An image processing algorithm for the automatic manipulation of tie rod

In this paper, we present a robust image processing algorithm for the automatic manipulation of tie rod in the automotive assembly process. A sensing system consisting of a camera and a slit laser is used to obtain 3D data for processing. It is attached to the robot’s arm. A nut runner is used as an end-effector of the robot to manipulate the bolt and nut on the tie rod. For the successful operation, a robust image processing algorithm that can cope with diverse illumination variations in manufacturing conditions is required. We present a robust algorithm for the extraction of laser contours on images. It consists of two steps where color and grey information is used to cope with clutters caused by laser reflections on metal surfaces. Experimental results using many images under real conditions show the robustness of the proposed algorithm.     

Synthesis and applications of molybdenum (IV) oxide

Molybdenum dioxide (MoO₂) is a transition metal oxide with unusual metal-like electrical conductivity and high catalytic activity toward reforming hydrocarbons. This review covers the synthesis techniques used to fabricate MoO₂ in a variety of morphologies and particle sizes. Processing from molybdenum ore and reduction from MoO₃ are also covered, with emphasis on reduction mechanisms and kinetic considerations. Discussions of various solution-based and gas phase synthesis techniques shed light on strategies to achieve various unique morphologies, which leads into a brief discussion of nanoscale MoO₂. Nanoscale MoO₂ is of interest for important technological applications including catalysts for partial oxidation of hydrocarbons, solid oxide fuel cell anodes, and high-capacity reversible lithium ion battery anodes.     

Sunitinib release from biodegradable films of poly(l-lactide-co-caprolactone)

The aim of this study was to prepare sunitinib-loaded biodegradable films using poly(l-lactide-co-?-caprolactone) (PLCL) for anti-tumor drug delivery. Sunitinib-loaded PLCL film has a rough surface, while empty film has a smooth surface. PLCL film loaded with 5% (w/w) sunitinib showed an absence of a crystalline peak of sunitinib, while sharp peaks were observed at 10% (w/w) loading, indicating that sunitinib was molecularly distributed in the polymer matrix at 5% (w/w). A drug release study revealed an initial burst during the first 2 h, followed by continuous release until 24 h. Since weight loss of film was <10% for 1 week, drug release mechanism was dominantly dependent on the diffusion-mediated release of drugs to the medium. Sunitinib has a dose-dependent anti-proliferation effect against HuCC-T1 human cholangiocarcinoma cells in vitro. These results indicate that sunitinib-loaded PLCL film is a appropriate candidate as a vehicle for anti-tumor drug delivery.     

Sodium azide and metal chelator effects on 2,2‐diphenyl‐1‐picrylhydrazyl (DPPH) radical scavenging compounds from methylene blue photosensitized lard

Thermal oxidation of edible oils can generate 2,2‐diphenyl‐1‐picrylhydrazyl (DPPH) radical scavenging compounds from oxidized lipids (RSOLs). However, effects of photosensitization on the formation of RSOLs have not been reported yet. Methylene blue (MB) photosensitization and involvement of singlet oxygen and transition metals on the RSOL formations were determined in stripped lard oils. RSOLs were formed in lard containing MB and visible light irradiation only. Addition of sodium azide decreased RSOLs with concentration dependent manner, which implies singlet oxygen was involved on the RSOL formation. Ethylenediammetetraacetic acid (EDTA), a well known metal chelator, accelerated the formation of RSOLs through protecting the decomposition of MB photosensitizer. Results from p‐anisidine values showed that RSOLs from photosensitization may not be formed from the same pathways compared to thermal oxidation. Practical application: Understanding mechanisms of lipid oxidation can help extend the shelf‐life of foods. Photosensitization plays important roles in accelerating the rates of lipid oxidation. The results of this study showed that foods containing photosensitizers can generate radical scavenging compounds from oxidized lipids (RSOLs) under visible light irradiation and singlet oxygen is involved in the formations of these compounds. However, these compounds may not share the same pathways with thermally oxidized lipids. Metal chelating agents accelerated the rates of lipid oxidation and formation of RSOLs which implies that metal chelators can act as prooxidant. Careful considerations are necessary on the addition of metal chelators because non‐polar photosensitizers can act a prooxidant.     

