Real-time algorithm,based on two extra sensors,for monitoring platform’s orientation of underactuated parallel wrists

The direct position analysis of parallel manipulators (PMs) brings to determine a finite number of platform poses compatible with an assigned set of actuated-joint variables’ values. Therefore, when, during functioning, the need to check the actual platform pose arises, the sensors usually located on the actuators are not sufficient and the additional pieces of information coming from ad-hoc-devised extra sensors are necessary. Here, for the first time, the actual implementation of extra sensors in underactuated parallel wrists (PWs) which contain a nonholonomic constraint is addressed. Differently from “ordinary” (i.e., non-underactuated) PWs, these PWs requires a continuous monitoring of the actual platform orientation to compensate the possible sliding in the nonholonomic constraint. Thus, in this case, the algorithms that interpret the pieces of information coming from the sensors must work in real time and must be integrated in the control software that manages the motion of the machine. All these special requirements are satisfied by the proposed algorithm. Moreover, the proposed hardware can also be implemented in some ordinary PWs with a cheap add-on kit.     

A Facile Syntheses of 6-Bicyclo[3.2.1]octanones

Copper oxide-catalyzed decomposition of 1-diazoacetyl-1-methyl-3-methylenecyclohexanes produces strained tricycles whose reduction or hydrolysis affords 6-bicyclo[3.2.1]octanones.     

Radiolabelling of TiO<Subscript>2</Subscript> nanoparticles for radiotracer studies

Industrially manufactured titanium dioxide nanoparticles have been successfully radiolabelled with ⁴⁸V by irradiation with a cyclotron-generated proton beam. Centrifugation tests showed that the ⁴⁸V radiolabels were stably bound within the nanoparticle structure in an aqueous medium, while X-ray diffraction indicated that no major structural modifications to the nanoparticles resulted from the proton irradiation. In vitro tests of the uptake of cold and radiolabelled nanoparticles using the human cell line Calu-3 showed no significant difference in the uptake between both batches of nanoparticles. The uptake was quantified by Inductively Coupled Plasma Mass Spectrometry and high resolution γ-ray spectrometry for cold and radiolabelled nanoparticles, respectively. These preliminary results indicate that alterations to the nanoparticles’ properties introduced by proton bombardment can be controlled to a sufficient extent that their further use as radiotracers for biological investigations can be envisaged and elaborated.     

New artificial receptors from selectively functionalized calix[4]arenes

Abstract

The development of new synthetic methods for the monoalkylation of calix[4]arenes at the lower rim allows the synthesis of a new class of trihydroxamate siderophores. Three chelating hydroxamic acid units are introduced through a sequence of reactions which blocks the macrocycle in the cone conformation. The new ligands obtained form neutral 1:1 complexes (FeL) with iron (III), which are stable in EtOH/H₂O 9:1 at pH 2–7. Calix[4]arene bis-crown ethers are prepared by exploiting the selective 1,2-(proximal) functionalization of calix[4]arenes at the lower rim. These ligands are, however, less effective in complexing alkali metal cations compared with the 1,3-calix[4]arene crown-ethers which, in their partial cone structure, offer a better shielding for the complexed cations. Rigid upper rim-bridged calix[4]arenes potentially useful for the inclusion of neutral molecules are prepared by exploiting the selective 1,3-diformylation of calix[4]arene at the upper rim. Finally a new chloromethylation method for calix[4]arenes blocked in the cone conformation is described together with the synthesis of new cavitands.     

A Practical Synthesis of 1,4,7,10-Tetraaza-Cyclododecane,A Pivotal Precursor for MRI Contrast Agents

A practical preparation of the versatile macrocycle 1,4,7,10-tetraazacyclododecane (cyclen) was developed starting from cheap and easily available starting materials as ethylenediamine and glyoxal.     

Solvent-Free Microwave-Assisted Organic Reactions Preparation of β-Keto Esters

Microwave technique has been utilised in the preparation of β-keto esters. Two different procedures are described: transesterification of β-keto esters and ring opening of 2,2,6-trimethyl-1,3-dioxin-4-one.     

QuEChERS sample preparation for the determination of pesticides and other organic residues in environmental matrices: a critical review

Quick, Easy, Cheap, Effective, Rugged, and Safe (QuEChERS) is an extraction and clean-up technique originally developed for recovering pesticide residues from fruits and vegetables. Since its introduction, and until December 2013, about 700 papers have been published using the QuEChERS technique, according to a literature overview carried out using SciFinder, Elsevier SciVerse, and Google search engines. Most of these papers were dedicated to pesticide multiresidue analysis in food matrices, and this topic has been thoroughly reviewed over recent years. The QuEChERS approach is now rapidly developing beyond its original field of application to analytes other than pesticides, and matrices other than food, such as biological fluids and non-edible plants, including Chinese medicinal plants. Recently, the QuEChERS concept has spread to environmental applications by analyzing not only pesticides but also other compounds of environmental concern in soil, sediments, and water. To the best of our knowledge, QuEChERS environmental applications have not been reviewed so far; therefore, in this contribution, after a general discussion on the evolution and changes of the original QuEChERS method, a critical survey of the literature regarding environmental applications of conventional and modified QuEChERS methodology is provided. The overall recoveries obtained with QuEChERS and other extraction approaches (e.g., accelerated solvent extraction, ultrasonic solvent extraction, liquid/solid extraction, and soxhlet extraction) were compared, providing evidence for QuEChERS higher recoveries for various classes of compounds, such as biopesticides, chloroalkanes, phenols, and perfluoroalkyl substances. The role of physicochemical properties of soil (i.e., clay and organic carbon content, as well as cation exchange capacity) and target analytes (i.e., log K_OW, water solubility, and vapor pressure) were also evaluated in order to interpret recovery and matrix effect data.