On the output function in a Ginsburg’s machine

We give the form of the output function in Ginsburg’s machine in which the input and output dictionaries are abelian groups and the transition function is of a special form.     

A note on nonassociated plastic flow rules

The analytical properties of the constitutive equations in plasticity with a nonassociated flow rule are investigated. Under the assumption of small deformations the directional stiffness (and compliance) rule is considered and the relevant spectral properties of the tangent stiffness tensor are assessed. It is shown that the directional stiffness may be larger than the elastic. It may also be negative in the case of a formally perfectly plastic material and so the nonassociative flow rule represents (spurious) softening in terms of an associated flow rule. The issue of uniqueness at finite strains is briefly addressed, whereby use is made of the tangent stiffness tensor relating the velocity gradient to the first Piola-Kirchhoff stress rate. The relevant spectral properties, which generalise those from the small deformation case, are found explicit. A sufficient condition for uniqueness is given in terms of a critical (upper bound) value of the hardening modulus.     

An adaptive critic neural network for motion control of a wheeled mobile robot

In this paper, we propose a new application of the adaptive critic methodology for the feedback control of wheeled mobile robots, based on a critic signal provided by a neural network (NN). The adaptive critic architecture uses a high-level supervisory NN adaptive critic element (ACE), to generate the reinforcement signal to optimise the associative search element (ASE), which is applied to approximate the non-linear functions of the mobile robot. The proposed tracking controller is derived from Lyapunov stability theory and can guarantee tracking performance and stability. A series of computer simulations have been used to emulate the performance of the proposed solution for a wheeled mobile robot.     

A Microfluidic Co-Flow Route for Human Serum Albumin-Drug–Nanoparticle Assembly

Nanoparticles are widely studied as carrier vehicles in biological systems because their size readily allows access through cellular membranes. Moreover, they have the potential to carry cargo molecules and as such, these factors make them especially attractive for intravenous drug delivery purposes. Interest in protein-based nanoparticles has recently gained attraction due to particle biocompatibility and lack of toxicity. However, the production of homogeneous protein nanoparticles with high encapsulation efficiencies, without the need for additional cross-linking or further engineering of the molecule, remains challenging. Herein, we present a microfluidic 3D co-flow device to generate human serum albumin/celastrol nanoparticles by co-flowing an aqueous protein solution with celastrol in ethanol. This microscale co-flow method resulted in the formation of nanoparticles with a homogeneous size distribution and an average size, which could be tuned from ≈100 nm to 1 μm by modulating the flow rates used. We show that the high stability of the particles stems from the covalent cross-linking of the naturally present cysteine residues within the particles formed during the assembly step. By choosing optimal flow rates during synthesis an encapsulation efficiency of 75±24 % was achieved. Finally, we show that this approach achieves significantly enhanced solubility of celastrol in the aqueous phase and, crucially, reduced cellular toxicity.     

Dynamics and control of underactuated mechanical systems: analysis and simple experimental verification

Underactuated mechanical systems are systems with fewer control inputs than the degrees of freedom, m < n, the relevant technical examples being e.g. cranes, aircrafts and flexible manipulators. The determination of an input control strategy that forces an underactuated system to complete a set of m specified motion tasks (servo-constraints) is a demanding problem. The solution is conditioned to differential flatness of the problem, denoted that all 2n state variables and m control inputs can algebraically be expressed, at least theoretically, in terms of the desired m outputs and their time derivatives up to a certain order. A more practical formulation, motivated hereafter, is to pose the problem as a set of differential-algebraic equations, and then obtain the solution numerically. The theoretical considerations are illustrated by a simple two-degree-of-freedom underactuated system composed of two rotating discs connected by a flexible rod (torsional spring), in which the pre-specified motion of the first disc is actuated by the torque applied to the second disc, n = 2 and m = 1. The determined control strategy is then verified experimentally on a laboratory stand representing the two-disc system. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Catalysis of hydrosilylation. XV. A poly(phosphino-organosiloxanyl)silicate-supported rhodium(I) catalyst for gas-phase hydrosilylation of acetylene

