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High-Curvature Consecutive Tip Steering of a Soft Growing Robot for Improved Target Reachability

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High-Curvature Consecutive Tip Steering of a Soft Growing Ro...

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Dong-Geol Lee Nam Gyun Kim Jee-Hwan Ryu Robotics Program Korea Advanced Institute of Science and Tech-nology (KAIST) Daejeon Republic of Korea Department of Civil and Environmental Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

Over the years, soft growing robots that allow the feeding of new materials at their tips have attracted considerable attention owing to their unique locomotion characteristics. However, accessing targets over highly curved passages by steering compliant continuum bodies remains challenging. To this end, this study proposes a new tip steering mechanism that imparts soft growing robots with consecutive high-curvature steering ability. We place a hyper-redundant rolling contact joint and twisted string actuator (TSA) at the tip of a soft growing robot to provide high-curvature continuous steering with a smaller scale factor, allowing consecutive turns. The proposed small form factor continuous curvature tip steering mechanism allows the steering mechanism to stay at the tip during steering, improving accessibility by enabling consecutive turns. The improved accessibility of the proposed mechanism is demonstrated based on better confined space reachability compared with that of conventional whole-body steering soft growing robots, along with a consecutive high-curvature pipe navigation demonstration.

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Conceptual Model of Graph-based Individual Tree and Its Utilization in Digital Twin and Metaverse of Urban Forest

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Conceptual Model of Graph-based Individual Tree and Its Util...

2024 Symposium on Spatial Information to Empower the Metaverse

作者： Ambarwari, Agus Suwardhi, Deni Rani, Medria Shekar Husni, Emir Junaidy, Deny Willy Agirachman, Fauzan Alfi Murtiyoso, Arnadi Griess, Verena Christiane Doctoral Program of Electrical Engineering and Informatics School of Electrical Engineering and Informatics Institut Teknologi Bandung Jl. Ganesha No.10 Bandung40132 Indonesia Faculty of Earth Sciences and Technology Institut Teknologi Bandung Indonesia School of Architecture Planning and Policy Development Institut Teknologi Bandung Indonesia School of Electrical Engineering and Informatics Institut Teknologi Bandung Indonesia Faculty of Art and Design Institut Teknologi Bandung Indonesia Department of Environmental Systems Science Forest Resources Management Institute of Terrestrial Ecosystems Zurich8092 Switzerland

3D city models are an important cornerstone in the development of digital twin cities, allowing for various analyses and simulations. CityGML, as an open standard for 3D city models, emphasizes five main aspects: scale or level of detail (LoD), semantics, geometry, topology, and appearance. One of the important elements in CityGML 3D city models is representation of vegetation. Vegetation in CityGML, especially individual trees, is still limited in terms of detail and resolution, reducing its effectiveness for specific applications. This paper proposes a graph-based conceptual model for individual trees that conforms to the CityGML v2.0 specification. The model refers to the morphological structure of a tree consisting of roots, trunk, and crown (including branches, twigs, and leaves), and considers the five main aspects of CityGML. By enhancing semantic information and geometric details, the model aims to provide an information-rich and realistic representation of individual trees in a 3D city environment. The 3D tree model created based on this conceptual model may be applicable in the development of digital twin urban forests and virtual forest simulations that utilize immersive technologies such as the metaverse. This research opens up new opportunities in the development of solitary vegetation objects through CityGML ADE by including more detailed semantic and topological information. © Author(s) 2024.

关键词： Digital elevation model

Novel Dopamine-Derived Carbon Modified Fe-Based Metal-Organic Framework Enhanced Aptasensor Rendering Ultrasensitive Electrochemical Detection of Oxytetracycline

