Analyses of robot systems using fault and event trees: case studies

Safety in the use of robotics outside factories or processing plants has become a matter of great international concern. Domestic robots and those intended to assist nurses and surgeons in hospitals are examples of cases where safety and reliability are considered critical. The safe performance of robot systems depends on many factors, including the integrity of the robot's hardware and software, the way it communicates with sensory and other production equipment, the reliable function of the safety features present and the way the robot interacts with its environment. The use of systematic techniques such as Fault and Event Tree analysis to examine the safety and reliability of a given robotic system is presented. Considerable knowledge is needed before the application of such analysis techniques can be translated into safety specifications or indeed ‘fail-safe’ design features of robotic systems. The skill and understanding required for the formulation of such specifications is demonstrated here based on a number of case studies.     

Polyoxometalate–molybdenylacetylacetonate hybrid complex: A reusable and efficient catalyst for oxidation of alkenes with tert-butylhydroperoxide

The hybrid complex consist of molybdenylacetylacetonate complex covalently linked to a lacunary Keggin-type polyoxometalate, K₈[SiW₁₁O₃₉] (POM), was synthesized and characterized by elemental analysis, SEM, XRD, diffuse reflectance UV–Vis and FT-IR spectroscopic methods. The hybrid complex, [MoO₂(acac)–POM] (1), was used for alkene epoxidation with tert-BuOOH in 1,2-dichloroethane as solvent. The complex (1) can catalyze epoxidation of various olefins including non-activated terminal olefins. The effect of reaction parameters such as oxidant, solvent, and temperature on the epoxidation of cyclooctene was also investigated. This heterogeneous catalyst was reused several times in the oxidation of cyclooctene.     

A statistical analysis on the mechanical properties of nanocomposite modified asphalt mixtures

This study aimed to characterize the rate of change that takes place in the mechanical properties of polymer-nanocomposite asphalt (PNMA) mixtures due to altering asphalt binder grade and styrene-butadiene-styrene (SBS) type. Laboratory testing program included Marshall stability, resilient modulus, and wheel-tracking tests. Test results were compared and analyzed statistically by means of two-way analysis of variance and Tukey test. Variance analysis indicated the significant effect of both binder type and SBS grade on mechanical properties of asphalt mixtures. Interaction between binder type and SBS grade is also meaningful in all the experiments. The results also show that the binder type is the primary affecting factor, followed by the SBS grade.     

Highly efficient dye-sensitized solar cell prepared by electrophoretic deposition method: the effect of TiO<Subscript>2</Subscript> films thickness on the performance of cells

In this work, nanocrystalline P25 TiO₂ films with different thicknesses were deposited on FTO coated glass substrates by an electrophoretic deposition technique (EPD) and applied as the work electrode for dye-sensitized solar cells (DSSC) using cis-bis(isothiocyanato)(2,2'-bipyridyl-4,4'-dicarboxylato)(4,4'di-nonyl-2'-bipyridyl) ruthenium(II) (Z907, Dyesol) as sensitizing dye.The results showed that the increasing the thickness of TiO₂ films lead to increase the adsorption of the dye on the TiO₂ layers which in turns improved the short-circuit photocurrent (J_sc) and open-circuit voltage (V_oc), respectively. Furthermore, it was found that the effects of the surface states on the recombination of the photo-injected electrons (electron–hole pairs) in the TiO₂ films strongly depend on theTiO₂ electrode annealing temperature. Finally, a DSSC with a 32.82 μm thickness for TiO₂ film annealed at 600°C produced the highest conversion efficiency with an incident solar energy of 100 mW/cm² (η = 8.23%, J_sc = 15.98, V_oc = 0.73, FF = 0.7).     