Wilkinson's complex [RhCl(PPh₃)₃], anchored to phosphino-organosiloxane macromolecules grafted onto chrysotile asbestos, appeared to be an unusually effective and selective catalyst for the synthesis of vinylsilanes via gas-phase hydrosilylation of acetylene, particularly by methyldichlorosilane in a continuous-flow microreactor as well as in a laboratory reactor. Catalytic and kinetic parameters show an advantage for the catalyst based on the chrysotile-polyorganosiloxane support (catalyst CHR–Rh) over the phosphinated silica (catalyst A).     

Separation and determination of homogenous fatty alcohol ethoxylates by liquid chromatography with mulitstage mass spectrometry

Alcohol ethoxylates (AEs) are a significant component of a stream of surfactants directed to the aquatic environment. The aim of this work was the investigation of the dependence of the analytical signals of homogeneous AE homologues on liquid chromatography with tandem mass spectrometry conditions, as well as the separation of AEs from the water matrix and, on this basis, the development of an analytical procedure suitable for the determination of AEs in environmental samples. Homogeneous homologues containing dodecyl moiety and 2–9 oxyethylene subunits were investigated. The analytical signals of the investigated homologues were optimized in terms of concentration of ammonium acetate in the mobile phase (optimum 5 mM) and a column temperature (optimum 35°C) of the liquid chromatography with tandem mass spectrometry system. A separation of AEs from the water matrix by liquid–liquid extraction (ethyl acetate, chloroform) or solid‐phase extraction (C₁₈, styrene divinylbenzene, H‐RX) was investigated. In a model investigation, the best recoveries (>90%) were obtained with a styrene divinylbenzene cartridge eluted with a 1:1 mixture of chloroform and methanol. However, much worse recoveries were obtained from the river water sample. Better results were obtained for liquid–liquid extraction with ethyl acetate. Recoveries of 62–80% were obtained for homologues having 4–9 oxyethylene subunits, at the lowest spike.     

The precision of DCE-MRI using the tissue homogeneity model with continuous formulation of the perfusion parameters

The present trend in dynamic contrast-enhanced MRI is to increase the number of estimated perfusion parameters using complex pharmacokinetic models. However, less attention is given to the precision analysis of the parameter estimates. In this paper, the distributed capillary adiabatic tissue homogeneity pharmacokinetic model is extended by the bolus arrival time formulated as a free continuous parameter. With the continuous formulation of all perfusion parameters, it is possible to use standard gradient-based optimization algorithms in the approximation of the tissue concentration time sequences. This new six-parameter model is investigated by comparing Monte-Carlo simulations with theoretically derived covariance matrices. The covariance-matrix approach is extended from the usual analysis of the primary perfusion parameters of the pharmacokinetic model to the analysis of the perfusion parameters derived from the primary ones. The results indicate that the precision of the estimated perfusion parameters can be described by the covariance matrix for signal-to-noise ratio higher than ~ 20 dB. The application of the new analysis model on a real DCE-MRI data set is also presented.     

SHEAR BEAM MODEL FOR INTERFACE FAILURE UNDER ANTIPLANE SHEAR (Ⅰ)—FUNDAMENTAL BEHAVIOR

The propagation of interlayer cracks and the resulting failure of the interface is a typical mode occurring in rock engineering and masonry structure. On the basis of the theory of elasto~plasticity and fracture mechanics, the shear beam model for the solution of interface failure was presented. The concept of `cohesive crack’ was adopted to describe the constitutive behavior of the cohesive interfacial layer. Related fundamental equations such as equilibrium equation, constitutive equations were presented. The behavior of a double shear beam bonded through cohesive layer was analytically calculated. The stable propagation of interface crack and process zone was investigated.