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This paper aims to study the effect of concentric hot circular cylinder inside egg-cavity porous-copper nanofluid on natural convection phenomena.

The finite element method–based Galerkin approach is applied to solve numerically the set of governing equations with appropriate boundary conditions.

The effects of different range parameters, such as Darcy number (10–3 = Da = 10–1), Rayleigh number (103 = Ra = 106), nanoparticle volume fraction (0 = ϑ = 0.06) and eccentricity (−0.3 = e = 0.1) on the fluid flow represent by stream function and heat transfer represent by temperature distribution, local and average Nusselt numbers.

A comparison between oval shape and concentric circular concentric cylinder was investigated.

In the current numerical study, heat transfer by natural convection was identified inside the new design of egg-shaped cavity as a result of the presence of a circular inside it supported by a porous medium filled with a nanofluid. After reviewing previous studies and considering the importance of heat transfer by free convection inside tubes for many applications, to the best of the authors’ knowledge, the current work is the first study that deals with a study and comparison between the common shape (concentric circular tubes) and the new shape (egg-shaped cavity).

The objective of this paper is to develop a condition-based maintenance (CBM) scheme for pneumatic cylinders. The CBM scheme will detect two common types of air leaking failure modes and identify the leaky/faulty cylinder. The successful implementation of the proposed scheme will reduce energy consumption, scrap and rework, and time to repair.

Effective implementation of maintenance is important to reduce operation cost, improve productivity and enhance quality performance at the same time. Condition-based monitoring is an effective maintenance scheme where maintenance is triggered based on the condition of the equipment monitored either real time or at certain intervals. Pneumatic air systems are commonly used in many industries for packaging, sorting and powering air tools among others. A common failure mode of pneumatic cylinders is air leaks which is difficult to detect for complex systems with many connections. The proposed method consists of monitoring the stroke speed profile of the piston inside the pneumatic cylinder using hall effect sensors. Statistical features are extracted from the speed profiles and used to develop a fault detection machine learning model. The proposed method is demonstrated using a real-life case of tea packaging machines.

Based on the limited data collected, the ensemble machine learning algorithm resulted in 88.4% accuracy. The algorithm can detect failures as soon as they occur based on majority vote rule of three machine learning models.

Early air leak detection will improve quality of packaged tea bags and provide annual savings due to time to repair and energy waste reduction. The average annual estimated savings due to the implementation of the new CBM method is $229,200 with a payback period of less than two years.

To the best of the authors’ knowledge, this paper is the first in terms of proposing a CBM for pneumatic systems air leaks using piston speed. Majority, if not all, current detection methods rely on expensive equipment such as infrared or ultrasonic sensors. This paper also contributes to the research gap of economic justification of using CBM.

This study aims to improve the automatic leveling performance of tractor body in hilly and mountainous areas by designing a kind of controllable and adaptive leveling mechanism of tractor body.

The mechanism is mainly composed of longitudinal slope leveling mechanism, transverse slope leveling mechanism and control components. According to the tractor body attitude in operation, the longitudinal slope leveling and lateral slope leveling can coordinate to realize the adaptive adjustment of tractor body. For this mechanism, the support mode of the linear three-point support and plane positioning combining is designed, and the leveling method of electromechanical combination is designed. The servo motor controls the longitudinal slope leveling mechanism through the reducer with self-locking function to realize the longitudinal leveling, and the servo driver controls the expansion and contraction of electric cylinder to realize lateral leveling. The designed mode can realize the relative independence and coordination of leveling in different directions.

The performance test results of the leveling mechanism are shown: the mechanism can work normally; the leveling accuracy can reach within 1°; and the leveling accuracy and stability can meet the design requirements. The leveling accuracy and stability of longitudinal slope are higher than that of lateral slope, and the coordination leveling effect of longitudinal slope and lateral slope is better than that of the independent leveling.

This study provides a technical reference for the design of leveling device of agricultural machines and tools in hilly and mountainous areas.

The durability of concrete containing recycled aggregates, sourced from concrete specimens that have been tested in laboratory testing facilities, remains understudied. This paper aims to present the results of experiments investigating the effect of incorporating such type of concrete waste on the strength and durability-related properties of concrete.

