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Abstract: The recovery and reuse of organic solvents from hazardous waste is a sustainable alternative to conventional solvent disposal options. The current work explores recent breakthroughs as well as the versatility of available solvent recovery technologies. Membrane-based separation processes are emerging as superior alternatives to traditional energy-intensive distillation due to (a) recovery of high-purity products, (b) significantly reduced energy consumption, (c) lower operational expenses, and (d) emissions reduction. Nevertheless, distillation-based technologies remain relevant due to their versatility in handling complex solvent mixtures. Hybrid methods, combining the separation and energy efficiency of membranes with the resilience of distillation, offer an optimal solution that is cost-effective and has a low environmental impact. Technology hybridization reduces operational energy and emissions while overcoming the constraints of stand-alone membrane systems such as the high capital requirement. For instance, integrating vapor permeation with distillation reduces ethanol dehydration energy requirements by 63%, while hybrid pervaporation-distillation achieves a 91% reduction in life cycle emissions for isopropanol recovery in comparison to conventional methods. Vapor permeation-distillation further demonstrates 77% cost savings compared to conventional azeotropic distillation. Additionally, adsorption-based approaches, such as hot gas pressure swing adsorption, yield 83–89% isopropanol from aqueous mixtures at industrial scales. Recent advancements in membrane materials, including poly(vinyl alcohol)-silica nanoparticle composites, have improved energy efficiency and reduced CO₂ emissions during separation processes. Future advancements in solvent recovery would facilitate zero-liquid discharge and circular economy objectives, a fundamental aspect of sustainable industrial processes. PubDate: 2025-04-16
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Abstract: Quantum theory revolutionised physics by introducing a new fundamental constant and a new mathematical framework to describe the observed phenomena at the atomic scale. These new concepts run counter to our familiar notions of classical physics, and pose questions about how to understand quantum physics as a fundamental theory of nature. Peculiarities of quantum correlations underlie all these questions, and this article describes their formulation, tests and resolution within the standard framework of quantum theory. PubDate: 2025-04-07
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Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Abstract: The use of robotics has been increasing in various applications in industrial, medical, entertainment, and disaster management. Biped robotics is one of the most popular specialized fields. This paper starts with a discussion on the application of robotics and argues that bipeds are an important domain of robotics due to their universal application. Stability is an important issue for bipeds. The present paper is an endeavour to review the important topic of stability. The literature review on stability of bipeds in this paper is broadly divided into two parts: Stable gait generation, also regarded as dynamic stability, and stability against disturbance, also regarded as stance stability. Stable gait generation techniques on various geometrical surfaces, such as level ground, inclined grounds, uneven grounds, stairs, and wide ditch (crossing), are discussed. Stable locomotion for avoiding obstacles is discussed as well. For stance stability, the discussion is broadly divided into two parts: with controller and without controller. For small disturbances that do not cause significant changes in the system’s states, proper Centre of mass (CoM) placement ensures stability; controls at the joints are not needed. However, to ensure stability against sufficiently large disturbances causing significant changes in the system’s states, a proper controller strategy must be developed. All these aspects of stability against disturbances are discussed in detail. After critical review of the above aspects of stability in the literature, existing research gaps are identified, and the possible future works to address them are discussed. PubDate: 2025-04-02
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Abstract: Fueled by the ever-growing availability of large-scale datasets and cutting-edge machine learning advances, data-driven approaches are revolutionizing the design, identification, and control of nonlinear robotic systems. This review paper examines this transformative paradigm, focusing on studies that utilize data-driven techniques involving the Koopman operator-theoretic framework, recurrent neural networks, and the Gaussian process regression for modeling and control of robotic systems. In particular, this study undertakes a review of these state-of-the-art data-driven methods, which have delivered significant performance improvement over a large class of robotic systems, including rigid manipulators, soft robots, and quadrotor aerial systems. The challenges, opportunities, and future directions across this dynamic landscape of data-driven robotics are also explored in this study with an emphasis on the interdisciplinary nature of this rapidly evolving field. PubDate: 2025-03-12
