RESCUER: Development of a Modular Chemical,Biological, Radiological,and Nuclear Robot for Intervention,Sampling, and Situation Awareness*

This paper describes the development of a robot prototype for intervention, sampling, and situation awareness in CBRN (chemical, biological, radiological, and nuclear) missions. It outlines the mission requirements, design specifications, the solutions that were developed and integrated, and the final tests done. The solution addresses one of the most important mission requirements in CBRN scenarios: the capability to decontaminate the robot once it has been used in real missions. As microdoses of CBRN contaminants are sufficient to cause significant damage to human beings, prevention of robot contamination is always of top priority. If there is a potential danger of real contamination, it can only be removed by effective decontamination. The way to deal with this problem imposes significant design conditions; the proposed design allows an easy and fast decontamination of the robot. The work presents a new way to approach this kind of robot, based on modular component architecture over a robot operating system that permits the attachment and detachment of robot components via unique electromechanical interfaces. The resulting modular robot introduces an innovative kinematic solution that can be dynamically configured for the different mission requirements.     

Identification of New Coloured Anthocyanin–Flavanol Adducts in Pressure-Extracted Pomegranate (<Emphasis Type="BoldItalic">Punica granatum</Emphasis> L.) Juice by High-Performance Liquid Chromatography/Electrospray Ionization Mass Spectrometry

Pomegranate (Punica granatum L.) juice, obtained by pressure extraction of the whole fruit, contains coloured flavanol–anthocyanin adducts (the flavanol occupies the upper part of the dimmer) from the direct condensation between anthocyanidins delphinidin, cyanidin and pelargonidin and flavan-3-ols (epi)gallocatechin, (epi)catechin and (epi)afzelechin. The presence of adducts between these same flavanols and anthocyanidins, but belonging to the coloured anthocyanin–flavanol adduct type (anthocyanin occupies the upper part of the dimmer) has been revealed by reversed-phase liquid chromatography coupled to tandem mass spectrometry (ion trap), with positive electrospray ionization (LC–ESI/MS ⁿ ). These new adducts are isotopic with their corresponding counterparts (flavanol–anthocyanin adducts) and indistinguishable from them by comparison of the mass spectra from the MS² of the isotopic parent ions. However, they can be distinguished by comparison of the mass spectra from the MS³ of their corresponding isotopic aglycons. Hence, the MS³ of the aglycon from a given flavanol–anthocyanin adduct always yields a mass spectrum containing five characteristic ions, the three with smaller m/z being only dependent on the anthocyanidin and the other two on both the anthocyanidin and the flavanol. In contrast, the mass spectrum from the MS³ of the aglycon of its counterpart anthocyanin–flavanol adduct gives only two of the above five characteristic ions, where the ion with smaller m/z only depends on the anthocyanidin and the other on both the anthocyanidin and the flavanol. Ten 3-hexoside derivatives of coloured anthocyanin–flavanol adducts were detected in pomegranate juice being reported for the first time this type of adducts from a natural source.     

Stability of the antimicrobial activity of acetogenins from avocado seed,under common food processing conditions,against Clostridium sporogenes vegetative cell growth and endospore germination

Anticlostridial activity of acetogenins from avocado seed was further characterised, and their stability and effectiveness under food processing conditions, and in a model food system, studied for the first time. Isolated AcO‐avocadenyne (1) and AcO‐avocadene (2) showed anticlostridial potential, particularly the latter molecule. Enriched acetogenins extracts, obtained at laboratory scale (EAE) and semi‐commercially (Avosafe^®), presented similar MIC values (3.9–9.8 ppm) and a bacteriostatic effect. Extracts bioactivity showed resistance to heat (≤120 °C), high hydrostatic pressure (HHP; 300–600 MPa, 3–6 min, 25 °C) and salt (≤3% w/v). In addition, the extract was most stable at pH ≥ 7.0 and potency against endospores increased after HHP treatment and exposure to pH 9.5, suggesting a positive effect on solubility or structure of particular acetogenins. In a model food system processed by HHP, acetogenins were retained; however, initial quantities gradually declined by 63% and 32% at 25 and 4 °C, respectively, at the end of the storage period (42 days). Most stable molecules (persediene (4) > persenones > AcO‐avocadene (2)) possess a keto or trans‐enone group at C‐4 in the aliphatic chain, which could support hydrogen donation to surrounding carbon atoms and confer antioxidant activity. Active endospores were completely inhibited by 5000 ppm Avosafe^® in the model food system (37 °C, 72 h) and lower concentrations (500–1000 ppm) resulted in 1–2 log reduction of a 3 log inoculum target. Efficacy information generated in the present work is considered crucial to improve scientific knowledge on spore inhibition properties of avocado acetogenins.     

