Development of an Autonomous Robot for Gas Storage Spheres Inspection

Inspection for corrosion of gas storage spheres at the welding seam lines must be done periodically. Until now this inspection is being done manually and has a high cost associated to it and a high risk of inspection personel injuries. The Brazilian Petroleum Company, Petrobras, is seeking cost reduction and personel safety by the use of autonomous robot technology. This paper presents the development of a robot capable of autonomously follow a welding line and transporting corrosion measurement sensors. The robot uses a pair of sensors each composed of a laser source and a video camera that allows the estimation of the center of the welding line. The mechanical robot uses four magnetic wheels to adhere to the sphere’s surface and was constructed in a way that always three wheels are in contact with the sphere’s metallic surface which guarantees enough magnetic atraction to hold the robot in the sphere’s surface all the time. Additionally, an independently actuated table for attaching the corrosion inspection sensors was included for small position corrections. Tests were conducted at the laboratory and in a real sphere showing the validity of the proposed approach and implementation.     

The effect of ultra-thin graphite on the morphology and physical properties of thermoplastic polyurethane elastomer composites

Composites of thermoplastic polyurethane (TPU) and ultra-thin graphite (UTG) with concentrations ranging from 0.5 wt.% to 3 wt.% were prepared using a solution compounding strategy. Substantial reinforcing effects with increased loadings are achieved. Compared to neat TPU, values for storage modulus and shear viscosity are enhanced by 300% and 150%, respectively, for UTG concentrations of 3 wt.%. Additionally, an enhancement of thermal properties is accomplished. The crystallization temperature and thermal stability increased by 30 °C and 10 °C, respectively, compared to neat TPU. Furthermore, the use of oxidized UTG (UTGO) with its added functional oxygen groups suggests the presence of chemical interactions between UTG and TPU, which additionally impact on the thermal properties of the corresponding composites. Controlling the oxidation degree, thus offers further possibilities to obtain composites with tailored properties. The presented approach is straightforward, leads to homogeneous TPU-UTG composites with improved materials properties and is especially suitable for commercial UTG materials and further up-scaled production.     

Thermal and electrical conductivity of melt mixed polycarbonate hybrid composites co‐filled with multi‐walled carbon nanotubes and graphene nanoplatelets

In this work, we present thermoplastic nanocomposites of polycarbonate (PC) matrix with hybrid nanofillers system formed by a melt‐mixing approach. Various concentrations of multi‐walled carbon nanotubes (MWCNT) and graphene nanoplatelets (GnP) were mixed in to PC and the melt was homogenized. The nanocomposites were compression molded and characterized by different techniques. Torque dependence on the nanofiller composition increased with the presence of carbon nanotubes. The synergy of carbon nanotubes and GnP showed exponential increase of thermal conductivity, which was compared to logarithmic increase for nanocomposite with no MWCNT. Decrease of Shore A hardness at elevated loads present for all investigated nanocomposites was correlated with the expected low homogeneity caused by a low shear during melt‐mixing. Mathematical model was used to calculate elastic modulus from Shore A tests results. Vicat softening temperature (VST) showed opposite pattern for hybrid nanocomposites and for PC‐MWCNT increasing in the latter case. Electrical conductivity boost was explained by the collective effect of high nanofiller loads and synergy of MWCNT and GnP. © 2015 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2015 , 132, 42536.     

Comparison of electromyographic pattern of sensory experts and untrained subjects during chewing of Mahon cheese

Use of electromyography (EMG) to monitor mastication is a relatively new concept in assessing food physical and sensory properties. Although expert assessment of cheese characteristics is widely used, the effect of training in sensory analysis on mastication patterns, as assessed using EMG is not well known. Nine samples of the same Mahon cheese (60 days ripening) were given to 24 subjects (8 experts, 16 untrained) and EMG recorded for each chewing sequence. Three samples were tested in a single session by each subject, and three sessions carried out on different days. EMG was recorded from four masticatory muscles for each subject. From EMG records the following was extracted: number of chews, chewing time, mean and maximum voltage of EMG bursts (i.e. chews) across chewing sequence, chewing work and chewing rate. No gender bias was found for the EMG parameters considered, therefore, as regards gender, each group was considered to be homogeneous. Variability within-subjects across samples was greater for experts than untrained subjects. Significant differences in chewing time, chewing work and chewing rate were found between the expert and untrained groups. Data analysis of the three sessions showed an influence of cognitive constructs, mediating states, on the chewing process. The experts were found to be goal driven as to their mastication process. Experts showed no significant differences between sessions, untrained subjects were found to vary their EMG output in successive sessions for number of chews, chewing time, mean voltage, and chewing work.     

