High‐precision control of tracked field robots in the presence of unknown traction coefficients

Accurate steering through crop rows that avoids crop damage is one of the most important tasks for agricultural robots utilized in various field operations, such as monitoring, mechanical weeding, or spraying. In practice, varying soil conditions can result in off‐track navigation due to unknown traction coefficients so that it can cause crop damage. To address this problem, this paper presents the development, application, and experimental results of a real‐time receding horizon estimation and control (RHEC) framework applied to a fully autonomous mobile robotic platform to increase its steering accuracy. Recent advances in cheap and fast microprocessors, as well as advances in solution methods for nonlinear optimization problems, have made nonlinear receding horizon control (RHC) and receding horizon estimation (RHE) methods suitable for field robots that require high‐frequency (milliseconds) updates. A real‐time RHEC framework is developed and applied to a fully autonomous mobile robotic platform designed by the authors for in‐field phenotyping applications in sorghum fields. Nonlinear RHE is used to estimate constrained states and parameters, and nonlinear RHC is designed based on an adaptive system model that contains time‐varying parameters. The capabilities of the real‐time RHEC framework are verified experimentally, and the results show an accurate tracking performance on a bumpy and wet soil field. The mean values of the Euclidean error and required computation time of the RHEC framework are equal to 0.0423 m and 0.88 ms, respectively.     

Educational game design for online education

The use of educational games in learning environments is an increasingly relevant trend. The motivational and immersive traits of game-based learning have been deeply studied in the literature, but the systematic design and implementation of educational games remain an elusive topic. In this study some relevant requirements for the design of educational games in online education are analyzed, and a general game design method that includes adaptation and assessment features is proposed. Finally, a particular implementation of that design is described in light of its applicability to other implementations and environments.     

The rate of zinc deposition at zinc Amalgam and zinc metal

The reduction of Zn²⁺ ions in KCl (pH 3.0) has been investigated at Hg, Zn(Hg) and solid Zn. A reaction scheme is suggested by analogy with Cu(su2+) reduction     

The use of appropriate technologies to improve the sanitary quality and the yield of goat cheeses in little farms

The purpose of this study was to increase the microbiological quality and yields of goat cheese prepared at farm level. For this purpose, appropriate technologies for the cheese-making process were designed, using a curd tank heated by gas, and cheese knives adjusted to the tank dimensions. Moreover, a low-cost table for whey draining and PVC moulds, were designed. Variables assayed were milk pasteurization, utilization of lactic acid starter by direct application, substitution of the kid rennet by commercial calf rennet, and cheese maturation for a one-month period. The control sample was goat cheese traditionally made by the small farmers. Processing and variables were evaluated by proximate chemical analysis, microbiological counts of aerobic mesophilic bacteria, total and fecal coliforms, and S. aureus; as well as by sensory evaluation of quality and acceptability. It was found that the cutting of curd with cheese knives significantly decreased solid losses in the whey. The addition of the starter and then the cheese maturation, as well as the use of the equipment previously described, increased the microbiological quality of cheese to standard sanitary regulation. Although pasteurization was the most effective treatment in decreasing bacteria contamination, this thermal treatment was difficult to be done under arid zones conditions. Commercial calf rennet did not differ significantly from kid rennet in the characteristics analyzed in this assay. Variables studied did not affect the normal sensory quality of goat cheese.     

Effect of trisodium phosphate solutions washing on the sensory evaluation of poultry meat

The effect of trisodium phosphate (TSP) solutions treatments on the sensory evaluation of poultry meat has been explored since TSP was recently approved by USDA for its usage in poultry processing to eliminate Salmonella contamination. In the present study, fresh chicken thighs were dipped in water (control sample) and in 8, 10 and 12% TSP solutions (treated samples) for 15 min. Raw samples' color, smell and overall acceptability and cooked thighs' color, smell, flavor, texture and overall acceptability were evaluated by consumer panelists. The evaluation of raw pieces after treatment or after 7 days storage at 2°C revealed that, with the exception of 12% TSP solutions treatment, sensory quality was not adversely affected by TSP. The color, smell and overall acceptability hedonic scores for the boiled thigh meat were not different between the treated samples and the control ones. Only the color, flavor and overall acceptability of thighs dipped in 12% TSP were rated significantly lower than the control sample. These results suggested that TSP solutions have good potential as dips to sanitize chickens carcasses     

