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This study aims to investigate the performance of filament-based material extrusion additive manufacturing (MEX), combined with debinding and sintering, as a novel approach to manufacturing ceramic components.

A commercial ZrO₂ filament was selected and analysed by infra-red (IR) spectroscopy, rheology and thermo-gravimetry. The influence of the print parameters (layer thickness, flow rate multiplier, printing speed) and sintering cycle were investigated to define a suitable printing and sintering strategy. Biaxial flexure tests were applied on sintered discs realised with optimised printing strategies, and the results were analysed via Weibull statistics to evaluate the mechanical properties of printed components. The hardness and thermal conductivity of sintered components were also tested.

Layer thickness and flow rate multiplier of the printing process were proved to have significant effect on the density of as-printed parts. Optimised samples display a sintered density >99% of the theoretical density, 20% linear sintering shrinkage, a characteristic flexural strength of 871 MPa with a Weibull modulus of 4.9, a Vickers hardness of 12.90 ± 0.3 GPa and a thermal conductivity of 3.62 W/mK. Gyroids were printed for demonstration purposes.

To the best of the authors’ knowledge, this work is the first to apply biaxial flexure tests and Weibull statistics to additively manufactured MEX zirconia components, hence providing comparable results to other additive technologies. Moreover, fractography analysis builds the connection between printing defects and the fracture mechanism of bending. This study also provides guidelines for fabricating high-density zirconia components with MEX.

The purpose of this study is to successfully apply ultrasonic waves for the quick extraction of flax seed gum from flaxseed hull or whole seed and compare it to the standard technique of extraction.

The effect of the heating source, extracted time, temperature and pH of extracted solution on the extraction was studied. The obtained gum is subsequently used for silk screen printing on cotton, linen and viscous fabrics. Rheological properties and viscosity of the printing paste were scrutinized in the current study to get a better insight into this important polysaccharide. The output of this effort aimed to specify the parameters of the processes for printing textiles to serve in women’s fashion clothes by applying innovated handmade combinations of Islamic art motives using a quick and affordable method. Seven designs are executed, and inspiring from them, seven fashion designs of ladies’ clothes were designed virtually by Clo 3D software.

The result recorded that the new gum has excellent printing properties. In addition, they have better rheological properties, viscosity, chromatic strength and fastness qualities, all of which could help them in commercial production.

Flaxseed and three different fabric types (Cotton, Linen and Viscous) were used.

Synthesis of a new biodegradable thickener from a natural resource, namely, flaxseed, by applying new technology to save time, water and energy.

Synthesis of eco-friendly biodegradable thickener and used in textile printing alternative to the synthetic thickener.

Contemporary technological disruptions are espoused as though they stimulate sustainable growth in the built environment through the Green Internet of Things (G-IoT). Learning from discipline-specific experiences, this paper articulates recent advancements in the knowledge and concepts of G-IoT in relation to the construction and smart city sectors. It provides a scoping review for G-IoT as an overlooked dimension. Attention was paid to modern circularity, cleaner production and sustainability as key benefits of G-IoT adoption in line with the United Nations’ Sustainable Development Goals (UN-SDGs). In addition, this study also investigates the current application and adoption strategies of G-IoT.

This study uses the Preferred Reporting Items for Systematic and Meta-Analyses (PRISMA) review approach. Resources are drawn from Scopus and Web of Science repositories using apt search strings that reflect applications of G-IoT in the built environment in relation to construction management, urban planning, societies and infrastructure. Thematic analysis was used to analyze pertinent themes in the retrieved articles.

G-IoT is an overlooked dimension in construction and smart cities so far. Thirty-three scholarly articles were reviewed from a total of 82 articles retrieved, from which five themes were identified: G-IoT in buildings, computing, sustainability, waste management and tracking and monitoring. Among other applications, findings show that G-IoT is prominent in smart urban services, healthcare, traffic management, green computing, environmental protection, site safety and waste management. Applicable strategies to hasten adoption include raising awareness, financial incentives, dedicated work approaches, G-IoT technologies and purposeful capacity building among stakeholders. The future of G-IoT in construction and smart city research is in smart drones, building information modeling, digital twins, 3D printing, green computing, robotics and policies that incentivize adoption.