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Abstract: Aerial manipulators are being increasingly used in many applications. This paper surveys several quadrotor-based aerial manipulators (QAM) that have been designed and reported in the literature. After a brief review of the history of the developments in aerial manipulator systems, it presents the main components of the QAM system and the various challenges faced by designers in terms of controller design, the various methods used and some actual control system implementations. Finally, the paper presents a complete design and hardware field experiment of an in-house-designed QAM system. PubDate: 2025-02-26
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Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Abstract: Soil pollution continues to be a significant environmental problem that poses a danger to public health, the vitality of ecosystems, and worldwide economic growth. To tackle this problem, effective planning is required that covers the identification of pollutants, assessing the risks involved, setting targets for remediation, choosing suitable remediation technologies, and evaluating the results of the remediation process within a sustainable framework. This study introduces a comprehensive framework for the restoration of polluted soils, highlighting on systematic investigation, soil screening levels (SSLs), remediation techniques, and concepts of sustainability. The review begins by providing a comprehensive introduction to the typical origins and categories of soil pollutants. It next presents a systematic approach for conducting environmental site evaluations, which includes the use of sophisticated methods for identifying and measuring contaminants. The formulation of SSLs is essential for assessing the pollution level and establishing the limits for remedial action. An analysis of traditional and novel techniques for remediation, such as bioremediation, phytoremediation, thermal treatment, and chemical stabilization, offers valuable information on their suitability, effectiveness, and impact on the environment. The article emphasizes the significance of implementing a sustainable strategy to remediation by including environmental, economic, and social factors into the decision-making process. It highlights the need of adaptive management and continual improvement in accomplishing remediation goals. This study provides a comprehensive plan for effectively cleaning up contaminated soils in a way that is sustainable. It aims to improve environmental management practices by restoring soil health and protecting ecosystems from pollution. PubDate: 2025-02-24
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Please help us test our new pre-print finding feature by giving the pre-print link a rating. A 5 star rating indicates the linked pre-print has the exact same content as the published article.
Abstract: Soft Robotics is an emerging field with the potential to address real-world problems with newer possibilities and safer human–robot interactions. Generally, soft robots comprise materials with moduli ranging from 104 to 109 Pa. The significant characteristics of soft robots include their high flexibility, compatibility, and superior environmental adaptability. Despite the several advantages of soft robots, many physical limitations exist due to their structural compliance and the viscoelastic behaviour of the material which leads to non-linear deformations in the material. This very reason necessitates sophisticated and novel sensing, actuation and non-linear control methods for soft robots. This review paper provides a comprehensive understanding of the advancements in soft robots and finally outlines the gaps in this field, currently limiting their usage in several applications. The pros and cons of the various technologies are discussed, and possible strategies for the superior performance of soft robots and their prospects are outlined in this paper. PubDate: 2025-02-19
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Abstract: In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is a random variable because of traffic congestion. An unmanned ground vehicle (UGV) wishes to travel from a starting location to a destination while minimizing the arrival time at the destination. UGV can traverse through an impeded edge but the true travel time is only realized at the end of that edge. This implies that the UGV can potentially get stuck in an impeded edge with high travel time. A support vehicle, such as an unmanned aerial vehicle (UAV) is simultaneously deployed from its starting position to assist the UGV by inspecting and realizing the true cost of impeded edges. With the updated information from UAV, UGV can efficiently reroute its path to the destination. The UGV does not wait at any time until it reaches the destination. The UAV is permitted to terminate its path at any vertex. The goal is then to develop an online algorithm to determine efficient paths for the UGV and the UAV based on the current information so that the UGV reaches the destination in minimum time. We refer to this problem as stochastic assisted path planning (SAPP). We present dynamic k-shortest path planning (D*KSPP) algorithm for the UGV planning and rural postman problem (RPP) formulation for the UAV planning. Due to the scalability challenges of RPP, we also present a heuristic based priority assignment algorithm for the UAV planning. Computational results are presented to corroborate the effectiveness of the proposed algorithm to solve SAPP. PubDate: 2025-02-11