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SSRN 2024年

作者： Song, Jialing Fan, Xiaoxuan Ee, Liang Ying Lin, Xuanhao Li, Sam Fong Yau Huang, Manhong Singapore Donghua University China Shanghai University College of Science Department of Chemistry International Joint Laboratory Catalyst Chemistry Shanghai200444 China College of Environmental Science and Engineering State Environmental Protection Engineering Center for Pollution Treatment and Control in Textile Industry Donghua University Shanghai201620 China National University of Singapore Department of Chemistry 3 Science Drive 3 Singapore117543 Singapore Advanced Membranes and Porous Materials Center Physical Science and Engineering Division King Abdullah University of Science and Technology Thuwal23955-6900 Saudi Arabia Chemical Engineering Program Physical Science and Engineering Division King Abdullah University of Science and Technology Thuwal23955-6900 Saudi Arabia National University of Singapore Environmental Research Institute T Lab Building 5A Engineering Drive 1 Singapore117411 Singapore

In the present work, an aptasensor with dual binding sites based on Au NPs modified with self-polymerized polydopamine (PDA) and Fe-MOF is successfully constructed. In terms of standard electron transfer, the cyclic voltammetry (CV) analysis showcases a rate constant (ks) of 96.0 s-1, signifying an exceptional electron transfer rate of oxytetracycline at the sensor interface of Apt/Au@PDA@NH2-MIL-101(Fe)/GCE. Further deepening the investigation into electrochemical kinetics using chronoamperometry (CA), we investigated the electrocatalytic parameters (Kcat) of Au@PDA@NH2-MIL-101(Fe) in relation to oxytetracycline. The results divulged an impressive average Kcat value of 3.06×105 M-1 S-1. This evidence robustly suggests the superior electrocatalytic activity of Au@PDA@NH2-MIL-101(Fe) when it comes to oxytetracycline oxidation. A custom-designed portable rapid detection platform was developed, achieving detection limits of 6.88 nM under static water flow conditions and 5.56 nM under dynamic conditions. Remarkably, the self-polymerization of PDA on Au NPs not only refines their size but also boosts their interaction with biomolecules, thereby promising excellent biocompatibility. Moreover, the abundance of -COOH groups and unsaturated Fe3+ sites on the NH2-MIL-101(Fe) surface furnishes a considerable number of grafting sites for the aptamer. More importantly, the redox interplay between Au@PDA and NH2-MIL-101(Fe) accelerates electron movement, thus amplifying the electrochemical signal and the detection sensitivity for oxytetracycline. © 2024, The Authors. All rights reserved.

关键词： Rate constants

Adapting Fluorescing Imidazoline Probes for Low Level Quantitation of Free Airborne Chlorine

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SSRN 2022年

作者： Hernandez, Mark Biesiada, Emmalee McCabe, Kevin Gomez, Odessa Volbers, Blaire Carmody, Ariana Bryan, Samuel University of Colorado Environmental Engineering Program College of Engineering and Applied Science 4001 Discovery Drive BoulderCO80303 United States

Solutions containing hypochlorous acid (HOCl) are common cleaning agents that when aerosolized and/or applied directly to indoor surfaces, partition into vapor where they may retain disinfecting potential even at trac... 详细信息

关键词： Fluorescence

The Feather Structure and Bioinspired Rachis Design

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SSRN 2024年

作者： Velasco-Hogan, Audrey Tavares, Sheron S. Lazarus, Benjamin Mahrous, Mahmoud A. Jasiuk, Iwona Meyers, Marc Andre Materials Science and Engineering Program University of California San Diego United States Department of Civil and Environmental Engineering University of Illinois at Urbana-Champaign UrbanaIL United States Mechanical Science and Engineering Department University of Illinois at Urbana-Champaign United States Depts. Of Nanoengineering and Mechanical and Aerospace Engineering University of California San Diego United States

The feather structure is comprised of a central shaft, lateral barbs and a network of barbules connecting them. These three components act synergistically to provide lift and damage recovery. The feather shaft is the predominant load-bearing component of the feather and is composed of the calamus and the rachis. Both the shaft and barbs consist of an external hollow shell filled with cellular keratin. Quantitative measurements of core (medulla) density and viscoelastic parameters are made across several avian species. There is a notable decrease in both storage and loss moduli with the mass of the birds. The mechanics of the feather shaft are explored through 3D-printed bioinspired designs to investigate structure-property relationships with respect to flight. Sandwich structures inspired by the feather shaft are printed with and without a foam core to establish flexural properties. The flexural strength of the sandwich structure increases with the addition of a foam core, due to the increase in the resistance to buckling and a modest moment of inertia. However, the stiffness is not significantly altered with the addition of the core. It is primarily determined by the cortex since the foam provides negligible moment of inertia. Both experiments and analysis on synthetic systems demonstrate that the feather rachis uses a highly optimized design. © 2024, The Authors. All rights reserved.

