Elastomer-based visuotactile sensor for normality of robotic manufacturing systems

Modern aircrafts require the assembly of thousands of components with high accuracy and reliability. The normality of drilled holes is a critical geometrical tolerance that is required to be achieved in order to realize an efficient assembly process. Failure to achieve the required tolerance leads to structures prone to fatigue problems and assembly errors. Elastomer-based tactile sensors have been used to support robots in acquiring useful physical interaction information with the environments. However, current tactile sensors have not yet been developed to support robotic machining in achieving the tight tolerances of aerospace structures. In this paper, a novel elastomer-based tactile sensor was developed for cobot machining. Three commercial silicon-based elastomer materials were characterised using mechanical testing in order to select a material with the best deformability. A Finite element model was developed to simulate the deformation of the tactile sensor upon interacting with surfaces with different normalities. Additive manufacturing was employed to fabricate the tactile sensor mould, which was chemically etched to improve the surface quality. The tactile sensor was obtained by directly casting and curing the optimum elastomer material onto the additively manufactured mould. A machine learning approach was used to train the simulated and experimental data obtained from the sensor. The capability of the developed vision tactile sensor was evaluated using real-world experiments with various inclination angles, and achieved a mean perpendicularity tolerance of 0.34°. The developed sensor opens a new perspective on low-cost precision cobot machining

Surgical treatment of displaced intra-articular calcaneal fracture using a single small lateral approach

The objective of this study was to evaluate the outcome of semi-open reduction and minimal internal fixation through a single small lateral approach as a minimally invasive technique for treatment of displaced intra-articular calcaneal fractures. This prospective study was conducted on eighteen patients (16 men and 2 women). The average age was 37.7 (22–55). The most common cause of injury was a fall from height in fourteen patients. Patients were operated on within a mean time of 4.8 days of admission (1–11 days) and were followed up for an average period of 24.1 months (6–39 months). Patients were evaluated clinically using the Creighton-Nebraska Heath Foundation Assessment score of Crosby and Fitzgibbons (J Bone Joint Surg (Am) 72-A:852–859, 1990). The scoring system proposed by Knirk and Jupiter was used for radiological assessment of the posterior subtalar joint (Knirk and Jupiter in J Bone Joint Surg (Am) 68-A: 647–659, 1986). The skin incision healed in all cases without necrosis, infection, or sural nerve injury. All fractures healed after an average of 8 weeks (7–10 weeks), and patients returned to the routine daily activities after an average time of 4.3 months (3–7 months). In conclusion, semi-open reduction and minimal internal fixation through a small lateral approach is an effective treatment for carefully selected cases of displaced intra-articular calcaneal fractures

A novel vision-based multi-functional sensor for normality and position measurements in precise robotic manufacturing

Cobots play an essential role in the fourth industrial revolution and the automation of complex manufacturing processes. However, cobots still face challenges in achieving high precision, which obstructs their usage in precise applications such as the aerospace industry. Nonetheless, advances in perception systems unlock new cobot manufacturing capabilities. This paper presents a novel multi-functional sensor that combines visual and tactile feedback using a single optical sensor, featuring a moving gate mechanism. This work also marks the first integration of Vision-Based Tactile Sensing (VBTS) into a robotic machining end-effector. The sensor provides vision-based tactile perception capabilities for precise normality control and exteroceptive perception for robot localization and positioning. Its performance is experimentally demonstrated in a precise robotic deburring application, where the sensor achieves the high-precision requirements of the aerospace industry with a mean normality error of 0.13° and a mean positioning error of 0.2 mm. These results open a new paradigm for using vision-based sensing for precise robotic manufacturing, which surpasses conventional approaches in terms of precision, weight, size, and cost-effectiveness

Genetic and Morphological Diversity Assessment of Five Kalanchoe Genotypes by SCoT, ISSR and RAPD-PCR Markers

Determining the appropriate parents for breeding programs is the most important decision that plant breeders must make to maximize the genetic variability and produce excellent recombinant genotypes. Several methods are used to identify genotypes with desirable phenotypic features for breeding experiments. In this study, five kalanchoe genotypes were morphologically characterized by assessing plant height, number of inflorescences, number of flowers, flower length, flower diameter and number of petals. The analysis showed the distinction of yellow kalanchoe in the plant height trait, while the orange kalanchoe was distinguished in the number of inflorescences, the number of flowers and flower length traits, whereas the violet kalanchoe possessed the largest flower diameter and the highest number of petals. The molecular profiling was performed by random amplified polymorphism DNA (RAPD), inter-simple sequence repeats (ISSR) and start codon targeted (SCoT)-polymerase chain reaction (PCR) tools. Genomic DNA was extracted from young leaves and the PCR reactions were performed using ten primers for each SCoT, ISSR and RAPD marker. Only four out of ten primers showed amplicon profiles in all PCR markers. A total of 70 bands were generated by SCoT, ISSR and RAPD-PCR with 35 polymorphic bands and 35 monomorphic bands. The total number of bands of RAPD, ISSR and SCoT was 15, 17 and 38, respectively. The polymorphism percentages achieved by RAPD, ISSR and SCoT were 60.25%, 15% and 57%, respectively. The cluster analysis based on morphological data revealed two clusters. Cluster I consisted of violet and orange kalanchoe, and cluster II comprised red, yellow and purple kalanchoe. Whereas the cluster analysis based on molecular data revealed three clusters. Cluster I included only yellow kalanchoe, cluster II comprised orange and violet kalanchoe while cluster III comprised red, and purple kalanchoe. The study concluded that orange, violet and yellow kalanchoe are distinguished parents for breeding economically valued traits in kalanchoe. Also, the study concluded that SCoT and RAPD markers reproduced reliable banding patterns to assess the genetic polymorphism among kalanchoe genotypes that consider the basis stone for genetic improvements in ornamental plants