Effective suppression of deactivation by utilizing Ni-doped ordered mesoporous alumina-supported catalysts for the production of hydrogen and CO gas mixture from methane

Several different kinds of ordered mesoporous alumina (OMA)-supported and Ni-doped OMA-supported Ni catalysts have been prepared for catalytic partial oxidation of methane (CPOM) to produce hydrogen and CO gas mixture. The Ni metal was incorporated in various ways of the impregnation, the doping, and the partial doping followed by impregnation. The prepared OMA-supported catalysts showed a wormhole-like, pseudo-hexagonal structure. By incorporating Ni in the OMA matrix during synthesis of supports, the resulting catalysts showed better-distributed and less-sintered nanocrystals even after CPOM at elevated temperature for over 100 h. By employing the partial doping of Ni followed by impregnation of Ni, the prepared CPOM catalyst was found more productive due to the well-distributed and well-anchored Ni nanocrystals inside the OMA matrix and the confined ordered mesopores as well. Through the test under non-stoichiometric feed ratio, the catalyst prepared only by impregnation was found vulnerable to carbon deposition and deactivated more rapidly. Even worse, the formation rate of carbon deposition was so fast that the test could not be conducted due to the increased pressure difference. In contrast, the highly distributed Ni nanocrystals partially or fully utilizing doping were found to have stronger resistance to carbon deposition.     

An impulse-time perturbation approach for enhancing the robustness of extra-insensitive input shapers

In this paper, perturbation-based extra-insensitive input shapers (PEI-ISs) are proposed to enhance the robustness of the input shaping technique. The extra-insensitive input shaper (EI-IS) has been known to be more robust than the so-called derivative input shapers such as ZVD, ZVDD, and ZVDDD shapers. However, the robustness of the known EI-IS is restricted by the symmetric property in the sensitivity curve. To address this, the PEI-IS is devised by multiplying a series of input shapers in the Laplace domain, of which the impulse times are slightly perturbed from those of the zero vibration (ZV) shaper. For a single-hump case, a closed-form solution to the PEI-IS is provided. For two- and three-hump cases, the approximate solutions are presented. The robustness is evaluated by simulations and assessed by means of the insensitivity. It will be shown that the proposed PEI-IS does improve the robustness and that it can be easily designed.     

Preparation and evaluation of poly(2-hydroxyethyl aspartamide)-hexadecylamine-iron oxide for MR imaging of lymph nodes

The purpose of this study was to synthesize biocompatible poly(2-hydroxyethyl aspartamide)–C₁₆-iron oxide (PHEA-C₁₆-iron oxide) nanoparticles and to evaluate their efficacy as a contrast agent for magnetic resonance imaging of lymph nodes. The PHEA-C₁₆-iron oxide nanoparticles were synthesized by coprecipitation method. The core size of the PHEA-C₁₆-iron oxide nanoparticles was about 5 to 7 nm, and the overall size of the nanoparticles was around 20, 60, and 150 nm in aqueous solution. The size of the nanoparticles was controlled by the amount of C₁₆. The 3.0-T MRI signal intensity of a rabbit lymph node was effectively reduced after intravenous administration of PHEA-C₁₆-iron oxide with the size of 20 nm. The in vitro and in vivo toxicity tests revealed the high biocompatibility of PHEA-C₁₆-iron oxide nanoparticles. Therefore, PHEA-C₁₆-iron oxide nanoparticles with 20-nm size can be potentially useful as T2-weighted MR imaging contrast agents for the detection of lymph nodes.     

CHIR99021 Augmented the Function of Late Endothelial Progenitor Cells by Preventing Replicative Senescence

Endothelial progenitor cells (EPCs) are specialized cells in circulating blood, well known for their ability to form new vascular structures. Aging and various ailments such as diabetes, atherosclerosis and cardiovascular disease make EPCs vulnerable to decreasing in number, which affects their migration, proliferation and angiogenesis. Myocardial ischemia is also linked to a reduced number of EPCs and their endothelial functional role, which hinders proper blood circulation to the myocardium. The current study shows that an aminopyrimidine derivative compound (CHIR99021) induces the inhibition of GSK-3β in cultured late EPCs. GSK-3β inhibition subsequently inhibits mTOR by blocking the phosphorylation of TSC2 and lysosomal localization of mTOR. Furthermore, suppression of GSK-3β activity considerably increased lysosomal activation and autophagy. The activation of lysosomes and autophagy by GSK-3β inhibition not only prevented replicative senescence of the late EPCs but also directed their migration, proliferation and angiogenesis. To conclude, our results demonstrate that lysosome activation and autophagy play a crucial role in blocking the replicative senescence of EPCs and in increasing their endothelial function. Thus, the findings provide an insight towards the treatment of ischemia-associated cardiovascular diseases based on the role of late EPCs.