Static grip selection for robot-based automated assembly systems

In this article we present an algorithmic approach to determine the suitable grasp of an object in an automated assembly environment. The algorithm is based on the available object surfaces and the initial and final task constraints and gripper characteristics. If the imposed task and gripper constraints do not allow a possible grasp, intermediate motions may need to be made to reorient the part. Once a set of possible grasps which statisfy task and gripper constraints are found, the stability of each grasp is analyzed using screw theory. An optimal grasp is one which minimizes the grasping forces over the possible set of grasps. Results utilizing our methodology are presented. Our method can be interfaced with CAD database such as a solid modelling system based on boundary representation for automatic selection of grasping configurations.     

Singularities in motion and displacement functions for a 7 degree-of-freedom manipulator

The authors propose a method for the determination of singularities in motion and displacement functions for a seven degree-of-freedom manipulator. The manipulator is considered, hereby, as a set of six degree-of-freedom manipulators. It is proven that two types of singularities in motion can occur at link positions that are independent and dependent with respect to the trajectory to be executed. The relations between the structure of singularity equations and displacement equations are discussed. The derivation of displacement equations for a manipulator with singularities of the second type is based on the idea of modeling of a manipulator by two open kinematic chains and invariants that may be found for these chains. The inverse kinematic equations and the equations of singularities in motion have been derived using a symbolic computer program which can handle manipulators of general structure (with five, six, and seven degrees-of-freedom). This program is written in the Symbolic Computation Language REDUCE.     

Weakly Conjugated Hybrid Zinc Porphyrin Sensitizers for Solid‐State Dye‐Sensitized Solar Cells

Molecularly engineered weakly conjugated hybrid porphyrin systems are presented as efficient sensitizers for solid‐state dye‐sensitized solar cells. By incorporating the quinolizino acridine and triazatruxene based unit as the secondary light‐harvester as well as electron‐donating group at the meso‐position of the porphyrin core, the power conversion efficiencies of 4.5% and 5.1% are demonstrated in the solid‐state devices containing 2,2′,7,7′‐tetrakis (N,N‐di‐p‐methoxyphenylamine)‐9,9′‐spiro bifluorene as hole transporting material. The photovoltaic performance of the triazatruxene donor based porphyrin sensitizer is better than that of the previously published porphyrin molecules exhibiting strongly conjugated push–pull structure. The effect of molecular structure on the optical and electrochemical properties, the dynamics of charge extraction, as well as the photovoltaic performance are systematically investigated, which offers a new design strategy for further refinement of porphyrin molecules.     

The crayfish as a “biological indicator” of aquatic contamination by heavy metals

Cu, Cd. Mg, Mn and Ni concentrations in whole Cambarus bartoni, trapped from Nepahwin Lake, Joe Lake and Wizard Lake, lying at distances of 10, 30 and 150 km, respectively, from the Sudbury smelters in Northeastern Ontario, showed an inverse relationship with the distance of the habitat from the emission site. Highest concentrations of Cu were observed in the hepatopancreas, Cd in the hepatopancreas and the gut, Fe and Mn in the gut, and Mg in the exoskeleton. Tissue concentrations of Ni and Zn were highly variable. Differences between males and females at each sampling site were not significant at the 5% level. The general relationship between crayfish tissue metal concentrations at the three sites was Cu > Mg > Mn > Zn > Ni > Cd. This observed relationship, except for Mg and Mn, agreed with the concentration relationship of these metals in the water and the sediments (top 10–20 cm) in the three lakes. In laboratory studies, Cu concentrations in the hepatopancreas, gills, exoskeleton and the viscera increased significantly over the control during the 4-weeks exposure to 125,250 and 500 μg Cu 1⁻¹. Hepatopancreas, in general, had the highest Cu concentration, and the exoskeleton, the lowest. Relationship between Ni exposure and the tissue Ni concentrations in the four treatments was 800 μg Ni l⁻¹ > 400 μg Ni l⁻¹ = 200 μg Ni l⁻¹ > control, while between the exposure periods and the tissue Ni concentrations was week 4 > week 1 > week 3 = week 2. Highest Ni concentrations at the end of the 4-week exposure to Ni were observed in the gut, gills and the hepatopancreas, and the lowest in the viscera. The present study suggests that Cambarus bartoni is a reliable indicator of the presence of class B and borderline elements with specific gravity > 5 in the aquatic environment. However, their value as biomonitors of variations in Cu and Ni concentrations in freshwater ecosystems is debatable.     