Agronomic Management of Indigenous Mycorrhizas

Many of the advantages conferred to plants by arbuscular mycorrhiza (AM) are associated to the ability of AM plants to explore a greater volume of soil through the extraradical mycelium. Sieverding (1991) estimates that for each centimetre of colonized root there is an increase of 15 cm3 on the volume of soil explored, this value can increase to 200 cm3 depending on the circumstances. Due to the enhancement of the volume of soil explored and the ability of the extraradical mycelium to absorb and translocate nutrients to the plant, one of the most obvious and important advantages resulting from mycorrhization is the uptake of nutrients. Among of which the ones that have immobilized forms in soil, such as P, assume particular significance. Besides this, many other benefits are recognized for AM plants (Gupta et al, 2000): water stress alleviation (Augé, 2004; Cho et al, 2006), protection from root pathogens (Graham, 2001), tolerance to toxic heavy metals and phytoremediation (Audet and Charest, 2006; Göhre and Paszkowski, 2006), tolerance to adverse conditions such as very high or low temperature, high salinity (Sannazzaro et al, 2006), high or low pH (Yano and Takaki, 2005) or better performance during transplantation shock (Subhan et al, 1998). The extraradical hyphae also stabilize soil aggregates by both enmeshing soil particles (Miller e Jastrow, 1992) and producing a glycoprotein, golmalin, which may act as a glue-like substance to adhere soil particles together (Wright and Upadhyaya, 1998). Despite the ubiquous distribution of mycorrhizal fungi (Smith and Read, 2000) and only a relative specificity between host plants and fungal isolates (McGonigle and Fitter, 1990), the obligate nature of the symbiosis implies the establishment of a plant propagation system, either under greenhouse conditions or in vitro laboratory propagation. These techniques result in high inoculum production costs, which still remains a serious problem since they are not competitive with production costs of phosphorus fertilizer. Even if farmers understand the significance of sustainable agricultural systems, the reduction of phosphorus inputs by using AM fungal inocula alone cannot be justified except, perhaps, in the case of high value crops (Saioto and Marumoto, 2002). Nurseries, high income horticulture farmers and no-agricultural application such as rehabilitation of degraded or devegetated landscapes are examples of areas where the use of commercial inoculum is current. Another serious problem is quality of commercial available products concerning guarantee of phatogene free content, storage conditions, most effective application methods and what types to use. Besides the information provided by suppliers about its inoculum can be deceiving, as from the usually referred total counts, only a fraction may be effective for a particular plant or in specific soil conditions. Gianinazzi and Vosátka (2004) assume that progress should be made towards registration procedures that stimulate the development of the mycorrhizal industry. Some on-farm inoculum production and application methods have been studied, allowing farmers to produce locally adapted isolates and generate a taxonomically diverse inoculum (Mohandas et al, 2004; Douds et al, 2005). However the inocula produced this way are not readily processed for mechanical application to the fields, being an obstacle to the utilization in large scale agriculture, especially row crops, moreover it would represent an additional mechanical operation with the corresponding economic and soil compaction costs. It is well recognized that inoculation of AM fungi has a potential significance in not only sustainable crop production, but also environmental conservation. However, the status quo of inoculation is far from practical technology that can be widely used in the field. Together a further basic understanding of the biology and diversity of AM fungi is needed (Abbott at al, 1995; Saito and Marumoto, 2002). Advances in ecology during the past decade have led to a much more detailed understanding of the potential negative consequences of species introductions and the potential for negative ecological consequences of invasions by mycorrhizal fungi is poorly understood. Schwartz et al, (2006) recommend that a careful assessment documenting the need for inoculation, and the likelihood of success, should be conducted prior to inoculation because inoculations are not universally beneficial. Agricultural practices such as crop rotation, tillage, weed control and fertilizer apllication all produce changes in the chemical, physical and biological soil variables and affect the ecological niches available for occupancy by the soil biota, influencing in different ways the symbiosis performance and consequently the inoculum development, shaping changes and upset balance of native populations. The molecular biology tools developed in the latest years have been very important for our perception of these changes, ensuing awareness of management choice implications in AM development. In this context, for extensive farming systems and regarding environmental and economic costs, the identification of agronomic management practices that allow controlled manipulation of the fungal community and capitalization of AM mutualistic effect making use of local inoculum, seem to be a wise option for mycorrhiza promotion and development of sustainable crop production