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Abstract: Minimally invasive surgery (MIS) has proven advantageous over open surgery in reducing patient trauma, complications, and time in the hospital. However, the small incisions required for MIS inhibit maneuverability and access to the surgical site. Dexterous robotic instruments are a promising area of research to overcome these challenges in MIS. Tendon-driven continuum robots have shown potential to expand surgeon capabilities for operating within confined spaces and with minimal injury to the patient. For many procedures, miniaturized devices on the micro- and meso-scale are desired to access confined areas within the body and enable sufficient maneuverability. These robots are a topic of active research, and the fabrication of such miniaturized mechanisms remains challenging. To address these challenges, this paper provides a tutorial which outlines and evaluates various methods for attaching tendons in micro-and meso-scale robotic joints. Attachment techniques including bonding and plate mechanisms are used to assemble nitinol and tungsten tendons within both micro- and meso-scale samples. For micro-scale robots, samples less than 1 mm in diameter are used to evaluate the strength, repeatability, and actuation within a continuum robotic guidewire. For meso-scale robots, such as 1.93 mm diameter neuroendoscope tools, tendon placement is achieved using stainless steel and 3D-printed plates. Furthermore, the effects of solder and epoxy knot reinforcement are studied. Detailed procedures for attachment methods are provided, and the strengths and limitations of the tendon materials and attachment methods studied in this paper are highlighted for specific applications. PubDate: 2025-02-10
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Abstract: Combining local magnetic actuation with fluorescence imaging modalities promises to introduce significant advances in microrobotic-guided procedures. This review presents the advantages and challenges of this approach, emphasizing the need for careful design considerations to optimize performance and compatibility. Traditional microrobotic actuation systems rely on bulky electromagnets, which are unsuitable for clinical use due to high power requirements and limited operational workspace. In contrast, miniaturized electromagnets can be integrated into surgical instruments, offering low power consumption and high actuation forces at the target site. Fluorescence imaging modalities have been explored in microrobotics, showcasing spatiotemporal resolution and the capability to provide information from biological entities. However, limitations, such as shallow penetration depth and out-of-focus fluorescence, have motivated the development of advanced techniques such as two-photon microscopy. The potential of two-photon microscopy to overcome these limitations is highlighted, with supporting evidence from previous studies on rat tissue samples. Current challenges in optical penetration depth, temporal resolution, and field of view are also addressed in this review. While integrating miniaturized electromagnets with fluorescence imaging modalities holds the potential for microrobotic-guided procedures, ongoing research and technological advancements are essential to translating this approach into clinical practice. PubDate: 2025-02-10
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Abstract: A survey of the analysis of the workspace of manipulators is presented with the aim of outlining fundamental characteristics still of current interest and source of research, also referring to the direct experiences of the author. The topic, which began with the advent of industrial robotics in the early 1970s, received a period of great attention both at practical and research levels in the following two decades in order to determine analysis procedures for design algorithms for robotic manipulators with serial kinematic architecture. In the last two decades, interest diminished, although research activities have made the manipulator workspace useful for functional characterization and design of parallel manipulators with problems and open issues. PubDate: 2025-02-10
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Abstract: Poor strength of soils under dynamic loading conditions can trigger catastrophic failures during earthquakes, which are manifested in the form of landslides, lateral spreading of sloped ground and ground failure. Collapse of structures founded on such soils leads to loss of life and damage to infrastructure. Such conditions can be tackled through mechanical, physical, chemical, hydraulic or thermal treatment of the soils. Many of the conventional ground improvement methods like grouting or deep soil mixing involve addition or injection of cement or lime into the soil. Recent strides in developing bio-based sustainable ground improvement methods showed great promise in providing effective improvement under diverse loading scenarios. Though several bio-based ground improvement methods are being researched, the long-term and large-scale applications of many of these methods need further investigations. This paper presents a critical assessment of existing biobased-sustainable approaches geared toward enhancing the strength of soils to withstand dynamic loads. PubDate: 2024-12-18
