Contribution to the decoupled control of large-scale mechanical systems

This paper presents the concept of decomposition as applied to the control synthesis of multivariable mechanical systems, in which the coupling among the subsystems can be very strong. The system class considered contains subsystems with powered degrees of freedom, as well as subsystems without their own actuators. Global control is introduced to diminish the influence of coupling on the stability of the whole system. The procedure is illustrated by simulation of two examples, one in robotics, the other in biomechanics.     

Influence of nitrogen content on the pit formation and pit propagation in the welded joints of X5CrNi18-10 stainless steel

The influence of welding current and nitrogen content in argon shielding gas on the resistance of the welded joint (weld metal and heat-affected zone [HAZ]) of the stainless steel X5CrNi18-10 to the formation and growth of pits was investigated. Also, the susceptibility of the welded joint to intergranular corrosion was examined. Pitting corrosion resistance indicators were determined based on anodic potentiodynamic polarization measurements in NaCl + Na₂SO₄ solution, while susceptibility to intergranular corrosion was determined by the potentiokinetic method with a double loop (DL EPR). SEM/EDS was used to analyze the microstructure. It has been shown that higher nitrogen content in shielding gas leads to an increase in the resistance of welded joints (weld metal and HAZ) to the pit formation. However, an improvement in the resistance to the pit formation leads to a decline in the resistance of the welded joint to pit growth. An explanation of this phenomenon is proposed. Also, it was shown that the increase of the welding current increases the susceptibility of the welded joint to intergranular corrosion, while the higher nitrogen content has no effect.     

Application of GC–MSD and LC–MS/MS for the determination of priority pesticides in baby foods in Serbian market

Babies and small children are especially sensitive population to the exposure to environmental contaminants. Their small mass and developing systems, including brain development may show adverse health effects from even low levels of contamination on a chronic or single dose case. In this paper one extraction method and two chromatographic techniques for the determination of pesticide residues in baby food were evaluated. A liquid chromatography–tandem mass spectrometry technique combined with electrospray ionization (ESI), (LC–MS/MS) and gas chromatography–mass spectrometry detection (GC–MSD) technique were applied in the detection of 50 pesticides in baby food. So-called QuEChERS (quick, easy, cheap, effective, rugged and safe) method was used as a sample preparation procedure. The recoveries were investigated at three levels (5, 10 and 50 μg/kg) and the results obtained showed compliance with the contemporary EU requirements with a few exceptions. LOQs for most of the tested pesticides were below the EU MRLs (10 μg/kg), except deltamethrin, cypermethrin, fenvalerate, phosalone and beta-cyfluthrin (LOQs were 10 μg/kg). Both techniques were applied in the analysis of 50 samples of baby food manufactured in Serbia.     

Wheat flour confectionery products as a source of inorganic nutrients: zinc and copper contents in hard biscuits

Cereal-based confectionery products being consumed through whole human life are considered mainly to be a source of carbohydrates, that is energy, although cereals are a rich source of minerals as well. To evaluate some hard biscuits produced in Croatia as a source of different trace elements in nutrition, in this study Zn and Cu contents were determined in classic wheat flour biscuits and in dietetic biscuits enriched with whole wheat grain flour or whole wheat grain grits, soya flour and skimmed milk. Zn was determined by flame atomic absorption spectrometry (AAS); Cu was determined by inductively coupled plasma atomic emission spectroscopy (ICP-AES). The results show that the Zn content in different kinds of biscuits ranges from 5.89 up to 17.64 mg/kg and the Cu content ranges from 1.15 up to 2.79 mg/kg depending on the type of wheat milling products and mineral content of other ingredients used. Enriched dietetic biscuits produced from wheat flour type 850 and whole wheat grain flour and/or soya flour and skimmed milk were almost 200% and 150% higher in Zn and Cu, respectively, in comparison to classic white wheat flour biscuits and can be considered as good sources of Zn and Cu in nutrition.     

Changes of hydrogen peroxide and radical-scavenging activity of raspberry during osmotic, convective, and freeze-drying

This study was conducted to investigate the influence of different drying treatments on antioxidant (AO) activity and phenolic content of raspberry (Rubus idaeus), cultivar Willamette. Whole raspberry fruits were dried convectively (air-drying), osmotically, and freeze-dried. Acetone-water extracts of fresh and dried raspberries were assessed for total phenolic content by standard Folin-Ciocalteau method. Two AO assays were applied, a recently developed direct current (DC) polarographic assay based on decrease of anodic oxidation current of hydrogen peroxide and widely used radical scavenge against the 1,1-diphenyl-2-picrylhydrazyl (DPPH). Strong correlation has been obtained between both AO assays and total phenolic content. In addition, some individual phenolic compounds present in raspberry have been assessed using DPPH and DC polarographic assay. Comparison and evaluation of drying methods has been based on preservation of AO activity and total phenolic content. Obtained results confirmed superiority of freeze-drying; convective drying caused slight changes while osmotic dehydration showed a significant decrease of phenolic compounds and AO activity.     

Nelson Goodman’s Arguments Against Perspective: A Geometrical Analysis

Nelson Goodman’s highly influential book Languages of Art argued that that all visual experience is merely a cultural construct. In presenting his thesis Goodman relied on a series of geometrical arguments intended to show that the geometrical construction of perspective does not rely on the geometry of light rays. In this article I analyze the geometrical validity of Goodman’s arguments.