Motion planning and actuator specialization in the control of active-flexible link robots

Trajectory planning is a well-known open-loop control strategy to minimize residual vibrations in point-to-point tasks of systems featuring mechanical flexibility. However, the major drawback of open-loop control is its limitation in coping with modeling uncertainty. In this paper a novel approach to trajectory planning based on LQR theory is proposed and applied to a single flexible link robot. To improve performance under parameter uncertainty the strategy is combined with collocated vibration control through piezoelectric actuation of the link. This combination raises the issue of the roles and the contribution of each actuator type to the overall performance of the maneuver. An actuator specialization is proposed where the joint controller is responsible for the gross vibrationless motion of the link, while the link actuators are expected to deal only with residual vibrations that may arise from modeling errors. Simulation and experimental results validate the trajectory planning methodology and the combination of the open-loop strategy with collocated vibration control.     

Synthesis and Characterization of N‐methylenephenyl Phosphonic Chitosan

Chitosan is a natural based polymer obtained by alkaline deacetylation of chitin, exhibiting excellent properties such as non‐toxicity, biocompatibility and biodegradability. N‐Methylenephenyl phosphonic chitosan (NMPPC) is synthesized from chitosan by reacting with phenyl phosphonic acid using formaldehyde. The NMPPC was characterized by FTIR, ³¹P‐NMR, X‐ray diffraction, scanning electron microscopy, thermogravimeteric analysis and solubility studies. A significant decrease of molecular weight was observed in the NMPPC. The TGA studies suggested that NMPPC has less thermal stability than chitosan. The X‐ray diffraction analysis showed that NMPPC was amorphous in nature. The solubility property of the polymer was improved after the incorporation of a phenyl phosphonic group.     

Electrochemical detection of miRNA-222 by use of a magnetic bead-based bioassay

MicroRNAs (miRNAs, miRs) are naturally occurring small RNAs (approximately 22 nucleotides in length) that have critical functions in a variety of biological processes, including tumorigenesis. They are an important target for detection technology for future medical diagnostics. In this paper we report an electrochemical method for miRNA detection based on paramagnetic beads and enzyme amplification. In particular, miR 222 was chosen as model sequence, because of its involvement in brain, lung, and liver cancers. The proposed bioassay is based on biotinylated DNA capture probes immobilized on streptavidin-coated paramagnetic beads. Total RNA was extracted from the cell sample, enriched for small RNA, biotinylated, and then hybridized with the capture probe on the beads. The beads were then incubated with streptavidin–alkaline phosphatase and exposed to the appropriate enzymatic substrate. The product of the enzymatic reaction was electrochemically monitored. The assay was finally tested with a compact microfluidic device which enables multiplexed analysis of eight different samples with a detection limit of 7 pmol L^?1 and RSD?=?15 %. RNA samples from non-small-cell lung cancer and glioblastoma cell lines were also analyzed.     

Light Energy Collection in a Porphyrin–Imide–Corrole Ensemble

An assembly consisting of three units, that is, a meso‐substituted corrole ( C3 ), 1,8 naphthaleneimide ( NIE ), and a Zn porphyrin ( ZnP ), has been synthesized. NIE is connected to C3 through a 1,3‐phenylene bridge and to the ZnP unit through a direct C? C bond. The convergent synthetic strategy includes the preparation of a trans‐A₂B‐corrole possessing the imide unit, followed by Sonogashira coupling with a meso‐substituted A₃B‐porphyrin. The photophysical processes in the resulting triad ZnP-NIE-C3 are examined and compared with those of the corresponding C3-NIE dyad and the constituent reference models C3 , NIE , and ZnP . Excitation of the NIE unit in C3-NIE leads to a fast energy transfer of 98 % efficiency to C3 with a rate k_en=7.5×10¹⁰ s^?1, whereas excitation of the corrole unit leads to a reactivity of the excited state identical to that of the model C3 , with a deactivation rate to the ground state k=2.5×10⁸ s^?1. Energy transfer to C3 and to ZnP moieties follows excitation of NIE in the triad ZnP-NIE-C3 . The rates are k_en=7.5×10¹⁰ s^?1 and k_en=2.5×10¹⁰ s^?1 for the sensitization of the C3 and ZnP unit, respectively. The light energy transferred from NIE to Zn porphyrin unit is ultimately funneled to the corrole component, which is the final recipient of the excitation energy absorbed by the different components of the array. The latter process occurs with a rate k_en=3.4×10⁹ s^?1 and 89 % efficiency. Energy transfer processes take place in all cases by a Förster (dipole–dipole) mechanism. The theory predicts quite satisfactorily the rate for the ZnP/C3 couple, where components are separated by about 23 Å, but results in calculated rates that are one to two orders of magnitude higher for the couples NIE/ZnP (D/A) and NIE/C3, which are separated by distances of about 14 and 10 Å, respectively.     

A molecularly imprinted polymer for the determination of neopterin

A molecularly imprinted polymer (MIP) for the specific retention of neopterin has been developed. A set of 6 polymers was prepared by radical polymerization under different experimental condition using methacrylic acid as functional monomer and ethylene glycol dimethacrylate as crosslinker, with the aim to understand their influence on the efficiency of the MIP. The performance of each MIP was tested in batch experiments via their binding capacity. The MIP prepared in the presence of nickel ions in dimethylsulfoxide-acetonitrile mixture (P4) exhibited the highest binding capacity for neopterin (260 μmol per gram of polymer). A selectivity study with two other pteridines demonstrated the polymer P4 also to possess the best selectivity.

Nickel-Catalyzed C-Br/C-H Bis-phenylation of Methyl 4-Bromocrotonate: A Stereoselective Entry to Methyl (E)-3,4-Diphenylbut-2-enoate

A method for C-Br/C-H bis-phenylation of methyl 4-bromocrotonate via nickel-catalyzed cross-coupling reaction has been developed. This protocol involves commercially available catalyst components and furnishes a suitable doubly phenylated building block.