关键词： Viscoelasticity

Characterization of Bacterial Strains Isolated from Wastewater Polluted Soil for Synthetic Dye Decolorization Attributes

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Characterization of Bacterial Strains Isolated from Wastewat...

2021 International Symposium on Intelligent Signal Processing and Communication Systems, ISPACS 2021

作者： Ahsan, Wazir Aitizaz Lin, Chitsan National Kaohsiung University of Science and Technology Ph.D. Program In College of Hydrosphere Kaohsiung Taiwan National Kaohsiung University of Science and Technology Department of Marine Environmental Engineering Kaohsiung Taiwan

ISBN: (纸本)9781665419512

Soil is a renewable and valuable medium for variety of life. In Pakistan, factory effluents and domestic wastewater is generally not recycled and it contaminates the agricultural soils adjacent to nearby drains. Five screened isolates were subjected to azo dye decolorization (Reactive Black, Red Reactive, Blue direct, Congo Red Direct) in the presence of NaCl, at variable pH levels and at different carbon sources. Isolate Sr-7, Ss-2-1 showed best decolorization ability in terms of all the azo dyes studied. Similarly, isolates Sr-2-1/1 and Mr-1/1 exhibited maximum phosphate solubilization and IAA production potential. The screened isolates can be used as inoculants to increase crop productivity in problem soils and can also be applied in wastewater treatments processes. © 2021 IEEE.

关键词： Azo dyes

The Role of Fe(Iv) in the Zero-Valent Iron Biochar Activated Persulfate System for Treatment of Contaminants of Emerging Concern

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SSRN 2024年

作者： Peng, Guilong Gong, Wenwen He, Dandan Wang, Xiao Yan, Yuting Dionysiou, Dionysios D. Blaney, Lee Institute of Quality Standard and Testing Technology Beijing Academy of Agriculture and Forestry Science Beijing100097 China State Key Laboratory of Resource Insects College of Sericulture Textile and Biomass Sciences Southwest University Chongqing400715 China Environmental Engineering and Science Program Department of Chemical and Environmental Engineering University of Cincinnati CincinnatiOH45221 United States University of Maryland Baltimore County Department of Chemical Biochemical and Environmental Engineering BaltimoreMD21250 United States Yibin Academy Southwest University Yibin China

In this paper, Fe(IV) was analyzed in the zero-valent iron biochar (ZVI-BC) activated persulfate (PS) process with methyl phenyl sulfoxide (PMSO) as the probe compound. Without a reaction terminator, PMSO degradation continued during the sample holding time, resulting in significant errors in the kinetics analysis. When 1 mM NaNO2, 1 mM NH2OH, 10 mM Na2S2O3, and 10 mM dimethyl sulfoxide were used as terminators, the analytical interference to PMSO and its oxidation product, methyl phenyl sulfone (PMSO2), was reduced to a negligible level, enabling detection by high performance liquid chromatography. In addition to Fe(IV), free radical (i.e., SO4•–, •OH, O2•–) and nonradical (i.e., 1O2) reactive species were also involved in the ZVI-BC/PS system;however, Fe(IV) was the predominant reactive species. Generally, organic contaminants with electron-donating moieties rapidly reacted with Fe(IV), and the relative contribution of Fe(IV) to overall contaminant degradation decreased as the solution pH was increased. Overall, this study provided new insights into the quantitative analysis of Fe(IV) in the ZVI-BC/PS system and its application to treatment of organic contaminants in solutions with variable water quality. © 2024, The Authors. All rights reserved.

