Orientationability analyses of a special class of the Stewart–Gough parallel manipulators using the unit quaternion representation

This paper addresses the orientation-singularity and orientationability analyses of a special class of the Stewart–Gough parallel manipulators whose moving and base platforms are two similar semi-symmetrical hexagons. Employing a unit quaternion to represent the orientation of the moving platform, an analytical expression representing the singularity locus of this class of parallel manipulators in a six-dimensional Cartesian space is obtained. It shows that for a given orientation, the position-singularity locus is a cubic polynomial expression in the moving platform position parameters, and for a given position, the orientation-singularity locus is an analytical expression but not a polynomial directly with respect to the mobile platform orientation parameters. Further inspection shows that for the special class of parallel manipulators, there must exist a nonsingular orientation void in the orientation space around the orientation origin for each position in the position-workspace. Therefore, a new performance index referred to as orientationability is introduced to describe the orientation capability of the special class of manipulators at a given position. A discretization algorithm is proposed for the computation of the orientationability of the special class of manipulators. Moreover, effects of the design parameters and position parameters on the orientationability are investigated in details. Based on the orientationability performance index, another novel performance index referred to as practical orientationability is presented which represents the practical orientation capability of the manipulator at a given position. The practical orientationability not only can satisfy all the kinematic demands and constraints of such class of manipulators, but also can guarantee that the manipulator is nonsingular.     

Multiscale comparison of remote-sensing data for linear woody vegetation mapping

Wooded hedgerows do not cover large areas but perform many functions that are beneficial to water quality and biodiversity. A broad range of remotely sensed data is available to map these small linear elements in rural landscapes, but only a few of them have been evaluated for this purpose. In this study, we evaluate and compare various optical remote-sensing data including high and very high spatial resolution, active and passive, and airborne and satellite data to produce quantitative information on the hedgerow network structure and to analyse qualitative information from the maps produced in order to estimate the true value of these maps. We used an object-based image analysis that proved to be efficient for detecting and mapping thin elements in complex landscapes. The analysis was performed at two scales, the hedgerow network scale and the tree canopy scale, on a study site that shows a strong landscape gradient of wooded hedgerow density. The results (1) highlight the key role of spectral resolution on the detection and mapping of wooded elements with remotely sensed data; (2) underline the fact that every satellite image provides relevant information on wooded network structures, even in closed landscape units, whatever the spatial resolution; and (3) indicate that light detection and ranging data offer important insights into future strategies for monitoring hedgerows.     

Referate

European Food Research and Technology -     

Biochemisch-technologische Studien über die Naßverarbeitung von Mais. 2. Mitt. Die Veränderung der Quellwasserzusammensetzung während des Quellprozesses

Biochemical-Technological Studies on Wet-Processing of Maize. Part 2. The Change in the Composition of Steeping Water During the Steeping Process. 1. The time, for which the steeping water stays in a countercurrent steeping battery of 8 tanks, is about 20 h and should not be regarded as the steeping time of maize. 2. The changes in the composition of steeping water (dry matter, SO₂ content, nitrogen substances, reducing substances, mineral substances, lactic acid) have been examined in the normal technological steeping cycle (without interruption of maizemilling), during the 40–50 hours' milling break as well in a laboratory-one-tank system, and from this resulting indications as to the processes taking place within the maize grain have been obtained. From the interior of the grain, substances that have become soluble by secondary reactions (SO₂, enzymes) get into the steeping water beside substances that have been present in soluble form from the very start.     

Structure–Activity Relationships of JMV4463, a Vectorized Cathepsin D Inhibitor with Antiproliferative Properties: The Unique Role of the AMPA‐Based Vector

Cathepsin D (CathD) is overexpressed and secreted by several solid tumors and stimulates their growth, the mechanism of which is still not understood. In this context, the pepstatin bioconjugate JMV4463 [Ac‐arg‐O₂Oc‐(Val)₃‐Sta‐Ala‐Sta‐(AMPA)₄‐NH₂; O₂Oc=8‐amino‐3,6‐dioxaoctanoyl, Sta=statine, AMPA=ortho‐aminomethylphenylacetyl], containing a new kind of cell‐penetrating vector, was previously shown to exhibit potent antiproliferative effects in vitro and to delay the onset of tumors in vivo. In this study, we performed a structure–activity relationship analysis to evaluate the significance of the inhibitor and vector moieties of JMV4463. By modifying both statine residues of pepstatin we found that the antiproliferative activity is correlated with CathD inhibition, supporting a major role of the catalytic activity of intracellular CathD in cancer cell proliferation. Replacing the vector composed of four AMPA units with other vectors was found to abolish cytotoxicity, although all of the conjugates enabled pepstatin transport into cells. In addition, the AMPA₄ vector must be localized at the C terminus of the bioconjugate. The unexpected importance of the vector structure and position for cytotoxic action suggests that AMPA₄ enables pepstatin to inhibit the proteolysis of critical CathD substrates involved in cell proliferation via a unique mechanism of action.     