Experimental and numerical study of oblique impact on woven composite sandwich structure: Influence of the firing axis orientation

During flight, aircrafts can be submitted to complex loadings. The reliability of their structure is an essential aspect in ensuring passenger safety. In the specific case of helicopters, blades are subjected to impact loading. The following work will focus on the experimental and numerical study of an oblique impact on the skin of the blade. It is equivalent in a first approach to an impact on a sandwich panel comprising a foam core and a thin woven composite skin. This study aims to identify the mechanisms of damage to the skin for different orientations of the firing axis, and to develop a representative model of the damage kinetics adapted to the modeling of the complete structure. Thus, an F.E. semi-continuous explicit model has been developed. It relies on the development of a specific damageable element at the woven mesh scale. Numerical results obtained are accurate, allowing the identification of the damage mechanism of the woven skin for different firing orientations.     

The potential for gender equality in architecture: an Anglo-Spanish comparison

The practice of architecture is very similar in different national settings despite what may be very different sociological and cultural origins of the profession, the attendant variances in how work is organized and distinctions in equality and gender roles. The aim of this paper is to examine the quest for equality in architecture for women in the UK and Spain reporting the findings of a comparative study into women architects’ careers in the two countries. Within the qualitative paradigm, semi-structured in-depth interviews were carried out with a total of 55 women architects in the UK and Spain. Findings indicate surprising differences in levels and terms of equality for women in the two countries and marked differences in women’s experiences of working as an architect. Women have come to the profession in Spain much later than their British counterparts and, somewhat surprisingly, are present in greater numbers. However, despite there being more of a ‘critical mass’ this has not served to improve their situation; they report much higher levels of discrimination and find it difficult to progress in their careers. Conclusions argue for a stronger approach by the professional bodies to help improve the position of women.     

Study of the influence of adding styrene–ethylene/butadiene–styrene in acrylonitrile–butadiene–styrene and polyethylene blends

This work studies the recovery of two grades of acrylonitrile–butadiene–styrene (ABS) contaminated with low‐density polyethylene (LDPE), by adding styrene–ethylene/butadiene–styrene (SEBS). To simulate contaminated ABS, virgin ABS was mixed with 1, 2, 4, and 8% of LDPE and then extruded at 220°C. After this, the ABS with the highest percentage of LDPE (8%) was mixed with 1, 2, 4, and 8% of SEBS and then extruded. Different blends were mechanically, rheologically, optically, and dimensionally characterized to study how different percentages of LDPE and SEBS modify their properties. The results obtained show how the tensile strength, Young modulus, elongation, and impact strength linearly decrease as the LDPE amount increases, for both natural and black ABS. Through the addition of SEBS to contaminated ABS, it is possible to improve its impact strength and elongation values nearly to those of virgin ABS. However, its tensile strength and Young modulus show no improvement, and even show a slight reduction. Regarding the rheological properties, the LDPE contamination in ABS causes a remarkable decrease in viscosity, and adding SEBS to the blend lowers its viscosity even further for both natural and black grades. This reduction is not a negative aspect, but rather quite the reverse, as the more fluid the material, the easier the mold injection process becomes. POLYM. ENG. SCI., 54:1313–1324, 2014. © 2013 Society of Plastics Engineers     

Cd1−xZnxS solid solutions supported on ordered mesoporous silica (SBA-15): Structural features and photocatalytic activity under visible light

A series of Cd_1−xZn_xS (x = 0.05–0.3) photocatalysts supported on ordered mesoporous silica (SBA-15) were prepared and investigated for hydrogen production from water splitting under visible light. Textural, structural and surface photocatalyst properties are determined by N₂ adsorption isotherms, UV–vis, Raman and XPS and related to the activity results in hydrogen production. Raman and XRD results indicated a mutual interaction between Cd and Zn, forming nanoparticles of Cd_1−xZn_xS solid solutions. All Cd_1−xZn_xS/SBA-15 samples showed relatively high activities for hydrogen evolution. The hydrogen production rate is found to increase gradually when the zinc concentration on photocatalysts increases from 0.05 to 0.2, achieving a maximum for the photocatalyst with zinc concentration equal to 0.2. Variation in photoactivity is discussed in terms of modification in the conduction band and light absorption ability of Cd_1−xZn_xS particles derived from the changes in the Zn concentration in the Cd_1−xZn_xS solid solution.     

