Synthesis and Structural Analysis of Structured Triacylglycerols with CLA Isomers in the <Emphasis Type="Italic">sn</Emphasis>-2- Position

The present research deals with the chemical esterification of the sn-2- position of sn-1,3-diacylglycerol (sn-1,3-DAG) with 9cis,11trans (c9,t11) and 10trans,12cis (t10,c12) conjugated linoleic acid (CLA) isomers to obtain structured triacylglycerols (TAG); the sn-1,3-DAG substrates were produced from extra virgin olive oil by means of enzymatic reactions while CLA isomers were obtained using a three-step procedure based on alkaline hydrolysis of sunflower oil, urea purification of linoleic acid (LA) and alkaline isomerization of LA. The results showed good levels of CLA incorporation in structured TAG at the tested temperatures: 37.5% at 4 °C and 39.1% at 14 °C. To evaluate the incorporation of CLA isomers in sn-2- position of sn-1,3-DAG structural analysis of the newly synthesized TAG was carried out using an enzymatic and a chemical method. The results of the structural analysis also showed up the occurrence of acyl migration. The pancreatic lipase method allowed the direct determination of the fatty acid composition of TAG sn-2- position but this enzymatic method showed different results (p < 0.05) in respect to the chemical one; this occurrence could be due to an acylic specificity of the lipase. High incorporation of CLA isomers in sn-2- position of TAG was observed, 77.0% at 4 °C and 81.5% at 14 °C, considering the results of the chemical procedure.     

A Workcell for the Development of Robot-Assisted Surgical Procedures

This paper describes a robotic workstation for the development of new robot-assisted surgical procedures. This work is motivated by the difficulties and cost associated to the development of surgical robots, often requiring large investments and several re-designs which limit wider use of this technology. The approach presented here consists of using a general purpose robotic workcell to develop the hardware and the surgical aspects of new robot-based surgical systems, before committing to a completely new system design. The workcell is based on a clean room PUMA 260 manipulator, suitably enhanced to expand and improve its capabilities, and on a vision-based operator interface. Two new robot-assisted surgical procedures have been developed and tested using this set-up: percutaneous discectomy and knee osteoctomy. By using the robotic workcell, engineers and surgeons are able to define many aspects of the two procedures, such as surgical gestures, workspace of the robot, and calibration procedures, without incurring a large, up-front investment. First, the article describes the configuration of the workcell, the enhancements to the PUMA manipulator and the surgical procedures developed with this setup. Then the results of the tests and the lessons learned using the workcell are discussed in some detail.     

Introducing service robotics to the pharmaceutical industry

In this paper, we present the development of a prototype of service robot for the pharmaceutical industry. First, the paper describes the analysis of functional and economical justifications of a service robot in this manufacturing segment. The warehouse of the Parma (Italy) GSK plant was identified as suitable, and goods transportation as the highest impact application. Then, the paper describes some of the key technologies of mobile manipulation proposed for this service robot. We summarize the functional aspects of the system, and its main control elements. The project produced a feasibility proof of safe and efficient goods transportation in a partially structured, dynamic and public environment, with minimal impact on the manufacturing plant. We conclude the paper by summarizing the validation steps needed to make these technologies accepted by the pharmaceutical industry.     

Study of orientation induced molecular rectification in polymer films

We underline the intrinsic rectifying nature of an oriented polymeric material. Orientation of the initially symmetric structure is performed through dc-field ordering of the polar molecules contained in the polymer. The internal field induced in the polymeric material is evidenced by the induction of a rectifying current-voltage characteristic. Second harmonic generation is used as a probe of the molecular order. Orientation induced rectification is proportional to the molecular order. This preparation technique opens a new route for the improvement of organic-semiconductor devices efficiency. Additionally, electric-field induced second-harmonic generation (EFISHG) is used as an internal field measurement technique. It offers an original characterization tool for charge injection and transport studies in organic semiconductors.     

Towards a core ontology for robotics and automation

In this paper, we present the current results of the newly formed IEEE-RAS Working Group, named Ontologies for Robotics and Automation. In particular, we introduce a core ontology that encompasses a set of terms commonly used in Robotics and Automation along with the methodology we have adopted. Our work uses ISO/FDIS 8373 standard developed by the ISO/TC184/SC2 Working Group as a reference. This standard defines, in natural language, some generic terms which are common in Robotics and Automation such as robot, robotic device, etc. Furthermore, we discuss the ontology development process employed along with the problems and decisions taken.     

