Contribution to controlling non-redundant manipulatorsContribution au controle des manipulateurs non surabondants

The paper considers the possibilities of synthesizing the manipulator whose tip moves along the predetermined path and in optimal way, from the standpoint of energy dissipated by an actuator. The analysis has been carried out on the complete dynamic model of an anthoromorphic manipulator with three degrees of freedom and the third order model of actuators. Digital simulation has been performed for two types of control, optimal control for the subsystem of each actuator (suboptimal from the overall system standpoint) and the motion with predetermined change of angular velocities of internal coordinates. Both types of control have been also applied to the manipulator whose gripper (tip) had to be moved with required velocity.     

Flavonoid pattern of sage (Salvia officinalis L.) unifloral honey

The aim of the present paper was to determine the flavonoids in monofloral sage (Salvia officinalis L.) honey which is characteristic and specific for the area of Croatian coast and islands. For that purpose 38 sage honey samples from two production seasons were analysed. After specific pollen content determination, and analyses of selected physicochemical parameters which confirmed that samples are in compliance with national and international regulations and can be regarded as unifloral sage honeys, flavonoid fraction was isolated and analysed using RP-HPLC/DAD method. The HPLC analysis showed that all examined sage honey samples contain quercetin (3,3′,4′,5,7-pentahydroxyflavone), luteolin (3′,4′,5,7-tetrahydroxyflavone), kaempferol (3,4′,5,7-tetrahydroxyflavone), apigenin (4′,5,7-trihydroxyflavone), chrysin (5,7-dihydroxyflavone) and galangin (3,5,7-trihydroxyflavone), as well as p-coumaric (trans-4-hydroxycinnamic acid) and caffeic acid (3,4-dihydroxycinnamic acid). Total amount of identified flavonoids varied from 109.4 μg/100 g of honey to 589.9 μg/100 g of honey, with the average of 288.5 μg/100 g of honey. All analysed honey samples showed common and specific flavonoid profile which could be the basis for differentiating sage from other monofloral honeys.     

Kinetics and mechanism of deposition of zinc from zincate in concentrated alkali hydroxide solutions

Galvanostatic investigation has been carried out of the kinetics of the reaction on zinc amalgam hanging mercury drop immersed in alkaline zincate solutions at KOH concentrations ranging from 1 to 14 normal. Three kinds of data have been extracted: (i) the pseudo-capacitance as a function of overpotential from the portion of the charging curves prior to plateaux, (ii) the Tafel plots from quasi-steady state values at the plateaux and (iii) the Sand's products as function of current density from transition times. In (i), the pseudo-capacitance was found to increase with overpotential, in (ii), two slopes (60 mV dec^?1 and 120 mV dec^?1) have been found in the cathodic direction and a limiting current in the anodic one; in (iii), the Sand's product was found to decrease with increasing (i). On the basis of the above findings the reaction mechanism has been suggested to be of the cece type, with the chemical dissociation of the intermediate univalent zinc complex in between the two elctrochemical steps as rate-determining. A modification of the method of evaluating the reaction orders was introduced to account for a simultaneous change of more than one activity of reactants in concentrated solutions. Using this, reaction order was found to be 2 with respect to both OH^? ions and water, suggesting that the electroactive species is not only reduced in the number of ligands but also dehydrated with respect to the prevailing species. The anodic limiting current appears to be due to the accumulation of Zn(OH) species to cover all the surface free of adsorbed Zn(OH)₂. Exchange cd and rate constants of all the four steps of the reaction have been estimated.     

