A rubber-modified thermoplastic where the morphology produced by phase-separation induced by polymerization disappears at high conversions

An unexpected experimental finding is reported where the primary morphology developed during polymerization-induced phase separation in a rubber-modified thermoplastic practically disappears at high conversions. This process was evidenced by light scattering (LS) and scanning electron microscopy (SEM) for a particular composition of solutions of polyisobutylene oligomers (PIB) in isobornylmethacrylate (IBoMA), during the free-radical polymerization of the monomer. The primary phase separation produced a dispersion of domains rich in PIB containing significant amounts of the monomer (IBoMA). Polymerization of the monomer in these domains occurred at high overall conversions producing the filling of dispersed domains with a PIBoMA-PIB blend that could not be distinguished from the matrix. Under these conditions the final material had the appearance of a homogeneous blend.     

Characteristics of a NaOH-Activated Blast Furnace Slag Blended with a Fine Particle Silica Waste

Mortars of blast furnace slag blended with a geothermal silica waste at various replacement levels of 0%, 5%, 10%, 15%, and 20% were cured for up to 90 days. The binder was activated by 6 wt% Na₂O equivalent of sodium hydroxide. Lime was added as an activating agent and also to promote pozzolanic reaction with the silica. It was found that the presence of the silica waste increased the reactivity of the cementitious materials, as measured by means of nonevaporable water. The compressive strength was increased in the presence of the silica, except at the highest replacement level of 20%, the optimum silica replacement was that of 5%–10%. The microstructures of blended slag showed less porosity than those of neat slag mortars. The lime was completely consumed after 90 days of hydration.     

Fractionation and characterisation for antioxidant activity of hydrolysed whey protein

Whey protein isolate (WPI) was hydrolysed for 1 h using Alcalase, Protamex and Flavourzyme. Native WPI, hydrolysed WPI and two commercial WPI hydrolysates were subjected to fractionation by size exclusion chromatography. Antioxidant activity of WPI fractions was measured with a liposome‐oxidising system (50 µM FeCl₃/0.1 µM ascorbate, pH 7.0). Lipid oxidation was measured as thiobarbituric acid‐reactive substances (TBARS). Gel electrophoresis and amino acid analysis were run to identify the peptide composition. The influence of amino acid composition on antioxidant activity was evaluated using multivariate analysis methods (correlation analysis, principal component analysis, multiple linear regression and discriminant analysis). TBARS assays indicated the presence of antioxidant activity in all protein fractions, including non‐hydrolysed WPI. For native and hydrolysed WPI samples the first fraction (> 45 kDa) showed a higher TBARS inhibition effect (24–27%) when compared with lower‐molecular‐weight fractions and hydrolysate mixtures. In contrast, for commercial WPI hydrolysates a higher inhibitory effect was found in most of the lower‐molecular‐weight fractions (30–55%). The ability of WPI fractions to delay lipid oxidation was found to be related to the prevalence of histidine and hydrophobic amino acids. Copyright © 2004 Society of Chemical Industry     

Planetary exploration by robotic aerovehicles

Planetary aerobots are a new type of telerobotic science platform that can fly and navigate in a dynamic 3-dimensional atmospheric environment, thus enabling the global in situ exploration of planetary atmospheres and surfaces. Aerobots are enabled by a new concept in planetary balloon altitude control, developed at JPL, which employs reversible-fluid changes to permit repeated excursions in altitude. The essential physics and thermodynamics ofreversible-fluid altitude control have been demonstrated in a series of altitude-control experiments conducted in the Earth's atmosphere, which are described. Aerobot altitude-control technology will be important in the exploration of seven planets and satellites in our solar system. Three of these objects—Venus, Mars, and the Saturnian satellite Titan—have accessible solid surfaces and atmospheres dominated by the dense gases nitrogen or carbon dioxide. They will be explored with aerobots using helium or hydrogen as their primary means of buoyancy. The other four planets—Jupiter, Saturn, Uranus, and Neptune—have deep atmospheres that are predominantly hydrogen. It may be possible to explore these atmospheres with aerobots inflated with atmospheric gas that is then radiatively heated from the hotter gaseous depths below. To fulfill their potential, aerobots to explore the planets will need autonomous state estimators to guide their observations and provide information to the altitude-control systems. The techniques of acquiring these data remotely are outlined. Aerobots will also use on board altitude control and navigation systems to execute complex flight paths including descent to the surface and exploiting differential wind velocities to access different latitude belts. Approaches to control of these systems are examined. The application of aerobots to Venus exploration is explored in some detail: The most ambitious mission described, the Venus Flyer Robot (VFR), would have the capability to make repeated short excursions to the high-temperature surface environment of Venus to acquire data and then return to the Earth-like upper atmosphere to communicate and recool its electronic systems. Finally a Planetary Aerobot Testbed is discussed which will conduct Earth atmospheric flights to validate autonomous-state-estimator techniques and flight-path-control techniques needed for future planetary missions.     

A system-on-chip development of a neuro-fuzzy embedded agent for ambient-intelligence environments

This paper presents the development of a neuro-fuzzy agent for ambient-intelligence environments. The agent has been implemented as a system-on-chip (SoC) on a reconfigurable device, i.e., a field-programmable gate array. It is a hardware/software (HW/SW) architecture developed around a MicroBlaze processor (SW partition) and a set of parallel intellectual property cores for neuro-fuzzy modeling (HW partition). The SoC is an autonomous electronic device able to perform real-time control of the environment in a personalized and adaptive way, anticipating the desires and needs of its inhabitants. The scheme used to model the intelligent agent is a particular class of an adaptive neuro-fuzzy inference system with piecewise multilinear behavior. The main characteristics of our model are computational efficiency, scalability, and universal approximation capability. Several online experiments have been performed with data obtained in a real ubiquitous computing environment test bed. Results obtained show that the SoC is able to provide high-performance control and adaptation in a life-long mode while retaining the modeling capabilities of similar agent-based approaches implemented on larger computing machines.     

