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The purpose of this paper is to design a model-based bilateral teleoperation method to improve the feedback force and velocity/position tracking for robotic-assisted tasks (such as palpation, etc.) under constant and/or varying time delay with environment dynamic property. Time delay existing in bilateral teleoperation easily destabilizes the system. Proper control strategies are able to make the system stable, but at the cost of compromised performance. Model-based bilateral teleoperation is designed to achieve enhanced performance of this time-delayed system, but an accurate model is required.

Viscoelastic model has been used to describe the robot tool-soft tissue interaction behavior. Kevin-Boltzmann (K-B) model is selected to model the soft tissue behavior due to its good accuracy, transient and linearity properties among several viscoelastic models. In this work, the K-B model is designed at the master side to generate a virtual environment of remote robotic tool-soft tissue interaction. In order to obtain improved performance, a self perturbing recursive least square (SPRLS) algorithm is developed to on-line update the necessary parameters of the environment with varying dynamics.

With fast and optimal on-line estimation of primary parameters of the K-B model, the reflected force of the model-based bilateral teleoperation at the master side is improved as well as the position/velocity tracking performance. This model-based design in the bilateral teleoperation avoids the stability issue caused by time delay in the communication channel since the exchanged information become position/velocity and estimated parameters of the used model. Even facing with big and varying time delay, the system keeps stably and enhanced tracking performance. Besides, the fast convergence of the SPRLS algorithm helps to track the time-varying dynamic of the environment, which satisfies the surgical applications as the soft tissue properties usually are not static.

The originality of this work lies in that an enhanced perception of bilateral teleoperation structure under constant/varying time delay that benefits robotic assisted tele-palpation (time varying environment dynamic) tasks is developed. With SPRLS algorithm to on-line estimate the main parameters of environment, the feedback perception of system can be enhanced with stable velocity/position tracking. The superior velocity/position and force tracking performance of the developed method makes it possible for future robotic-assisted tasks with long-distance communication.

The purpose of this paper is to study the effect of vapor assembly sequence and assembly temperature on the corrosion protection of the complex silane films Al alloy. The performance and application range of silane films are enhanced.

The complex silane films were successfully prepared on the surface of aluminum alloy using via vapor phase assembly of 1,2,3-benzotriazole (BTA) and dodecyltrimethoxysilanes (DTMS). The protection of the assembly films against corrosion of Al alloy is investigated by the electrochemical measurements and the alkaline solution accelerated corrosion test. Thickness and hydrophobicity of the complex films are studied using ellipsometric spectroscopy and contact angle tests.

It shows that the anti-corrosion ability of the complex films is overall superior to that of the single-component assembled films. DTMS-BTA films have larger thickness and best anti-corrosion ability. The alkyl chains in DTMS have better compatibility with BTA molecules. The rigid BTA molecule can permeate into the long alkyl chain of DTMS as fillers and improve the barrier properties of the complex films.

In this paper, a green and efficient method of vapor phase assembly is proposed to rust prevention during manufacture of Al alloy workpiece.

The purpose of this paper is to propose a wheel/rail mixed lubrication model to study the water lubrication behavior of wheel/rail contact interface.

The numerical simulation method is applied in this paper. A deterministic mixed lubrication model considering surface roughness and transient state is established. The quasi-system numerical and finite difference method are used for numerical solution. The model is verified by comparing with the experimental data in the literature under the same conditions.

Under wet conditions, the change of train speed will change the lubrication state of the wheel/rail contact interface. With an increasing speed, the average film thickness and the film thickness ratio increase, while the adhesion coefficient, the contact load ratio and the contact area ratio decrease. When the creep ratio increases from 0% to 0.5%, the wheel/rail adhesion coefficient and subsurface stress increase sharply. With the increase of axle load, the average film thickness decreases and the adhesion coefficient increases.

This paper aims to improve the mixed lubrication theory by analyzing the characteristics of wheel/rail friction and lubrication, so as to provide some guidance and theory for train driving behavior.

Using the deterministic model, the lubrication state of the wheel/rail contact interface affected by various external factors and the adhesion behavior of wheel/rail progressive process from boundary lubrication to mixed lubrication are studied.

This paper aims to develop a new magnetorheological polishing (MRP) device with roller and investigate the polishing mechanism of MRP fluids using this new device.