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Abstract: This article presents three newer areas where robots are being used. The choice of areas is purely that of the author as there are numerous other areas where robots are being increasingly used. The article is an overview and attempts to present the science and technology behind these newer robotic applications. PubDate: 2024-11-22
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Abstract: The extensive use of fossil resources in fuel production, leading to the emission of high levels of anthropogenic gases and atmospheric degradation, is a cause for concern. Consequently, exploring substitutes for fossil fuels and renewable raw materials in the production of sustainable fuels has become a critical area of research. Over the past decades, significant efforts have been dedicated to researching renewable and eco-friendly fuels from diverse sources. A prominent avenue of investigation involves biodiesel production from fats and oils through the uncomplicated process of transesterification, utilizing acid–base catalysts. The design of these catalysts is pivotal, not only for ensuring efficient conversion but also for achieving high biodiesel selectivity and enhancing the techno-economics of the process. Strategic selection of raw materials, such as non-edible fats and oils, is crucial to elevate the process's importance and mitigate potential conflicts between food and fuel resources. Furthermore, catalyst design and synthesis play a crucial role in refining the biodiesel production process. Particularly, catalysts derived from waste, featuring precise active sites, are recognized as important tools for achieving enhanced catalyst activity at reduced costs. Therefore, this review examines the trajectory of catalyst development for biodiesel production from various feedstocks, with a primary focus on the design of waste-derived catalytic nanostructured materials for sustainable development. It is anticipated that this review will provide insights into the next generation of sustainable biodiesel production methods. Graphical Abstract PubDate: 2024-10-12
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Abstract: PFAS, ubiquitous in various industrial and consumer products, poses significant environmental and health concerns due to their persistence and bio-accumulative nature. This review hence discusses sources, potential exposure pathways, ecological and health impacts of PFAS. The review further explores various PFAS degradation and removal technologies, including bioremediation, chemical oxidation, advanced oxidation processes, adsorption, membrane filtration, plasma-based degradation, thermal treatment, and hydrolysis, highlighting their potential applications in addressing PFAS contamination. It is observed that significant obstacle is the inefficiency of many technologies in eliminating short-chain PFAS, which are more environmentally stable than long-chain counterparts, raising concerns about converting long-chain PFAS into short-chain forms, during degradation process. Moreover, thorough toxicological assessments are crucial to verify the effectiveness of each technology and prevent the generation of new PFAS or toxic byproducts during treatment. Currently, there exists a pressing societal demand exists to explore affordable and environmentally safe PFAS degradation technologies, minimizing negative environmental repercussions, and being feasible for large-scale field applications. Also, there is a need to establish maximum allowable contamination level data for PFAS in drinking water, treated water for reuse and soil, for Indian context. Overall, this review provides insights into understanding PFAS contamination issues and highlights the potential of degradation technologies in addressing this pressing environmental challenge. PubDate: 2024-10-12
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Abstract: Aquaculture or aquatic farming is an important source of food, nutrition, and livelihood globally. Conventional farming techniques are limited by low yields, are water intensive and cause nutrient pollution. Recirculating aquaculture system (RAS), wherein water is treated and reused (recirculated), provides up to 100 times higher yields and is well-known to be a sustainable farming technique. This paper discusses the merits and challenges of RAS and reviews the different processes applied for the treatment of water—including solids removal, ammonia removal and disinfection—in RAS. Since, ammonia generally assumes foremost concern in RAS, this work focuses on nitrification in RAS. Parameters affecting nitrification process and the different types of commonly used reactors have been reviewed. PubDate: 2024-09-25
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