Application of solar thermal desorption to remediation of mercury-contaminated soils

Solar thermal desorption at temperatures up to 500 °C is an innovative technology applied to the removal of mercury and arsenic from soil polluted by mining operations. As the soil is heated in a low and high-temperature solar system, the pollutant vapor pressure rises, producing mass transfer to the gas phase, which is then extracted by vacuum pumps and blower systems.In the UPC low-temperature experiments, removal of mercury from the polluted soil was as much as 76%. The experimental results show that volatilization of mercury is only significant when the temperature is above approximately 130 °C, which agrees with the predominant mercury solid phases detected. PSA middle-temperature experiments, showed that when soil and mine waste samples were heated to 400-500 °C, mercury elimination was significant (41.3-87%). However, the results from heating to 320 °C or below 300 °C, indicated little or negligible removal, possibly, because the fluid dynamics in the fluidized-bed module and the presence of cinnabar and pyrite rich-Hg as dominant mineral phases.These results show the potential for efficiently removing mercury and other pollutants from solid matrices (soil, waste, etc.) at low temperatures.     

Asymmetric bihomologous crosslinkers for bicomponent gels—The way to strongly increased elastic moduli

2‐Hydroxyethylmethacrylate (HEMA) and acrylamide (AA) have been copolymerized via free radical mechanism, in the presence of 5 mol % of four different crosslinker systems, the symmetric ethylenglycoldimethacrylate (EGDMA), bisacrylamide (BIS), a mixture of EGDMA and BIS, and the asymmetric acrylamideethylenmethacrylate (METAA). The polymerizations have been monitored with a rheometer, exhibiting the gel obtained with the asymmetric METAA, an elastic modulus that is dramatically increased compared with those of the gels prepared with the other three crosslinker systems. A kinetic analysis using the terminal model has been used to build probabilistic surfaces that give information about how the crosslinker is incorporated into the network. This analysis shows a high dissimilarity between the reactions using the asymmetric and the mixture of symmetric crosslinkers, what has been correlated to the difference in modulus. © 2009 Wiley Periodicals, Inc. J Appl Polym Sci, 2010     

A Nondestructive Methodology for the Study of Colored Enamels: Insights into Manufacturing and Weathering Processes

We studied ancient enamels on gilded copper from a collection of archeological horse harness pendants of the Museo Instituto Valencia de Don Juan (Madrid, Spain) to test the benefits of a new, nondestructive analytical methodology based on chemometric analysis (i.e., Principal Component Analysis, PCA) on micro‐ATR‐FTIR spectral data and chemical quantification using SEM‐EDS. The novelty of this approach was threefold: (i) PCA allowed the discrimination of the different harness pendants of known origin and attributed to the 14th and 15th centuries according to the chemical complex composition, nanostructure, glass weathering, and/or coloring mechanisms of each colored enamel, separately (i.e., red, purple, blue, and white), (ii) it is a cheap, easily available and nondestructive methodology that enables us to (iii) draw archeological conclusions about the quality of the manufacturing process, reassess the chronology of these objects and attempt to attribute them to different workshops according to the different traditional recipes identified. In particular, the enamels were made of alkali and/or alkaline earth lead‐glass with a wide range of chemical compounds in the form of pigments or opacifiers. Two types of coloring mechanisms were identified, colloidal particles such as copper‐ruby for red enamels, and ionic mechanisms such as Fe(II) and Co(II) to achieve a blue pigments; Mn(III) in the purple pigment; and two kind of white enamels were identified, i.e., tin oxide as an opacifier and uranium oxide. In addition, we established the reason for the poor state of conservation of some of the enamels by means of the identification of depolymerization and ion exchanges, well‐known harmful effects of glass weathering, and finally a chronology was assigned for some of these pieces according to the enamel composition.