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This study aims to apply an open-source approach to protect the 3D printing industry from innovation stagnation due to broad patenting of obvious materials.

To do this, first an open-source implementation of the first five conditions of an open-source algorithm developed to identify all obvious 3-D printing materials was implemented in Python, and the compound combinations of two and three constituents were tested on ten natural and synthetic compounds. The time complexity for combinations composed of two constituents and three constituents is determined to be O(n²) and O(n³), respectively.

Generating all combinations of materials available on the Chemical Abstracts Services (CAS) registry on the fastest processor on the market will require at least 73.9 h for the latter, but as the number of constituents increases the time needed becomes prohibitive (e.g. 3 constituents is 1.65 million years). To demonstrate how machine learning (ML) could help prioritize both theoretical as well as experimental efforts a three-part biomaterial consisting of water, agar and glycerin was used as a case study. A decision tree model is trained with the experimental data and is used to fill in missing physical properties, including Young's modulus and yield strength, with 84.9 and 85.1% accuracy, respectively.

The results are promising for an open-source system that can theoretically generate all possible combinations of materials for 3-D printing that can then be used to identify suitable printing material for specific business cases based on desired material properties.

Presently in multicolor fused filament-based three-dimensional (3-D) printing, significant amounts of waste material are produced through nozzle priming and purging each time a change from one color to another occurs. G-code generating slicing software typically changes the material on each layer resulting in wipe towers with greater mass than the target object. The purpose of this study is to provide an alternative fabrication approach based on interlayer tool clustering (ITC) for the first time, which reduces the number of tool changes and is compatible with any commercial 3-D printer without the need for hardware modifications.

The authors have developed an open-source PrusaSlicer upgrade, compatible with Slic3r-based software, which uses the described algorithm to generate g-code toolpath and print experimental objects. The theoretical time, material and energy savings are calculated and validated to evaluate the proposed fabrication method qualitatively and quantitatively.

The experimental results show the novel ITC method can significantly increase the efficiency of multimaterial printing, with an average 1.7-fold reduction in material use, and an average 1.4-fold reduction in both time and 3-D printing energy use. In addition, this approach reduces the likelihood of technical failures in the manufacturing of the entire part by reducing the number of tool changes, or material transitions, on average by 2.4 times.

The obtained results support distributed recycling and additive manufacturing, which has both environmental and economic benefits and increasing the number of colors in a 3-D print increases manufacturing savings.

To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1 are often used in the joints of a robotic manipulator. This results into an actuator with large mechanical impedance (also known as nonback-drivable actuator). This in turn generates high contact forces when collision of the robotic mechanism occur and can cause humans’ injury. Another disadvantage of electric actuators is that they can exhibit overheating when constant torques have to be provided. Comparing to electric actuators, pneumatic actuators have promising properties for robotic applications, due to their low weight, simple mechanical design, low cost and good power-to-weight ratio. Electropneumatically actuated robots usually have better friction properties. Moreover, because of low mechanical impedance, pneumatic robots can provide moderate interaction forces which is important for robotic surgery and rehabilitation tasks. Pneumatic actuators are also well suited for exoskeleton robots. Actuation in exoskeletons should have a fast and accurate response. While electric motors come against high mechanical impedance and the risk of causing injuries, pneumatic actuators exhibit forces and torques which stay within moderate variation ranges. Besides, unlike direct current electric motors, pneumatic actuators have an improved weight-to-power ratio and avoid overheating problems.

The aim of this paper is to analyze a nonlinear optimal control method for electropneumatically actuated robots. A two-link robotic exoskeleton with electropneumatic actuators is considered as a case study. The associated nonlinear and multivariable state-space model is formulated and its differential flatness properties are proven. The dynamic model of the electropneumatic robot is linearized at each sampling instance with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. Within each sampling period, the time-varying linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. An H-infinity controller is designed for the linearized model of the robot aiming at solving the related optimal control problem under model uncertainties and external perturbations. An algebraic Riccati equation is solved at each time-step of the control method to obtain the stabilizing feedback gains of the H-infinity controller. Through Lyapunov stability analysis, it is proven that the robot’s control scheme satisfies the H-infinity tracking performance conditions which indicate the robustness properties of the control method. Moreover, global asymptotic stability is proven for the control loop. The method achieves fast convergence of the robot’s state variables to the associated reference trajectories, and despite strong nonlinearities in the robot’s dynamics, it keeps moderate the variations of the control inputs.

