Temperature programmed reduction (TPR) analysis was applied to investigate the chemical reduction progression behavior of molybdenum oxide (MoO3) catalyst. The composition and morphology of the reduced phases were characterized by X-ray diffraction spectroscopy (XRD), X-ray photoelectron spectroscopy (XPS), and field emission scanning electron microscopy (FE-SEM). The reduction progression of MoO3 catalyst was attained with different reductant types and concentration (10% H2/N2, 10% and 20% CO/N2 (%, v/v)). Two different modes of reduction process were applied. The first approach of reduction involved non-isothermal mode reduction up to 700 °C, while the second approach of reduction involved the isothermal mode reduction for 60 min at 700 °C. Hydrogen temperature programmed reduction (H2-TPR) results showed the reduction progression of three-stage reduction of MoO3 (Mo6+ → Mo5+ → Mo4+ → Mo0) with Mo5+ and Mo4+. XRD analysis confirmed the formation of Mo4O11 phase as an intermediate phase followed by MoO2 phase. After 60 min of isothermal reduction, peaks of metallic molybdenum (Mo) appeared. Whereas, FESEM analysis showed porous crater-like structure on the surface cracks of MoO2 layer which led to the growth of Mo phase. Meanwhile, the reduction of MoO3 catalyst in 10% carbon monoxide (CO) showed the formation of unstable intermediate phase of Mo9O26 at the early stage of reduction. Furthermore, by increasing 20% CO led to the carburization of MoO2 phase, resulted in the formation of Mo2C rather than the formation of metallic Mo, as confirmed by XPS analysis. Therefore, the presented study shows that hydrogen gave better reducibility due to smaller molecular size, which contributed to high diffusion rate and achieved deeper penetration into the MoO3 catalyst compared to carbon monoxide reductant. Hence, the reduction of MoO3 in carbon monoxide atmosphere promoted the formation of Mo2C which was in agreement with the thermodynamic assessment. 相似文献
β-Conglycinin is a trimeric protein consisting of three subunits, α,α′,and β, which are N-glycosylated. The α and α′ subunits
contain extension regions in addition to core regions common to all subunits. We purified homogeneous trimers consisting of
only α, α′, or β from mutant soybean cultivars containing β-conglycinin lacking one or two subunits: α homotrimers from an
α′-lacking mutant, α′ homotrimers from an α-lacking mutant, and β homotrimers from an α-and α′-lacking mutant. Structural
features and physicochemical functions of the three homotrimers were examined and compared with those of recombinant homotrimers
having no N-linked glycans. The native homotrimers have secondary structures very similar to those of the recombinant ones.
In analogy with the recombinant homotrimers, the native ones exhibit different thermal stabilities from one another (β>α′>α),
and the native α and α′ homotrimers exhibit better solubility, emulsifying ability, and heat-induced association than the
native β homotrimer. Further, the N-linked glycans contribute to solubilities of the three subunits at low ionic strength
(μ=0.08) and to the emulsifying ability of the native β homotrimer. N-Linked glycans also prevent heat-induced associations
of the native α and α′ homotrimers but do not contribute to the secondary structure and the thermal stability of β-conglycinin. 相似文献
Manipulating deformable objects like clothes, plastic, and paper by a robot is very challenging. This paper focuses on clothes
manipulation as an example. A tracing manipulation method is used here to find a corner of the clothes. In this paper, tracing
refers to tracing the clothes’ edge, with the robot’s movement based on feedback from sensors. One difficulty during this
edge tracing is to make the robot trace smoothly and speedily without dropping the clothes in the process. This is due to
the fact that deformable objects are sensitive to contact forces. A solution to this problem is to design a special robot
gripper that can trace the clothes without having to worry about the clothes slipping away. In this paper, the development
of inchworm-type grippers is proposed. Two sets of grippers inside a robot hand will allow the robot to trace the clothes
more freely because there will always be a gripper firmly holding the clothes at any time. A unique tracing method for towel
spreading using the inchworm grippers is also discussed. Experimental results have demonstrated the effectiveness of both
the proposed grippers and also the algorithm.
