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...     

Nanolayer CrAlN/TiSiN coating designed for tribological applications

With the goal to produce a hard and tough coating intended for tribological applications, CrAlN/TiSiN nanolayer coating was prepared by alternative deposition of CrAlN and TiSiN layers. In the first part of the article, a detailed study of phase composition, microstructure, and layer structure of CrAlN/TiSiN coating is presented. In the second part, its mechanical properties, fracture and tribological behavior are compared to the nanocomposite TiSiN coating. An industrial magnetron sputtering unit was used for coating deposition. X-ray photoelectron spectroscopy, energy dispersive X-ray spectroscopy, X-ray diffraction, scanning electron microscopy, and transmission electron microscopy were used for compositional and microstructural analysis. Mechanical properties and fracture behavior were studied by instrumented indentation and focused ion beam techniques. Tribological properties were evaluated by ball-on-disk test in a linear reciprocal mode. A complex layer structure was found in the nanolayer coating. The TiSiN layers were epitaxially stabilized inside the coating which led to formation of dislocations at interfaces, to introduction of disturbances in the coating growth, and as a result, to development of fine-grained columnar microstructure. Indentation load required for the onset of fracture was twice lower for the nanolayer CrAlN/TiSiN, compared to the nanocomposite TiSiN coating. This agrees very well with their mechanical properties, with H³/E² being twice higher for the TiSiN coating. However, the nanolayer coating experienced less severe damage, which had a strong impact on tribological behavior. A magnitude of order lower wear rate and four times lower steady state friction coefficient were found for the nanolayer coating.     

Investigation the correlation between chemical structure and swelling,thermal and flocculation properties of carboxymethylcellulose hydrogels

Hydrophilic polymer networks (hydrogels) based on sodium carboxymethylcellulose (NaCMC) and polycarboxylic acids (oxalic, succinic, citric and adipic) as cross-linking agents are synthesized by esterification reaction; one series of NaCMC hydrogels cross-linked with citric acid is prepared with acrylamide and acrylic acid (Aam/Aac) copolymers using the design of semi-interpenetrating polymer networks (semi-IPN), in order to increase their potential application for flocculation purposes. The Infrared spectroscopy (FTIR) of hydrogels confirms the esterification reaction between NaCMC and cross-linking agents. Results of swelling measurements show that citric acid in the amount of 15 wt% gives the hydrogels with the best absorption capacity. The results of Differential scanning calorimetry (DSC) and Thermal gravimetric analysis (TGA) show no significant difference in thermal properties of neat and semi-interpenetrating NaCMC hydrogels. The amorphous nature of hydrogels is confirmed by X-ray diffraction analysis (XRD). The results of flocculation study show that combination of NaCMC network and Aam/Aac copolymer with initial mass ratio of 10/90 creates a theoretical platform for the production of flocculant which could show high efficacy in purifying of water dominated by positively charged particles.     

Development of green extraction process to produce antioxidant-rich extracts from purple coneflower

The present study was conducted to develop subcritical water extraction (SWE) of Echinacea purpurea flowers. The influence of temperature and extraction time on quality of extracts considering total phenols content, total flavonoids content, antioxidant capacity and extraction yield, was determined. Optimized extraction parameters for maximised investigated responses were as follows: 147.56 °C and 8.43 min. The experimental values agreed with the values predicted, thus indicating the adequacy of central composite experimental design for modelling the SWE of bioactive compounds from E. purpurea. Results of the study also highlighted the potential application of E. purpurea subcritical water extracts as a source of valuable bioactive compounds.     

Corrosion behaviour of AA2024 aluminium alloy in different tempers in NaCl solution and with the CeCl3 corrosion inhibitor

The paper analyses the corrosion behaviour of naturally and artificially aged AA2024 alloy in NaCl solution and in the presence of an environment-friendly corrosion inhibitor, CeCl₃. On the basis of the values of polarisation resistance and corrosion current density, the corrosion resistance of the protective inhibitor film is established as well as the general corrosion resistance of this aluminium alloy. Resistance to pit formation is determined based on the difference in pitting and corrosion potentials while resistance to pit growth is determined based on the amount of charge consumed during pit growth. A scanning electron microscope is used to examine the morphology of the pits formed during the pitting corrosion testing, as well as to determine the cerium content on intermetallic particles and the matrix AA2024 alloy. The corrosion behaviour of AA2024 alloy is investigated after different test periods in NaCl solution and in the same solution with the CeCl₃ inhibitor. The corrosion resistance of both tempers of AA2024 alloy is more than one order of magnitude higher in the presence of CeCl₃. An explanation of the observed differences in the corrosion behaviour of the naturally and artificially aged AA2024 alloy is proposed. Different corrosion behaviour of the alloy after different test periods is also explained.     

Anthocyanin composition of the red wine Babić affected by maceration treatment

Identification of anthocyanins in the wine made of the Croatian autochthonous grape variety of Babić (Vitis vinifera L.) was carried out and their profile was determined by means of high-performance liquid chromatography with diode array and mass spectrometric detection. Dependence of anthocyanins content and profile on maceration treatment conditions was investigated. Statistically significant differences of anthocyanins concentration in wines Babić produced by various maceration treatments were confirmed by the use of multivariate analysis of variances. The investigation results indicated that the maceration temperature exerts higher influence on anthocyanins concentration than the duration of maceration. In addition, on the basis of anthocyanin composition and using different multivariate statistical analyses, differentiation of wines Babić according to maceration treatments was procured.     

Spin probe study of semi‐interpenetrating polymer networks based on polyurethane and polymethacrylate functional prepolymers

The motional transition and heterogeneity of semi‐interpenetrating networks (SIPNs) based on polyurethane (PU) with carboxylic groups and methacrylic copolymer (PM) with tertiary amine groups were studied by the electron spin resonance (ESR) spin probe method. The concentration of functional groups in both prepolymers varied from 0 to 0.45 mmol g^?1. Spin‐probed SIPNs show that the temperature‐dependent spectra are sensitive to polymer interactions imposed by functional groups. These interactions determine the free volume distribution in the matrix and temperature at which motional transition takes place. The fraction of free volume increases with functional group concentration and reaches its maximum at 0.25 mmol g^?1. Further increases in the functional group concentration reduce the free volume. The results of the networks with strong interactions are discussed in terms of the interference of the plasticizing effect of the PU component and the formation of possible cluster cross‐links, which restricts segmental motions. Copyright © 2003 Society of Chemical Industry     

An algorithm for architecture partitioning in high-speed networks with bursty traffic

This paper analyzes the performance of a switching architecture. The performance measures include the elapsed time of packet transfer and the waiting time to begin transfer. The architecture is partitioned depending on the type of network used and the expected traffic in the network. Every partition has a switch with a buffer that can absorb surges of bursty traffic within the network partition. The buffer size depends on the type of the network and incoming traffic. The partition size depends on the network bandwidth, network traffic, packet size and buffer size. Examples of different networks are used to show the applications of the model. The results show that the elapsed time of packet switch transfer depends exponentially on the number of partitions in the network.