On‐off iterative adaptive controller for low‐power micro‐robotic step regulation

A novel model‐free iterative adaptive controller is presented for low‐power control of piezoelectric actuators. The controller uses simple adaptation rules based on known general behavior of piezoelectric actuators to adjust on‐off switching times to drive piezoelectric actuators through a desired transient step motion. Adaptation rules are based on small numbers of measurements taken during each iteration of the actuator movement. Combined with the use of only on‐off control inputs, controller implementation can be possible at much lower overall power levels than would be needed to implement a conventional control strategy such as through pulse‐width‐modulation (PWM) with real‐time feedback. Such power savings are particularly important for the intended controller application to piezoelectric microactuators driving autonomous terrestrial micro‐robots. A method for predicting convergence of systems with nominally linear dynamics and unknown, bounded nonlinearities is described, and applied to a sample target piezoelectric actuator. The controller is tested in simulation and experimentally on a piezoelectric cantilever actuator, and shows predicted convergence to the desired response. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Verminderung des Gehaltes von Blei und anderen Elementen in Wein mit Hilfe von Pectins?ure

Zusammenfassung Der Bleigehalt von Wein kann durch Zusatz von Pectinsäure (PS) vermindert werden. Die Wirksamkeit der Bleiverminderung durch PS hängt von der Qualitätsstufe des Weines ab. In Auslesewein (Wein A) senkten 6250 mg PS/1 den Bleigehalt in 24 h von 0,88 mg/l auf 0,28 mg/l und in Spätlese (Wein B) von 0,83 mg/l auf 0,06 mg/1. Unter den gleichen Bedingungen nahm in Wein A der Gehalt an Fe, Zn und Cu von 8,85 mg/l auf 7,05 mg/1, von 4,75 mg/l auf 1,25 mg/l and von 0,67 mg/l auf 0.57 mg/l ab; bei Wein B reduzierte sich der Gehalt von Fe, Zn und Cu von 6,70 mg/l auf 5,41 mg/1, von 1,17 mg/l auf 0,28 mg/l und von 0,46 mg/l auf 0,28 mg/1. Durch Filtration des Weines wurde PS nahezu quantitativ entfernt. Eine geschmackliche Beeinträchtigung des Weines durch PS ist bei 750 mg and 1500 mg PS/1 nicht feststellbar, jedoch bei 6 250 mg PS/1 nicht auszuschließen. Aufgrund ihrer hohen Bindungsaffinität zu Blei scheint PS geeignet, Blei auch aus anderen flüssi-gen Lebensmitteln zu entfernen.

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Reduction of lead content and of other metals in wine by means of pectic acid

Summary A procedure for reducing the Pb content in wines containing high levels of Pb is described. The reduction of Pb by means of pectic acid (PA) depends on the quality grade of the wine. In Auslese (wine A) 6250 mg PA/l diminished Pb content in 24 h from 0.88 mg/l to 0.28 mg/1; in Spatlese (wine B) from 0.83 mg/l to 0.06 mg/1. Under the same conditions the content of Fe, Zn, Cu decreased in wine A from 8.85 mg/l to 7.05 mg/1, from 4.75 mg/l to 1.25 mg/1, from 0.67 mg/l to 0.57 mg/l and in wine B from 6.70 mg/l to 5.41 mg/1, from 1.17 mg/l to 0.28 mg, 0.46 mg/l to 0.28 mg/l, respectively. PA is removed almost quantitatively by filtration. Sensory properties of treated wines were unchanged with concentrations of PA of 750 mg and 1500 mg/l. A slight effect on taste at 6250 mg PA/l wine cannot be excluded. On account of its high affinity to Pb, PA will probably remove Pb from other liquid foods as well.

     

Some techniques for solving linear equation systems with guarantee

Methods are described for solving a system of linear equations with error bounds. Rectangular and spherical intervals ofR ⁿ are used combined. The objective is to get guaranteed accuracy with a minimal effort of computing time.     

Polycyclic Aromatic Hydrocarbons Activate the Aryl Hydrocarbon Receptor and the Constitutive Androstane Receptor to Regulate Xenobiotic Metabolism in Human Liver Cells

Polycyclic aromatic hydrocarbons (PAHs) are environmental pollutants produced by incomplete combustion of organic matter. They induce their own metabolism by upregulating xenobiotic-metabolizing enzymes such as cytochrome P450 monooxygenase 1A1 (CYP1A1) by activating the aryl hydrocarbon receptor (AHR). However, previous studies showed that individual PAHs may also interact with the constitutive androstane receptor (CAR). Here, we studied ten PAHs, different in carcinogenicity classification, for their potential to activate AHR- and CAR-dependent luciferase reporter genes in human liver cells. The majority of investigated PAHs activated AHR, while non-carcinogenic PAHs tended to activate CAR. We further characterized gene expression, protein abundancies and activities of the AHR targets CYP1A1 and 1A2, and the CAR target CYP2B6 in human HepaRG hepatoma cells. Enzyme induction patterns strongly resembled the profiles obtained at the receptor level, with AHR-activating PAHs inducing CYP1A1/1A2 and CAR-activating PAHs inducing CYP2B6. In summary, this study provides evidence that beside well-known activation of AHR, some PAHs also activate CAR, followed by subsequent expression of respective target genes. Furthermore, we found that an increased PAH ring number is associated with AHR activation as well as the induction of DNA double-strand breaks, whereas smaller PAHs activated CAR but showed no DNA-damaging potential.     

In Vivo Analysis of the Biocompatibility and Bone Healing Capacity of a Novel Bone Grafting Material Combined with Hyaluronic Acid

The present in vivo study analyses both the inflammatory tissue reactions and the bone healing capacity of a newly developed bone substitute material (BSM) based on xenogeneic bone substitute granules combined with hyaluronate (HY) as a water-binding molecule. The results of the hyaluronate containing bone substitute material (BSM) were compared to a control xenogeneic BSM of the same chemical composition and a sham operation group up to 16 weeks post implantationem. A major focus of the study was to analyze the residual hyaluronate and its effects on the material-dependent healing behavior and the inflammatory tissue responses. The study included 63 male Wistar rats using the calvaria implantation model for 2, 8, and 16 weeks post implantationem. Established and Good Laboratory Practice (GLP)-conforming histological, histopathological, and histomorphometrical analysis methods were conducted. The results showed that the new hyaluronate containing BSM was gradually integrated within newly formed bone up to the end of the study that ended in a condition of complete bone defect healing. Thereby, no differences to the healing capacity of the control BSM were found. However, the bone formation in both groups was continuously significantly higher compared to the sham operation group. Additionally, no differences in the (inflammatory) tissue response that was analyzed via qualitative and (semi-) quantitative methods were found. Interestingly, no differences were found between the numbers of pro- and anti-inflammatory macrophages between the three study groups over the entire course of the study. No signs of the HY as a water-binding part of the BSM were histologically detectable at any of the study time points, altogether the results of the present study show that HY allows for an optimal material-associated bone tissue healing comparable to the control xenogeneic BSM. The added HY seems to be degraded within a very short time period of less than 2 weeks so that the remaining BSM granules allow for a gradual osteoconductive bone regeneration. Additionally, no differences between the inflammatory tissue reactions in both material groups and the sham operation group were found. Thus, the new hyaluronate containing xenogeneic BSM and also the control BSM have been shown to be fully biocompatible without any differences regarding bone regeneration.