Annealing effects of polymers and their underlying molecular mechanisms

This paper indicates that changes in chain mobility, heat capacity, WAXS crystallinity, SAXS long period, SAXS peak intensity, specific volume and morphology as a function of increasing temperature, occur in three fairly distinct annealing ranges (I, II and III) that are more or less the same for all crystallized polymers with a lamellar morphology. It is shown that none of the proposed molecular models to date, including the well-known fold surface premelting model, can satisfactorily account for all the experimental data. However, a new molecular interpretation, based primarily on electron microscopy and SAXS studies of changes such as lateral ‘melting’ from edges of microparacrystallites (mPC) within the lamellae seen at the annealing temperatures can account for the data. With our new molecular interpretation, the effect of temperature increase is established to result in a slight breakup of the laterally aligned mPC within the lamellae at low annealing temperatures in range I, and selective lateral ‘melting’ of the exposed mPC and recrystallization at higher annealing temperatures in ranges II and III, with the recrystallization being very limited in range III. Annealing effects seen in cold- or hot-drawn polymers with a fibrillar morphology can also be readily accounted for by this very general molecular mechanism occurring in the same annealing temperature ranges.     

Microstructural and compositional aspects of ZnO-based varistor ceramics prepared by direct mixing of the constituent phases and high-energy milling

ZnO-based varistor samples were prepared by the direct mixing of the constituent phases (DMCP) and sintering at 1100 °C for 2 h. The influence of the starting powder mixture's composition – the amounts of the pre-reacted varistor compounds and their composition – and its preparation, either with or without mechano-chemical activation (MCA), on the microstructure, phase composition and electrical characteristics of the varistor samples was studied. It showed that MCA improved the density and microstructural homogeneity of the varistor samples. MCA strongly affected the grain growth: it enhanced the nucleation of inversion boundaries (IBs) in the ZnO grains and the IBs-induced grain-growth mechanism resulted in uniform grain growth and hence a microstructure with smaller ZnO grains and a narrower grain size distribution. The final phase composition of the samples prepared by the DMCP method mainly depended on the presence of varistor dopants that can prevent the formation of the pyrochlore phase, especially Cr₂O₃, while MCA can affect it mostly by providing a homogeneous distribution of those dopants. The DMCP varistor samples prepared with MCA had much better current–voltage characteristics than the samples of the same composition prepared from unactivated powders.     

A novel SON2‐based similarity index and its application for the rationalization of river water quality monitoring network

In this paper, a novel self‐organizing network (SON) based similarity index and its application for the optimization of sampling locations in an existing river water quality monitoring network (WQMN) is presented. A rationalization of the River Danube WQMN on its stretch through Serbia was performed using the proposed SON²‐based similarity index. A high‐dimensional dataset was used, which is composed of 18 water quality parameters that were collected during the period 2002–2010 at 17 monitoring locations. The SON‐based seasonal classification that divides 12 months into the cold, moderate, and warm seasons was employed, whereas its second application on each seasonal class yielded subclasses that were used to compare the monitoring locations. The obtained SON²‐based similarity index can be utilized for analysing seasonal variations, as well as overall similarities among neighbouring sites. Based on the calculated similarities of locations and characteristics of the River Danube basin a rationalized WQMN, which uses 30% less monitoring sites, has been proposed.     

Content of polyphenolic constituents and antioxidant activity of some Stachys taxa

Seven Croatian Stachys taxa (S. alpina, S. officinalis, S. palustris, S. recta subsp. recta, S. recta subsp. subcrenata, S. salviifolia and S. sylvatica) have been investigated in order to determine their content of biologically active compounds (polyphenols, tannins, phenolic acids and flavonoids) as well as their antioxidant activity. All taxa tested had a high content of total polyphenols, medium content of total phenolic acids, and a rather low content of tannins and flavonoids. The total phenolic acids content correlated significantly with total polyphenols content and the content of polyphenols unadsorbed on hide powder. A low correlation between plant phenolic acids and tannins was observed. Methanolic, ethanolic and dichloromethane extracts were investigated using DPPH, lipid peroxidase and xanthine oxidase assays. The extracts showed no inhibitory effects against lipid peroxidation and xanthine oxidase, but they had the ability to scavenge DPPH. The most effective in the DPPH assay were methanolic extracts of S. recta sub. recta and S. palustris whose radical scavenging activity was higher then that of the reference rutin. A low correlation between radical scavenging capacities of extracts with total flavonoids content was observed. The results indicate that investigated Stachys taxa exhibit potent antiradical activity and therefore could be a potential material for extracting free radical scavengers.