Search Results (32)

Autonomous navigation in mining environments is challenged by complex wheel–terrain interaction, traction losses caused by slip dynamics, and sensor limitations. This paper investigates the effectiveness of Deep Reinforcement Learning (DRL) techniques for the trajectory tracking control of skid-steer mobile robots operating under terra-mechanical constraints. Four state-of-the-art DRL algorithms, i.e., Proximal Policy Optimization (PPO), Deep Deterministic Policy Gradient (DDPG), Twin Delayed DDPG (TD3), and Soft Actor–Critic (SAC), are selected to evaluate their ability to generate stable and adaptive control policies under varying environmental conditions. To address the inherent partial observability in real-world navigation, this study presents an original approach that integrates Long Short-Term Memory (LSTM) networks into DRL-based controllers. This allows control agents to retain and leverage temporal dependencies to infer unobservable system states. The developed agents were trained and tested in simulations and then assessed in field experiments under uneven terrain and dynamic model parameter changes that lead to traction losses in mining environments, targeting various trajectory tracking tasks, including lemniscate and squared-type reference trajectories. This contribution strengthens the robustness and adaptability of DRL agents by enabling better generalization of learned policies compared with their baseline counterparts, while also significantly improving trajectory tracking performance. In particular, LSTM-based controllers achieved reductions in tracking errors of 10%, 74%, 21%, and 37% for DDPG-LSTM, PPO-LSTM, TD3-LSTM, and SAC-LSTM, respectively, compared with their non-recurrent counterparts. Furthermore, DDPG-LSTM and TD3-LSTM reduced their control effort through the total variation in control input by 15% and 20% compared with their respective baseline controllers, respectively. Findings from this work provide valuable insights into the role of memory-augmented reinforcement learning for robust motion control in unstructured and high-uncertainty environments. Full article

With respect to the problem of the anchorage failure of a broken roof in the roadway of extra-thick coal seams by using a traditional unconstrained pushing anchoring agent, a new anchoring agent installation technology with a push–pull device was proposed. Many research methods were adopted to study the mechanism of the efficient control of anchoring agent installation technology with a push–pull device on surrounding rock and the application of the technology. The results indicated that an unconstrained pushing anchoring agent exhibited two main morphological types: bending equilibrium and bending instability. The pushing force for the anchoring agent installed using the integrated push–pull method was calculated to be 13.52 N, which was less than that of the unconstrained pushing anchoring agent. An anchoring agent pushing with the push–pull device was able to smoothly pass through borehole delamination and collapse zones. When the pull-out force reached 160 kN and 180 kN, there was no significant slip or failure in the anchored section of the cable. The support system with the push–pull device for installing the anchoring agent reduced rock deformation by nearly 50%. This demonstrated that this technology significantly enhances the control of surrounding rock deformation. Full article

A total of forty samples of medieval and modern glazed pottery from northern Spain were studied. Chemical and microstructural analyses of the glazes were performed by scanning electron microscopy coupled with electron dispersive spectroscopy (SEM-EDX), while the chemical composition of the pottery bodies and slips were determined by X-ray Fluorescence (XRF). The glazes studied come from the Santa Barbara Hill site (Tudela), the Treviño Castle site (Treviño), the Vega workshop (Burgos) and the Torrentejo village (Labastida) and correspond to transparent glazes and opaque white glazes. Transparent glazes were lead glazes with variable PbO content. Opaque white glazes were lead-tin and lead–alkaline–tin glazes. The glaze was mainly applied to a pre-fired body made of local clays, but the glazes of the Santa Barbara Hills pottery (Tudela) were applied to raw bodies. The microstructure of the interfaces indicates a single firing process for the glazed pottery from Tudela and a double firing process in the rest of the sites. Some correlation are identified between the use of specific clays to produce different glaze colours. White opaque glazes are applied to calcium-rich clays. Similarly, calcium-rich clays were used to produce dark green transparent glazes, while clays and slips aluminium–rich were used to produce light green and light honey glazes. Iron was also identified as the main colouring agent, although copper was also used. The white glazes were opacified by the addition of cassiterite and sometimes quartz and feldspar. The glazed pottery was mainly of local origin, but the identification of some non-local pottery at all sites suggests a pottery trade. Full article

