Improvement of the control performance of pneumatic artificial muscle manipulators using an intelligent switching control method

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.     

Characterization of volatile compounds in Fen‐Daqu – a traditional Chinese liquor fermentation starter

Fen‐Daqu is a saccharifying agent and fermentation starter for the production of Chinese liquor Fen (alcoholic spirit) and Fen traditional vinegar. The volatile compounds produced at seven incubation steps were analysed by HS‐SPME‐GC‐MS. A total of 83 major volatile compounds were identified, including 23 esters, 8 acids, 24 alcohols, 18 ketones and aldehydes, 6 pyrazines and 4 acetals. Data obtained by HS‐SPME‐GC‐MS were subjected to principal component analysis. The trajectory plots of volatile compounds in Fen‐Daqu samples obtained during successive steps of incubation were revealed. The major compounds that contributed to discrimination were hexanal, (E)‐2‐octenal, (Z)‐2‐octen‐1‐ol, nonanoic acid, 1‐octanol, 2‐decen‐1‐ol, hexyl acetate, (E)‐2‐octen‐1‐ol, acetic acid, ethyl acetate, phenylethyl alcohol, ethyl alcohol, octanoic acid, 1‐octanol, 3‐methyl‐2‐buten‐1‐ol and pyrazines. Copyright © 2012 The Institute of Brewing & Distilling     

Clustering and power management for virtual MIMO communications in wireless sensor networks

Multi-input multi-output (MIMO) is a well-established technique for increasing the link throughput, extending the transmission range, and/or reducing energy consumption. In the context of wireless sensor networks (WSNs), even if each node is equipped with a single antenna, it is possible to group several nodes to form a virtual antenna array, which can act as the transmitting or receiving end of a virtual MIMO (VMIMO) link. In this paper, we propose energy-efficient clustering and power management schemes for virtual MIMO operation in a multi-hop WSN. Our schemes are integrated into a comprehensive protocol, called cooperative MIMO (CMIMO), which involves clustering the WSN into several clusters, each managed by up to two cluster heads (CHs); a master CH (MCH) and a slave CH (SCH). The MCH and SCH collect data from their cluster members during the intra-cluster communications phase and communicate these data to neighboring MCHs/SCHs via an inter-cluster VMIMO link. CMIMO achieves energy efficiency by proper selection of the MCHs and SCHs, adaptation of the antenna elements and powers in the inter-cluster communications phase, and using a cross-layer MIMO-aware route selection algorithm for multi-hop operation. We formally establish the conditions on the transmission powers of CHs and non-CHs that ensure the connectivity of the inter-cluster topology. Simulations are used to study the performance of CMIMO. The simulation results indicate that our proposed protocol achieves significant reduction in energy consumption and longer network life time, compared with non-adaptive clustered WSNs.     

Fabrication of ellipticity-controlled microlens arrays by controlling the parameters of the multiple-exposure two-beam interference technique

We demonstrate a promising method for fabrication of plastic microlens arrays (MLAs) with a controllable ellipticity and structure, by using the combination of multiple-exposure two-beam interference and plastic replication techniques. Multiple exposures of a two-beam interference pattern with a wavelength of 442?nm into a thick positive photoresist (AZ-4620) were used to form different two-dimensional periodic structures. Thanks to the developing effect of the positive photoresist, fabricated structures consisting of hemielliptical- or hemispherical-shaped concave holes were obtained. By controlling the rotation angle between different exposures, both the shape and structure of the holes varied. By adjusting the dosage ratio between different exposures, the shape of the holes was modified while the structure of the holes was unchanged. The photoresist concave microstructures were then transferred to plastic MLAs by employing replication and embossing techniques. The fabricated MLAs were characterized by a scanning electron microscope and atomic force microscope measurements. We show that the ellipticity of the microlenses can be well controlled from 0 (hemispherical) to 0.96 (hemielliptical) by changing the rotation angle or dosage ratio between the two exposures.     

Effect of whey protein agglomeration on spray dried microcapsules containing Saccharomyces boulardii

This work investigates the effect of whey protein agglomeration on the survivability of Saccharomyces boulardii within spray dried microcapsules. It attempts to go beyond phenomenological observations by establishing a relationship between physicochemical characteristics of the polymeric matrix and its effect on probiotic endurance upon spray drying. It is well known that this type of thermal shock has lethal consequences on the yeast cells. To avoid such undesirable outcome, we take advantage of the early agglomeration phenomenon observed for whey protein by adjusting the pH value of preparations close to isoelectric point (pH 4–5). During the subsequent process of spray drying, development of whey protein agglomerates induces formation of an early crust, and the protein in this molten globular state creates a cohesive network encapsulating the yeast cells. It appears that the early crust formation at a given sample pH and temperature regime during spray drying benefits the survivability of S. boulardii within microcapsules.     