关键词： Sodium compounds

Four Decades of Atmospheric Mercury Records at Mt. Everest Reveals Significant Reduction in Anthropogenic Mercury Emissions Over the Past Decade

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ACS ES&T Air

ACS ES&T Air 2025年第5期2卷 824-836页

作者： Ruoyu Sun Rui Zhang Yuchen Yang Yi Liu Wang Zheng Qianggong Zhang Huiming Lin Yindong Tong Yanxu Zhang James Schauer Xuejun Wang Jiubin Chen Institute of Surface-Earth System Science School of Earth System Science Tianjin University Tianjin 300072 China Institute of Tibetan Plateau Research Chinese Academy of Sciences Beijing 100101 China College of Urban and Environmental Sciences Peking University Beijing 100871 China School of Environmental Science and Engineering Tianjin University Tianjin 300350 China；Key Laboratory of Biodiversity and Eco-environmental Protection of the Qinghai-Tibetan Plateau (Ministry of Education) School of Ecology and Environment Tibet University Lhasa 850000 China School of Atmospheric Sciences Nanjing University Nanjing 210023 China Environmental Chemistry and Technology Program University of Wisconsin-Madison Madison Wisconsin 53706 United States

Mercury (Hg) is a highly toxic metal of global concern, with its anthropogenic emissions strictly controlled by the Minamata Convention on Mercury. The effectiveness of this convention is evaluated by global atmospheric Hg monitoring among other indicators. However, it is uncertain to directly link anthropogenic Hg emissions to atmospheric Hg concentrations mainly due to legacy Hg re-emissions. Here, we reconstructed the past atmospheric Hg concentrations and isotope compositions using the annually resolved (1982–2020) leaves ofAndrosace tapeteat Mt. Everest, Tibetan Plateau. Our reconstruction indicates that the atmospheric Hg concentrations increased from the early 1980s to 2002 (3.31 ng m–3), followed by a large (∼70%) decline until 2020 (0.90 ng m–3). The declining trend of atmospheric Hg concentrations resembles those observed at North Hemisphere background sites, particularly in Chinese rural areas. Notably, there has been an increasing enrichment of light isotopes in atmospheric Hg over the past decade. Using an isotope mixing model based on δ202Hg, we show that the atmospheric Hg has declined over the past decade that is mainly driven by reduced anthropogenic emissions. The contributions of the terrestrial legacy re-emissions are rather stable, but their atmospheric fractions increased from ∼44% in 2010 to ∼62% in 2020. Given the importance of legacy Hg, the current strategies should prioritize assessing legacy Hg remobilization.

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The Effects of Calcium Carbonate on Sodium Metasilicate-Activated Metakaolin-Based Geopolymer Pastes

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SSRN 2024年

作者： Ren, Jie Cansu, B. Acarturk Dowdy, Nicolas D. Srubar, Wil V. Department of Civil Environmental and Architectural Engineering University of Colorado Boulder 1111 Engineering Drive ECOT 441 UCB 428 BoulderCO80309 United States Materials Science and Engineering Program University of Colorado Boulder 4001 Discovery Drive BoulderCO80303 United States

The influence of calcium carbonate (CaCO3) on the alkali-activation kinetics, microstructure, and compressive strength of alkali-activated metakaolin (MK) geopolymer was investigated. Experimental results showed that replacing 10-50% of MK with CaCO3 particles delayed the acceleration stage of alkali-activation regardless of replacement amount. However, 10% CaCO3 increased the overall degree of reaction and yielded pastes with similar 14- and 28-day compressive strengths compared to the control without CaCO3 addition. In comparison, 50% CaCO3 replacement led to a lower overall degree of reaction and compressive strengths through 28 days of curing. Experimental evidence substantiates that N-A-S-H gel forms in samples containing 0% and 10% CaCO3, while N-(C)-A-S-H gel and/or C-(N)-A-S-H are also present in the binding matrix near CaCO3 particles in samples with higher CaCO3 contents. While CaCO3 particles were primarily composed of calcite, vaterite was also evident given higher CaCO3 contents, suggesting that the CaCO3 particles were reactive during the alkali-activation. © 2024, The Authors. All rights reserved.

关键词： Calcium carbonate