Trajectory generation to suppress oscillations in under-constrained cable-driven parallel robots

Cable-driven parallel robots (CDPRs) have many advantages over conventional link-based robot manipulators in terms of acceleration due to their low inertia. This paper concerns about under-constrained CDPRs, which have a less number of cables than six, often used favorably due to their simpler structures. Since a smaller number of cables than 6 are employed, however, their payloads have extra degrees of motion freedom and exhibit swaying motions or oscillation. In this paper, a scheme to suppress unwanted oscillatory motions of the payload of a 4-cable-driven CDPR based on a Zero-vibration (ZV) input-shaping scheme is proposed. In this method, a motion in the 3-dimensional space is projected onto the independent motions on two vertical planes perpendicular to each other. On each of the vertical plane, the natural frequency of the CDPR is computed based on a 2-cable-driven planar CDPR model. The precise dynamic model of a planar CDPR is obtained in order to find the natural frequency, which depends on the payload position. The advantage of the proposed scheme is that it is possible to generate an oscillation-free trajectory based on a ZV input-shaping scheme despite the complexity in the dynamics of the CDPR and the difficulty in computing the natural frequencies of the CDPR, which is required in any ZV input-shaping scheme. To verify the effectiveness of the proposed method, a series of computer simulations and experiments were conducted for 3- dimensional motions with a 4-cable-driven CDPR. Their results showed that the motions of the CDPR with the proposed method exhibited a significant reduction in oscillations of the payload. However, when the payload moves near the edges of its workspace, the improvement in oscillation reduction diminished as expected due to the errors in model projection.

     

Emotional response to color across media

In this study, the characteristics of emotional responses to color are explored in two empirical studies. In particular, the relationship between color attributes and emotional dimensions—valence, arousal, and dominance—is analyzed. To account for the cognitive quantity of color, 36 color stimuli were selected following hue and tone categorizations and based on the CIELAB LCh system. In one experiment, the colors were presented on A5‐size glossy paper whereas the identical colors were displayed on CRT monitors in the other experiment. In both experiments, the subjects assessed the emotional responses to each color stimulus using a Self‐Assessment‐Manikin (SAM), which consists of three rows of five pictograms illustrating the three dimensions of emotion, respectively. The empirical results provide evidence that the patterns of affective judgment of colors can be profiled in terms of the three dimensions of emotion (Reliability coefficient, Cronbach's alpha > 0.7). All three attributes of colors, i.e. hue, Chroma, and Lightness, influenced the emotional responses (repeated measurement One‐way ANOVA, P < 0.05), and especially, Chroma was always positively correlated with each of the three emotional dimensions (r > 0.60 P < 0.01). Moreover, the results indicate that emotional responses to color vary more strongly with regard to tone than to hue categories. Comparing the SAM ratings between the two experiments, a systemic explanation has yet to be found to conclude that there is a media effect on the emotional responses to colors. Furthermore, the process of affective judgment of colors and the limit of color as an emotion elicitor are discussed. © 2009 Wiley Periodicals, Inc., Col Res Appl, 2010.     

Settling state detection of SBR based on DO profile analysis using dynamic time warping

Settleability of activated sludge is one of the most important variables for stable solid-liquid separation of the biological wastewater process. Moreover, effective decanting is a sensitive work at sequencing batch reactor (SBR) which has a settleability fault, such as filamentous/non-filamentous bulking, deflocculation and sludge rising. It is not easy to monitor sludge settleability directly without any specified measurement system, but the values of settling phase can be measured by installing basic measuring instruments for monitoring the process in the reaction stage of SBR. In this study, patterns of DO profiles measured at settling phase showing significant difference according to the process status were used to explore whether a problem occurs or not. To use this information, an online algorithm was developed to detect and diagnose the settling fault. A dynamic programming method that is one of the pattern recognition methods was used to detect and classify the patterns of the DO profiles. Based on the discriminant function made by dynamic time warping results and an extracted variable from DO profiles, the classification rules were generated. With the discriminant function, the settleability fault was detected and classified successfully.     