Performance of Green Solvents in the Extraction of Sunflower Oil from Enzyme-Treated Collets

The main goal of this work is to evaluate the extraction of sunflower oil from enzyme-treated collets using ethanol and isopropanol (IPA) as solvents. The sunflower collets are pretreated with the multienzyme complex Viscozyme L prior to solvent extraction by the Soxhlet method. The influence of the moisture content of the collets, pretreatment, processing time, and solvent type on the amount of total extracted material and the oil extraction efficiency is studied. Some quality parameters such as phospholipid content of the oil and chlorogenic acid content of the residual meal are also analyzed. At low moisture content (7%) the solvents exhibit similar oil extraction ability (98–99%), but with increasing moisture the extraction efficiency of ethanol decreases to about 85%, while no significant differences are observed for IPA. The enzymatic treatment increases the extraction efficiency for all times, especially for ethanol. It is observed that IPA is more efficient in the extraction compared to ethanol, and the amount of nonlipid material is reduced by ≈70%. In addition, the oil extracted with IPA have lower phospholipid content and the residual meal presents a higher chlorogenic acid content. Practical Applications:This work would contribute toward the use of green solvents in the extraction of sunflower oil from collets. Ethanol and isopropanol, used as solvents, present attractive advantages, including low toxicity, good operational security, as well as being obtained from a renewable source. The obtained data provide up-to-date information on the use of these alcohols in the extraction of sunflower oil from collets and the influence of operating conditions, such as moisture content, enzymatic pretreatment of the collets, and the extraction time. Information about oil and meal quality is also reported.     

Autocalibration with the Minimum Number of Cameras with Known Pixel Shape

In 3D reconstruction, the recovery of the calibration parameters of the cameras is paramount since it provides metric information about the observed scene, e.g., measures of angles and ratios of distances. Autocalibration enables the estimation of the camera parameters without using a calibration device, but by enforcing simple constraints on the camera parameters. In the absence of information about the internal camera parameters such as the focal length and the principal point, the knowledge of the camera pixel shape is usually the only available constraint. Given a projective reconstruction of a rigid scene, we address the problem of the autocalibration of a minimal set of cameras with known pixel shape and otherwise arbitrarily varying intrinsic and extrinsic parameters. We propose an algorithm that only requires 5 cameras (the theoretical minimum), thus halving the number of cameras required by previous algorithms based on the same constraint. To this purpose, we introduce as our basic geometric tool the six-line conic variety (SLCV), consisting in the set of planes intersecting six given lines of 3D space in points of a conic. We show that the set of solutions of the Euclidean upgrading problem for three cameras with known pixel shape can be parameterized in a computationally efficient way. This parameterization is then used to solve autocalibration from five or more cameras, reducing the three-dimensional search space to a two-dimensional one. We provide experiments with real images showing the good performance of the technique.     

An Active Disturbance Rejection Approach to Leader‐Follower Controlled Formation

This article describes the design of a linearizing, observer‐based, robust dynamic feedback control scheme for output reference trajectory tracking tasks in a leader‐follower non‐holonomic car formation problem. The approach is based on the cars' kinematic models. A radical simplification in the form of a global ultra‐model is proposed on the follower's exact open loop position tracking error dynamics obtained via flatness considerations. This results in a system described by an additively disturbed set of two, second order integrators with non‐linear velocity dependent control input gain matrix. The unknown additive disturbances are modeled as absolutely uniformly bounded time signals which may be locally approximated by arbitrary elements of a sufficiently high degree family of Taylor polynomials. Linear high‐gain Luenberger observers of the generalized proportional integral (GPI) type may be readily designed. These observers include the self updating internal model of the unknown disturbance input vector components in the form of generic, instantaneous, time‐polynomial models. The proposed (GPI) observers, which are the dual counterpart of GPI controllers [17], achieve a simultaneous disturbance estimation and tracking error phase variables estimation. This on‐line gathered information is used to advantage on the follower's feedback controller thus allowing for a simple, yet efficient, disturbance and control input gain cancelation effort. The results are applied to have the follower track a time‐delayed version of the actual leader's trajectory. Experimental results are presented which illustrate the robustness and viability of the proposed approach.     

Update on the pharmacology of Spirulina (Arthrospira), an unconventional food

Spirulina (Arthrospira), a filamentous, unicellular alga, is a cyanobacterium grown in certain countries as food for human and animal consumption. It is also used to derive additives in pharmaceuticals and foods. This alga is a rich source of proteins, vitamins, amino acids, minerals, and other nutrients. Its main use, therefore, is as a food supplement. Over the last few years, however, it has been found to have many additional pharmacological properties. Thus, it has been experimentally proven, in vivo and in vitro that it is effective to treat certain allergies, anemia, cancer, hepatotoxicity, viral and cardiovascular diseases, hyperglycemia, hyperlipidemia, immunodeficiency, and inflammatory processes, among others. Several of these activities are attributed to Spirulina itself or to some of its components including fatty acids omega-3 or omega-6, beta-carotene, alpha-tocopherol, phycocyanin, phenol compounds, and a recently isolated complex, Ca-Spirulan (Ca-SP). This paper aims to update and critically review the results published over the last few years with regards to these properties. The conclusion is that even if this cyanobacterium has been one of the most extensively studied from the chemical, pharmacological and toxicological points of view, it is still necessary to expand the research in order to have more consistent data for its possible use in human beings.