Passivity based visual servoing of mobile robots with dynamics compensation

This paper presents an image-based dynamic visual servoing to make a mobile robot able to track a moving object on the workspace by using a calibrated on board vision system. The stability of the proposed system is proved based on its passivity properties. A robustness analysis and an L₂-gain performance analysis are also presented. Experimental results are shown to illustrate the system performance.     

Autonomous and teleoperation control of a mobile robot

The present work proposes an autonomous tracking control system and a control structure to combine autonomous and teleoperation commands in a bicycle-type mobile robot. This compounded operation renders great flexibility to the control system of the mobile robot. For autonomous operation, a simple tracking controller that includes compensation of the robot dynamics is developed. This tracking control system is proved to be stable in the sense that it asymptotically reaches the tracking objective. Teleoperation with visual access to the robot’s workspace is integrated via a joystick with the autonomous operation of the robot. Simulations and experimental results on a prototype robot show the feasibility and performance of the proposed control system.     

Teamwork assessment in the educational web of data: A learning analytics approach towards ISO 10018

The Web of Data is an emerging research field that contributes to make better decisions because it gathers, combines and analyses different data sources available worldwide. Educational data is an interesting domain because it deals with the quality of the education itself and educational institutions which are common goals for every country. This paper is devoted to present how this idea has been used to improve a learning analytics tool. By means of this tool, teachers can perform teamwork competence assessment of a group of students taking into account how the individuals acquire the essential components of such competence. In this sense, authors use the Comprehensive Training Model of the Teamwork Competence in Engineering Domain (CTMTC) method to gather competence evidences and improve the system with a learning analytics tool to support the process. This tool is able to transform competence evidences and stores them in a competence ontology built upon ISO 10018 concepts. The final result is the production of educational results for the web of data.     

Hyperbaric storage at and above room temperature of a highly perishable food

Hyperbaric storage at naturally variable room temperature (RT) conditions (18–21 °C) and above (30 °C) was evaluated as a possible new food preservation method, regardless of temperature. Preservation of watermelon juice (used as a case study of a highly perishable food) at RT and 5 °C at atmospheric pressure was compared to preservation under 100 MPa at RT. After 8 h of hyperbaric storage at 100 MPa, the initial microbial loads of the watermelon juice were reduced by 1 log unit for total aerobic mesophiles, and 1–2 log units for Enterobacteriaceae and yeasts and moulds, to levels of about 3 log units for the former and below the detection limit for the latter, and remained thereafter unchanged up to 60 h. Similar results were obtained at 30 °C at 100 MPa after 8 h. At atmospheric pressure at RT (24 h) and 30 °C (8 h), microbial levels were already above quantification limits and unacceptable for consumption. Furthermore, pressure attenuated the increase in titratable acidity verified at atmospheric pressure, but caused higher colour changes, especially a higher lightness and a lower browning degree. Post-hyperbaric storage at 5 °C revealed an extended shelf life, as an additional benefit of hyperbaric storage. These results show that hyperbaric storage is a very promising food preservation methodology.     

Modifications in membrane fatty acid composition of Salmonella typhimurium in response to growth conditions and their effect on heat resistance

The effects of growth temperature (in the range 10-45 degrees C) and acidification up to pH 4.5 of the culture medium (Brain Heart Infusion, BHI) with different organic acids (acetic, citric and lactic) and hydrochloric acid on membrane fatty acid composition and heat resistance of Salmonella typhimurium CECT 443 were studied. The heat resistance was maximal in cells grown at 45 degrees C (cells grown in non-acidified BHI showed a D58-value of 0.90 min) and decreased with decreasing growth temperature up to 10 degrees C (D58-value of 0.09 min). The growth of cells in acidified media caused an increase in their heat resistance. In general, acid adapted cells showed D-values of between 1.5 and 2 times higher than the corresponding for non-acid adapted control cells. This cross-protection response, which has important implications in food processing, was not dependent on the pH value and the acid used to acidify the growth medium. A membrane adaptation corresponding to an increase in the unsaturated to saturated fatty acids ratio (UFA/SFA) and membrane fluidity was observed at low growth temperature. Moreover, the acidification of the growth medium caused a decrease in UFA/SFA ratio and in the C18:1 relative concentration, and an increase in cyclopropane fatty acids (CFA) content mainly due to the increase in cyc19 relative concentration. Thus, acid adapted cells showed CFA levels 1.5 times higher than non-acid adapted control cells. A significant proportion of unsaturated fatty acids were converted to their cyclopropane derivatives during acid adaptation. These changes in membrane fatty acid composition result in cells with decreased membrane fluidity. A clear relation between membrane fatty acid composition and heat resistance was observed. In general, D-values were maximum for cells with low UFA/SFA ratio, and, consequently, with low membrane fluidity. Moreover, CFA formation played a major role in protecting acid adapted cells from heat inactivation. However, changes observed in membrane fatty acid composition are not enough to explain the great thermotolerance of cells grown at 45 degrees C. Thus, other mechanisms, such as the synthesis of Heat Shock Proteins, could be responsible for this increase in the bacterial heat resistance.     