Biofilm formation, extracellular polysaccharide production, and cell-to-cell signaling in various Enterobacter sakazakii strains: aspects promoting environmental persistence

Enterobacter sakazakii is considered an opportunistic pathogen and has been implicated in food-associated cases of meningitis or enteritis, especially in neonates and infants. The organism has been detected in various types of food and in food production units, but so far only powdered infant formula has been linked to outbreaks of disease. Survival and persistence in such environments requires the ability to adapt to high osmotic potentials and/or dry conditions. Fifty-six E. sakazakii strains were evaluated for several features important for persistence and survival: (i) biofilm formation and the putative production of cellulose as one of the components of the extracellular matrix, (ii) adherence to hydrophilic and hydrophobic surfaces, (iii) the production of extracellular polysaccharides, and (iv) the ability of E. sakazakii to produce cell-to-cell signaling molecules. Pellicle and flock formation was observed in 21 of the strains grown in Luria-Bertani broth and in 44 of the strains grown in brain heart infusion broth. Calcofluor-stained fibrils, observed microscopically in every (fragile or rigid) pellicle, suggested the presence of cellulose as an extracellular compound in this type of biofilm. Twelve isolates did not form any pellicle or flocks under either condition. Twenty-three of the isolates exhibited the potential to adhere to glass surfaces in shaken cultures, and 33 strains showed biofilm formation at the air-solid interface of polyvinyl chloride microtiter wells. Sixteen isolates adhered to both surfaces. Twenty-four of the isolates tested produced a milky, viscous mass, considered as extracellular polysaccharide. High-performance liquid chromatography analysis of the polysaccharide revealed the presence of glucose, galactose, fucose, and glucuronic acid. Thin-layer chromatography analyses performed on ethyl acetate extracts of cell-free supernatants of the 56 strains indicated the presence of two different types of acylated homoserine lactones (3-oxo-C6-HSL and 3-oxo-C8-HSL). These findings illustrate the ability of E. sakazakii to produce cell-to-cell signaling molecules.     

Coherence of pulsed microwave signals carried by two-frequency solid-state lasers

This paper studies the coherence of the radio-frequency (RF) beat note between the two frequencies emitted by a two-eigenstate solid-state laser operating in pulsed regime. Depending on how the pulsed operation regime is obtained-passive Q switching using a saturable absorber or resonant amplitude modulation using pump-power modulation-we show theoretically and experimentally that the RF beat note loses or maintains its coherence from pulse to pulse. Namely, RF coherence is shown to be lost when the laser intensity vanishes between pulses, while it can be maintained if a slight amount of intensity remains inside the cavity between pulses. We give experimental demonstrations of these results for both Nd:YAG and Er-Yb:glass two-frequency pulsed lasers, in connection with applications to lidar-radar systems.     

Formulation lyotropic liquid crystals from palm oil-based monoacylglycerols

Lyotropic liquid crystals (LLCs) made of monoacylglycerols (MAGs) are rich in potential for food and pharmaceutical applications but the understandings of these materials are quite limited. This study, therefore, precisely demonstrated the formation of some LLCs based on the combination of two palm oil-based MAGs (distilled and non-distilled) with water and a triblock copolymer (Pluronic F127). X-ray diffraction results showed that the main lyotropic mesophase obtained from palm oil-based MAGs was lamellar phase (L_α) while dynamic light scattering results revealed that these LLC particles had a size range from 0.5 to 4 μm (after 5 min homogenization at 12,000 rpm). LLC dispersions made of both palm oil-based MAGs/water mixtures were shear-thinning fluids and the sample owning a higher concentration of MAGs had a higher yield stress as well as a higher storage modulus.     

Forchlorfenuron and Novel Analogs Cause Cytotoxic Effects in Untreated and Cisplatin-Resistant Malignant Mesothelioma-Derived Cells

Malignant mesothelioma (MM) is a currently incurable, aggressive cancer derived from mesothelial cells, most often resulting from asbestos exposure. The current first-line treatment in unresectable MM is cisplatin/pemetrexed, which shows very little long-term effectiveness, necessitating research for novel therapeutic interventions. The existing chemotherapies often act on the cytoskeleton, including actin filaments and microtubules, but recent advances indicate the ‘fourth’ form consisting of the family of septins, representing a novel target. The septin inhibitor forchlorfenuron (FCF) and FCF analogs inhibit MM cell growth in vitro, but at concentrations which are too high for clinical applications. Based on the reported requirement of the chloride group in the 2-position of the pyridine ring of FCF for MM cell growth inhibition and cytotoxicity, we systematically investigated the importance (cell growth-inhibiting capacity) of the halogen atoms fluorine, chlorine, bromine and iodine in the 2- or 3-position of the pyridine ring. The MM cell lines ZL55, MSTO-211H, and SPC212, and—as a control—immortalized Met-5A mesothelial cells were used. The potency of the various halogen substitutions in FCF was mostly correlated with the atom size (covalent radius); the small fluoride analogs showed the least effect, while the largest one (iodide) most strongly decreased the MTT signals, in particular in MM cells derived from epithelioid MM. In the latter, the strongest effects in vitro were exerted by the 2-iodo and, unexpectedly, the 2-trifluoromethyl (2-CF₃) FCF analogs, which were further tested in vivo in mice. However, FCF-2-I and, more strongly, FCF-2-CF₃ caused rapidly occurring strong symptoms of systemic toxicity at doses lower than those previously obtained with FCF. Thus, we investigated the effectiveness of FCF (and selected analogs) in vitro in MM cells which were first exposed to cisplatin. The slowly appearing population of cisplatin-resistant cells was still susceptible to the growth-inhibiting/cytotoxic effect of FCF and its analogs, indicating that cisplatin and FCF target non-converging pathways in MM cells. Thus, a combination therapy of cisplatin and FCF (analogs) might represent a new avenue for the treatment of repopulating chemo-resistant MM cells in this currently untreatable cancer.