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In this study, we proposed an adaptive fuzzy multi-surface sliding control (AFMSSC) for trajectory tracking of 6 degrees of freedom inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an adaptive fuzzy logic-based function approximator can be used to estimate the system uncertainties and an iterative multisurface sliding control design can be carried out to control flight. Using AFMSSC on MIMO autonomous flight systems creates confluent control that can account for both matched and mismatched uncertainties, system disturbances and excitation in internal dynamics. It is proved that the AFMSSC system guarantees asymptotic output tracking and ultimate uniform boundedness of the tracking error. Simulation results are presented to validate the analysis.

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Soil Thermo-Physical Properties (TPP) depend on heat transfer in the soil. This paper presents a study on different soil solarisation technologies influenced by soil TPP. This study evaluates three factors: The tillage depth for soil at three levels (15, 25 and 45 cm), the number of plastic film at three levels (single, double and without plastic film) and three cases of fertilizers (chemical fertilizer, organic fertilizer and without fertilizer). The parameters explored in this study include soil bulk density (Mg/cm 3 ), soil porosity (%), soil volumetric moisture content (cm 3 /cm 3 ) and soil thermal diffusivity (m 2 /sec). Data management and analysis were performed using SAS 9.1 statistical software and the spilt-plot under higher values for Φ and θ for soil (52.70% and 0.231 cm 3 /cm 3 , respectively). Furthermore, the current study shows significant differences between the types of fertilizers on ρ b . Organic Fertilizer (OF) obtained a lower value of ρ b (1.2 Mg/m 3 ), compared with chemical fertilizer and without fertilizer (1.28 and 1.31 Mg/m 3 , respectively). In contrast, contrary to expectations, this study did not find significant differences between the types of fertilizer on D and θ for soil. A positive correlation was found in the interaction between the studied factors in the parameters. Furthermore, D increased with increasing soil bulk density (pb) and tillage depth.

The demand for rapid and accurate fabrication of light-weight, biocompatible, and soft actuators in soft robotics has perused researchers to design and fabricate such products by rapid manufacturing techniques. The self-folding origami structure is a type of soft actuator that has applications in micro electro mechanical systems, soft electronics, and biomedical devices. 3-dimentional (3D) printing is a current manufacturing process that can be used for fabrication of involute soft self-folding products by means of shape memory polymer materials. This paper presents, for the first time, a method for developing a photo thermal self-folding soft actuator using a 3D bioplotter. Easily accessible and inexpensive pre-strained polystyrene is opted for the backbone of actuator. The polystyrene film (PS) is then structured in a hand shape gripper. Chitosan hydrogel and carbon black ink were combined for printing active hinges on the hand gripper. Various active hinges with different widths and thicknesses were printed on the hand gripper using the 3D bioplotter. An infra-red (IR) heating lamp was placed at a reasonable distance to emit IR light uniformly on the hand gripper. The temperature distribution on the hand gripper was observed using a thermographic camera and the bending angles of the samples were recorded by a video camera. It was observed that the bending angles of the hand fingers depend on factors such as the intensity of the heat flux generated by the IR light intensity, distance, onset temperature, geometry of the fingers such as width and thickness, and area of the hinges.

The estimation of soil wet bulk density (ρn) and dry bulk density (ρb) using the novel digital electromechanical system (DES) has provided information about important parameters for the assessment of soil quality and health with a direct application for agronomists. The evaluation of the DES performance is particularly appropriate for different tillage methods, mulching systems, and fertilizers used to increase soil fertility and productivity, but currently, there is a lack of information, particularly in the arid areas in underdeveloped countries. Therefore, the main aim of this study was the application of a novel digital electromechanical system (DES) to evaluate bulk density, wet (ρn) and dry (ρb), under different soil treatments according to the variations in thermal efficiencies (ηth), microwave penetration depths (MDP), and specific energy consumption (Qcon) in an experimental area close to Baghdad (Iraq). The experimental design consisted of 72 plots, each 4 m2. The agronomic practices included two different tillage systems (disc plough followed by a spring disk and mouldboard plough followed by a spring disk) and twelve treatments involving mulching plastic sheeting combined with fertilizers, to determine their effect on the measured soil ρn and ρb and the DES performance in different soils. The results indicated that soil ρn and ρb varied significantly with both the tillage systems and the mulching systems. As expected, the soil ρn and ρb, MDP, and Qcon increased with an increase in the soil depth. Moreover, the tillage, soil mulching, and soil depth value significantly affected ηth and Qcon. A strong relationship was identified between the soil tillage and MDP for different soil treatments, leading to the changes in soil ρb and the soil dielectric constant (ε’).