In some occasions, outdoor steel structures like wind towers, bridges, winter sports facilities, and so on are subjected to extreme environmental conditions with the presence of ice and/or with below-zero temperatures. Sometimes in these situations, surface protection of the steel structure is usually designed using hot-dip galvanizing to improve its durability. In these special circumstances, the structure’s connections are also exposed to adverse climatic agents. International standards and codes such as Eurocode 3 or EN1090-2 do not provide indications for these cases. In this experimental research, 24 specimens of non-slip joints with hot-dip galvanized faying surfaces and HV M16 and M20 bolts have been studied. Twelve specimens were subjected to fourteen twelve-hour freeze-thaw cycles, with temperature oscillation and periodic immersion in water. Next, six of the connections were subjected to a slip test under monotonic load at a temperature of −20 ± 0.5 °C and the other six at room temperature. The results were compared with joints kept at room temperature and not subjected to freeze-thaw cycles for the same period of time. The main conclusion of this piece of research is that the short-term slip resistance behavior of joints with hot-dip galvanized surfaces is not reduced for the cases studied. Full article

In recent years, slippery liquid-infused porous surfaces (SLIPSs) have gained significant attention in antifouling applications. However, their slippery performance often deteriorates in dynamic environments, limiting their service life. TC4 titanium alloy, commonly used in hulls and propellers, is prone to biofouling. SLIPSs have gained significant attention in antifouling applications. However, their slippery performance often deteriorates in dynamic environments, limiting their service life. To address these issues, a novel slippery liquid-infused surface (STASL) was developed on TC4 through the integration of hydroxyl end-blocked dimethylsiloxane (OH-PDMS), a silane coupling agent (KH550), and nano-titanium dioxide loaded with silver particles (TiO₂-Ag, anatase) and silicone oil, thereby ensuring stable performance in both dynamic and static conditions. The as-prepared surfaces exhibited excellent sliding capabilities for water, acidic, alkaline, and saline droplets, achieving speeds of up to 2.859 cm/s. Notably, the STASL demonstrated superior oil retention and slippery stability compared to SLIPS, particularly at increased rotational speeds. With remarkable self-cleaning properties, the STASL significantly reduced the adhesion of proteins (50.0%), bacteria (77.8%), and algae (78.8%) compared to the titanium alloy. With these outstanding properties, the STASL has emerged as a promising solution for mitigating marine biofouling and corrosion on titanium alloys. Full article

The combined application of steel–FRP composite bars (SFCBs) and seawater sea-sand concrete (SSSC) in marine engineering not only solves the problem of resource scarcity and reduces the construction cost but also avoids the problems of chloride corrosion of steel reinforcement in seawater sea-sand concrete and the lack of ductility of FRP bars. At the same time, the addition of glass fiber (GF) and expansion agent (EA) in appropriate amounts improves the crack resistance and seepage resistance of concrete. However, the durability of SFCB with GF- and EA-reinforced SSSC in freezing–thawing environment remains unclear, which limits its potential application in cryogenic marine engineering. This study investigates the bonding properties between SFCB and GF-EA-SSSC interfaces using eccentric pullout experiments under different thicknesses of concrete protective cover and a number of freezing–thawing cycles. The results showed that the compressive strength and dynamic elastic modulus of SSSC decrease, while the mass loss increases with an increasing number of freezing–thawing cycles. Additionally, the bond strength and stiffness between SFCB and SSSC decrease, leading to an increase in relative slip. However, the rate of bond strength and stiffness loss decreases with an increase in the thickness of the concrete protective cover. Furthermore, formulas for bond strength, relative slip, and bond stiffness are established to quantify the effects of the thickness of the concrete protective cover and the number of freezing–thawing cycles. The experimental values obtained verify the accuracy of these formulas, with a relative error of less than 5%. Moreover, a bond stress–slip constitutive model is developed for SFCB and GF-EA-SSSC, and the fitting results closely resemble the experimental values, demonstrating a high level of model fit. Full article

