Replacement of beef fat in Frankfurters by interesterified palm,cottonseed and olive oils

Three interesterified vegetable oils (IVOs) prepared from palm, cottonseed, and olive oil, respectively, have been studied for application to Frankfurters. Beef fat (10%) was replaced by one of the IVOs at 20, 60 or 100%. Fatty acid composition of the lipid fraction in the Frankfurters and saturated/unsaturated ratios were established for all batches. We found that total or partial replacement of beef fat by IVOs did not lead to significant changes in appearance, colour, texture, flavour or sensory score. We conclude that IVOs may be successfully applied as beef fat substitutes in Frankfurters.     

Robust control of variable speed autonomous underwater vehicle

Set point tracking control of autonomous underwater vehicle (AUV) via robust model predictive control (RMPC) is considered. Input-constrained RMPC with integral action, which has been developed in our previous work, is used to control the AUV in this study. In order to derive a RMPC control rule, non-linear dynamics of AUV with six degree of freedom is linearized at certain operating points. So, horizontal and vertical plane dynamics of system are represented by linear models which have polytopic uncertainties. Since the derived control rule will be used in real time, the computation time should be reduced. To overcome this computational time problem and get rid of trial–error step of Algorithm 1, a new algorithm is proposed here. The simulations are carried out using the control rule based on this algorithm and these results are presented.     

Degradation of 4-chloro-2-methylphenol in aqueous solution by electro-Fenton and photoelectro-Fenton processes

Degradation of 4-chloro-2-methylphenol (PCOC), a refractory toxic chemical emitted to the environment from the industrial production of phenoxy herbicides was studied in aqueous solution. Electro-Fenton and photoelectro-Fenton processes were used as the degradation methods. H₂O₂, produced by the reduction of oxygen at carbon cathode reacted with dissolved metal ions to form hydroxyl radicals, which in turn reacted with PCOC sequentially to degrade the aromatic ring. The effects of using different [Fe²⁺]/[PCOC]₀ and the effect of replacing Fe²⁺ by Mn²⁺ ion have been examined. It was found that degradation rate was increased with increasing [Fe²⁺]/[PCOC]₀ ratio from 2 to 4. However, the total charge utilized during the treatment was also increased. The efficiency of PCOC degradation was observed to be higher when Mn²⁺ was used as the catalyst. The mineralization of aqueous solutions of PCOC, withdrawn from the reactor at certain time interval, has been followed by total organic carbon (TOC) decay and dechlorination. A fast and complete degradation of the aromatic ring was achieved in photoelectro-Fenton system. 41.7% TOC decay and complete dechlorination were observed by consuming only 141.4 C electrical charge during a 300 min photoelectron-Fenton treatment. In the case of electro-Fenton system, 280.7 C electrical charge was consumed during 450 min of electrolysis to attain a similar degradation of PCOC. 14.9% TOC removal and 89.3% dechlorination have been obtained in this system under the applied conditions.     

Poly(Li‐2‐hydroxyethyl methacrylate)‐co‐poly(4‐vinyl pyridine): Molar mass effects on strong electrorheological response

Electrorheological (ER) fluids display remarkable rheological behavior, being able to convert rapidly and repeatedly from a fluid to a solid‐like when an external electric field (E) is applied or removed. In this study, electrical and ER properties of poly(Li‐2‐hydroxyethyl methacrylate)‐co‐poly(4‐vinyl pyridine), poly(Li‐HEMA)‐co‐poly(4‐VP), copolymeric salts (ionomers) were investigated. For this purpose six ionomers were synthesized with different molar masses. They were then ground‐milled for a few hours to obtain micron size ionomers. The particle sizes of the ionomers were determined by dynamic light scattering. Suspensions of ionomers were prepared in silicone oil (SO), at a series of concentrations (c = 5–30%, m/m). The gravitational stability of suspensions against sedimentation was determined at constant temperature (T = 25°C). Flow times of the suspensions were measured under no electric field (E = 0 kV/mm), and under an external applied electric field (E ≠ 0 kV/mm) strengths and a strong ER activities were observed for all the poly(Li‐HEMA)‐co‐poly(4‐VP)/SO suspensions. Further, the effects of suspension concentration, mole ratios of poly(HEMA) and poly(4‐VP), and the overall molar mass of the copolymers, shear rate, electric field strength, frequency, promoter, and temperature onto ER activities of ionomer suspensions were investigated. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 101: 1065–1074, 2006     