Neoagarooligosaccharide Protects against Hepatic Fibrosis via Inhibition of TGF-β/Smad Signaling Pathway

Hepatic fibrosis occurs when liver tissue becomes scarred from repetitive liver injury and inflammatory responses; it can progress to cirrhosis and eventually to hepatocellular carcinoma. Previously, we reported that neoagarooligosaccharides (NAOs), produced by the hydrolysis of agar by β-agarases, have hepatoprotective effects against acetaminophen overdose-induced acute liver injury. However, the effect of NAOs on chronic liver injury, including hepatic fibrosis, has not yet been elucidated. Therefore, we examined whether NAOs protect against fibrogenesis in vitro and in vivo. NAOs ameliorated PAI-1, α-SMA, CTGF and fibronectin protein expression and decreased mRNA levels of fibrogenic genes in TGF-β-treated LX-2 cells. Furthermore, downstream of TGF-β, the Smad signaling pathway was inhibited by NAOs in LX-2 cells. Treatment with NAOs diminished the severity of hepatic injury, as evidenced by reduction in serum alanine aminotransferase and aspartate aminotransferase levels, in carbon tetrachloride (CCl₄)-induced liver fibrosis mouse models. Moreover, NAOs markedly blocked histopathological changes and collagen accumulation, as shown by H&E and Sirius red staining, respectively. Finally, NAOs antagonized the CCl₄-induced upregulation of the protein and mRNA levels of fibrogenic genes in the liver. In conclusion, our findings suggest that NAOs may be a promising candidate for the prevention and treatment of chronic liver injury via inhibition of the TGF-β/Smad signaling pathway.     

Ce3+/Tb3+-coactived NaMgBO3 phosphors toward versatile applications in white LED,FED, and optical anti-counterfeiting

Ce³⁺/Tb³⁺ co-doped NaMgBO₃ phosphors were successfully synthesized by solid-state method. Under 381 nm excitation, the cyan emission owing to the 5d → 4f of Ce³⁺ ions and green emissions arising from the ⁵D₄ → ⁷F_J (J = 6, 5, 4, and 3) transitions of Tb³⁺ ions were seen in all the phosphors. Through theoretical analysis, one knows that the energy transfer from Ce³⁺ to Tb³⁺ ions with high efficiency of 83.74% was contributed by dipole–dipole transition. Furthermore, the internal quantum efficiency of NaMgBO₃:0.01Ce³⁺,0.03Tb³⁺ phosphor was 54.28%. Compared with that of at 303 K, the emission intensity of the developed products at 423 K still kept 73%, revealing the splendid thermal stability of the studied phosphors. Through utilizing the resultant phosphors as cyan-green components, the fabricated white-LED device exhibited an excellent correlated color temperature of 2785 K, high color-rendering index of 85.73, suitable luminance efficiency of 25.00 lm/W, and appropriate color coordinate of (0.4279, 0.3617). Aside from the superior photoluminescence, the synthesized phosphors also exhibited excellent cathode-luminescence properties which were sensitive to the current and accelerating voltage. Furthermore, the NaMgBO₃:0.01Ce³⁺,0.03Tb³⁺ phosphors with multi-mode emissions were promising candidates for optical anti-counterfeiting. All the results indicated that the Ce³⁺/Tb³⁺ co-doped NaMgBO₃ phosphors were potential multi-platforms toward white-LED, field emission displays, and optical anti-counterfeiting applications.     

