Optimal motion planning for parallel robots via convex optimization and receding horizon

In this paper, the problem of motion planning for parallel robots in the presence of static and dynamic obstacles has been investigated. The proposed algorithm can be regarded as a synergy of convex optimization with discrete optimization and receding horizon. This algorithm has several advantages, including absence of trapping in local optimums and a high computational speed. This problem has been fully analyzed for two three-DOF parallel robots, ie 3s-RPR parallel mechanism and the so-called Tripteron, while the shortest path is selected as the objective function. It should be noted that the first case study is a parallel mechanism with complex singularity loci expression from a convex optimization problem standpoint, while the second case is a parallel manipulator for which each limb has two links, an issue which increases the complexity of the optimization problem. Since some of the constraints are non-convex, two approaches are introduced in order to convexify them: (1) A McCormick-based relaxation merged with a branch-and-prune algorithm to prevent it from becoming too loose and (2) a first-order approximation which linearizes the non-convex quadratic constraints. The computational time for the approaches presented in this paper is considerably low, which will pave the way for online applications.     

Single crystal silicon nanopillars, nanoneedles and nanoblades with precise positioning for massively parallel nanoscale device integration

Arrays of precisely positioned single crystal silicon nanopillars, nanoneedles, and nanoblades with minimum feature sizes as small as 30 nm are fabricated using entirely scalable top-down fabrication techniques. Using the same scalable technologies, devices consisting of electrically connected silicon nanopillars with multiple addressable electrodes for each nanostructure are realized. The arrays of nanopillars, nanoneedles, and nanoblades are shown to exhibit Raman signal enhancement on 1,2-benzenedithiol monolayers, opening a path to nanodevices that manipulate, position, detect and analyze molecules.     

Adhesive surface interactions of cellulose nanocrystals from different sources

Adhesion plays an important role in the final properties of nanocomposites. This study explored the surface interaction of cellulose nanocrystals (CNCs) and the effect of CNC sources on adhesion between individual CNCs and the Si tip of an AFM cantilever using a force mapping technique called FMap. The adhesion between CNCs and a Si tip from five different sources has been studied: cotton, Whatman filter paper, hemp, softwood chemical kraft pulp, and softwood-dissolving pulp (alistaple). Mica was used as the background substrate to act as an internal standard. This study’s findings suggest that adhesion is not the same for all CNCs. Transmission electron microscopy and atomic force microscopy were used to determine the size and shape of each CNC. The experimental quantitative data showed that adhesion between CNCs and the Si tip has a close correlation with the diameter of the CNCs. X-ray photoelectron spectroscopy confirmed the presence of sulfate groups on the surface of the CNCs and a correlation between adhesion and surface chemistry of the CNCs was observed.     

Immobilization of palladium on benzimidazole functionalized mesoporous silica nanoparticles: catalytic efficacy in Suzuki–Miyaura reaction and nitroarenes reduction

Journal of Porous Materials - Benzimidazole functionalized mesoporous silica nanoparticles immobilized Pd(0)/Pd(II) has been proposed as an efficient catalyst for the one-pot preparation of biaryls...     

Pd(II)/Pd(0) Anchored on Magnetic Organic–Inorganic Hybrid Mesoporous Silica Nanoparticles: A Nanocatalyst for Suzuki–Miyaura and Heck–Mizoroki Coupling Reactions

Journal of Inorganic and Organometallic Polymers and Materials - 3-Chloropropyltrimethoxysilane (CPTMS) was grafted on the surface of silica coated Fe3O4 core (Fe3O4@MCM-41) and then condensed with...     