The principle of MRP process with roller is discussed, and then the structure of the polishing device is designed in detail. The polishing experiments of K9 glass are carried out using MRP device with roller.

A series of tests are performed to evaluate the effect of the excitation gaps, working gap and polishing time on the polishing characteristics, and the optimized polishing parameters can be obtained. The surface roughness Ra of the sample is reduced from 359 to 38 nm under optimized polishing parameters.

MRP method with roller is proposed in this paper, and the MRP device with roller can reduce the surface roughness Ra significantly. After being polished, the circular ring-shaped polishing belt disappears on the workpiece surface, which means it has great potential for polishing.

The purpose of this paper is to study the effect of doping, annealing temperature and visible optical excitation on CuO-ZnO nanocomposites’ acetone sensing properties and introduce an attractive candidate for acetone detection at about room temperature.

ZnO nanoparticles doped with CuO were prepared by sol-gel method, and the structure and morphology were characterized via X-ray diffraction, scanning electron microscope, energy dispersive spectroscopy and Brunauer-Emmett-Teller. The photoelectric responses of CuO-ZnO nanocomposites to cetone under the irradiation of visible light were investigated at about 30°C. The photoelectric response mechanism was also discussed with the model of double Schottky.

The doping of CuO enhanced performance of ZnO nanoparticles in terms of the photoelectric responses and the gas response and selectivity to acetone of ZnO nanoparticles, in addition, decreasing the operating temperature to about 30ºC. The optimum performance was obtained by 4.17% CuO-ZnO nanocomposites. Even at the operating temperature, about 30ºC, the response to 1,000 ppm acetone was significantly increased to 579.24 under the visible light irradiation.

The sensor fabricated by 4.17% CuO-ZnO nanocomposites exhibited excellent acetone-sensing characteristics at about 30ºC. It is promising to be applied in low power and miniature acetone gas sensors.

In the present research, a new nanocomposite material of CuO-ZnO was prepared by Sol-gel method. The optimum gas sensing properties to acetone were obtained by 4.17% CuO-ZnO nanocomposites at about 30ºC operating temperature when it was irradiated by visible light with the wavelength more than 420 nm.

In view of the defects of glued wood beams, a new composite member – reconstituted bamboo board reinforced glued wood beams is proposed to improve the bearing capacity of glued wood beams.

The bending test studied the ordinary glulam beams and the reinforced glulam beams with different layer numbers and different layer thicknesses by comparing with six kinds of glulam beams strengthened with bamboo scrimber and one kind of ordinary glulam beams and used the method of third-point stepwise loading on the glulam beams strengthened with bamboo scrimber.

The bamboo scrimber improved the bending behavior of the ordinary glulam beams. The 10 mm bamboo scrimber layer can meet the requirements of the maximum ultimate bending capacity and minimize the defects. So 10 mm bamboo scrimber layer was the optimal thickness. During the loading process, the strain change of the normal section of the reconstituted bamboo board reinforced glued wood beam basically conforms to the plane section assumption.

The bending rigidities of the glulam beams strengthened with bamboo scrimber increased up to 28.25%, 8.53% and 76.67%, and the ultimate bending capacity increased from 83.44% to 99.34% with the increase of the bamboo scrimber plate layers (the replacement rate). The ultimate bending capacities and the bending rigidities of the glulam beams strengthened with bamboo scrimber increased to 52.32%∼60.18% and 90.07%∼99.34% with the changing of the bamboo scrimber thicknesses from 7.1 mm to 25 mm.

Business intelligence (BI) has been applied in various domains to take better decisions and it provides different level of information to its stakeholders according to the information needs. The purpose of this paper is to present a literature review on recent works in BI. The two principal aims in this survey are to identify areas lacking in recent research, thereby offering potential opportunities for investigation.

To simplify the study on BI literature, it is segregated into seven categories according to the usage. Each category of work is analyzed using parameters such as purpose, domain, problem identified, solution applied, benefit and outcome.

The BI contribution in various domains, ongoing research in BI, the convergence of BI domains, problems and solutions, results of congregated domains, core problems and key solutions. It also outlines BI and its components composition, widely applied BI solutions such as algorithm-based, architecture-based and model-based solutions. Finally, it discusses BI implementation issues and outlines the security and privacy policies adopted in BI environment.