To avoid or mitigate proppant flowback after a massive hydraulic fracturing of tight formations and to reduce its impairment to well productivity, this study developed a new type of fiber material with strong polarity based on polyester fiber. This fiber material is modified by introducing a strong-polar functional monomer into the molecular structure and adopting the means of surface grafting. On the basis of this fiber material, a fiber slip-water system with excellent dispersion performance can be established to prevent proppant backflow. Laboratory experiments were performed to analyze the specific function of the fibers with strong polarity and its working mechanisms. The results indicate that strong-polarity fibers have excellent dispersion performance. The fibers and resistance-reducing agents form an interwoven structure that can carry proppants, resulting in the enhancement of the sand-carrying capacity of the fracturing fluid system and the overall strength of the sand bank. In terms of the sand-carrying capacity and mitigation of proppant flowback, strong-polar fibers have significantly improved compared to unmodified fibers. In a 5 mm simulated crack, strong-polar fibers can increase the static settling time of 70/140 mesh quartz sand proppant by 26.5%. Meanwhile, the placement height of the sand embankment increased by 23.4% after the settlement of the proppant. In proppant transport experiments, strong-polar fibers with a mass fraction of 0.4% can increase the transport distance of proppants by more than 50%. Within the closed stress range of 2–10 MPa, the concentration of 0.5% strong-polar fibers increases the critical sand flow rate of the proppant by more than twice. The strong-polarity fiber system introduced in this study can be used to develop a fiber slickwater fracturing fluid system suitable for the massive hydraulic fracturing of tight reservoirs and has broad application prospects in the field of proppant flowback mitigation in tight reservoirs. Full article

Erucamide is used as an important slip agent for polymers. However, erucamide can degrade during processing and long-term storage, forming various oxidation products. These degradation products can affect the recovery rates of erucamide. In this study, investigated different solid–liquid extraction methods (Soxhlet, microwave, and ultrasound) and used gas chromatography with mass spectrometry (GC-MS) to quantify erucamide and its degradation byproducts in polypropylene (PP). A multivariable experiment was designed, and a mixed-effect approach was used to analyze the results. Various extraction variables were examined, such as temperature, time, solvents, and PP pretreatments. Using a mixed-effect model with a Kenward–Roger approximation, an R2 of the model of 97% and p values of 0.168, 0.000, and 0.000 were obtained for the technical, solvent, and type of PP pretreatment variables, respectively. The highest average recoveries of erucamide were found with the microwave technique and were 96.4% using dichloromethane, 94.57% using cyclohexane, and 93.05% using limonene. With ultrasound, recoveries ranged between 85 and 92% for dichloromethane and limonene. In addition, it was observed that the extraction method had better recovery results in ground PP than in films and in pellets. Nine oxidative degradation byproducts of erucamide were identified and semi-quantified by GC-MS. The reaction mechanisms for forming each byproduct were proposed. The byproducts that experienced a higher rate of degradation of erucamide were erucamide with a hydroxyl group at position one and 12-amino-6-12-oxo-dodecanoic acid, showing more prominent peaks using the Soxhlet method with cyclohexane and dichloromethane as solvents and polypropylene (PP) films as the type of material used. Full article