Synergistic Flame Retardant Effects of Carbon Nanotube-Based Multilayer Nanocoatings

In an effort to develop highly functionalized flame retardant materials, hybrid nanocoatings are prepared by alternately depositing a positively charged polyaniline (PANi) and negatively charged montmorillonite (MMT) using the layer-by-layer (LbL) assembly technique. Carbon nanotubes (CNTs) are employed in polymer nanocomposites as effective reinforcement, where nanotubes are stabilized in MMT aqueous solution. The 3D structure and high density of CNTs deposited in the PANi/CNTs-MMT multilayers produce thicker and heavier coatings in comparison to the LbL assemblies without CNTs. Vertical and horizontal flame testing show that the incorporation of CNTs improves fire resistance. Additionally, cone calorimetry reveals that stacking two nanomaterials (MMT and CNTs) in a single coating shows a significant reduction in peak heat release rate (up to 51%), total smoke release (up to 47%), and total heat release (up to 37%) for the polyurethane foam. The enhancement of flame retardancy is attributed to a synergistic effect; MMT serves as a physical barrier that retards the diffusion of heat and gas. The addition of CNTs strengthens the thermal stability and high char yield. These results, coupled with the simplicity with which the LbL deposition is applied, present a viable alternative to halogen-free flame retardant nanocoatings to natural and synthetic fibers.     

Soluble Prokaryotic Overexpression and Purification of Human GM-CSF Using the Protein Disulfide Isomerase b′a′ Domain

Granulocyte-macrophage colony-stimulating factor (GM-CSF) is a member of the colony-stimulating factor (CSF) family, which functions to enhance the proliferation and differentiation of hematopoietic stem cells and other hematopoietic lineages such as neutrophils, dendritic cells, or macrophages. These proteins have thus generated considerable interest in clinical therapy research. A current obstacle to the prokaryotic production of human GM-CSF (hGM-CSF) is its low solubility when overexpressed and subsequent complex refolding processes. In our present study, the solubility of hGM-CSF was examined when combined with three N-terminal fusion tags in five E. coli strains at three different expression temperatures. In the five E. coli strains BL21 (DE3), ClearColi BL21 (DE3), LOBSTR, SHuffle T7 and Origami2 (DE3), the hexahistidine-tagged hGM-CSF showed the best expression but was insoluble in all cases at each examined temperature. Tagging with the maltose-binding protein (MBP) and the b′a′ domain of protein disulfide isomerase (PDIb′a′) greatly improved the soluble overexpression of hGM-CSF at 30 °C and 18 °C. The solubility was not improved using the Origami2 (DE3) and SHuffle T7 strains that have been engineered for disulfide bond formation. Two conventional chromatographic steps were used to purify hGM-CSF from the overexpressed PDIb′a′-hGM-CSF produced in ClearColi BL21 (DE3). In the experiment, 0.65 mg of hGM-CSF was isolated from a 0.5 L flask culture of these E. coli and showed a 98% purity by SDS-PAGE analysis and silver staining. The bioactivity of this purified hGM-CSF was measured at an EC₅₀ of 16.4 ± 2 pM by a CCK8 assay in TF-1 human erythroleukemia cells.     

Ubiquitin-Specific Protease 29 Regulates Cdc25A-Mediated Tumorigenesis

Cell division cycle 25A (Cdc25A) is a dual-specificity phosphatase that is overexpressed in several cancer cells and promotes tumorigenesis. In normal cells, Cdc25A expression is regulated tightly, but the changes in expression patterns in cancer cells that lead to tumorigenesis are unknown. In this study, we showed that ubiquitin-specific protease 29 (USP29) stabilized Cdc25A protein expression in cancer cell lines by protecting it from ubiquitin-mediated proteasomal degradation. The presence of USP29 effectively blocked polyubiquitination of Cdc25A and extended its half-life. CRISPR-Cas9-mediated knockdown of USP29 in HeLa cells resulted in cell cycle arrest at the G0/G1 phase. We also showed that USP29 knockdown hampered Cdc25A-mediated cell proliferation, migration, and invasion of cancer cells in vitro. Moreover, NSG nude mice transplanted with USP29-depleted cells significantly reduced the size of the tumors, whereas the reconstitution of Cdc25A in USP29-depleted cells significantly increased the tumor size. Altogether, our results implied that USP29 promoted cell cycle progression and oncogenic transformation by regulating protein turnover of Cdc25A.