A total of 77 concrete cylinders sized Ø100 × 200 mm with varying amount of recycled concrete aggregate (RCA) (0%–100% by volume, at 25% increments) and maximum aggregate size (12.5, 19.0 and 25.0 mm) were fabricated and tested for slump, compressive strength, sorptivity and electrical resistivity. Disk-shaped specimens, 50-mm thick, were cut from the original cylinders for sorptivity and resistivity tests. Analysis of variance and post hoc test were conducted to detect statistical variability among the data.

Compared to regular concrete, a reduction of slump (by 18.6%), strength (15.1%), secondary sorptivity (31.5%) and resistivity (17.0%) were observed from concrete containing 100% RCA. Statistical analyses indicate that these differences are significant. In general, an aggregate size of 19 mm was found to produce the optimum value of slump, compressive strength and sorptivity in regular and RCA-added concrete.

The results of this study suggest that comparable properties of normal concrete were still achieved by replacing 25% of coarse aggregate volume with 19-mm RCA, which was processed from laboratory-tested concrete samples. Therefore, such material can be considered as a potential and sustainable alternative to crushed gravel for use in light or nonstructural concrete construction.

This paper aims to develop a new 3D analytical model in cylindrical coordinates to study radial flux eddy current couplers (RFECC) while considering the magnetic edge and 3D curvature effects, and the field reaction due to the induced currents.

The analytical model is developed by combining two formulations. A magnetic scalar potential formulation in the air and the magnets regions and a current density formulation in the conductive region. The magnetic field and eddy currents expressions are obtained by solving the 3D Maxwell equations in 3D cylindrical coordinates with the variable separation method. The torque expression is derived from the field solution using the Maxwell stress tensor. In addition to 3D magnetic edge effects, the proposed model takes into account the reaction field effect due to the induced currents in the conducting part. To show the accuracy of the developed 3D analytical model, its results are compared to those from the 3D finite element simulation.

The obtained results prove the accuracy of the new developed 3D analytical model. The comparison of the 3D analytical model with the 2D simulation proves the strong magnetic edge effects impact (in the axial direction) in these devices which must be considered in the modelling. The new analytical model allows the magnetic edge effects consideration without any correction factor and also presents a good compromise between precision and computation time.

The proposed 3D analytical model presents a considerably reduced computation time compared to 3D finite element simulation which makes it efficient as an accurate design and optimization tool for radial flux eddy current devices.

A new analytical model in 3D cylindrical coordinates has been developed to find the electromagnetic torque in radial flux eddy current couplers. This model considers the magnetic edge effects, the 3D curvature effects and the field reaction (without correction factors) while improving the computation time.

One of the challenges encountered in the design of guided projectiles is their prohibitive cost. To diminish it, an appropriate avenue many researchers have explored is the use of the non-actuator method for guiding the projectile to the target. In this method, biologically inspired by the flying concept of the single-winged seed, for instance, that of maple and ash trees, the projectile undergoes a helical motion to scan the region and meet the target in the descent phase. Indeed, the projectile is a decelerator device based on the autorotation flight while it attempts to resemble the seed’s motion using two wings of different spans. There exists a wealth of studies on the stability of the decelerators (e.g. the mono-wing, samara and pararotor), but all of them have assumed the body (exclusive of the wing) to be symmetric and paid no particular attention to the scanning quality of the region. In practice, however, the non-actuator-guided projectiles are asymmetric owing to the presence of detection sensors. This paper aims to present an analytical solution for stability analysis of asymmetric decelerators and apprise the effects of design parameters to improve the scanning quality.

The approach of this study is to develop a theoretical model consisting of Euler equations and apply a set of non-dimensionalized equations to reduce the number of involved parameters. The obtained governing equations are readily applicable to other decelerator devices, such as the mono-wing, samara and pararotor.

The results show that the stability of the body can be preserved under certain conditions. Moreover, pertinent conclusions are outlined on the sensitivity of flight behavior to the variation of design parameters.

The analytical solution and sensitivity analysis presented here can efficiently reduce the design cost of the asymmetric decelerator.

Fused Filament Fabrication (FFF) is one of the growing technologies in additive manufacturing, that can be used in a number of applications. In this method, process parameters can be customized and their simultaneous variation has conflicting impacts on various properties of printed parts such as dimensional accuracy (DA) and surface finish. These properties could be improved by optimizing the values of these parameters.

