Teleoperation Control of a Position‐Based Impedance Force Controlled Mobile Robot by Neural Network Learning: Experimental Studies

Effective haptic performance in teleoperation control systems can be achieved by solving two major problems: the time‐delay in communication channels and the transparency of force control. The time‐delay in communication channels causes poor performance and even instability in a system. The transparency of force feedback is important for an operator to improve the performance of a given task. This article suggests a possible solution for these two problems through the implementation of a teleoperation control system between the master haptic device and the slave mobile robot. Regulation of the contact force in the slave mobile robot is achieved by introducing a position‐based impedance force control scheme in the slave robot. The time‐delay problem is addressed by forming a Smith predictor configuration in the teleoperation control environment. The configuration of the Smith predictor structure takes the time‐delay term out of the characteristic equation in order to make the system stable when the system model is given a priori. Since the Smith predictor is formulated from exact linear modeling, a neural network is employed to identify and model the slave robot system as a nonlinear model estimator. Simulation studies of several control schemes are performed. Experimental studies are conducted to verify the performance of the proposed control scheme by regulating the contact force of a mobile robot through the master haptic device.     

Quasi-static and high frequency C-V measurements on Al/Ta2O5/SiO2/Si

Quasi-static and high frequency capacitance-voltage (C-V) measurements of Al/Ta₂O₅/SiO₂/Si (MTOS) capacitors are analysed. Space charge build-up at the Ta₂O₅-SiO₂ interface and the frequency response of these charges are explained. It is also found that the leakage current is not the sole contributor to the discrepancies observed in quasi-static measurements, as suggested in the literature. An estimate of the interface charge is also presented.     

Inactivation of Escherichia coli O157:H7, Salmonella typhimurium and Listeria monocytogenes in apple juice with gaseous ozone

This research was initiated to assess the efficacy of gaseous ozone for inactivation Escherichia coli O157:H7, Salmonella typhimurium and Listeria monocytogenes in apple juice. Juice samples with solids content of 18, 36, and 72 °Brix inoculated with a culture cocktail of three foodborne pathogens were treated with gaseous ozone at a flow rate of 3.0 L/min and an ozone generation rate of 0.10, 0.90, 3.51, and 5.57 g/h for 0.5, 1, 5, and 10 min, respectively. The inactivation kinetics of gaseous ozone on foodborne pathogens conformed to the Weibull model. The time required to achieve a 5 log reduction (t_5d) was estimated using the parameters of the Weibull model. The t_5d increased with increasing solids content of apple juice. The ozone generation rate did not impart a significant effect (p > 0.05) on t_5d. Gaseous ozone is effective at inactivating foodborne pathogens in apple juice but the efficacy is dependent on the solids content of the juice sample.     

Field Evaluation of the Bacterial Volatile Derivative 3-Pentanol in Priming for Induced Resistance in Pepper

Plants are defended from attack by emission of volatile organic compounds (VOCs) that can act directly against pathogens and herbivores or indirectly by recruiting natural enemies of herbivores. However, microbial VOC have been less investigated as potential triggers of plant systemic defense responses against pathogens in the field. Bacillus amyloliquefaciens strain IN937a, a plant growth-promoting rhizobacterium that colonizes plant tissues, stimulates induced systemic resistance (ISR) via its emission of VOCs. We investigated the ISR capacity of VOCs and derivatives collected from strain IN937a against bacterial spot disease caused by Xanthomonas axonopodis pv. vesicatoria in pepper. Of 15 bacterial VOCs and their derivatives, 3-pentanol, which is a C8 amyl alcohol reported to be a component of sex pheromones in insects, was selected for further investigation. Pathogens were infiltrated into pepper leaves 10, 20, 30, and 40 days after treatment and transplantation to the field. Disease severity was assessed 7 days after transplantation. Treatment with 3-pentanol significantly reduced disease severity caused by X. axonopodis and naturally occurring Cucumber mosaic virus in field trials over 2 years. We used quantitative real-time polymerase chain analysis to examine Pathogenesis-Related genes associated with salicylic acid (SA), jasmonic acid (JA), and ethylene defense signaling. The expression of Capsicum annuum Pathogenesis-Related protein 1 (CaPR1), CaPR2, and Ca protease inhibitor2 (CaPIN2) increased in field-grown pepper plants treated with 3-pentanol. Taken together, our results show that 3-pentanol triggers induced resistance by priming SA and JA signaling in pepper under field conditions.     

