Momentum Transfer from Preshape to Grasping

A fully immersed object, suspended in water can be rotated from distance by a preshaped robot hand approaching and closing upon the object prior to contacting it. Momentum transfer from robot fingers closing into a grasp, to the fluid medium particles, and from these particles to the object surface generates the motion tendencies of that object in terms of rotational and translational displacements. In this paper, we propose the novel concept of a controller that determines either: 1) given initial position and orientation of a robot hand, what preshape is suitable for generating a desired momentum distribution on the surface of a given object in order to trigger a desired rotation in a desired direction when approaching with this preshaped hand; or 2) given a predetermined hand preshape, what initial position, orientation and hand aperture are suitable to generate a desired rotation upon approach and, without causing the retroceeding of the object. The desired object motion generated from distance by the approach of a hand preshape is to be used seamlessly for the subsequent manipulation of the object upon grasp. Towards this end, we propose in our work, a new model based on computational fluid dynamics, for determining the continuity in momentum transfer from robot hand fingers to the fluid medium, and to the object, until landing on that immersed object. Our experimental results demonstrate how different hand preshapes initiated from different locations in the medium surrounding an object of different cross sections suspended in equilibrium in the fluid, affects its motion tendencies in terms of rotation and translation. Our further contribution, in this paper, includes the modelling of robot fingers and object as fluidic elements which rigidity can be relaxed to induce compliance.     

Zinc Oxide Nanowire Decorated Single‐Use Electrodes for Electrochemical DNA Detection

The surfaces of pencil graphite electrodes (PGEs) were decorated with zinc oxide nanowires (ZnO NWs) for the electrochemical detection of nucleic acids. ZnO NWs were synthesized through simple hydrothermal method. PGEs decorated with ZnO NWs (ZnO NW/PGEs) were electrochemically characterized through cyclic voltammetry (CV) and electrochemical impedance spectroscopy (EIS) following morphological characterization through transmission (TEM) and scanning electron microscopy (SEM). Enhanced sensor response obtained using ZnO NW/PGEs contrary to the bare PGE (control) samples. Our preliminary results simply reveal the potential of combining ZnO NWs with disposable sensor technology for the electrochemical detection of DNA.     

Organic solvent absorbents based on linear diol

Cross‐linked poly(orthocarbonate)s were prepared by condensation of the tetraethyl orthocarbonate with different length of aliphatic diols. The synthesized polymers have been characterized by Fourier‐transform infrared spectroscopy, solid‐state ¹³C cross‐polarization magic angle spinning (CPMAS) nuclear magnetic resonance, thermal gravimetric analysis, and elemental analysis. The cross‐linked polymers were evaluated for organic solvent absorbency application. The effect of diol type on swelling properties of cross‐linked polymers was studied through the solvent absorption tests. The swelling parameters such as maximum solvent absorbency, saturation time, and retention of the solvent were evaluated for the synthesized sorbents. All of the cross‐linked polymers had moderate thermal stability and good regenerable solvent uptake abilities. POLYM. ENG. SCI., 53:2102–2108, 2013. © 2013 Society of Plastics Engineers     

New perylene derivative dyes for dye-sensitized solar cells

We have studied the influence of the spacer alkyl chain length of perylenemonoimide (PMI) dyes on the device performance in dye-sensitized solar cells (DSSCs). We observed that the dyes with longer and brunched alkyl chains exhibit higher efficiencies in DSSCs. In line with these statements we now report the highest efficiency obtained under standard conditions for a perylene imide derivative with PMI-DA1 that performs 300 mV open circuit voltage, 9.79 mA/cm² short-circuit current and 1.61% overall conversion efficiency.     

Aflatoxin M1 levels of Turkish white brined cheese

This study was undertaken to determine the presence and levels of aflatoxin M₁ (AFM₁) in Turkish white brined cheese consumed in the province of Erzurum, Turkey. For this purpose, a total of 193 cheese samples were randomly obtained from retail outlets and Enzyme Linked Immunosorbent Assay (ELISA) technique was used to determine the presence and levels of AFM₁. AFM₁ at detectable level (50 ng/kg) was found in 82.4% of the samples. The concentration of AFM₁ in samples ranged from 52 to 860 ng/kg. Of the samples, 26.4% exceed the legal limit of 250 ng/kg established by Turkish Food Codex. It was concluded that widespread occurrence of AFM₁ in Turkish white brined cheese samples were considered to be possible hazards for public health especially children.     

Managerial Competencies of Female and Male Construction Managers

Women hold relatively few project management positions in the construction industry. Most studies conclude that women’s exclusion from the industry is mostly due to the industry’s male-dominated culture, but no study ever attempted to find out whether women are excluded from project management positions in construction because they are deficient in managerial competencies. This study evaluates the managerial competencies of female project managers by administering a competency assessment test and comparing the results with the managerial competencies of male project managers. The management development questionnaire was used, where competency is defined by subjective comparison. All respondents occupied project management positions and were assessed in 20 different competencies. The study concluded that female project managers do not differ much from male project managers in terms of their managerial behaviors but perform better in “sensitivity,” “costumer focus,” and “authority and presence.”     

Preparation of cerium oxide–MWCNTs nanocomposite bulk modified carbon ceramic electrode: a sensitive sensor for tamoxifen determination in human serum samples

In this study, cerium oxide and multi-walled carbon nanotubes nanocomposite were incorporated into the carbon ceramic electrode (CeO₂–MWCNTs/CCE) as a renewable electrode for the electrocatalytic purposes. To demonstrate capability of the fabricated electrode, determination of tamoxifen as an important anticancer drug with differential pulse voltammetry technique was evaluated in details. Linear range, limit of detection and sensitivity of the developed sensor were found to be 0.2–40 nM, 0.132 nM and 1.478 µA nM^?1 cm^?2, respectively. Ease of production, low cost and high electron transfer rate of the CeO₂–MWCNTs/CCE promises it as a novel electro-analytical tool for determination of important species in real samples.

     

Robust landmine detection from thermal image time series using Hough transform and rotationally invariant features

ABSTRACT

Automated detection of buried anti-personnel landmines using remote sensing techniques is very important for clearing minefields without putting lives in danger. Although thermal infrared imaging is promising, it is far from applicable to the real world in its current state-of-the-art. The most serious problem is that experiments are generally held using sandboxes or levelled and cleared soil, but real fields are, at least partially, covered with plants. In this study, we present an algorithm for landmine detection that is robust enough to detect beyond the clutter caused by partial plant cover. The first part is a hypothesis generator based on circular Hough Transform applied to images that are filtered to enhance circular structures. The second part tests the candidate landmine coordinates using rotationally invariant features, including modified Histogram of Oriented Gaussians (HOG), over multiple images taken at different times after Wiener filtering to maximize signal-to-clutter ratio. The performances of various features and classifiers are compared. The overall performance of the algorithm is demonstrated on a dataset of real-world landmine images contaminated by simulated plants. Satisfactory results are obtained up to 40% equivalent plant coverage where more than 65% of the pixels are fully or partially covered by plants.