Photocatalytic activities of coke carbon/g-C3N4 and Bi metal/Bi mixed oxides/g-C3N4 nanohybrids for the degradation of pollutants in wastewater

Different g-C₃N₄ composite systems (coke carbon/g-C₃N₄, Bi/Bi₂WO₆/g-C₃N₄ and Bi/Bi₂MoO₆/g-C₃N₄) have been assessed as photocatalysts for wastewater pollutants removal. The coke carbon/g-C₃N₄ hybrid, produced by thermal treatment at 550 °C of a composite made from melamine cyanurate and coke, only showed activity under UV-light irradiation. On the other hand, inorganic Bi spheres/Bi mixed oxides/g-C₃N₄ nanohybrids (Bi/Bi₂WO₆/g-C₃N₄ and Bi/Bi₂MoO₆/g-C₃N₄ composites), produced by thermal reduction of Bi₂WO₆ or Bi₂MoO₆ by g-C₃N₄, exhibited a remarkable red-shift, up to 620 nm, and allowed the visible-light driven degradation of the contaminant, albeit in combination with some adsorption.     

Removal of methylene blue from aqueous solution by peat

In this study, the removal of methylene blue (MB) from aqueous solution by peat was analyzed. The peat was collected from a peatland at Arroio do Silva Beach, in Santa Catarina state, in the south of Brazil. Adsorption was conducted using varied initial concentrations of the MB solutions and three different temperatures (35, 45 and 60 degrees C). An adsorption time of around 4.5h was sufficient to reach the equilibrium for all temperatures, in the concentration range studied. Percentage removal was greater for diluted solutions, but the absolute amount of MB adsorbed by the peat at equilibrium increased with an increase of the initial concentration, corroborating the efficacy of the material as an adsorbent. Temperature influenced slightly the reaction, which was endothermic. Results indicated a multi-layered process and the data were analyzed considering pseudo-first-order, pseudo-second-order and intraparticle diffusion approaches. The latter two mechanisms seem to be significant in the rate-controlling step.     

Evaluation of the MilkoScan FT 6000 milk analyzer for determining the freezing point of goat's milk under different analytical conditions

The aim of this research was to evaluate the Milko-Scan FT 6000 (Foss Electric, Hillerød, Denmark) for determining the freezing point (FP) of goat's milk under different analytical conditions. The FP was determined in duplicate in 1,800 milk aliquots obtained from 45 bulk tank milk samples from 10 Murciano-Granadina goat herds, using the MilkoScan method and a reference thermistor cryoscopy method (Advanced Instrument Inc., Norwood, MA). Five different preservation strategies—no preservative, preservation with azidiol (0.006 or 0.018 g of sodium azide/100 mL), and preservation with bronopol (0.020 or 0.040 g/100 mL)—were then used to preserve the milk. For each preservation strategy, 8 different amounts of water were added (0, 1, 2, 3, 4, 5, 6, or 7% total volume). The results obtained with each method under these 40 analytical conditions were examined by comparison of means, comparison of the standard deviations of repeatability (s_r and its relative value s_r%), and a regression analysis. Under most analytical conditions, the FP was recorded as lower by the MilkoScan method, with a mean difference of 1.5 m°C compared with the reference method. Both methods showed similar repeatabilities (the overall s_r% was 0.22% for the MilkoScan method and 0.20% for the reference method). In comparisons of the 2 methods, the highest regression coefficients were obtained with aliquots containing >3% added water. The best regression coefficients (0.85 to 1.02) were obtained for milk samples preserved with bronopol at 0.020 g/100 mL. These results allow the MilkoScan method to be used with goat's milk for screening purposes. The factors of added water, preservative, analytical method, lactose concentration, and the effect of the bulk tank milk sample within each lactose group contributed significantly to the observed variation in FP. For practical purposes, either of the bronopol concentrations could be used when determining the FP of goat's milk with the methods tested. However, the increase in the concentration of sodium azide in the azidiol formula contributed to an important reduction in the FP recorded. Thus, the type and concentration of preservative should be taken into account when interpreting FP values.     

