Pepper to fall: a perception method for sweet pepper robotic harvesting

Intelligent Service Robotics - In this paper we propose a robotic system for picking peppers in a structured robotic greenhouse environment. A commercially available robotic manipulator is equipped...     

One-dimensional partitioning for heterogeneous systems: Theory and practice

We study the problem of one-dimensional partitioning of nonuniform workload arrays, with optimal load balancing for heterogeneous systems. We look at two cases: chain-on-chain partitioning, where the order of the processors is specified, and chain partitioning, where processor permutation is allowed. We present polynomial time algorithms to solve the chain-on-chain partitioning problem optimally, while we prove that the chain partitioning problem is NP-complete. Our empirical studies show that our proposed exact algorithms produce substantially better results than heuristics, while solution times remain comparable.     

Tests of Random Walk: A Comparison of Bootstrap Approaches

This paper compares different versions of the multiple variance ratio test based on bootstrap techniques for the construction of empirical distributions. It also analyzes the crucial issue of selecting optimal block sizes when block bootstrap procedures are used. The comparison of the different approaches using Monte Carlo simulations leads to the conclusion that methodologies using block bootstrap methods present better performance for the construction of empirical distributions of the variance ratio test. Moreover, the results are highly sensitive to methods employed to test the null hypothesis of random walk.     

Methods for the prediction of intermediate activities by office occupants

Computer models for building usage simulation are needed that produce detailed data about activities of members of an organization for accurate building evaluation. Intermediate activities that interrupt the planned activities play an important role but are often ignored in existing simulations. A model is proposed to predict the occurrence and the frequency of intermediate activities during an office working day. Two prediction methods are presented, namely probabilistic and S-curve. The applicability of each method depends on the characteristics of the intermediate activity. Through an experiment data were collected about intermediate activity behavior in an office. From these data conclusions are drawn on the validity of the prediction methods. Finally for each intermediate activity the formulas are presented including the parameter values that are analyzed from the experiment. The formula can be used in office evaluations that require detailed input data on occupant activities.     

Optimization of Nuclear Reactor Fuel Recycle via Linear and Quadratic Programming

The possibility of applying Linear or Quadratic Programming to the problem of optimizing nuclear reactor fuel recycle, is investigated. It is demonstrated, that the methods mentioned, may be applied successfully to a simplified model of a nuclear reactor. An appropriate representation of the fuel recycle as a feedback control system is proposed. An iterative algorithm to establish the refueling times, which are unknown a priori, is formulated and implemented to some specific examples. The convergence of the algorithm, proposed in this paper, has been established numerically.     

Binding of dipyridamole to phospholipid vesicles: a fluorescence study

Binding and localization of the vasodilator and antitumor drug coactivator dipyridamole (DIP) and one of its derivatives, RA25, to phospholipid vesicles of DMPC (dimyristoylphosphatidylcholine) and DPPC (dipalmitoylphosphatidylcholine) was studied using fluorescence spectroscopy as well as quenching of fluorescence. The analysis of fluorescence data indicates that neutral dipyridamole binds to the phospholipids in their liquid crystalline phase with an association constant of 950 M(-1) and 1150 M(-1) to DMPC and DPPC, respectively. Protonation of DIP leads to a 3-fold reduction of the association constant. For the gel phospholipid phase, the binding is smaller (a factor of 2), independently of pH, suggesting that the more flexible lipid packing in the liquid crystalline phase facilitates the binding of the drug. The association constant of RA25 neutral form is considerably lower than for DIP, being around 295 M(-1). Fluorescence quenching with nitroxides TEMPO and stearic acid doxyl derivatives suggests the localization of DIP to be closer to the 5th carbon of alkyl chain. The quenching effect of 5-DSA below the lipid phase transition suggests that a strong static quenching may be operative. The quenching effect of 16-DSA is almost as great as that for 5-DSA below the phase transition, being even higher above the phase transition. This effect is probably due to the trans-gauche isomerization of the stearic acid nitroxide, making the encounter of its paramagnetic fragment with the DIP chromophore possible. Our data are consistent with DIP location close to the bilayer surface in the border of hydrophobic-polar heads interface which is similar to the data in micellar systems. In the case of RA25, the drug is in the outer part of the head group interface being much exposed to the aqueous phase and being significantly less accessible to the membrane nitroxide quenchers.     

A molecular model for the d chain of the giant haemoglobin from Lumbricus terrestris and its implications for subunit assembly

We have previously reported that rhodacyanine dyes, such as 1 and 2, exhibited a potent inhibitory effect on the growth of several tumor cells and that 4-oxothiazolidine (rhodanine) was an essential moiety for antitumor activity. On the basis of our foregoing work, two types of rhodacyanine dyes, which categorized into class I and II depending on the methine length, were synthesized and evaluated as a novel antitumor agent. Attention was particularly focused on the structure-activity study of two heteroaromatic rings. In class I, where the A rings were conjugated to rhodanine via two methine groups, compounds 1, 20, 23, and 24 were found to be efficacious in tumor-bearing nude mice model study, but they did not have the chemical properties (stability, solubility) suitable for clinical use. In contrast, in class II, where the A rings were directly conjugated to rhodanine, compounds 13 and 25, which possessed a benzothiazole moiety for the A ring, exhibited the favorable biological and chemical properties. Therefore, we decided to have a benzothiazole moiety as the A ring and introduce various heterocyclic groups for the B ring. As a result, the pyridinium ring was selected as the optimal moiety for the B ring (compound 13). Further, the variation of counteranion had a profound effect on solubility in water without influence on antitumor activity. Chloride anion was selected as the favorable anion with respect to synthetic method as well as solubility in water. Our study finally led us to the identification of compound 3 (MKT 077, 1-ethyl-2-[[3-ethyl-5-(methylbenzothiazolin-2-ylidene)-4-oxothi azolidin-2 -ylidene]methyl]pyridinium chloride) as the candidate for clinical trials and is currently subjected to further investigation as a potent antitumor agent in phase I clinical trial for the treatment of solid tumors.     

Bioavailability Prediction of Polycyclic Aromatic Hydrocarbons in Field-Contaminated Sediment by Mild Extractions

Assessing the bioavailability of a group of polycyclic aromatic hydrocarbons (PAHs) coexisting in a field-aged contaminated sediment was examined using mild extractions by isopropanol- and ethanol-water solutions at concentrations of 5–100%, using extraction durations from 1?h?to?7?days. At a given solvent concentration, an initial rapid phase of PAH desorption was generally observed during the first 12?h, followed by a subsequent slower phase of desorption. A similar biphasic desorption was evident with increases in solvent concentration. PAH removal by various mild extractions was compared with PAH biodegradation by indigenous microorganisms. The removal of individual PAHs using 1-day 70% ethanol extraction was closely correlated to corresponding PAH removal via biodegradation, suggesting the possibility of using alcohol-water solution to simultaneously predict the bioavailability of multiple PAHs in aged sediments to indigenous microorganisms.