Production of biohydrogen from brewery wastewater using Klebsiella pneumoniae isolated from the environment

The use of wastewater for the biological production of H₂ (biohydrogen) by dark fermentation has been studied for a variety of waste substrates and mixed or isolated inocula. However, for brewery wastewater (BW), which is generated in large volumes and has characteristics that are highly suitable for acidogenic fermentation, the available studies describe the use of mixed cultures, especially pretreated methanogenic inocula. The aim of this work was to isolate an enterobacterium from aviary litter that was capable of fermenting BW and generating biogas rich in H₂. The biochemical characterization and species confirmation confirmation revealed the isolation of Klebsiella peneumoniae, which provided efficient production of biogas rich in H₂ (30–40%) in batch assays performed for up to 72 h, with the inoculum in suspension, at a small scale (in serum bottles) and using a mechanically-stirred anaerobic reactor (AnBBR), employing crude BW without any supplementation. The hydrogen yield and molar hydrogen flow rate were 0.80–1.67 mol H₂ mol^?1 glucose and 0.2–2.2 mmol H₂ h^?1, respectively, indicating good performance of the inoculum in metabolizing this substrate and the possibility of optimizing the process by varying the duration of the batch.     

Phosphorus concentration and solubility in dairy feces: variability and affecting factors

Recent data from phosphorus (P) feeding trials have demonstrated that P concentration in dairy feces is directly affected by P levels in diets and that farm P surpluses as well as potential environmental losses can be reduced through dietary manipulation. The current study was conducted to examine the variability of fecal P under farm conditions and to elucidate factors affecting the concentration and solubility of fecal P. Feed and fecal samples from >30 commercial dairies in the Northeast and Mid-Atlantic regions were analyzed. Dietary P concentrations ranged from 3.45 to 5.78 g/kg of feed DM (DM), and P determined in acid digests (TP) of feces from 5.84 to 12.84 g/kg of fecal DM. On average, 50% of fecal TP was water soluble; of the latter, 83% was inorganic (Pi). Across-farm variability (n=33) had CV averaging 18.9% for fecal TP and >20% for Pi and total P (Pt) in water extracts. Within-farm variability based on multiple samples per herd had the same magnitude as across-farm and was independent of sample numbers from individual farms (n=7 to 30). Of all fecal parameters determined, pH and DM had the lowest variability (CV <10%), water-soluble Pi, Pt, and Ca the highest (CV of 20 to 30%), and total P, Ca, and Mg determined by acid digests were intermediate (CV 10 to 20%). Water-soluble Pi concentrations determined in dried-ground fecal samples were lower than in wet samples. The drying-grinding process changes Pi solubility and the change is not linear. This study confirms that dietary P concentration is the dominating factor affecting fecal P excretion; however, Ca concentration, DIM, and fecal pH also made small, but statistically significant contributions, although some of the mechanisms remain to be thoroughly investigated.     

One-pot melt synthesis of resorcinol based polyarylates for UV-stable coatings

A new one-pot method for the melt synthesis of polyarylates based on resorcinol and phthalic acids has been developed. The method consists in the reaction of diphenyl carbonate, phthalic acids and resorcinol using titanium butoxide as catalyst. Model reactions have shown that the diaryl ester is generated in situ by reaction of the aromatic diacid and of the aromatic diol with diphenyl carbonate. It is thus possible to obtain polymers with tailored end-groups and molecular weight, by changing the molar ratio of the monomers and the reaction conditions. More specifically, we applied this method to the synthesis of low molecular weight polymers with carboxylic end-groups, suitable for powder coating applications. The literature actually reports that resorcinol based polyarylates present an outstanding long-term UV stability and therefore COOH terminated oligomers are highly promising materials for the preparation of super-durable powder coatings.     

Reactive blending of commercial PET and PC with freshly added catalysts

Reactive blending of commercial poly(ethylene terephthalate) (PET) and bisphenol A polycarbonate (PC), with catalysts added in the form of powder dispersed on the polymers just before melt mixing, was performed in a Brabender Plasticord 2000 apparatus at 275°C. Catalytic activity of the catalysts freshly added to polymers was found to be much higher as compared with that of the residues of the same type of catalysts remaining in PET after its synthesis. Furthermore, the catalytic activity appeared to be strongly dependent on the structure of the ligand that influences the catalyst solubility in the polymer melt. N.m.r. spectroscopy, selective degradation of PC fragments, solubility tests in methylene chloride and d.s.c. measurements made it possible to range the catalysts studied according to their catalytic activity.