This paper proposed a new method of exposing fibers using expandable polyethylene (EPE) foam to improve the interface performance. The flexural tensile behavior of the interface between precast steam-cured and cast-in-place non-steam-cured ultra-high performance concrete (UHPC) members was examined under four-point bending. The improvement effects of four non-destructive interface treatments—e.g., coating with epoxy glue and coating with a cement-based interface agent—were experimentally studied for comparison. The load-deflection curves of the specimens were measured, and the flexural tensile behavior of the interfaces was analyzed, including the failure mode, flexural tensile strength, ductility, fracture energy, and residual strength. The results indicate that the flexural tensile strength of an interface without any treatment is low and that coating with the cement epoxy glue or the cement-based interface agent has a limited effect on improving the flexural tensile strength. As a result of the bridging effect, the exposed steel fibers can transfer the tensile force across the interface. Therefore, exposing fibers using EPE foam can significantly improve the bond behavior of an interface. This enhancement effect depends on the number of exposed steel fibers and can be simulated based on the pullout load–slip relationship of the steel fiber embedded in the UHPC matrix. The proposed numerical model can be used to predict the bond behavior of an interface with the fiber-exposing treatment. Full article

The study developed a simple and inexpensive method to induce biofilm formation in-vivo for the evaluation of the antibiofilm activity of pharmacological agents using Swiss albino mice. Animals were made diabetic using streptozocin and nicotinamide. A cover slip containing preformed biofilm along with MRSA culture was introduced into the excision wound in these animals. The method was effective in developing biofilm on the coverslip after 24 h incubation in MRSA broth which was confirmed by microscopic examination and a crystal violet assay. Application of preformed biofilm along with microbial culture induced a profound infection with biofilm formation on excision wounds in 72 h. This was confirmed by macroscopic, histological, and bacterial load determination. Mupirocin, a known antibacterial agent effective against MRSA was used to demonstrate antibiofilm activity. Mupirocin was able to completely heal the excised wounds in 19 to 21 days while in the base-treated group, healing took place between 30 and 35 days. The method described is robust and can be reproduced easily without the use of transgenic animals and sophisticated methods such as confocal microscopy. Full article

Obesity is one of the foremost public health concerns. Human pancreatic lipase (hPL), a crucial digestive enzyme responsible for the digestion of dietary lipids in humans, has been validated as an important therapeutic target for preventing and treating obesity. The serial dilution technique is commonly used to generate solutions with different concentrations and can be easily modified for drug screening. Conventional serial gradient dilution is often performed with tedious multiple manual pipetting steps, where it is difficult to precisely control fluidic volumes at low microliter levels. Herein, we presented a microfluidic SlipChip that enabled formation and manipulation of serial dilution array in an instrument-free manner. With simple slipping steps, the compound solution could be diluted to seven gradients with the dilution ratio of 1:1 and co-incubated with the enzyme (hPL)-substrate system for screening the anti-hPL potentials. To ensure complete mixing of solution and diluent during continuous dilution, we established a numerical simulation model and conducted an ink mixing experiment to determine the mixing time. Furthermore, we also demonstrated the serial dilution ability of the proposed SlipChip using standard fluorescent dye. As a proof of concept, we tested this microfluidic SlipChip using one marketed anti-obesity drug (Orlistat) and two natural products (1,2,3,4,6-penta-O-galloyl-β-D-glucopyranose (PGG) and sciadopitysin) with anti-hPL potentials. The IC₅₀ values of these agents were calculated as 11.69 nM, 8.22 nM and 0.80 μM, for Orlistat, PGG and sciadopitysin, respectively, which were consistent with the results obtained by conventional biochemical assay. Full article