Sustainable Remedy Waste to Generate SiO2 Functionalized on Graphene Oxide for Removal of U(VI) Ions

The Hummer process is applied to generate graphene oxide from carbon stocks’ discharged Zn-C batteries waste. SiO2 is produced from rice husks through the wet process. Subsequently, SiO2 reacted with graphene oxide to form silica/graphene oxide (SiO2/GO) as a sorbent material. XRD, BET, SEM, EDX, and FTIR were employed to characterize SiO2/GO. Factors affecting U(VI) sorption on SiO2/GO, including pH, sorption time, a dosage of SiO2/GO, U(VI) ions’ concentration, and temperature, were considered. The experimental data consequences indicated that the uptake capacity of SiO2/GO towards U(VI) is 145.0 mg/g at a pH value of 4.0. The kinetic calculations match the pseudo second-order model quite well. Moreover, the sorption isotherm is consistent with the Langmuir model. The sorption procedures occur spontaneously and randomly, as well as exothermically. Moreover, SiO2/GO has essentially regenerated with a 0.8 M H2SO4 and 1:50 S:L phase ratio after 60 min of agitation time. Lastly, the sorption and elution were employed in seven cycles to check the persistent usage of SiO2/GO. © 2022 by the authors. Licensee MDPI, Basel, Switzerland.The authors express their gratitude to Princess Nourah bint Abdulrahman University Researchers Supporting Project number (PNURSP2022R13), Princess Nourah bint Abdulrahman University, Riyadh, Saudi Arabia

Rare Earth Group Separation after Extraction Using Sodium Diethyldithiocarbsamate/Polyvinyl Chloride from Lamprophyre Dykes Leachate

This study presents the first application of sodium diethyldithiocarbamate/polyvinyl chloride (DdTC/PVC) as a novel adsorbent for rare earth element (REE) sorption from leach liquors. DdTC/PVC has higher adsorption properties than other sorbents, the synthesis of DdTC/PVC is more accessible than other resins, and it is considered a more affordable sorbent. The three-liquid-phase extraction technique (TLPE) was applied to separate REEs into light, middle, and heavy rare earth elements as groups. The TLPE is an excellent achievable technique in the separation of REEs. DdTC/PVC was prepared as a sorbent to sorb rare-earth ions in chloride solution. It was described by XRD, SEM, TGA, and FTIR. The factors pH, initial rare-earth ion concentration, contact time, and DdTC/PVC dose were also analyzed. The ideal pH was 5.5, and the ideal equilibration time was found to be 45 min. The rare-earth ion uptake on DdTC/PVC was 156.2 mg/g. The rare-earth ion sorption on DdTC/PVC was fitted to Langmuir and pseudo-2nd-order models. The rare-earth ions’ thermodynamic adsorption was spontaneous and exothermic. In addition, rare-earth ion desorption from the loaded DdTC/PVC was scrutinized using 1 M HCl, 45 min time of contact, and a 1:60 S:L phase ratio. The obtained rare earth oxalate concentrate was utilized after dissolving it in HCl to extract and separate the RE ions into three groups—light (La, Ce, Nd, and Sm), middle (Gd, Ho, and Er), and heavy (Yb, Lu, and Y)—via three-liquid-phase extraction (TLPE). This technique is simple and suitable for extracting REEs. © 2022 by the authors. Licensee MDPI, Basel, Switzerland.The authors express their gratitude to the Princess Nourah bint Abdulrahman University Researchers Supporting Project (PNURSP2022R2), Princess Nourah bint Abdulrahman University, Riyadh, Saudi ArabiaAcknowledgments: The authors express their gratitude to the Princess Nourah bint Abdulrahman University Researchers Supporting Project (PNURSP2022R2), Princess Nourah bint Abdulrahman University, Riyadh, Saudi Arabia

Mio-Pliocene Faunal Exchanges and African Biogeography: The Record of Fossil Bovids

The development of the Ethiopian biogeographic realm since the late Miocene is here explored with the presentation and review of fossil evidence from eastern Africa. Prostrepsiceros cf. vinayaki and an unknown species of possible caprin affinity are described from the hominid-bearing Asa Koma and Kuseralee Members (∼5.7 and ∼5.2 Ma) of the Middle Awash, Ethiopia. The Middle Awash Prostrepsiceros cf. vinayaki constitutes the first record of this taxon from Africa, previously known from the Siwaliks and Arabia. The possible caprin joins a number of isolated records of caprin or caprin-like taxa recorded, but poorly understood, from the late Neogene of Africa. The identification of these two taxa from the Middle Awash prompts an overdue review of fossil bovids from the sub-Saharan African record that demonstrate Eurasian affinities, including the reduncin Kobus porrecticornis, and species of Tragoportax. The fossil bovid record provides evidence for greater biological continuity between Africa and Eurasia in the late Miocene and earliest Pliocene than is found later in time. In contrast, the early Pliocene (after 5 Ma) saw the loss of any significant proportions of Eurasian-related taxa, and the continental dominance of African-endemic taxa and lineages, a pattern that continues today