This study adds to the normative literature on envisioning potential strategies for adoption and the future of G-IoT in construction and smart cities as an overlooked dimension. No previous study to date has reviewed pertinent literature in this area, intending to investigate the current applications, adoption strategies and future direction of G-IoT in construction and smart cities. Researchers can expand on the current study by exploring the identified G-IoT applications and adoption strategies in detail, and practitioners can develop implementation policies, regulations and guidelines for holistic G-IoT adoption.

Drawing on affective events theory (AET), this study aims to examine how green human resource management (GHRM) practices influence employees' environmental commitment (EEC) and organizational citizenship behavior for the environment (OCBE) through the mediating role of harmonious environmental passion (HEP).

Time-lagged and multisource data were collected from employee–coworker dyads (n = 231) working in manufacturing companies. The data were analyzed using the partial least squares (PLS) structural equation modeling (SEM) technique.

Results revealed that GHRM practices predicted both EEC and OCBE significantly. Further, HEP partially mediated the relationship of GHRM practices with EEC and OCBE.

This study provides new insights towards the unattended affective processes that underlie the link between GHRM practices and green employee outcomes through a coherent theoretical lens of AET. It spotlights that implementing GHRM practices as a strategic choice helps evoke HEP among employees, which is an essential determinant of employees' eco-friendly attitude and behavior.

This study aims to propose the reuse of PA12 (powder) in another AM process, binder jettiinng, which is less sensitive to the chemical and mechanical degradation of the powder after multiple cycles in the laser system.

The experimental process for evaluating the reuse of SLS powders in a subsequent binder jetting process consists of four phases: powder characterization, bonding analysis, mixture testing and mixture characteristics. Analyses were carried out using techniques such as Fourier Transform Infrared Spectroscopy, scanning electron microscopy, thermogravimetric analysis and stress–strain tests for tension and compression. The surface roughness, color, hardness and density of the new mixture were also determined to find physical characteristics. A Taguchi design L8 was used to search for a mixture with the best mechanical strength.

The results indicated that the integration of waste powder PA12 with calcium sulfate hemihydrate (CSH) generates appropriate particle distribution with rounded particles of PA12 that improve powder flowability. The micropores observed with less than 60 µm, facilitated binder and infiltrant penetration on 3D parts. The 60/40 (CSH-PA12) mixture with epoxy resin postprocessing was found to be the best-bonded mixture in mechanical testing, rugosity and hardness results. The new CSH-PA12 mixture resulted lighter and stronger than the CSH powder commonly used in binder jetting technology.

This study adds value to the polymer powder bed fusion process by using its waste in a circular process. The novel reuse of PA12 waste in an established process was achieved in an accessible and economical manner.

This study aims to synthesize Prussian blue {Fe^III₄[Fe^II(CN)₆]₃} pigment by reacting ferric chloride with different ferrocyanides through the same procedure. The influence of the ferrocyanide used on resulting pigment properties is studied.

Prussian blue is commonly synthesized by direct or indirect methods, through iron salt and ferrocyanide/ferricyanide reactions. In this study, the direct, single-step process was pursued by dropwise addition of the ferrocyanide into ferric chloride (both as aqueous solutions). Two batches – (K-PB) and (Na-PB) – were prepared by using potassium ferrocyanide and sodium ferrocyanide, respectively. The development of pigment was confirmed by an identification test and characterized by spectroscopic techniques. Pigment properties were determined, and light fastness was observed for acrylic emulsion films incorporating dispersed pigment.

The two pigments differed mainly in elemental detection owing to the dissimilar ferrocyanide being used; IR spectroscopy where only (Na-PB) showed peaks indicating water molecules; and bleeding tendency where (K-PB) was water soluble whereas (Na-PB) was not. The pigment exhibited remarkable blue colour and good bleeding resistance in several solvents and showed no fading in 24 h of light exposure though oil absorption values were high.