In this paper, four process parameters, namely, print speed, build orientation, raster width, and layer height which are referred to as “input variables” were investigated. The conflicting influence of their simultaneous variations on the DA of printed parts was investigated and predicated. To achieve this goal, a hybrid Genetic Algorithm – Artificial Neural Network (GA-ANN) model, was developed in C#.net, and three geometries, namely, U-shape, cube and cylinder were selected. To investigate the DA of printed parts, samples were printed with a central through hole. Design of Experiments (DoE), specifically the Rotational Central Composite Design method was adopted to establish the number of parts to be printed (30 for each selected geometry) and also the value of each input process parameter. The dimensions of printed parts were accurately measured by a shadowgraph and were used as an input data set for the training phase of the developed ANN to predict the behavior of process parameters. Then the predicted values were used as input to the Desirability Function tool which resulted in a mathematical model that optimizes the input process variables for selected geometries. The mean square error of 0.0528 was achieved, which is indicative of the accuracy of the developed model.

The results showed that print speed is the most dominant input variable compared to others, and by increasing its value, considerable variations resulted in DA. The inaccuracy increased, especially with parts of circular cross section. In addition, if there is no need to print parts in vertical position, the build orientation should be set at 0° to achieve the highest DA. Finally, optimized values of raster width and layer height improved the DA especially when the print speed was set at a high value.

By using ANN, it is possible to investigate the impact of simultaneous variations of FFF machines’ input process parameters on the DA of printed parts. By their optimization, parts of highly accurate dimensions could be printed. These findings will be of significant value to those industries that need to produce parts of high DA on FFF machines.

Sustainable development goals (SDGs) designed by the United Nations include ‘universal and equitable access to affordable, reliable and clean energy’ as one of the pathways to achieve a better and more sustainable future by 2030. Universal access to electricity, clean cooking fuel, increasing share of renewable resources and improving energy efficiency are the key components of SDG7. In India, the government has undertaken targeted programmes to ensure full electrification of households and greater use of liquid petroleum gas (LPG) for clean cooking replacing traditional solid biomass fuels in poor households. Installed capacity targets are set to raise the share of renewable resources in total energy mix along with the policies undertaken to make it cost-competitive (SDG India, 2019–2020). However, the economic crisis experienced by India during COVID-19 pandemic is likely to affect this ongoing drive towards clean energy use. Sudden fall in income and loss of employment particularly in the unorganised sector might have made the poor rural households vulnerable to reversion to their traditional cooking fuels. The renewable sector has also faced uncertainties due to halted construction works and disrupted global supply chains during lockdown. The present chapter discusses these pertinent issues crucial for achieving SDGs. It investigates how far the COVID-19-driven economic crisis has delayed India's clean cooking fuel programme for different states. It further examines the impact of COVID-19 lockdown on renewable energy sector, particularly on the solar energy sector. The study suggests some policy measures for a robust recovery, ensuring transition towards clean energy use and sustainable growth to protect the environment.

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 propose a simplifying approach for modelling a reliability test. Modelling the reliability tests of printed circuit board (PCB)/microelectronic component assemblies requires the adoption of several simplifying assumptions. This study introduces and validates simplified assumptions for modeling a four-point bend test on a PCB/wafer-level chip scale packaging assembly.

In this study, simplifying assumptions were used. These involved substituting dynamic imposed displacement loading with an equivalent static loading, replacing the spherical shape of the interconnections with simplified shapes (cylindrical and cubic) and transitioning from a three-dimensional modelling approach to an equivalent two-dimensional model. The validity of these simplifications was confirmed through both quantitative and qualitative comparisons of the numerical results obtained. The maximum principal plastic strain in the solder balls and copper pads served as the criteria for comparison.

The simplified hypotheses were validated through quantitative and qualitative comparisons of the results from various models. Consequently, it was determined that the replacement of dynamic loading with equivalent static loading had no significant impact on the results. Similarly, substituting the spherical shape of interconnections with an equivalent shape and transitioning from a three-dimensional approach to a two-dimensional one did not substantially affect the precision of the obtained results.

This study serves as a valuable resource for researchers seeking to model accelerated reliability tests, particularly in the context of four-point bending tests. The results obtained in this study will assist other researchers in streamlining their numerical models, thereby reducing calculation costs through the utilization of the simplified hypotheses introduced and validated herein.