Genomic merit for reproductive traits. I: Estrous characteristics and fertility in Holstein heifers

Genetic selection of dairy cattle in the United States has included reproductive traits (daughter pregnancy rate, DPR; heifer conception rate, HCR), which is believed to have partly contributed to halting the decline in reproductive performance. The objectives of the current study were to evaluate the association among genomic merit for DPR (GDPR) and HCR (GHCR) with estrous characteristics measured by an automated device. Holstein heifers (n = 1,005) were genotyped at 2 mo of age and were classified into quartiles (Q1 = lowest, Q4 = highest) according to the GDPR and GHCR values of the study population. At 10 to 11 mo of age, heifers were fitted with a collar that recorded activity and rumination and determined the occurrence of estrus according to changes in activity and rumination compared with the individual's baseline values. Estrous characteristics of spontaneous estruses (SPE) and PGF_2α-synchronized estruses (PGSE) were recorded. Heifers had their estrous cycle synchronized with PGF_2α and following detection of estrus received either artificial insemination or embryo transfer according to the herd's genetic selection program. Heifers in Q2 (17.7 ± 0.3 h) of GHCR tended to have longer SPE than heifers in Q4 (16.7 ± 0.3 h). The interaction between GDPR and GHCR was associated with the likelihood of activity peak (0 = no estrus, 100 = maximum activity) ≥80 at SPE because, among heifers in Q3 and Q4 of GHCR, those in Q1 of GDPR were less likely to have an activity peak ≥80. Heifers in Q1 and Q2 of GDPR had reduced hazard of estrus within 7 d of the first PGF_2α treatment compared with heifers in Q4 of GDPR. Heifers in Q1 (16.1 ± 0.4 h) of GDPR had shorter PGSE than heifers in Q2 (17.6 ± 0.4 h) and Q4 (17.4 ± 0.4 h) and tended to have shorter PGSE than heifers in Q3 (17.4 ± 0.4 h). Rumination nadir on the day of PGSE was greater for heifers in Q1 (?30.1 ± 0.9 min/d) of GDPR compared with heifers in Q4 (?33.7 ± 0.9 min/d). Among heifers receiving only artificial insemination, those in Q1 of GHCR (adjusted hazard ratio = 0.65; 95% confidence interval = 0.48–0.88) became pregnant at a slower rate than heifers in Q4. Genomic merit for HCR was negatively associated with SPE but tended to be positively associated with hazard of pregnancy, whereas GDPR was positively associated with PGSE and hazard of estrus. Selection of dairy cattle for DPR and HCR may improve reproductive performance through different pathways, namely estrous characteristics and pregnancy establishment.     

Effect of Blanching and Drying Temperature on Polyphenolic Compound Stability and Antioxidant Capacity of Apple Pomace

The effects of blanching and drying treatments on stability, physical properties, and antioxidant activity of apple pomace polyphenols were evaluated. Blanched and unblanched apples were extracted, and the pomace was dried in a cabinet dryer at a speed of 3 m/s at 50 °C, 60 °C, 70 °C, and 80 °C. The color, total phenolics, flavonoids, individual polyphenolic compounds, anthocyanins, and total antioxidant activity were analyzed. The blanching process caused a major retention in color, total polyphenolic content, and total flavonoid content for fresh apple pomace when compared with fresh unblanched pomace. Drying of either fresh blanched or fresh unblanched pomace caused a significant reduction (P < 0.05) in total polyphenol and flavonoid content leading to a reduction in the total antioxidant activity. When compared with the unblanched treatment, drying the blanched pomace at 80 °C resulted in a product with significant amounts of total phenolics, flavonoids, and antioxidant activity. The individual phenolic compounds were significantly increased (P < 0.05) in blanched pomace that was not dried when compared with unblanched samples. Drying blanched apple pomace did not cause a significant change in the concentration of individual polyphenolic compounds, but drying unblanched apple pomace caused a reduction in the concentrations of epicatechin and caffeic acid, with an important reduction in p-coumaric acid at temperatures higher than 60 °C. However, the drying process caused a significant reduction in the antioxidant capacity. Therefore, a combination of blanching and drying processes for apple pomace results in a product that maintains antioxidant capacity.     

Changes in free amino acids content in albacore (Thunnus alalunga) muscle during thermal processing

Summary The effects of cooking and sterilization at several temperatures on the free amino acids (FAA) content in albacore (Thunnus alalunga) muscle were studied during the processing of canned tuna. FAAs were derivatized witho-phtalaldehyde, separated on a C18 column by HPLC and detected by both fluorescence and ultra-violet detectors. After cooking the loss of FAAs was not significant. However, in the final product sterilized at 115 °C and 110 °C (throughout the whole process) there were significant losses with regard to the start material, but not at 118 °C (all temperatures leading to the same lethal F-value). The influence of the thermal process time at 115 °C was evaluated for 60 and 100 min. Significant losses were found between both canned products (25%) and between the raw fish and the final product (12% and 34%, process time 60 and 100 min, respectively). The determination of the content of FAA present in canned albacore may be a useful indication of the severity of the thermal processing.