This article is a comparative study of Prussian blue pigment properties obtained using different ferrocyanides. The dissimilarity in the extent of water solubility will influence potential applications as a colourant in paints and inks. K-PB would be advantageous in aqueous formulations to confer a blue colour without any dispersing aid but unfavourable in systems where other coats are water-based due to their bleeding tendency.

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.

This study aims to explore the key factors that hinder technopreneur’s success.

The finalization of the most appropriate method to conduct any study is based on the nature of the research questions (Shaw, 1999; Morse and Richards, 2002). As this study is exploratory, a qualitative approach was used to collect the data. Morse and Richards (2002) have emphasized that the qualitative technique to collect is useful for in-depth assessment of the participant’s experiences, their understanding regarding the matter and their interpretation of their experiences.

Technopreneurs face four significant problems that have an impact on their business agility and competitiveness. These four factors are as follows: the entrepreneur’s skills and preparedness; their organization’s insufficient capabilities and talent to deal with the challenges; a lack of support mechanisms from relevant institutions; and, finally, the rapidly changing business environment in terms of technology and competition.

This study explores the hindrance factors through qualitative techniques faced by young technopreneurs in the context of Malaysia. This study will provide deep insight regarding the key issues facing new startups and will be helpful for policymakers.

The application of three-dimensional (3D) printing technology in construction projects is of increasing interest to researchers and construction practitioners. Although the application of 3D printing technology at various stages of the project lifecycle has been explored, few studies have identified the relative importance of critical success factors (CSFs) for implementing 3D printing technology in construction projects. To address this research gap, this study aims to explore the academics (i.e. researchers) and construction practitioners’ perspectives on CSFs for implementing 3D printing technology in construction projects.

To do this, a questionnaire was administered to participants (i.e. academics and construction practitioners) with knowledge and expertise in 3D printing technology in construction projects. The collected data were analysed using mean score ranking, normalization and rank agreement analysis to identify CSFs and determine the consistency of the ranking of CSFs between academics and construction practitioners. In addition, exploratory factor analysis was used to identify the relationships and underlying constructs of the measured CSFs.

Through a rank agreement analysis of the collected data, 11 CSFs for implementing 3D printing technology were retrieved (i.e. 17% agreement), indicating a diverse agreement in the ranking of the CSFs between academics and construction practitioners. In addition, the results show three key components of CSFs including “production demand enabling CSFs”, “optimize the construction process enabling CSFs” and “optimized design enabling CSFs”.

This study highlights the feasibility of implementing the identified CSFs for 3D printing technology in construction projects, which not only serves as a reference for other researchers but also increases construction practitioners’ awareness of the practical benefits of implementing 3D printing technology in construction projects. Specifically, it would optimize the construction lifecycle processes, enhance digital transformation and promote sustainable construction projects.

The purpose of this study is to modify the FDM 3D printer to print with polystyrene (PS) microspheres as the printing material, thus enabling bottom-up structural color printing and evaluating structural color printing.

This study chose a range of different heated bed temperatures to determine a suitable temperature for accelerating the self-assembly of photonic crystals and printing structural colors on various substrates. In addition, this study enhanced the structural color by doping PS microspheres with different contents of Acid Black 210 dye and evaluated the color-enhanced structural color by eye and spectrophotometer under different light sources.

The results show that the modified 3D printer can be used for structural color printing, and 50°C is determined as the heated bed temperature. There are significant differences in structural colors when printing under different color backgrounds and material substrates, and corresponding suitable substrates should be selected according to the application. The doping of PS microspheres with varying contents of dye results in different color levels of structural color. As with pigment colors, the visual perception of structural color varies when viewed under different light sources.

This paper proposes to print structural colors low-costly, analyze structural colors under substrate and light source conditions, and expand the structural color gamut by enhancing structural colors, which has positive implications for further research on structural colors as printing colors.