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Ni/SBA-15 meso-structured catalysts modified with chromium and CeO2 (Ni–Cr-CeO2/SBA-15) were utilized to produce hydrogen from glycerol steam reforming (GSR). The catalysts were synthesized by a one-pot hydrothermal process and extensively characterized by analytical techniques such as N2 adsorption–desorption (BET), H2-temperature programmed reduction (H2-TPR), powder X-ray diffraction (PXRD), inductively coupled plasma-optical emission spectrometry (ICP-OES), and transmission electron microscopy (TEM). The low-angle XRD reflections affirmed that the catalysts were crystalline and possessed a 2D-ordered porosity. The BET results depicted that all the catalysts exhibited a good surface area ranging from 633 to 792m2/g, and the pore sizes were consistently in the mesoporous range (between 3 and 5 nm). TEM analysis of both calcined and spent catalysts revealed that the metal active sites were embedded in the hybrid CeO2-SiO2 support. Overall, the Ni-based catalysts exhibited higher glycerol conversion -12Ni-SBA-15–99.9%, 12Ni3CeO2-SBA-15–89.4%, and 8Ni4Cr3CeO2-SBA-15–99.7%. Monometallic 12Ni/SBA-15 performed exceptionally well, while 12Cr/SBA-15 performed poorly with the highest 71.48% CO selectivity. For short-term GSR reactions, CeO2 addition to 12Ni/SBA-15 did not have any effect, whereas Cr addition resulted in a 32% decrease in H2 selectivity. The long-term stability studies of 12Ni-SBA-15 showed H2 selectivity of ~ 64% and ~ 98% glycerol conversion. However, its activity was short-lived. After 20–30 h, the H2 selectivity and conversion dropped precipitously to 40%. The doping of mesoporous Ni/SBA-15 with Cr and CeO2 remarkably enhanced the long-term stability of the catalyst for 12Ni3CeO2-SBA-15, and 8Ni4Cr3CeO2-SBA-15 catalyst which showed ~ 58% H2 selectivity and ~ 100% conversion for the entire 60 h. Interestingly, Cr and CeO2 seem to improve the shelf-life of Ni-SBA-15 via different mechanistic pathways. CeO2 mitigated Ni poisoning through coke oxidation whereas Cr bolstered the catalyst stability via maintaining a well-defined pore size, structural rigidity, and integrity of the heterogeneous framework, thereby restricting structural collapse, and hence retard sintering of the Ni active sites during the long-term 60 h of continuous reaction. Hydrogen generation from renewable biomass like glycerol could potentially serve as a sustainable energy source and could substantially help reduce the carbon footprint of the environment 

Abstract Robot-assisted healthcare could help alleviate the shortage of nursing staff in hospitals and is a potential solution to assist with safe patient handling and mobility. In an attempt to off-load some of the physically-demanding tasks and automate mundane duties of overburdened nurses, we have developed the Adaptive Robotic Nursing Assistant (ARNA), which is a custom-built omnidirectional mobile platform with a 6-DoF robotic manipulator and a force sensitive walking handlebar. In this paper, we present a robot-specific neuroadaptive controller (NAC) for ARNA’s mobile base that employs online learning to estimate the robot’s unknown dynamic model and nonlinearities. This control scheme relies on an inner-loop torque controller and features convergence with Lyapunov stability guarantees. The NAC forces the robot to emulate a mechanical system with prescribed admittance characteristics during patient walking exercises and bed moving tasks. The proposed admittance controller is implemented on a model of the robot in a Gazebo-ROS simulation environment, and its effectiveness is investigated in terms of online learning of robot dynamics as well as sensitivity to payload variations. 

Pressure sensitive robotic skins have long been investigated for applications to physical human-robot interaction (pHRI). Numerous challenges related to fabrication, sensitivity, density, and reliability remain to be addressed under various environmental and use conditions. In our previous studies, we designed novel strain gauge sensor structures for robotic skin arrays. We coated these star-shaped designs with an organic polymer piezoresistive material, Poly (3, 4-ethylenedioxythiophene)-ploy(styrenesulfonate) or PEDOT: PSS and integrated sensor arrays into elastomer robotic skins. In this paper, we describe a dry etching photolithographic method to create a stable uniform sensor layer of PEDOT:PSS onto star-shaped sensors and a lamination process for creating double-sided robotic skins that can be used with temperature compensation. An integrated circuit and load testing apparatus was designed for testing the resulting robotic skin pressure performance. Experiments were conducted to measure the loading performance of the resulting sensor prototypes and results indicate that over 80% sensor yields are possible with this fabrication process.