---

Veränderung im Gehalt an freien Aminosäuren in Thunfischmuskel (Tunnus alalunga) während der Wärmebehandlung

Zusammenfassung Die Wirkung des Kochens und Sterilisierens bei verschiedenen Temperaturen auf den Gehalt an freien Aminosäuren (FAA) im Thunfischmuskel (Thunnus alalunga) wurde während der Herstellung von Thunfischkonserven untersucht. Die freien Aminosäuren wurden mito-Phtalaldehyd derivatisiert, auf einer C-18-Kolonne mit HPLC abgetrennt und durch Fluorescenz und UV-Detektoren nachgewiesen. Nach dem Kochen war der Verlust an FAA nicht signifikant, jedoch in dem bei 110° und 115 °C sterilisierten Endprodukt ergaben sich signifikante Verluste bezogen auf das Ausgangsmaterial, aber nicht auf das bei 118 °C erhitzte; alle Erhitzungstemperaturen führen zu demselben letalen F-Wert. Der Zeiteinfluß der Erhitzung bei 115 °C wurde bei 60 und 100 min bewertet. Signifikante Verluste sind bei beiden Dosenkonserven aufgetreten (25%) und zwischen diesen und dem Rohfisch ( 12% und 34%) bei einer Erhitzungszeit von 60 und 100 min). Die Bestimmung des FAA-Gehalts in Thunfischkonserven kann für den Nachweis der Einwandfreiheit des thermischen Prozesses sehr nützlich sein.

     

Novel bacteriocins produced by Lactobacillus fermentum strains with bacteriostatic effects in milk against selected indicator microorganisms

The aim of this work was to isolate and characterize bacteriocins produced by 2 Lactobacillus fermentum strains isolated from artisanal Mexican Cocido cheese. Fractions (F ≤3 kDa) obtained from cell-free supernatants of Lb. fermentum strains J23 and J32 were further fractionated by reversed-phase HPLC on a C18 column. Antimicrobial activities of F ≤3 kDa and bacteriocin-containing fractions (BCF), obtained from fractionation of F ≤3 kDa against 4 indicator microorganisms, were determined by the disk diffusion method and growth inhibition in milk. Subsequently, isolated BCF were analyzed by reversed-phase HPLC tandem mass spectrometry. Results showed that BCF presented antimicrobial activity against the 4 indicator microorganisms tested. For J23, one of the fractions (F3) presented the highest activity against Escherichia coli and was also inhibitory against Staphylococcus aureus, Listeria innocua, Salmonella Typhimurium, and Salmonella Choleraesuis. Similarly, fractions F3 and F4 produced by J32 presented antimicrobial activity against all indicator microorganisms. Furthermore, generation time and growth rate showed that F3 from J23 presented significantly higher antimicrobial activity against the 4 indicator microorganisms (2 gram-positive and 2 gram-negative) when inoculated in milk compared with F3 from J32. Interestingly, this fraction presented a broader antimicrobial spectrum in milk than nisin (control). Reversed-phase HPLC tandem mass spectrometry analysis revealed the presence of several peptides in BCF; however, F3 from J23 that was the most active fraction of all presented only 1 bacteriocin. The chemical characterization of this bacteriocin suggested that it was a novel peptide with 10 hydrophobic AA residues in its sequence and a molecular weight of 2,056 Da. This bacteriocin and its producing strain, J23, may find application as a biopreservative against these indicator microorganisms in dairy products.     

Acerola and cashew apple as sources of antioxidants and dietary fibre

Several tropical fruits have been described as natural sources of dietary fibre (DF) and phenolic compounds, associated with different health effects. The aim of this work was to ascertain the DF, phenolic compounds content (including non‐extractable polyphenols, mostly associated with DF) and antioxidant capacity in acerola fruits and cashew apples from selected clones. ‘BRS 236’ acerola fruits presented a high antioxidant capacity because of the combination of both extractable polyphenols and l ‐ascorbic acid (providing together a Folin value of 170 kg^?1 g d.m.). ‘CCP 76’ cashew apples contained 28 g kg^?1 d.m. of extractable polyphenols and 13 g kg^?1 d.m. of ascorbic acid as well as a high amount of non‐extractable condensed tannins (52 g kg^?1 d.m.). DF content was of 260 g kg^?1 d.m. in acerola fruit and of 209 g kg^?1 d.m. in cashew apple. Acerola fruits and cashew apple should therefore be considered as new natural sources of DF and phenolic compounds.