In this paper, a novel solution has been proposed for the nonlinear optimal control problem of robotic exoskeletons with electropneumatic actuators. As a case study, the dynamic model of a two-link lower-limb robotic exoskeleton with electropneumatic actuators has been considered. The dynamic model of this robotic system undergoes first approximate linearization at each iteration of the control algorithm around a temporary operating point. Within each sampling period, this linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. The linearization process relies on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modeling error which is due to the truncation of higher-order terms from the Taylor series is considered to be a perturbation which is asymptotically compensated by the robustness of the control algorithm. To stabilize the dynamics of the electropneumatically actuated robot and to achieve precise tracking of reference setpoints, an H-infinity (optimal) feedback controller is designed. Actually, the proposed H-infinity controller for the model of the two-link electropneumatically actuated exoskeleton achieves the solution of the associated optimal control problem under model uncertainty and external disturbances. This controller implements a min-max differential game taking place between: (i) the control inputs which try to minimize a cost function which comprises a quadratic term of the state vector’s tracking error and (ii) the model uncertainty and perturbation inputs which try to maximize this cost function. To select the stabilizing feedback gains of this H-infinity controller, an algebraic Riccati equation is being repetitively solved at each time-step of the control method. The global stability properties of the H-infinity control scheme are proven through Lyapunov analysis.

Pneumatic actuators are characterized by high nonlinearities which are due to air compressibility, thermodynamics and valves behavior and thus pneumatic robots require elaborated nonlinear control schemes to ensure their fast and precise positioning. Among the control methods which have been applied to pneumatic robots, one can distinguish differential geometric approaches (Lie algebra-based control, differential flatness theory-based control, nonlinear model predictive control [NMPC], sliding-mode control, backstepping control and multiple models-based fuzzy control). Treating nonlinearities and fault tolerance issues in the control problem of robotic manipulators with electropneumatic actuators has been a nontrivial task.

The novelty of the proposed control method is outlined as follows: preceding results on the use of H-infinity control to nonlinear dynamical systems were limited to the case of affine-in-the-input systems with drift-only dynamics. These results considered that the control inputs gain matrix is not dependent on the values of the system’s state vector. Moreover, in these approaches the linearization was performed around points of the desirable trajectory, whereas in the present paper’s control method the linearization points are related with the value of the state vector at each sampling instance as well as with the last sampled value of the control inputs vector. The Riccati equation which has been proposed for computing the feedback gains of the controller is novel, so is the presented global stability proof through Lyapunov analysis. This paper’s scientific contribution is summarized as follows: (i) the presented nonlinear optimal control method has improved or equally satisfactory performance when compared against other nonlinear control schemes that one can consider for the dynamic model of robots with electropneumatic actuators (such as Lie algebra-based control, differential flatness theory-based control, nonlinear model-based predictive control, sliding-mode control and backstepping control), (ii) it achieves fast and accurate tracking of all reference setpoints, (iii) despite strong nonlinearities in the dynamic model of the robot, it keeps moderate the variations of the control inputs and (iv) unlike the aforementioned alternative control approaches, this paper’s method is the only one that achieves solution of the optimal control problem for electropneumatic robots.

The use of electropneumatic actuation in robots exhibits certain advantages. These can be the improved weight-to-power ratio, the lower mechanical impedance and the avoidance of overheating. At the same time, precise positioning and accurate execution of tasks by electropneumatic robots requires the application of elaborated nonlinear control methods. In this paper, a new nonlinear optimal control method has been developed for electropneumatically actuated robots and has been specifically applied to the dynamic model of a two-link robotic exoskeleton. The benefit from using this paper’s results in industrial and biomedical applications is apparent.

