Currently, flexible surfaces enabled to be actuated by robotic arms are experiencing high interest and demand for robotic applications in various areas such as healthcare, automotive, aerospace, and manufacturing. However, their design and control thus far has largely been based on “trial and error” methods requiring multiple trials and/or high levels of user specialization. Robust methods to realize flexible surfaces with the ability to deform into large curvatures therefore require a reliable, validated model that takes into account many physical and mechanical properties including elasticity, material characteristics, gravity, external forces, and thickness shear effects. The derivation of such a model would then enable the further development of predictive-based control methods for flexible robotic surfaces. This paper presents a lumped-mass model for flexible surfaces undergoing large deformation due to actuation by continuum robotic arms. The resulting model includes mechanical and physical properties for both the surface and actuation elements to predict deformation in multiple curvature directions and actuation configurations. The model is validated against an experimental system where measured displacements between the experimental and modeling results showed considerable agreement with a mean error magnitude of about 1% of the length of the surface at the final deformed shapes.

Drilling fluids are vital in oil and gas well operations, ensuring borehole stability, cutting removal, and pressure control. However, fluid loss into formations during drilling can compromise formation integrity, alter permeability, and risk groundwater contamination. Water-based drilling fluids (WBDFs) are favored for their environmental and cost-effective benefits but often require additives to address filtration and rheological limitations. This study explored the feasibility of using vegetable waste, including pumpkin peel (PP), courgette peel (CP), and butternut squash peel (BSP) in fine (75 μm) and very fine (10 μm) particle sizes as biodegradable WBDF additives. Waste vegetable peels were processed using ball milling and characterized via FTIR, TGA, and EDX. WBDFs, prepared per API SPEC 13A with 3 wt% of added additives, were tested for rheological and filtration properties. Results highlighted that very fine pumpkin peel powder (PP_10) was the most effective additive, reducing fluid loss and filter cake thickness by 43.5% and 50%, respectively. PP_10 WBDF maintained mud density, achieved a pH of 10.52 (preventing corrosion), and enhanced rheological properties, including a 50% rise in plastic viscosity and a 44.2% increase in gel strength. These findings demonstrate the remarkable potential of biodegradable vegetable peels as sustainable WBDF additives.

While Battery Electric Vehicles (BEVs) offer environmental benefits by reducing carbon emissions during use, their range remains limited compared to conventionally fuelled vehicles. This paper focuses on identifying factors that directly influence BEV range and explores strategies to mitigate range anxiety among potential users. Specifically, it reviews the impact of battery cell characteristics and vehicle lightweighting. Using the WLTP Class 3B drive cycle, energy consumption and Depth of Discharge (DoD) were evaluated across various battery capacities. Multiple Lithium-Ion battery models were simulated to analyse discharge behaviour, while vehicle mass composition was examined to assess the effectiveness of lightweighting in extending driving range. A lower initial State of Charge (SoC) and a standard discharge rate were used to estimate the remaining range, highlighting an approximate gain of up to 6 km at lower DoD levels. This work aims to accurately demonstrate how battery technology and structural weight impact energy consumption and usable range in BEVs. Current modelling approaches often overlook the relationship between driver discomfort and battery performance metrics. The main contribution is to address the gap by integrating Li-ion discharge modelling with vehicle dynamics to estimate range and compare cell characteristics. The ultimate goal is to support cost-effective strategies for increasing BEV usability, aligning them more closely with conventional vehicle expectations and enhancing journey flexibility.