Pepper to fall: a perception method for sweet pepper robotic harvesting

Intelligent Service Robotics - In this paper we propose a robotic system for picking peppers in a structured robotic greenhouse environment. A commercially available robotic manipulator is equipped...     

Spin probe study of semi‐interpenetrating polymer networks based on polyurethane and polymethacrylate functional prepolymers

The motional transition and heterogeneity of semi‐interpenetrating networks (SIPNs) based on polyurethane (PU) with carboxylic groups and methacrylic copolymer (PM) with tertiary amine groups were studied by the electron spin resonance (ESR) spin probe method. The concentration of functional groups in both prepolymers varied from 0 to 0.45 mmol g^?1. Spin‐probed SIPNs show that the temperature‐dependent spectra are sensitive to polymer interactions imposed by functional groups. These interactions determine the free volume distribution in the matrix and temperature at which motional transition takes place. The fraction of free volume increases with functional group concentration and reaches its maximum at 0.25 mmol g^?1. Further increases in the functional group concentration reduce the free volume. The results of the networks with strong interactions are discussed in terms of the interference of the plasticizing effect of the PU component and the formation of possible cluster cross‐links, which restricts segmental motions. Copyright © 2003 Society of Chemical Industry     

A comparative analysis of fuzzy logic and PI speed control in high-performance AC drives using experimental approach

One of the frequently discussed applications of artificial intelligence in motion control is the replacement of a standard proportional plus integral (PI) speed controller with a fuzzy logic (FL) speed controller. Regardless of all the work, it appears that a thorough comparison of the drive behavior under PI and FL speed control is still missing. This paper attempts to fill in this gap, by providing an in-depth comparison of operation of a vector-controlled permanent-magnet synchronous motor, using at first an experimental rig. Speed responses, obtained under PI and FL speed control, are recorded and compared for a variety of operating conditions. The transients studied include response to a large step speed command from standstill with nominal inertia and an increased inertia, response to small step speed reference change, and response to step load torque application. The transient behavior is examined for various initial speed settings, so that a thorough comparison is enabled. Experimental results are further supplemented with a set of simulation results, obtained using a different permanent-magnet machine and a different FL controller. Better generalization of the results is enabled in this way. It is shown that superiority of the FL speed control is less pronounced than it is often portrayed in the literature on the basis of limited comparisons. Indeed, in a number of cases, PI speed control provides a superior speed response.     

Main flux saturation modelling in double-cage and deep-barinduction machines

The available models of saturated double-cage and deep-bar induction machines are the current state-space model and the flux state-space model, where state-space variables are selected either as stator current and currents of both rotor cages, or stator flux linkage and flux linkages of both rotor cages. This paper presents a number of models of saturated double-cage (deep-bar) induction machines where alternative sets of state-spate variables are selected. The method of main flux saturation modelling relies on recently introduced concept of `generalised flux space vector', which has originally been developed for modelling of saturated single-cage induction machines. The procedure and the novel models are verified by experimental study and simulation of self-excitation process in a double-cage induction generator     

Neural plasticity in adults with amblyopia

Amblyopia is a neuronal abnormality of vision that is often considered irreversible in adults. We found strong and significant improvement of Vernier acuity in human adults with naturally occurring amblyopia following practice. Learning was strongest at the trained orientation and did not transfer to an untrained task (detection), but it did transfer partially to the untrained eye (primarily at the trained orientation). We conclude that this perceptual learning reflects alterations in early neural processes that are localized beyond the site of convergence of the two eyes. Our results suggest a significant degree of plasticity in the visual system of adults with amblyopia.     

Effect of Microstructure on the Accelerated Creep of 20CrMoV12‐1 and P 91 Steels

In the initial part the change of microstructure for steel X20 CrMoV 121 is discussed in terms of the distribution of carbide precipitates and its effects on accelerated creep resistance and hardness are presented. In the following, experimental results of microstructure and accelerated creep resistance are presented for the steels X20CrMoV 121 and P91 annealed for up to 8760 hours at 650°C and 750°C before the testing. A similar evolution of the distribution of carbide particles of a size above 102 nm is found for both steels, while the accelerated creep resistance is diminished much stronger for the steel X20CrMoV 121. This difference is due to a greater stability of NbC than that of VC precipitates, both related to the evolution of the chemical composition of complex chromium, molybdenum and iron carbide particles.     

Size, diffusibility and transfection performance of linear PEI/DNA complexes in the mouse central nervous system

Currently in vivo gene delivery by synthetic vectors is hindered by the limited diffusibility of complexes in extra-cellular fluids and matrices. Here we show that certain formulations of plasmid DNA with linear polyethylenimine (22 kDa PEI, ExGene 500) can produce complexes that are sufficiently small and stable in physiological fluids so as to provide high diffusibility. When plasmid DNA was formulated with 22 kDa PEI in 5% glucose, it produced a homogeneous population of complexes with mean diameters ranging from 30 to 100 nm according to the amount of PEI used. In contrast, formulation in physiological saline produced complexes an order of magnitude greater (> or = 1 micron). Intraventricular injection of complexes formulated in glu-cose showed the complexes to be highly diffusible in the cerebrospinal fluid of newborn and adult mice, diffusing from a single site of injection throughout the entire brain ventricular spaces. Transfection efficiency was followed by histochemistry of beta-galactosidase activity and double immunocytochemistry was used to identify the cells transfected. Transgene expression was found in both neurons and glia adjacent to ventricular spaces. Thus, this method of formulation is promising for in vivo work and may well be adaptable to other vectors and physiological models.