A comparison of the proposed nonlinear optimal (H-infinity) control method against other linear and nonlinear control schemes for electropneumatically actuated robots shows the following: (1) Unlike global linearization-based control approaches, such as Lie algebra-based control and differential flatness theory-based control, the optimal control approach does not rely on complicated transformations (diffeomorphisms) of the system’s state variables. Besides, the computed control inputs are applied directly on the initial nonlinear model of the electropneumatic robot and not on its linearized equivalent. The inverse transformations which are met in global linearization-based control are avoided and consequently one does not come against the related singularity problems. (2) Unlike model predictive control (MPC) and NMPC, the proposed control method is of proven global stability. It is known that MPC is a linear control approach that if applied to the nonlinear dynamics of the electropneumatic robot, the stability of the control loop will be lost. Besides, in NMPC the convergence of its iterative search for an optimum depends on initialization and parameter values selection and consequently the global stability of this control method cannot be always assured. (3) Unlike sliding-mode control and backstepping control, the proposed optimal control method does not require the state-space description of the system to be found in a specific form. About sliding-mode control, it is known that when the controlled system is not found in the input-output linearized form the definition of the sliding surface can be an intuitive procedure. About backstepping control, it is known that it cannot be directly applied to a dynamical system if the related state-space model is not found in the triangular (backstepping integral) form. (4) Unlike PID control, the proposed nonlinear optimal control method is of proven global stability, the selection of the controller’s parameters does not rely on a heuristic tuning procedure, and the stability of the control loop is assured in the case of changes of operating points. (5) Unlike multiple local models-based control, the nonlinear optimal control method uses only one linearization point and needs the solution of only one Riccati equation so as to compute the stabilizing feedback gains of the controller. Consequently, in terms of computation load the proposed control method for the electropneumatic actuator’s dynamics is much more efficient.

The purpose of this study is to demonstrate the novel approach in treating multiply connected problems in magnetostatic.

The new double layer approach (DLA) to be proposed is based on the use of the exciting double layer on the cut-surface. Applying Ampere’s circuital law to the circuital path along a toroidal core of M–C model, this paper derives unified exciting potential (UEP) from the common exciting potential. The UEP is applicable to the simply or M–C analysis. To check the effectiveness of the UEP, this paper analyze typical M–C problems and compares the results with those of other benchmark problems and also those obtained by surface charge method (SCM). Because the SCM encounters a cancellation error, this paper overcomes this problem by using the concept of direct boundary element method (BEM).

Using the improved DLA, this paper analyzed a typical multiply connected model and compared the results with those of the SCM, which has been improved to overcome cancellation errors. This paper has confirmed that the results obtained by the improved DLA are the same as those obtained by the improved SCM and Steklov–Poincaré operator formulation, tested at the well-known benchmark problems given in Andjelic et al. (2010). From these results, this paper concluded that the Improved DLA works well and that the improved SCM becomes available for analyzing both the simply and multiply connected problems.

Expanding a concept of the exciting double layer on the cut-surface, this paper improve the DLA to analyze the M–C problems. Applying Ampere’s circuital law to the full circuital path along the toroidal core of M–C problem, this paper derive UEP from the original exciting potential to get the governing BIE. The BIE is applicable to either simply or multiply connected analysis.

The industrial application of continuous glass fabric-reinforced polymer composites (GFRPCs) is growing; however, the manufacturing boundedness of complex structures and the high cost of molds restrict their use. This research proposes a three-dimensional (3 D) printing process for GFRPCs that allows low-cost and rapid fabrication of complex composite parts.

The composite is manufactured using a digital light processing (DLP) based Vat-photopolymerization (VPP) process. For the composites, suitable resin material and glass fabrics are chosen based on their strength, stiffness, and printability. Jacob's working curve characterizes the curing parameters for adequate adhesion between the matrix and fabrics. The tensile and flexural properties were examined using UTM. The fabric distribution and compactness of the cured resin were analyzed in scanning electron microscopy.

The result showed that the object could print at a glass fabric content of 40 volume%. In DLP-based VPP printing technology, the adequate exposure time was found to be 30 seconds for making a GFRPC. The tensile strength and Young's modulus values were increased by 5.54 and 8.81 times, respectively than non-reinforced cured specimens. The flexural strength and modulus were also effectively increased to 2.8 and 3 times more than the neat specimens. In addition, the process is found to help fabricate the functional component.

The experimental procedure to fabricate GFRPC specimens through DLP-based AM is a spectacular experimental approach.

Left atrial appendage occlusion (LAAO) is a structural interventional cardiology procedure that offers several possibilities for the application of additive manufacturing technologies. The literature shows a growing interest in the use of 3D-printed models for LAAO procedure planning and occlusion device choice. This study aims to describe a full workflow to create a 3D-printed LAA model for LAAO procedure planning.

The workflow starts with the patient’s computed tomography diagnostic image selection. Segmentation in a commercial software provides initial geometrical models in standard tessellation language (STL) format that are then preprocessed for print in dedicated software. Models are printed using a commercial stereolithography machine and postprocessing is performed.

Models produced with the described workflow have been used at the Careggi Hospital of Florence as LAAO auxiliary planning tool in 10 cases of interest, demonstrating a good correlation with state-of-the-art software for device selection and improving the surgeon’s understanding of patient anatomy and device positioning.