This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January
25–27, 2007 相似文献
Ovarian steroids such as estrogen and progesterone have been reported to influence knee laxity. The effect of testosterone, however, remains unknown. This study investigated the effect of testosterone on the knee range of motion (ROM) and the molecular mechanisms that might involve changes in the expression of relaxin receptor isoforms, Rxfp1 and Rxfp2 in the patella tendon and lateral collateral ligament of the female rat knee. Ovariectomized adult female Wistar rats received three days treatment with peanut oil (control), testosterone (125 and 250 μg/kg) and testosterone (125 and 250 μg/kg) plus flutamide, an androgen receptor blocker or finasteride, a 5α-reductase inhibitor. Duplicate groups received similar treatment however in the presence of relaxin (25 ng/kg). A day after the last drug injection, knee passive ROM was measured by using a digital miniature goniometer. Both tendon and ligament were harvested and then analysed for protein and mRNA expression for Rxfp1 and Rxfp2 respectively. Knee passive ROM, Rxfp1 and Rxfp2 expression were significantly reduced following treatment with testosterone. Flutamide or finasteride administration antagonized the testosterone effect. Concomitant administration of testosterone and relaxin did not result in a significant change in knee ROM as compared to testosterone only treatment; however this was significantly increased following flutamide or finasteride addition. Testosterone effect on knee passive ROM is likely mediated via dihydro-testosterone (DHT), and involves downregulation of Rxfp1 and Rxfp2 expression, which may provide the mechanism underlying testosterone-induced decrease in female knee laxity. 相似文献
Despite the proven advantages of sampling-based motion planning algorithms, their inability to handle online navigation tasks and providing low-cost solutions make them less efficient in practice. In this paper, a novel sampling-based algorithm is proposed which is able to plan in an unknown environment and provides solutions with lower cost in terms of path length, runtime and stability of the results. First, a fuzzy controller is designed which incorporates the heuristic rules of Tabu search to enable the planner for solving online navigation tasks. Then, an adaptive neuro-fuzzy inference system (ANFIS) is proposed such that it constructs and optimizes the fuzzy controller based on a set of given input/output data. Furthermore, a heuristic dataset generator is implemented to provide enough data for the ANFIS using a randomized procedure. The performance of the proposed algorithm is evaluated through simulation in different motion planning queries. Finally, the proposed planner is compared to some of the similar motion planning algorithms to support the claim of superiority of its performance.
Lipase from Candida rugosa was immobilized by entrapment on poly(N-vinyl-2-pyrrolidone-co-2-hydroxyethyl methacrylate) [poly(VP-co-HEMA)] hydrogel, cross-linked with ethylene glycol dimethacrylate
(EDMA). The immobilized enzyme was used in the esterification of oleic acid with butanol in hexane. The activities of the
immobilized enzyme preparations and the leaching of the enzyme from the hydrogel supports with respect to composition were
investigated. The thermal, solvent, and storage stability of the immobilized preparations also were determined. Increasing
the percentage VP from 0 to 90, which corresponds to the increase in the hydrophilicity of the hydrogels, increased the activity
of the immobilized enzyme. Lipase immobilized onto VP(%):HEMA(%), 90:10 hydrogel had the highest activity. Increasing the
hydrophobicity of the hydrogel (increasing the percentage HEMA) seemed to decrease leaching of the enzyme from the support.
Immobilized lipase on 100% HEMA hydrogel indicated highest entrapment and lowest leaching by hexane washing. The lipase immobilized
on VP(%):HEMA(%), 50:50 hydrogel showed highest thermal, solvent, and storage stability compared to lipase immobilized on
other hydrogel compositions as well as the native lipase. 相似文献
Enzymatic synthesis of medium-chain glycerides (MCG) from capric acid and glycerol was studied using lipase from Candida rugosa. The effects of various reaction parameters such as time, molar ratio of substrates (mmol capric acid/mmol glycerol), amount
of lipase, type of organic solvents, and initial water activity (aw) were studied. The best conditions tested for MCG synthesis at 37°C were, respectively, time, 24 h; molar ratio of substrates,
2.5; and amount of lipase, 100.0 mg. The use of organic solvents greatly influenced the activity of lipase in the synthesis
of MCG. Generally, activity of lipase was high in nonpolar solvents with log P values from 3.50 to 4.50, where P is the partition coefficient between water and 1-octanol. The enzymatic synthesis of MCG was preferably carried out at an
initial aw of 0.328, which resulted in maximal yield. Analysis of the products of reaction using gas chromatography showed that lipase
from Candida rugosa seemed to produce more dicaprin and tricaprin than monocaprin. 相似文献