The mechanism of the ketene-imine (staudinger) reaction in its centennial: still an unsolved problem?

[Reaction: see text]. Although Staudinger reported the reaction between ketenes and imines 100 years ago (1907), this process is still the most general and useful method for the synthesis of beta-lactams and their derivatives. This reaction is a [2 + 2] thermal cycloaddition in which two chiral centers may be generated in one preparative step. Staudinger reactions involving alpha,beta-unsaturated imines or ketenes have issues concerning the [2 + 2] or [4 + 2] periselectivity of the reaction. This Account discusses how the main factors that determine the regiochemical and stereochemical outcomes of this reaction were elucidated with computational and experimental data. This fruitful interplay between theory and experiment has revealed that the [2 + 2] cycloaddition is actually a two-step process. The first step is a nucleophilic addition of the nitrogen atom of the imine on the sp-hybridized carbon atom of the ketene. This attack forms a zwitterionic intermediate that evolves toward the final beta-lactam cycloadduct. The second step can be viewed as a four-electron conrotatory electrocyclization that is subject to torquoelectronic effects. When alpha,beta-unsaturated imines are used, the zwitterionic intermediates yield either the corresponding 4-vinyl-beta-lactams or the alternative 3,4-dihydropyridin-2(1 H)-ones. In this latter case, the cyclization step consists of a thermal disrotatory electrocyclization. In the context of stereoselectivity, it is usually assumed that the first step takes place through the less hindered side of the ketene. The cis-trans selectivity of the reaction depends on the geometry of the imine. As the general rule, ( E)-imines form cis-beta-lactams whereas ( Z)-imines yield trans-beta-lactams. Most of the experimental results point to the two-step model. The asymmetric torquoselectivity of the conrotatory ring closure of the second step accounts for the stereochemical discrimination in the reaction of chiral ketenes or chiral imines. Nevertheless, recent studies have revealed that isomerization paths in the imine or in the zwitterion may determine the stereochemistry of the reaction. Thus, if the rotation about the N1-C4 bond of the zwitterion intermediate is faster than the cyclization, the formation of trans-beta-lactams from ( E)-imines is biased. Alternatively, in some cases, the ( E)-( Z) isomerization of the starting imines prior to the cycloaddition steps also results in the formation of trans-cycloadducts. Although the main variables that govern the outcome of the reaction have been elucidated, there are still several aspects of the reaction yet to be disclosed. Finally, the discovery of the catalytic version of the reaction is a new and formidable mechanistic challenge and will be a nice playground for forthcoming theoretical-experimental discussions.     

Non-linear analysis of the tubular ‘heart’ joint by FEM and experimental validation

The aim of this work is to study the behaviour of hollow circular section tubular joints which are the basic element of space frames. In order to obtain the best design, we have studied both experimentally and theoretically the different elements that constitute this joint system to determine accurately its response in the presence of the external loads. The theoretical analysis of the different variables using the finite element method (FEM) was validated by means of real tests on prototypes. The numerical analysis was carried out both on a local scale, studying the elements separately, and on a global scale, studying the ‘heart’ joint behaviour in a three-dimensional structure. The biggest difficulties in the simulation were found in the bolted joints, due to the contacts between the different elements that compose the connection and the non-linear behaviour of them. Finally, the conclusions and suggested simplified procedures of calculation to be applied in similar structures are given.