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     

Interleukin 4, interferon-gamma, and prostaglandin E impact the osteoclastic cell-forming potential of murine bone marrow macrophages

Interleukin 4 (IL-4) is an immune cytokine that inhibits bone resorption in mice and suppresses osteoclastic cell formation in vitro through an undefined mechanism. In this report, we have established the cellular identity of the IL-4 target cell using a variety of bone marrow/stromal cell coculture methods. Initially, we found that the majority of IL-4's inhibition of osteoclastic cell formation was due to its effect on bone marrow cells, not stromal cells. Consequently, bone marrow macrophages were used as osteoclastic cell progenitors after they had been transiently exposed to IL-4 (48 h), before the addition of stromal cells, 1,25-dihydroxyvitamin D3, and dexamethasone. In this circumstance, IL-4 impaired subsequent osteoclastic cell formation, suggesting that the macrophage may be potentially targeted by many factors known to influence osteoclast formation. Consequently, we discovered that interferon-gamma (IFN gamma), prostaglandin E (PGE), and cell-permeant cAMP analogs also impacted osteoclastic cell formation when used to selectively treat bone marrow macrophages. IFN gamma suppressed osteoclastic cell formation, whereas PGE and cAMP analog treatment led to the formation of significantly enlarged osteoclastic cells. Importantly, PGE antagonized the inhibitory effects of both IL-4 and IFN gamma on the osteoclastic cell-forming potential of bone marrow macrophages. Collectively, these findings establish bone marrow macrophages as osteoclastic cell precursors with the degree of their commitment to the osteoclast pathway sensitive to the effects of soluble mediators, including IL-4, IFN gamma, and PGE.     

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.     

Peroxisome biogenesis: back to the endoplasmic reticulum?

Proteins are targeted to the membrane and matrix of peroxisomes by distinct pathways. Recent observations suggest a further route: a subset of peroxisomal membrane proteins might be targeted first to the endoplasmic reticulum, and from there to peroxisomes by vesicle-mediated transport.     

Functionalized oligopolysiloxanes by heterogeneously catalyzed equilibration polymerization reactions

Summary A new general procedure for preparation of functionalized oligopolysiloxanes of predetermined molecular weight is described. It utilizes heterogeneously catalyzed siloxane equilibration polymerization reactions which do not require troublesome and sometimes difficult post-preparative work-up procedures usually encountered with the well known homogeneously catalyzed corresponding reactions. The method is described using as example the preparation of , -telechelic vinyldimethylsiloxy-oligopolydimethylsiloxanes from octamethylcyclotetrasiloxane and 1,3-divinyltetramethyldisiloxane, but reference to the preparations of trimethylsiloxy-, dimethylsiloxy-and carboxypropyldimethylsiloxyoligopolydimethylsiloxanes, oligopolymethylhydridosiloxanes or their copolymers is also made.     

On the critical molecular chain length of polydimethylsiloxane

Because a study of the results reported for the chain dimensions of polydimethylsiloxane (PDMS), critical for the onset of this polymer's non-Newtonian flow behavior, obtained from the viscosity-molecular weight relationships available from the literature, clearly revealed that considerable differences exist between the reported data, a detailed analysis of these data was performed together with an additional examination of 10 new PDMS samples that were selected so as to have molecular weights that would fill the gaps observed in the polymer viscosity–chain length relationship constructed from the accepted literature data. The results obtained were analyzed by using several different procedures integrated into a recently described comparative method that could allow for determination of what is called the most realistic critical value, Z_wc. The latter was determined as 930 PDMS main-chain atoms, which corresponds to this polymer's degree of polymerization of 464.5 and the weight-average molecular weight of 34,500. It is not only shown that after elimination of some clearly erroneous data points from the previously reported relationships the obtained critical chain-length values could very well fit the earlier relationships, but also that appropriate “master” relationships were constructed including 48 pairs of the old and 10 pairs of the new data points. It is suggested that this relationship be accepted as the best-fit viscosity–polymer chain-length dependence for PDMS, and it is pointed out that the obtained PDMS critical chain-length value ranks this polymer's macromolecules as the most flexible of the corresponding long-chain molecules presently known. © 1993 John Wiley & Sons, Inc.