Search results for "LIANT"
showing 10 items of 74 documents
Force/Torque-Sensorless Joint Stiffness Estimation in Articulated Soft Robots
2022
Currently, the access to the knowledge of stiffness values is typically constrained to a-priori identified models or datasheet information, which either do not usually take into ac- count the full range of possible stiffness values or need extensive experiments. This work tackles the challenge of stiffness estimation in articulated soft manipulators, and it proposes an innovative solution adding value to the previous research by removing the necessity for force/torque sensors and generalizing to multi-degree- of-freedom robots. Built upon the theory of unknown input-state observers and recursive least-square algorithms, the solution is independent of the actuator model parameters and its in…
Sponge aggregation factor and sponge hemagglutinin: possible relationships between two different molecules.
1979
Abstract A lectin from the marine sponge GEODIA CYDONIUM was isolated and characterized. GEODIA lectin (GL) agglutinates human red blood cells irrespective of the ABO blood group and precipitates with a variety of D -galactose containing glycosubstances, i.e. certain snail galactans, bovine erythrocyte glycoprotein and PNEUMOCOCCUS type XIV polysaccharide. The only simple sugars inhibiting the GL-mediated hemagglutination were lactose and n -acetyl- D -galactosamine. GL was purified by affinity chromatography on Sepharose 4B almost to homogeneity as tested by polyacrylamide disc gel electrophoresis. Positive staining of the lectin band with Coomassie brilliant blue and PAS suggest that GL i…
Infracyanine Green vs. Brilliant Blue G in Inverted Flap Surgery for Large Macular Holes: A Long-Term Swept-Source OCT Analysis
2020
Background and Objectives: To compare the long-term toxicity of infracyanine green (IFCG) to brilliant blue G (BBG) in inverted internal limiting membrane flap surgery (I-ILMFS) for large, full-thickness macular holes (FTMHs). Materials and Methods: Prospective randomized study including 39 eyes with &ge
Bio materials with reclaimed asphalt: from lab mixes properties to non-damaged full scale monitoring and mechanical simulation
2019
Three innovative environmentally friendly pavement materials, designed with 50% of Reclaimed Asphalt and three different biomaterials (2 bio-additivated bitumens and 1 bio-binder), were produced in an industrial plant. These mixes were tested in lab and also at full scale using an Accelerated Pavement Test facility. The asphalt mix viscoelastic properties were measured in lab and their intrinsic viscoelastic response were simulated. These rheological models are used to simulate the pavement mechanical response using both elastic and viscoelastic multilayer codes. Hence, full scale measurement performed during the full scale test at an early stage (without damages) can be compared with these…
Light and Primary Production Shape Bacterial Activity and Community Composition of Aerobic Anoxygenic Phototrophic Bacteria in a Microcosm Experiment
2020
ABSTRACT Phytoplankton is a key component of aquatic microbial communities, and metabolic coupling between phytoplankton and bacteria determines the fate of dissolved organic carbon (DOC). Yet, the impact of primary production on bacterial activity and community composition remains largely unknown, as, for example, in the case of aerobic anoxygenic phototrophic (AAP) bacteria that utilize both phytoplankton-derived DOC and light as energy sources. Here, we studied how reduction of primary production in a natural freshwater community affects the bacterial community composition and its activity, focusing primarily on AAP bacteria. The bacterial respiration rate was the lowest when photosynthe…
Physico-chemical evolution of low-pH cements : influence of the temperature and the retention mechanisme of alkalins
2010
Because of their high alkalinity, Portland cement (OPC)-based materials may have deleterious effects in an underground waste repository. A solution would be to use low-alkalinity cements (also referred as low-pH cements) generating interstitial solutions with a reduced pH (11 instead of 13.5 for OPC), and thus showing an improved chemical compatibility with the repository environment. In this work, the investigated formulations were based on binary (OPC / silica fume) or ternary (OPC / silica fume / slag or fly ash) blends, with high substitution levels of CEM I (from 30% to 80%). This research project met two main objectives: (i) study the chemical evolution of low-pH cements at 50°C or 80…
A barium method for the cytochemical detection of sulfated glycosaminoglycans in mast cells and basophilic leukocytes.
1999
Barium ions precipitate inorganic as well as organic sulfate compounds and they can be detected by a reaction with sodium rhodizonate. In this work, we describe the use of a barium method for the selective demonstration of sulfated glycosaminoglycans in cytoplasmic granules of mast cells and basophilic leukocytes. Methanol-fixed smears of mouse peritoneal mast cells and rat bone marrow basophils were treated with 5% BaCl2 for 10 min, followed by staining with either 0.2% sodium rhodizonate in 50% ethanol for 2 h at 60 degrees C, or 0.01% brilliant green in distilled water for 1 min. Light microscopic observation revealed a strong staining reaction of the cytoplasmic granules of these cell t…
Changes in Serum and Lipoprotein Fatty Acids of Growing Rats Fed Protein-Deficient Diets with Low or Adequate Linolenic Acid Concentrations
1992
The effects of a protein-deficient diet associated with sunflower oil [adequate in 18:2(n-6), poor in 18:3(n-3)] or soybean oil [adequate in both 18:2(n-6) and 18:3(n-3)] on lipid serum and lipoprotein compositions were studied in growing rats. Four groups of rats were fed different diets: SFC (20% casein + 5% sunflower oil); SFd (2% casein + 5% sunflower oil); SC (20% casein + 5% soybean oil); Sd (2% casein + 5% soybean oil). After 28 d, both protein-deficient groups exhibited low concentrations of protein, phospholipid, triacylglycerol and total cholesterol in serum and VLDL. Compared with rats fed 20% casein diets, those fed low protein diets had lower 18:2(n-6) and 20:4(n-6) in phosphol…
Linear viscoelastic properties of high reclaimed asphalt content mixes with biobinders
2017
The use of high Reclaimed Asphalt (RA) content mixtures together with binders produced from renewable resources (biobinders) is one of the current challenges in pavement engineering research. On the one hand, RA has been used for decades, but there are still some concerns about its performance, especially when high contents are used (>30%). On the other hand, biobinders are relatively new materials, which have to be deeply characterised and studied in order to develop good practices for their use. In this paper, linear viscoelastic properties of biobinders and bio-mixtures manufactured with high RA content and biobinders are analysed and discussed. High-modulus mixtures with 50% RA were…
Mycotoxins and mycotoxigenic moulds in nuts and sunflower seeds for human consumption
1991
A survey was carried out to obtain data on the occurrence of mycotoxins and the mycotoxin-producing potential of fungi isolated from nuts (almonds, peanuts, hazelnuts, pistachio nuts) and sunflower seeds in Spain. Thin-layer chromatography was used to separate the toxins. Aflatoxins were detected in one sample of almonds (95 ppb aflatoxin B1 and 15 ppb aflaxtoxin B2) and in one sample of peanuts at a level below 10 ppb of aflatoxin B1. 100% of samples showed variable incidence of fungal contamination. The predominant fungi present in samples were Penicillium spp, Aspergillus niger, A. flavus, A. glaucus and Rhizopus spp. The results showed that isolates of different species were able to pro…