In this survey BI has been discussed in theoretical perspective whereas practical contribution has been given less attention.

A comprehensive survey on BI which identifies areas lacking in recent research and providing potential opportunities for investigation.

Tourists’ irresponsible behaviours (e.g. damaging flowers, writing and painting on the walls and throwing waste material in the water and around the sea site) damage the coastal environment. The irresponsible behaviour of tourists has raised concerns about the sustainability of the coastal tourism environment. The purpose of this study is to identify and explain the behavioural patterns of tourists that can influence the environmentally responsible behaviours (ERBs) of tourists, particularly in the context of coastal tourism. The study aims to provide a theoretical and practical explanation of destination image and perceived destination value (PDV) in shaping ERB with the mediating role of destination social responsibility (DSR) among tourists at the coastal touring destination.

The study used a quantitative research design and data were gathered from the five beaches in Karachi. Structured equation model was used to analyse the direct and mediating effect while stepwise regression was used to analyse the moderating effect of DSR. The results of the direct effect showed that cognitive image has a significant effect on the affective image, while the insignificant effect on conative image and ERB. While the affective image has a significant effect on conative and ERB, and finally, results showed a significant effect of conative image on ERB. Results of the study revealed that PDV significantly mediated the relationship between cognitive, affective and conative destination image and ERB. Finally, the study’s results revealed that DSR has significantly moderated the relationship between affective, conative destination image, PDV and ERB.

The results are divided into three categories, direct effect, mediating effect and moderating effect. The results of the direct effect showed that cognitive image has a significant effect on the affective image, while the insignificant effect on conative image and ERB. While affective image has a significant effect on conative and ERB, and finally, results showed a significant effect of conative image on ERB. It is found in the results that PDV significantly mediated the relationship between cognitive, affective and conative destination image and ERB. Finally, the study’s results revealed that DSR has significantly moderated the relationship between affective, conative destination image, PDV and ERB.

First, data has been collected from a single geographic area of Pakistan. Therefore, cross-country data are required to compare the ERB of tourists. Second, only local respondents are considered in the study; future studies may include foreign tourists as well. Finally, data has been collected during one month in summer, which may have measured the experience of only summer. The respondent may have different perceived values and destination images during winter. The future study may split data collection into summer and winter to cover diverse perceptions of tourists.

It is almost impossible for coastal destinations to achieve a competitive advantage without attaining sustainable coastal environments. Clean and green beaches and responsible behaviour towards marine mammals can only be achieved through tourists’ ERB. This study has major contributions towards society by reserving the natural environment of coastal areas.

This research will significantly contribute to the existing literature by extending the ERB knowledge through the theoretical lens of cognitive-affective-conative models and social expectancy theory. Moreover, PDV as a mediator and DSR as a moderator will enhance the understanding of ERB and extend the existing literature. Further research has provided a strong understanding of how cognitive, effective and conative image helps in influencing the ERB of tourists. Moreover, research will benefit destination managers and policymakers to enhance the image and perceived value of touring destinations. Finally, this study is a unique attempt to present a comprehensive model which could be applicable to diverse situations and areas.

The aim of this paper is to solve the toxic and harmful problems caused by traditional volatile corrosion inhibitor (VCI) and to analyze the effect of the layered structure on the enhancement of the volatile corrosion inhibition prevention performance of amino acids.

The carbon dots-montmorillonite (DMT) hybrid material is prepared via hydrothermal process. The effect of the DMT-modified alanine as VCI for mild steel is investigated by volatile inhibition sieve test, volatile corrosion inhibition ability test, electrochemical measurement and surface analysis technology. It demonstrates that the DMT hybrid materials can improve the ability of alanine to protect mild steel against atmospheric corrosion effectively. The presence of carbon dots enlarges the interlamellar spacing of montmorillonite and allows better dispersion of alanine. The DMT-modified alanine has higher volatilization ability and an excellent corrosion inhibition of 85.3% for mild steel.

The DMT hybrid material provides a good template for the distribution of VCI, which can effectively improve the vapor-phase antirust property of VCI.

The increased volatilization rate also means increased VCI consumption and higher costs.

Provides a new way of thinking to replace the traditional toxic and harmful VCI.

For the first time, amino acids are combined with nano laminar structures, which are used to solve the problem of difficult volatilization of amino acids.