Characterization and proof testing of the halochromic shape memory polyurethane

Polyurethane (PU) grafted with several well-known pH indicators (alizarin yellow, bromocresol green, bromocresol purple, or thymol blue) via spacer is characterized for thermal, spectroscopic, mechanical, and shape memory properties, as well as for PU color change to aqueous solution with various pH values. The PU polymer frame is composed of 4,4′-methylenebis(phenylisocyanate) (MDI), which acts as a hard segment, poly(tetramethyleneglycol) (PTMG) as a soft segment, and a covalently linked pH indicator. The four different PU series studied in this work display characteristic color dependent upon the grafted indicator type. The PU series also exhibit a small degree of cross-linking due to the grafting agent used to covalently link the indicator to the PU frame. The tensile mechanical strength and the shape recovery of the indicator-grafted PU remain high after repeated tests compared to that of the plain linear PU. Regarding the tensile mechanical properties, the maximum stress and the strain increase to 424 and 1,880 %, respectively, for indicator-grafted PU compared to the linear PU. Furthermore, the shape recovery is observed to reach 98 % and improves after each test cycle. A reversible color change is observed after repeated exposure to aqueous solutions with varying pH values and is confirmed with UV-VIS spectra results.     

Enhancement of lipid productivity by ethyl methane sulfonate-mediated random mutagenesis and proteomic analysis in Chlamydomonas reinhardtii

Microalgae-derived biomass has been considered as the most promising candidate for next generation biofuel due to its sustainability and biodegradability. In this study, microalgal strain Chlamydmonas reinhardtii was randomly mutagenized by using a chemical mutagen, ethyl methane sulfonate (EMS) to create mutants showing enhanced lipid production. We identified three random mutants that displayed high lipid production in the screening using Nile red staining. Among those, mutant #128 was selected as candidate for further studies. Our flow cytometry and confocal microscopy analysis revealed that mutant #128 contains larger and more abundant lipid bodies than that of wild-type. Moreover, mutant #128 showed 1.4-fold increased fatty acid methyl ester (FAME) content compared to wild-type under nitrogen depleted condition. In addition, mutant #128 grew faster and accumulated more biomass, resulting in high lipid production. 2D gel electrophoresis and MALDI-TOF analysis used for gene targeting revealed that β-subunit of mitochondrial ATP Synthase and two-component response regulator PilR may be involved in enhanced characteristics of mutant #128. These results show the possibilities of EMS mediated random mutagenesis in generation of mutants to produce high amount of lipid as well as further study for molecular mechanism of mutants.     

The influence of calcination temperature on catalytic activities in a Co based catalyst for CO2 dry reforming

The carbon dioxide dry reforming of methane (CDR) reaction could be thermodynamically favored in the range of 800 to 1,000 °C. However, the catalyst in this reaction should be avoided at the calcination temperature over 800 °C since strong metal support interaction (SMSI) in this temperature range can decrease activity due to loss of active sites. Therefore, we focused on optimizing the temperature of pretreatment and a comparison of surface characterization results for CDR. Results related to metal sintering over support, re-dispersion by changing of particle size of metal-support, and strong metal support interaction were observed and confirmed in this work. In our conclusion, optimum calcination temperature for a preparation of catalyst was proposed that 400 °C showed a higher and more stable catalytic activity without changing of support characteristics.     

Nanoparticle probes with surface enhanced Raman spectroscopic tags for cellular cancer targeting

We have developed biocompatible, photostable, and multiplexing-compatible surface-enhanced Raman spectroscopic tagging material (SERS dots) composed of silver nanoparticle-embedded silica spheres and organic Raman labels for cellular cancer targeting in living cells. SERS dots showed linear dependency of Raman signatures on their different amounts, allowing their possibility for the quantification of targets. In addition, the antibody-conjugated SERS dots were successfully applied to the targeting of HER2 and CD10 on cellular membranes and exhibited good specificity. SERS dots demonstrate the potential for high-throughput screening of biomolecules using vibrational information.     

Microwave Dielectric Properties of CaTiO3-Ca(Al1/2Ta1/2)O3 Ceramics

The microwave dielectric properties of CaTi_1-χ(Al_1/2Ta_1/2)_cHO₃ solid solutions (0.3 ≤χ≤ 0.5) have been investigated. The ceramic samples had perovskite structures similar to CaTiO₃. The partial substitution of Ti₄₊ by a coupled Al₃₊/Ta_s+ permitted improvement of the quality factor Q . The dielectric constant (τ_r) and temperature coefficient of resonant frequency (τ_r) decrease rapidly with an increase of χ. A new high-quality microwave dielectric material was found at χ= 0.46 with σ_r= 46.5, Q f = 27300 GHz, and π_f= 0 ppm/°C. The relationship between microstructures and dielectric properties is presented.     

Strain effect on recovery behaviors from circular deformation of natural rubber vulcanizate

The recovery behaviors of vulcanized natural rubber from circular deformation were studied by varying sample length to investigate the influence of the degree of applied strain to the sample. The stress and strain varied uniformly across the thickness of the sample, and the degree of applied stress and strain to the sample decreased with increasing the sample length. The linear sample was made into a circular form and thermally aged in a convection oven. The recovery was measured after removing from the circular deformation. The recovery increased by decreasing the sample length. The difference in recoveries of the samples with different lengths reduced at high temperature. The short sample had higher heat‐resisting property for recovery than the long sample. The experimental results were explained by the rearrangement and stabilization of the deformed rubber chains as well as the crosslink density change. © 2009 Wiley Periodicals, Inc. J Appl Polym Sci, 2009