3D-printed models for the LAAO planning are already described in the literature. The novelty of the article lies in the detailed description of a robust workflow for the creation of these models. The robustness of the method is demonstrated by the coherent results obtained for the 10 different cases studied.

In this chapter, the author considers a three-sector general equilibrium model in the context of a developing nation to find out the impact of an increase in foreign capital inflow on the welfare level of the nation. Comparative static analysis reveals that an increase in the inflow of foreign capital causes redistribution across the factors of production and a reallocation of resources, reflected through the change in output. Moreover, the author considers the case of technology transfer and proves that an increase in foreign capital inflow makes the country better off in terms of social welfare even if the foreign capital is fully repatriated. Hence, this work shows that in the absence of any trade distortion, a partial investment liberalisation causes a welfare gain for a small open economy.

This paper aims to study vehicle-type strategies for the manufacturer's car sharing by accounting for consumers' behavior and the subsidy.

The authors develop a game model, in which a monopoly manufacturer that can produce gasoline vehicles (GVs) or energy vehicles (EVs) not only sells vehicles in the sales market, but also rents them out in the sharing market by the self-built platform. The manufacturer strategically chooses which type of vehicles based on consumers' behavior and whether the government provides the EVs’ subsidy.

When consumers' low-carbon awareness is relatively high or the marginal cost is low, the manufacturer chooses EVs. The manufacturer chooses GVs when the low-carbon awareness and the marginal cost are low. Only when the low-carbon awareness and the subsidy are not too low, the manufacturer who originally chose GVs launches EVs. When the low-carbon awareness is high, the excessive subsidy discourages the manufacturer from entering the sharing market. If the government provides the subsidy, the manufacturer launches high-end EVs. Otherwise, the manufacturer launches low-end EVs. Moreover, the subsidy increases consumer surplus and social welfare since the high subsidy makes EVs’ sharing market demand be negative.

This study enriches the literature on vehicle-type strategies for the manufacturer's car sharing, owns a practical significance to guide the manufacturer's operation management in the car sharing market and provides advice on whether the government should provide EVs’ subsidy.

Multilayer composite liner structures are the primary structural form of hydraulic tunnels. However, the bearing mechanism of multilayer composite liners has not been investigated thoroughly. Many existing design schemes do not properly achieve a balance between structural safety, anti-seepage capacity, and cost effectiveness. Thus, a new composite liner structure type and its theoretical model was proposed.

A novel hydraulic tunnel composite liner structure with a polyurea spray coating interlayer was proposed in this study. A theoretical model based on the state-space method was developed and verified using FEM models and existing theoretical models. Parametric analysis was conducted based on the theoretical model to investigate the influence of various variables, including interfacial shear stiffness, inner liner thickness, and outer liner elastic modulus.

It was concluded that the proposed theoretical model can be used successfully to calculate multilayer composite liner structures with high calculation efficiency. The overall deformation stiffness of the composite liner system increased with the interfacial shear stiffness. The sprayed coating interlayer significantly affects the residual force distribution between the outer and inner liners, which can also be affected by the adjustment of the thickness of the outer and inner liners. Thus, attention should be paid to these factors in the rational design of the proposed composite liner system.

With the development of China’s water conservancy projects, complex geological conditions, high surrounding rock stress, high internal and external water pressures, and other unique application scenarios have gradually increased. This places higher requirements on the bearing performance and impermeability of hydraulic tunnel lining structures. On the other hand, conventional hydraulic tunnel lining structures can hardly achieve a satisfactory balance between economy, structural safety, and impermeability. Thus, the proposed structure has the potential to be used in a wide range of applications.

This paper endeavors to create a predictive model for the energy consumption associated with the multi-material fused deposition modeling (FDM) printing process.

An online measurement system for monitoring power and temperature has been integrated into the dual-extruder FDM printer. This system enables a comprehensive study of energy consumption during the dual-material FDM printing process, achieved by breaking down the entire dual-material printing procedure into distinct operational modes. Concurrently, the analysis of the G-code related to the dual-material FDM printing process is carried out.

This work involves an investigation of the execution instructions that delineate the tooling plan for FDM. We measure and simulate the nozzle temperature distributions with varying filament materials. In our work, we capture intricate details of energy consumption accurately, enabling us to predict fluctuations in power demand across different operational phases of multi-material FDM 3D printing processes.

This work establishes a model for quantifying the energy consumption of the dual-material FDM printing process. This model carries significant implications for enhancing the design of 3D printers and advancing their sustainability in mobile manufacturing endeavors.