Microalgae role in sustainable bioenergy generation as determined by light microscopy

The main aim of this study was to explore the role of light microscopy in the identification of microalgae as a source of study. Three microalgal species (Nostoc, Anabaena, and Volvox) were identified by light. In this study, different parameters of the oil extraction process from algae biomass were studied. The samples of Nostoc, Anabaena, and Volvox were collected from the freshwater bodies in Lahore, and the samples were identified by light microscopy. Pretreatment of algae was done which includes harvesting, drying, and grinding. The sun drying of sample was done. Solvent extraction was done for the extraction of oil from algal cells. Solvent n-hexane and diethyl ether were used alone as well as in combination. Effects of n-hexane to oil ratio, size of algal biomass, and contact time on the percentage yield of extracted oil were studied and analyzed. It was concluded that maximum amount of oil was extracted from algae by using a greater ratio of solvent to algal biomass, maximum contact time, and smaller algal biomass size. The extracted oil yield was satisfactory, demonstrating the potential of microalgae for biodiesel production. It was discovered that if algal oil is subjected to transesterification, it can be turned into biodiesel, and light microscopy can be used to assess anatomical characteristics. However, more research will be required for transesterification.     

Iterative One‐Pot α‐Glycosylation Strategy: Application to Oligosaccharide Synthesis

Based on the combined use of dimethylformamide (DMF) modulation and neighboring group participation, three iterative one‐pot α‐glycosylation methods, i.e., one‐pot (α,α)‐, one‐pot (β,α)‐, and one‐pot (α,β)‐glycosylations, were developed. These methods are applicable to a range of thioglycosyl donors, confer stereocontrol in α‐/β‐glycosidic bond formation, and thus provide for rapid access to oligosaccharides with various permutations of anomeric configurations. The utility of these one‐pot glycosylation methods is demonstrated in the synthesis of eight non‐natural and natural oligosaccharide targets, including the core 1 serine conjugate, core 8 serine conjugate, the D ‐Gal‐α(1→3)‐D ‐Glc‐α(1→3)‐L ‐Rha trisaccharide unit of the cell wall component in Streptococcus pneumoniae, and the D ‐Glc‐α(1→2)‐D ‐Glc‐α(1→3)‐D ‐Glc trisaccharide terminus of the N‐linked glycan precursor. Confirmation of the anomeric configurations of these oligosaccharides is evidenced by ¹H, ¹³C, ¹³C‐non‐proton decoupling, and heteronuclear correlation 2D NMR experiments. Global deprotection of selected oligosaccharide targets is illustrated.     

Photoinduced Degradation of Polymer and Polymer–Fullerene Active Layers: Experiment and Theory

As organic photovoltaic efficiencies steadily improve, understanding degradation pathways becomes increasingly important. In this paper, the stability under prolonged illumination of a prototypical polymer:fullerene active layer is studied without the complications introduced by additional layers and interfaces in complete devices. Combining contactless photoconductivity with spectroscopy, structural characterization at the molecular and film level, and quantum chemical calculations, the mechanism of photoinduced degradation in bulk heterojunctions of poly (3‐hexylthiophene) (P3HT) and [6,6]‐phenyl C61‐butyric acid methyl ester (PCBM) is studied. Bare films are subjected to four conditions for 1000 h with either constant illumination or dark and either ambient or inert atmosphere. All samples are found to be intrinsically stable for 1000+ h under inert conditions, in contrast to complete devices. While PCBM stabilizes P3HT films exposed to air, its fullerene cage is found to undergo a series of oxidations that are responsible for the deterioration of the photoconductivity of the material. Quantum chemical calculations show that PCBM oxides have deeper LUMO levels than pristine PCBM and therefore act as traps for electrons in the PCBM domains.