal of ciprofloxacin from aqueous solution by a continuous flow electro-coagulation process

This study deals with the performance and modeling of the electro-coagulation process for ciprofloxacin (CIP) removal by using aluminum electrode as anode in a continuous electrochemical reactor. The initial pH, temperature, current density, time and flow rate were selected as independent variables in response surface methodology (RSM) involving a five-level central composite design (CCD), while CIP removal efficiency was considered as the response function. The result of optimization showed that the maximum amount of CIP removal efficiency (88%) presented at the optimal condition of pH=5.6, t=100min, T=25.5 °C, I=5.6mA/cm² and V=25.9 mL/min. In addition, the mineralization of the CIP was investigated by chemical oxygen demand (COD) and total organic carbon (TOC) measurements that showed 77% COD removal and 49%TOC removal.