The odontogenic differentiation of human dental pulp stem cells on hydroxyapatite-coated biodegradable nanofibrous scaffolds

The authors aimed to design nanofibrous (NF) scaffolds that facilitate odontogenic and osteogenic differentiation of human dental pulp-derived mesenchymal stem cells (DPSCs) in vitro. For this purpose, hydroxyapatite (HA)–loaded poly (L-lactic acid)/poly (?-caprolactone) (PLLA:PCL 2;1) blend NFs were prepared using the electrospinning method. Alizarin red activity and cell viability were evaluated by MTT assay, and SEM revealed the proliferation properties of NF scaffolds. QRT-PCR results demonstrated that HA-loaded PLLA/PCL can lead to osteoblast/odontoblast differentiation in DPSCs through the up-regulation of related genes, thus indicating that electrospun biodegradable PCL/PLA/HA has remarkable prospects as scaffolds for bone and tooth tissue engineering.     

Test methods for characterizing concrete properties at elevated temperature

Fire resistance of structural members is dependent on the thermal and mechanical properties of constituent materials and these properties vary as a function of temperature. Currently, there are limited standardized test procedures for evaluating thermal and mechanical properties of construction materials at elevated temperatures. This paper provides a review and assessment of test methods and procedures for evaluating high temperature thermal and mechanical properties of concrete. The drawbacks and variations in currently available test procedures and methods in standards are discussed. Recommendations on the most suitable methods and procedures for measuring thermal and mechanical properties at elevated temperature is presented. In addition, applicability of the proposed high temperature test methods and procedures is illustrated through a case study on conventional concrete specimens. Further, the need for developing standards by organizations such as American Society for Testing and Materials (ASTM), with standardized specifications and test procedures for measuring high temperature properties of construction materials, is laid out.     

Contribution of first- versus second-generation products to secondary organic aerosols formed in the oxidation of biogenic hydrocarbons

Biogenic hydrocarbons emitted by vegetation are important contributors to secondary organic aerosol (SOA), but the aerosol formation mechanisms are incompletely understood. In this study, the formation of aerosols and gas-phase products from the ozonolysis and photooxidation of a series of biogenic hydrocarbons (isoprene, 8 monoterpenes, 4 sesquiterpenes, and 3 oxygenated terpenes) are examined. By comparing aerosol growth (measured by Differential Mobility Analyzers, DMAs) and gas-phase concentrations (monitored by a Proton Transfer Reaction Mass Spectrometer, PTR-MS), we study the general mechanisms of SOA formation. Aerosol growth data are presented in terms of a "growth curve", a plot of aerosol mass formed versus the amount of hydrocarbon reacted. From the shapes of the growth curves, it is found that all the hydrocarbons studied can be classified into two groups based entirely on the number of double bonds of the hydrocarbon, regardless of the reaction systems (ozonolysis or photooxidation) and the types of hydrocarbons studied: compounds with only one double bond and compounds with more than one double bond. For compounds with only one double bond, the first oxidation step is rate-limiting, and aerosols are formed mainly from low volatility first-generation oxidation products; whereas for compounds with more than one double bond, the second oxidation step may also be rate-limiting and second-generation products contribute substantially to SOA growth. This behavior is characterized by a vertical section in the growth curve, in which continued aerosol growth is observed even after all the parent hydrocarbon is consumed.     

Nonenzymatic glucose sensing based on deposited palladium nanoparticles on epoxy-silver electrodes

A new approach for nonenzymatic glucose sensing, based on a simple modification of epoxy-silver surfaces deposited on the tip of commercial copper electric wires, is presented. Palladium was galvanically displaced on the surface of the epoxy-silver surface in order to obtain metal nanoparticles that act as catalyst for the direct oxidation of glucose. Scanning electron microscopy revealed the formation of the metal nanoparticles. X-ray photoelectron spectroscopy confirmed the metallic nature of the formed nanostructures on the surface. Electrochemical characterization and calibration of the palladium-modified epoxy-silver electrode is reported, obtaining a linear range of 1–20 mM for the detection of glucose with low interference of ascorbic acid and uric acid. A simple 3-step coulometry was used as the detection technique. The developed sensing material is believed to be a great candidate for integration in small devices for clinical essays, due to the simplicity and cost effectiveness of the presented approach, compared to the state-of-the-art devices reported recently in the literature. Simplicity in the coulometry determinations makes these Pd-modified epoxy-silver sensors a good candidate for easy glucose determinations.