Cable-direct-driven-robot (CDDR) with a 3-link passive serial support

Cable-direct-driven-robots (CDDRs) provided with a passive serial support represent an interesting and rising evolution of planar cable robots. The paper is devoted to present and analyze a novel CDDR robot. The robot consists in a fully actuated CDDR supported against loading normal to the motion plane with a 3-link passive planar serial manipulator. This hybrid structure combines positive features of both parallel and serial architectures, and prevents out-of-plane movements without the necessity for the robot to be supported on the motion plane. The adoption of a 3-link serial manipulator ensures a greater workspace area compared with similar structures that adopt a smaller number of links, and improves specific characteristics of their dynamics. Nevertheless undesired oscillations may occur since the serial manipulator is underconstrained. For this reason damping elements are inserted in the structure. Simulation examples are presented to demonstrate the novel CDDR concept and its dynamics. In addition, a strategy to select proper values of damping coefficients is presented.     

A study on cashew nut oil composition

Eight samples of cashew nut oil were assayed, and the component triacylglycerols, fatty acids and several unsaponifiable compounds were analyzed by gas chromatography (GC) and high-performance liquid chromatography (HPLC). Total lipid amount, unsaponifiable percentage, fatty acids, sterols, triterpene alcohols and tocopherols are reported here. The combination of GC and HPLC enhanced the resolution of compound classes.     

Thermoacoustic Emission from Carbon Nanotubes Imaged by Atomic Force Microscopy

The thermoacoustic effect of isolated single‐wall carbon nanotubes aligned between electrodes is experimentally observed for the first time by imaging the emitted acoustic wave using an atomic force microscopy‐based technique specifically developed for the task. The capability of such a technique for single‐point thermoacoustic measurements is first verified on carbon nanotubes layers with two electrodes for injecting alternate electric current. The technique is then demonstrated to allow the acquisition, simultaneously with the topography, of images reflecting the pressure of the acoustic wave at fixed distance from the sample. Such a capability is used to collect images reflecting the amplitude of acoustic waves generated by isolated nanotubes and nanotube bundles by the thermoacoustic effect.     

3-D Monte Carlo analyses of the shielding system in a Tokamak fusion reactor

In the frame of ITER (International Tokamak Experimental Reactor) design program, 3D neutronics calculations have been carried out to assess the system shielding performances in the basic machine configuration by means of Monte Carlo Neutron Photon (MCNP) code (3-B version).

The main issue concerns the estimation of the nuclear heat and radiation loads on the toroidal field superconducting coils.

“Self generated weight windows” (w.w.) and source biasing technique have been used to treat the deep penetration through the bulk shield and the streaming through the system gaps and openings.

The main results are reported together with a discussion of the computing methods, especially of the variance reduction techniques adopted.     

Rapid FTIR determination of water,phenolics and antioxidant activity of olive oil

A rapid Fourier transformed infrared (FTIR) attenuated total reflectance (ATR) spectroscopic method was applied to the determination of water content (WC), total phenol amount (TP) and antioxidant activity (ABTS ^{. +}) of virgin olive oils (VOO) and olive oils. Calibration models were constructed using partial least squares regression. Oil samples with WC ranging from 289 to 1402 mg water/kg oil, with TP from 46 to 877 mg gallic acid/kg oil and with ABTS ^{. +} from 0 to 5.7 mmol Trolox/kg oil were considered for chemometric analysis. Better results were obtained when selecting suitable spectral ranges; in particular, from 2260 to 1008 cm^?1 for WC, from 3610 to 816 cm^?1 for TP and from 3707 to 1105 cm^?1 for ABTS ^{. +}. Satisfactory LOD values by the FTIR‐chemometric methods were achieved: 9.4 (mg/kg oil) for WC; 12.5 (mg gallic acid/kg oil) for TP, and 0.76 (mmol Trolox/kg oil) for ABTS ^{. +}. The evaluation of the applicability of these analytical approaches was tested by use of validation sample sets (n = 16 for WC, n = 11 for TP and n = 14 for ABTS) with nearly quantitative recovery rates (99–114%). The FTIR–ATR method provided results that were comparable to conventional procedures. Practical applications : The presented method is based on ATR–FTIR in combination with multivariate calibration methodologies and permits a simultaneous evaluation of important quality parameters of VOO (WC, TP and ABTS ^{. +}). This approach represents an easy and convenient means for monitoring olive oil quality with the advantage of ease of operation, speed, no sample pretreatment and no consumption of solvents. The data obtained with this method are comparable to those obtained using the official reference method. Therefore, the technique is highly plausible as an alternative to the standard procedure for routine analysis or control at‐line of production processes.     

A comparison of silver ion HPLC plus GC with Fourier-transform IR spectroscopy for the determination of trans double bonds in unsaturated fatty acids

A rapid procedure has been developed for the isolation of methyl esters of trans-monoenoic fatty acids by silver ion high-performance liquid chromatography. The combined saturated plus trans-monoene fraction was collected for analysis by gas chromatography and comparison with the composition of the unfractionated sample. The trans-monoene contents of partially hydrogenated vegetable oils, determined in this way, are compared with data obtained by Fourier-transform infrared spectroscopy. Alternative methods of base-line correction are discussed. The infrared technique gave values that were a little higher than the chromatographic ones, presumably because the former also detected trans unsaturation in di- and polyunsaturated fatty acids.     

Detection of low‐quality extra virgin olive oils by fatty acid alkyl esters evaluation: a preliminary and fast mid‐infrared spectroscopy discrimination by a chemometric approach

A set of eighty‐one extra virgin olive oils (EVOOs) was analysed according to the new quality parameters relative to the total amount of methyl and ethyl esters of fatty acids [Σ (FAMEs + FAEEs)] and the ratio between ethyl and methyl esters [ratio of FAEEs/FAMEs (RFF)]. Acquisition of the mid‐infrared spectra was also performed by Fourier Transform Infrared Spectroscopy (FT‐IR). Chemical and spectroscopy data were chemometrically elaborated, and FT‐IR coupled by Partial Least Square (PLS) methodology was developed. Results were statistically similar to official procedure in terms of analytical performance for Σ (FAMEs + FAEEs) and RFF in EVOOs: a good agreement between predicted and actual values on calibration data sets was found (0.98 and 0.83, respectively) and the limit of quantification was low enough (29.3 mg kg^?1) considering the actual limits for Σ (FAMEs+ FAEEs). This new approach, time‐saving and environmentally friendly, can be considered as a useful tool for screening procedures.