Comparison of a sMBR and a CASP system for wastewater reclamation and re-use

The performance of a submerged membrane bioreactor (sMBR) for municipal wastewater reclamation and re-use was compared with that of a current classic activated sludge process (CASP). The average chemical oxygen demand (COD) of CASP effluent was 75 mg/l, while the average COD of sMBR filtrate was 15 mg/l. In general, COD removal was above 98%. However, the best results were obtained at a sludge rentention time (SRT) of 50 days. The total phosphorus (TP) content of the filtrate decreased to a level <1 mg/l under aerobic conditions in which aeration occurred continuously. It was shown that the filtrate TP and orthoposphate (Orto-P) concentrations increased dramatically during the periods of intermittent aeration because phosphorus is released under anoxic conditions. In the CASP effluent, the average TP and Orto-P were 7.9 mg/l and 7.1 mg/l, respectively. The filtrate was free of suspended solids (SS) and total coliform bacteria. The effluent SS in the CASP was 40 mg/l. The turbidity removal in the sMBR reached almost 99%, i.e. generally less than 1 NTU, while the average turbidity of the CASP effluent was almost 15 NTU. The removal of ammonium nitrogen (NH₄⁺-N) in the sMBR was almost 99.8%. In addition, the nitrate concentration in the filtrate decreased to 2.4 mg/l under both aerobic & anoxic conditions. It was shown that both nitrification and denitrification could be successfully reduced through intermittent aeration. Average total Kjeldehl nitrogen (TKN) and NH₄⁺-N in the CASP effluent were 30.2 mg/l and 20 mg/l, respectively, i.e. the nitrification efficiency was 42.9%, and the denitrification value was not available. When these results are compared with those in the CASP, it indicated that the sMBR could be successfully used for reclamation and re-use of municipal wastewater.     

Optimization of demand-related packaging sizes using a p-median approach

The determining of efficient packaging sizes is a key factor in saving material and transportation costs and also in reducing packaging waste. By analyzing the range of items and their contribution to sales-relevant order structures of a globally operating mail order company, a simplified packing algorithm is proposed. In combination with well-known methodologies, this heuristic provides near optimal solutions improving current packaging of eCommerce companies. It is shown that simple, practical heuristics are sufficient to achieve average material savings of more than 10 %. In order to find efficient packaging sizes, a set of them is generated by discretization of packaging dimensions. Given the set of orders and the set of packaging sizes, a p-median approach is applied to find a specified number of optimal, demand-related packaging sizes.     

An upper bound on the minimum number of monomials required to separate dichotomies of {-1, 1}n

It is known that any dichotomy of {-1, 1}n can be learned (separated) with a higher-order neuron (polynomial function) with 2n inputs (monomials). In general, less than 2n monomials are sufficient to solve a given dichotomy. In spite of the efforts to develop algorithms for finding solutions with fewer monomials, there have been relatively fewer studies investigating maximum density (Pi(n)), the minimum number of monomials that would suffice to separate an arbitrary dichotomy of {-1, 1}n . This article derives a theoretical (upper) bound for this quantity, superseding previously known bounds. The main theorem here states that for any binary classification problem in {-1, 1}n (n > 1), one can always find a polynomial function solution with 2n -2n/4 or fewer monomials. In particular, any dichotomy of {-1, 1}n can be learned by a higher-order neuron with a fan-in of 2n -2n/4 or less. With this result, for the first time, a deterministic ratio bound independent of n is established as Pi(n)/2n < or = 0 75. The main theorem is constructive, so it provides a deterministic algorithm for achieving the theoretical result. The study presented provides the basic mathematical tools and forms the basis for further analyses that may have implications for neural computation mechanisms employed in the cerebral cortex.     

Robotic grasping and manipulation through human visuomotor learning

A major goal of robotics research is to develop techniques that allow non-experts to teach robots dexterous skills. In this paper, we report our progress on the development of a framework which exploits human sensorimotor learning capability to address this aim. The idea is to place the human operator in the robot control loop where he/she can intuitively control the robot, and by practice, learn to perform the target task with the robot. Subsequently, by analyzing the robot control obtained by the human, it is possible to design a controller that allows the robot to autonomously perform the task. First, we introduce this framework with the ball-swapping task where a robot hand has to swap the position of the balls without dropping them, and present new analyses investigating the intrinsic dimension of the ball-swapping skill obtained through this framework. Then, we present new experiments toward obtaining an autonomous grasp controller on an anthropomorphic robot. In the experiments, the operator directly controls the (simulated) robot using visual feedback to achieve robust grasping with the robot. The data collected is then analyzed for inferring the grasping strategy discovered by the human operator. Finally, a method to generalize grasping actions using the collected data is presented, which allows the robot to autonomously generate grasping actions for different orientations of the target object.     

Reinforcement learning to adjust parametrized motor primitives to new situations

Humans manage to adapt learned movements very quickly to new situations by generalizing learned behaviors from similar situations. In contrast, robots currently often need to re-learn the complete movement. In this paper, we propose a method that learns to generalize parametrized motor plans by adapting a small set of global parameters, called meta-parameters. We employ reinforcement learning to learn the required meta-parameters to deal with the current situation, described by states. We introduce an appropriate reinforcement learning algorithm based on a kernelized version of the reward-weighted regression. To show its feasibility, we evaluate this algorithm on a toy example and compare it to several previous approaches. Subsequently, we apply the approach to three robot tasks, i.e., the generalization of throwing movements in darts, of hitting movements in table tennis, and of throwing balls where the tasks are learned on several different real physical robots, i.e., a Barrett WAM, a BioRob, the JST-ICORP/SARCOS CBi and a Kuka KR?6.