Firming of starch gels and amylopectin retrogradation as related to dextrin production by α-amylase

 The effect of dextrins produced by α-amylase on the firming and amylopectin retrogradation of wheat starch gels was studied. Different gel samples were prepared and included several ingredients, for example, α-amylase, vital gluten and glucoamylase. Amylopectin retrogradation, gel firming and the dextrin profile were analysed throughout a 5-day storage period. Both processes, i.e. firming and starch retrogradation, increased with time, and were not affected by the incorporation of gluten into the mixture. The well-known effect of α-amylase to retard bread crumb firming was also found to be relevant to starch gels. From the results obtained in this work, it seems that this anti-firming effect is not due to modifications of the starch but to dextrins produced by starch hydrolysis, since the effect did not occur when dextrins were removed by glucoamylase. Received: 30 December 1996     

Morphology,mechanical performance,and nanoindentation behavior of injection molded PC/ABS‐MWCNT nanocomposites

In this work, nanocomposites of polycarbonate/acrylonitrile‐butadiene‐styrene (PC/ABS) with various loads of multiwall carbon nanotubes (MWCNT) are investigated. Material is previously formed by masterbatch dilution approach and further processed by injection molding at various velocities. Microscopic characterization of nanocomposites morphology reveals stronger dependence of MWCNT dispersion on processing parameters at higher nanofiller load. Dispersion of carbon nanotubes at various distances from the injection gate is studied by Raman spectroscopy showing lower deviation at elevated injection velocity. Nanoindentation results that are in agreement with uniaxial tensile testing show a slight decrease of nanocomposites' mechanical performance at 3.0 wt % MWCNT in samples injected at reduced velocity. This is explained by the increase of agglomeration behavior at these conditions. © 2015 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2015 , 132, 42014.     

A First Approach of Using Ultrasound as an Alternative for Blanching in Vacuum-Packaged Potato Strips

The effect of ultrasound (US) (40 kHz, 200 W, 3 min), blanching (85 °C, 3.5 min), and the combination of both methods was evaluated on the quality of vacuum-packaged potato strips stored at 3 ± 1 °C for up to 10 days. For this study, two cultivars of potatoes were assessed. For blanched Agata samples, the lightness (L*) decreased over 12 % (p < 0.05). Moreover, their hue increased up to 100, obtaining lesser yellow potato strips. In contrast, US did not affect the hue values. The losses of firmness of blanched potato strips were notable (35 % for Agata and 51 % for Agria), whereas US did not change this property (p < 0.05). Nevertheless, no significant differences were found in the total starch content at 10 days. Agata and Agria showed different metabolic behaviors of sucrose in the refrigerated storage. Therefore, Agria cultivar retained better color after frying. These results suggest that US had less impact on color and improve the firmness in vacuum-packaged potato strips with no added chemicals.     

The baking process of wheat rolls followed by cryo scanning electron microscopy

The evolution that the microstructure of the main components of wheat flour undergoes during the bread-making process was analysed by cryo scanning electron microscopy (cryo-SEM). The microstructure of wheat flour preserved some characteristics of the intact endosperm and consisted of aggregates of protein in which were embedded groups of cellular components. At the mixing stage, the dough appeared as a matrix of proteins and soluble solids with dispersed starch granules. Fermentation reinforced this matrix and improved the distribution of all the components. Special attention was paid to the complex microstructure of bread crumb. A continuous veil-like film that revealed the underlying structures lined the gas cells. Inside the gas cells large interconnecting cavities, characteristic of an open structure, were observed. The microstructure of the gas cell walls consisted of a very complex matrix with a rough and irregular appearance. Cryo-SEM proved to be a valuable tool that may allow a better understanding of the functional properties of dough as well as the quality attributes of bread.     

Ultrasonic assessment of fresh cheese composition

Fresh cheese composition was assessed by measuring ultrasonic velocity in cheese and cheese blends at different temperatures. Twenty types of commercial, fresh cheeses with fat contents ranging from 0.2% to 17.6% w.b. were analyzed. Ultrasonic velocity was not only heavily dependent on the composition of the cheese but also on its structure. Based on the different effect temperature has on velocity in water and fat, a semi-empirical model was used to estimate the cheese composition from velocity measurements at six temperatures ranging from 3 to 29 °C. The model provided good results for the assessment of the fat (R² = 0.984/0.996; RMSE = 4.6/1.1 for whole and blended cheese, respectively) and water (R² = 0.964/0.995; RMSE = 6.5/0.7 for whole and blended cheese, respectively) content. The ultrasonic measurements could be carried out during the cooling process that takes place after curdling and used as a quality control tool to detect process anomalies in-line.