On the adaptive control of cooperative robots with time‐variant holonomic constraints

In this work, we consider the problem of 2 robots handling a rigid object, while model‐parameter uncertainties are assumed. It is also assumed that the manipulators can push but not pull the object. Several control schemes proposed in the literature attempt to control the position of the object rather than its orientation. However, many industrial tasks require to move and to rotate the object. To this end, we propose an adaptive hybrid position/force control law based on time‐variant holonomic constraints, which allow for object position and orientation control. Our approach guarantees that the force error asymptotically converges to 0; therefore, a stable grasp can be accomplished by means of a proper definition of the desired pushing force. In addition, a dynamic model of the cooperative system based on the load distribution and joint‐space orthogonalization principles is developed. Experimental results are presented to validate the proposed dynamic model and control scheme.     

Injectable collagen/α-tricalcium phosphate cement: collagen–mineral phase interactions and cell response

A bone inspired material was obtained by incorporating collagen in the liquid phase of an α-tricalcium phosphate cement, either in solubilized or in fibrilized form. This material was able to set in situ, giving rise to a calcium deficient hydroxyapatite (CDHA)/collagen composite. The morphology and distribution of collagen in the composite was shown to be strongly affected by the collagen pre-treatment. The interactions between collagen and the inorganic phase were assessed by FTIR. A red shift of the amide I band was indicative of calcium chelation by the collagen carbonyl groups. The rate of CDHA formation was not affected when diluted collagen solutions (1 mg/ml) were used, whereas injectability improved. The presence of solubilized collagen, even in low amount (1 %), increased cell adhesion and proliferation on the composites. Still in the absence of osteogenic medium, significant ALP activity was detected both in the inorganic and the collagen-containing cements. The maximum ALP activity was advanced in the collagen-containing cement as compared to the inorganic cement.     

Thermal and mechanical analysis of the ITER plasma-position reflectometry antennas

The antennas of the ITER plasma-position reflectometer are the components most exposed to the plasma. High thermal loads can cause high temperatures and excessive stress, so the first constrains on the antenna design arise from thermal simulations results. Therefore, the first step of the analysis is to develop a finite element thermal model with ANSYS. Once the temperatures are kept at acceptable levels, structural analysis is performed to know the thermal stress. Simulations performed using different materials and support structure geometries are discussed. Further, it has been checked that the components can withstand the electromagnetic loads expected during disruptions and vertical displacement events. The stress due to these electromagnetic loads is calculated analytically as well as with ANSYS simulations. The proposed antenna arrangement is properly designed against thermal and mechanical loads.     

High hydrogen production from glycerol or glucose by electrohydrogenesis using microbial electrolysis cells

The use of glycerol for hydrogen gas production was examined via electrohydrogenesis using microbial electrolysis cells (MECs). A hydrogen yield of 3.9 mol-H₂/mol was obtained using glycerol, which is higher than that possible by fermentation, at relatively high rates of 2.0 ± 0.4 m³/m³ d (E_ap = 0.9 V). Under the same conditions, hydrogen was produced from glucose at a yield of 7.2 mol-H₂/mol and a rate of 1.9 ± 0.3 m³/m³ d. Glycerol was completely removed within 6 h, with 56% of the electrons in intermediates (primarily 1,3-propanediol), with the balance converted to current, intracellular storage products or biomass. Glucose was removed within 5 h, but intermediates (mainly propionate) accounted for only 19% of the electrons. Hydrogen was also produced using the glycerol byproduct of biodiesel fuel production at a rate of 0.41 ± 0.1 m³/m³ d. These results demonstrate that electrohydrogenesis is an effective method for producing hydrogen from either pure glycerol or glycerol byproducts of biodiesel fuel production.     

Oxidative processes of desulfurization of liquid fuels

Environmental concerns have introduced a need to remove sulfur‐containing compounds from light oil. As oxidative desulfurization is conducted under very mild reaction conditions, much attention has recently been devoted to this process. In this contribution, the developments in selective removal of organosulfur compounds present in liquid fuels via oxidative desulfurization, including both chemical oxidation and biodesulfurization, are reviewed. At the end of each section, a brief account of the research directions needed in this field is also included. Copyright © 2010 Society of Chemical Industry     

Fluorescent core-sheath fibers by electrospinning of a phenyleneethynylene/poly(styrene-co-maleimide) blend

Ultrafine fluorescent fibers were prepared by electrospinning of a phenyleneethynylene oligomer mixed in DMF with a poly(styrene-co-maleimide) (PSM). The microscopic characterization by SEM reveals that the fibers are smooth and entangled one to the others forming a non-woven mat with an average diameter of 490 nm. By TEM, a core-sheath type structure is observed which derives from phase segregation between the PSM interacting with the oligomer and the excess of PSM that acts as matrix, as supported by XRD and DSC analysis. The membranes are fluorescent emitting at 420 nm, in the blue region, a high energy light, opening the possibility of their application in optoelectronic devices such as fluorescent sensors. Preliminary assays have been performed for the detection of sodium ions.     

Automating mode detection for travel behaviour analysis by using global positioning systemsenabled mobile phones and neural networks

Travel surveys collect trip data such as origin, destination, mode, duration, distance and purpose of trips, as well as socioeconomic and demographic data for analysis. Transportation planners, policymakers, state departments of transportation, metropolitan planning organisations, industry professionals and academic researchers use survey data to better understand the current demand and performance of the transportation infrastructure, and to plan in preparation for future growth. Next-generation travel surveys will utilise global positioning systems (GPS) to collect trip data with minimal input from survey participants. Owing to their ubiquity, GPS-enabled mobile phones are developing into a promising survey tool. TRAC-IT is a mobile phone application that collects real-time GPS data and requires minimal input from the user for data such as trip purpose, mode and vehicle occupancy. To ease survey burden on participants and enable real-time, modespecific location-based services, new techniques must be explored to derive more information directly from GPS data. As part of travel survey collection, TRAC-IT is able to passively determine trip mode using GPSenabled mobile phones and neural networks. The mode detection technique presented in this article can be optimised using a critical point, pre-processing algorithm to reduce the size of required GPS datasets obtained from GPS-enabled mobile phones, thus reducing data collection costs while conserving precious mobile phone resources such as battery life.