Serological characterization and prevalence of spvR genes in Salmonella isolated from foods involved in outbreaks in Brazil

Salmonella strains (n = 75) isolated from foods involved in foodborne outbreaks occurred in Rio Grande do Sul State, Brazil, during 1999 and 2000 were studied. Strains were serotyped and submitted to PCR analysis to verify the prevalence of Salmonella plasmid virulence (spvR) regulatory gene. Among the 75 isolates, 73 (97%) were classified as Salmonella enterica serovar Enteritidis. All of the Salmonella strains isolated in 1999 were classified as serotype Enteritidis, whereas in 2000 two isolates were serotyped as Salmonella Derby and Salmonella Typhimurium. Regarding the prevalence of spvR gene, 62 strains (82.7%) were PCR positive, and a positive correlation (P < 0.05) between the strains of Salmonella Enteritidis and the presence of spvR gene was demonstrated, which suggests that this gene is a characteristic of the Salmonella Enteritidis analyzed.     

Optimization of alcohol‐free beer production by lager and cachaça yeast strains using response surface methodology

Alcohol‐free beers (AFBs) are an attractive segment of the beer market both for the brewing industry and for consumers. While AFBs produced by arrested/limited fermentation often suffer from a lack of volatile compounds, beer flavour can be improved by yeast selection and optimization of fermentation conditions. The yeast selection strategy was demonstrated by comparing traditional lager yeast with selected cachaça yeast strains. Correspondingly, response surface methodology was used to enhance the formation of the flavour‐active volatile compounds by optimization of the fermentation conditions (original wort extract, fermentation temperature, pitching rate). Statistical analysis of the experimental data revealed the relative significance of process variables and their interactions. The developed quadratic model describing the responses of total esters and higher alcohols to changes in process variables was used to predict the ideal fermentation conditions in terms of flavour formation. The predicted conditions were experimentally verified and alternative strategies of AFB production are suggested. Copyright © 2016 The Institute of Brewing & Distilling     

An Additional Insight into the Correlation between the Distribution Ratios and the Aqueous Acidity of the TODGA System

Abstract

Extraction of Eu(III) and Am(III) from HNO₃ into the organic solvents using N,N,N′,N′‐tetraoctyl‐diglycolamide (TODGA) was investigated in order to study the detailed extraction reaction. The chemical species: 1:2 for metal:TODGA complex is present in polar diluents. On the other hand, the metal complexes need three or more TODGA molecules to remain stable in non‐polar diluents. The HNO₃ concentration dependence on the distribution ratio suggests that HNO₃ participates in the metal extraction. Infrared spectra indicate that the carbonyl oxygen coordinates with Eu(III), and luminescence lifetimes suggest that there are no water molecules in the inner coordination sphere of the extracted Eu‐complex.     

‘Land for infrastructure’ in Ho Chi Minh City: land-based financing of transportation improvement

This paper explores how land-based financing mechanisms are currently used in Ho Chi Minh City as a public-private funding strategy. The Land-for-Infrastructure (LFI) mechanism appears as a solution to produce infrastructures. We found that the implementation of the LFI mechanism remains difficult, but eventually can lead to success. By ‘trial-error-transcend,’ the City managed to build two essential roads while the developers received attractive investment opportunities in urban development. This mechanism cannot, however, be seen as a panacea for the local authorities due to constraints to replicate it and potential undesired ‘side effects.’     

Experiencing visual impairment in a lifetime home: an interpretative phenomenological inquiry

Lifetime home standards (LTHS) are a set of standards aimed at making homes more accessible. Previous research, however, indicates that LTHS do not adequately meet the needs of those with sensory impairments. Now, with visual impairment set to increase globally and acknowledging the recognised link between quality of dwelling and wellbeing, this article aims to examine the experiences of visually impaired people living in lifetime homes. The objectives are to investigate existing lifetime homes and to identify whether LTHS meet occupants’ needs. Qualitative semi-structured interviews were carried out with six visually impaired people living in homes designed to LTHS in Northern Ireland. Collected data was analysed using interpretative phenomenological analysis identifying three super-ordinate themes: (1) living with visual impairment; (2) design considerations and (3) coping strategies. A core theme of balance between psychological and physical needs emerged through interconnection of super-ordinate themes. Although there are benefits to living in lifetime homes, negative aspects are also apparent with occupants employing several coping strategies to overcome difficulties. Whilst residents experience negative emotions following visual impairment diagnoses, results suggest that occupants still regard their homes as key places of security and comfort in addition to then highlighting the need for greater consideration of specific individual needs within general guidelines.