Catalytic oxidation of olefins with hydrogen peroxide catalyzed by [Fe(III)(salen)Cl] complex covalently linked to polyoxometalate

The catalytic activity of a hybrid compound [Fe(salen)-POM] (1) consisting of Fe(III)(salen)Cl [H₂salen = N,N′-bis(salicylidene)ethylenediamine] complex covalently linked to a Keggin type polyoxometalate, K₈SiW₁₁O₃₉, (POM) was studied in the oxidation of various olefins in acetonitrile, using hydrogen peroxide as oxygen source. While, [Fe(salen)-POM] catalyst showed moderate to good catalytic activity and product selectivity in the oxidation reactions, the complex Fe(III)(salen)Cl showed poor catalytic activity in these reactions. The effect of other parameters such solvent, oxidant, temperature and the metal type in Schiff base complex were also investigated.     

Prevalence and antimicrobial resistance of Campylobacter isolated from retail raw chicken and beef meat, Tehran, Iran

Campylobacter spp. is a leading cause of human diarrhea. The common source of infection is contaminated food, particularly poultry. The veterinary use of antimicrobial drugs has been suggested to be largely responsible for resistance in human isolates of this zoonotic pathogen. From April to October 2004, 241 samples of chicken and beef meat for sale in retail outlets in Tehran (Iran) were analyzed for the presence of Campylobacter. Totally, 88 (36.5%) Campylobacter strains were isolated. Campylobacter was isolated from a significantly larger number of chicken (63%) than beef (10%) meat (P < 0.0001). Susceptibilities of 72 strains were determined for eight antimicrobial drugs using the disk diffusion assay. Resistance to nalidixic acid was the most common finding (75%), followed by resistance to ciprofloxacin (69.4%), tetracycline (45.8%), amoxicillin (11.1%), streptomycin (4.2%), chloramphenicol (2.8%) and gentamicin (1.4%). None of the isolates was resistant to erythromycin. Multidrug resistance was seen in 75% of the Campylobacter strains.     

Study of Subsonic Flow Over a TOW 2B Missile

The objective of this investigation is to study the subsonic flow over a missile. In this paper, a model of TOW 2B missile is studied. Two computational approaches are being explored, namely solutions based on the Reynolds-averaged compressible Navier-Stokes equations and solutions based on the inviscid flow (small disturbance theory). The simulations are performed at the Mach number of 0.6, 0.7, 0.8, 0.9 and 1.0 at four angles of attack of 2, 4, 6 and 8 degree. Results obtained from analytical simulation are compared with numerical data. It is found that lift and drag coefficients would go up by increasing of the angle of attack and the Mach number. Trend of changes of the results that obtained from the small disturbance theory is roughly as same as the numeric solution.     

Simultaneous Determination of Nitrite and Nitrate in Milk Samples by Ion Chromatography Method and Estimation of Dietary Intake

The presence of nitrate and nitrite in foods may be considered hazardous after ingestion in the gastrointestinal tract due to their reaction with naturally occurred secondary amines to form potentially carcinogenic nitrosamines. Due to this fact, a new method was developed in this study for the simultaneous determination of nitrite and nitrate in milk samples using by ion chromatography. Proposed mobile phase composed of sodium hydrogen carbonate and sodium carbonate (1.0 and 3.2 mmol/L) with a flow rate of 0.7 ml/min. The average recoveries for nitrate and nitrite were higher than 86 and 88%, respectively. The limit of detection for nitrate and nitrite were 0.24 and 0.09 mg/L, respectively. The results of 102 real milk samples showed nitrate was found in all of the samples (100%) with a mean of 34 ± 11 mg/L, while nitrite was found in none of the samples. The mean intake of nitrate in all age groups was lower than World Health Organization guideline. The present assessment concludes that the maximum contaminant level was equal to 82.8 mg/L nitrate. This method was fast, sensitive and accurate and is capable of being an alternative method in food control laboratories for investigation of nitrite and nitrate content. This is the first study of the determination and survey of nitrite and nitrate and exposure assessment of the Iranian population to nitrite and nitrate level in milk, which was widely used in infants and adolescents as one of the basic food components.