In order to prepare engineering tires with lower rolling resistance and better wet slip resistance in a more environmentally friendly way. In this study, a series of low volatile organic compound (VOC) M_x–Si69 coupling agents (x = 1, 2, 3, 4, 5, 6, which means the number of ethoxy group in bis-(γ-triethoxysilylpropyl)-tetrasulfide (Si69) substituted by the aliphatic polyether chain) were applied to silica/NR nanocomposites to prepare tire tread with excellent performance. Firstly, M₁–Si69 was substantiated as the best choice of M_x–Si69 and Si69 to achieve comprehensive optima in the mechanical properties of silica/NR nanocomposites characterized by dynamic and static mechanical properties. Afterwards, the modification of silica with M₁–Si69 induced by Non-Rubber Contents (NRCs) in silica/NR nanocomposites was revealed by comparing the filler network, micromorphology, and mechanical properties of isoprene rubber (IR) and NR nanocomposites. Furthermore, compared with Si69, the M₁–Si69 coupling agent was found to conspicuously reduce the energy loss and improve the safety performance of engineering tires according to evaluations of the rolling resistance and dynamic thermomechanical properties of the silica/NR nanocomposites. Finally, the critical function of M₁–Si69 in reducing ethanol (a kind of volatile organic compound (VOC)) emissions from the reaction of coupling agent and silica was disclosed by gas chromatography–mass spectrometry. Full article

The review article presents the technology of producing polyolefin-based films by extrusion casting. Due to the wide use of this type of film as packaging for food and other goods, obtaining films with favorable properties is still a challenge for many groups of producers in the plastics market. The feedblock process and multimanifold process are the main methods of producing multi-layer film. In the case of food films, appropriate barrier properties are required, as well as durability and puncture resistance also at low temperatures. On the other hand, in order to properly pack and present products, an appropriate degree of transparency must be maintained. Therefore, processing aids such as anti-slip, anti-block and release agents are commonly used. Other popular modifiers, such as waxes, fatty acid amides and mineral fillers—silica, talc or calcium carbonate–and their use in film extrusion are discussed. The article also presents common production problems and their prevention. Full article

We examined the effect of aging and cortical stroke on the rate of motor adaptation (adaptation rate) and amount of performance gains (adaptation plateau) in balance skills. Fourteen older (≥60 years) and fifteen younger (<60 years) adults with chronic stroke, and thirteen healthy older adults (≥60 years) participated. Participants experienced 8 consecutive gait-slips (≤45 cm) to their non-paretic/dominant limb. Slip outcome (backward/no balance loss) was compared using generalized estimating equations (GEE). Proactive (pre-slip stability) and reactive adjustments (post-slip stability, slip displacement and velocity, and compensatory step length) were compared using non-linear regression models. GEE showed the main effect of group, trial, and group × trial interaction for slip outcome (p < 0.05). There were no differences in the adaptation rate for proactive and reactive variables and plateau for proactive variables (p > 0.05). However, both stroke groups demonstrated a smaller adaptation plateau for the majority of reactive variables compared to healthy older adults (p < 0.05). The rate of adaptation to gait-slips does not slow with aging and cortical stroke; however, cortical stroke, age notwithstanding, may reduce performance gains in reactive balance skills, possibly hindering retention and transfer to real-life scenarios. People with stroke may need adjunctive therapies/supplemental agents to apply laboratory-acquired balance skills to daily life. Full article

In order to study the bond performance between desert sands engineered cementitious composites (DS-ECC) and corrosion steel bars, seven groups of specimens were designed and manufactured. Through the center pull-out test, the effects of different types of desert sands, the rate of corrosion (0, 5, 10 and 15%), and the anchorage length of steel bars (5d and 8d) on the bonding properties of DS-ECC and corrosion steel bars were studied. Moreover, a de-rusting agent was used to remove the corrosion, and three groups of specimens were pulled out from the center of the de-rusted steel bars. The results showed that both Tengger DS-ECC and Mu Us DS-ECC have good bond properties with corrosion steel bars. The bond stress slip curves between DS-ECC and corrosion steel bars can be divided into four stages: the micro-slip, slip stage, failure stage and residual stage. The bond stress slip curves between DS-ECC and de-rusted steel bars can be divided into the micro-slip stage, failure stage and residual stage, and splitting and pulling-out failure occurs in DS-ECC specimens. The ultimate bond strength is the highest when the corrosion rate is 5%. The bond toughness index is positively correlated with the anchorage length of steel bars, and negatively correlated with the corrosion rate of steel bars. According to the test results, the bond–slip mathematical relationship is established. Full article