Determining Feasible Robot Placements in Robotic Cells for Composite Prepreg Sheet Layup

2019 ◽  
Author(s):  
Rishi K. Malhan ◽  
Ariyan M. Kabir ◽  
Brual Shah ◽  
Timotei Centea ◽  
Satyandra K. Gupta
Keyword(s):  
High Performance ◽  
Computationally Efficient ◽  
Robotic Cell ◽  
Precursor Material ◽  
Robotic Cells ◽  
A Cell ◽  
Complex Decision ◽  
Computationally Efficient Algorithms ◽  
Refinement Strategy ◽  
Robot Placement

Abstract High-performance composites are widely used in industry because of specific mechanical properties and lightweighting opportunities. Current automation solutions to manufacturing components from prepreg (pre-impregnated precursor material) sheets are limited. Our previous work has demonstrated the technical feasibility of a robotic cell to automate the sheet layup process. Many decisions are required for the cell to function correctly, and the time necessary to make these decisions must be reduced to utilize the cell effectively. Robot placement with respect to the mold is a significant and complex decision problem. Ensuring that robots can collaborate effectively requires addressing multiple constraints related to the robot workspace, singularity, and velocities. Solving this problem requires developing computationally efficient algorithms to find feasible robot placements in the cell. We describe an approach based on successive solution refinement strategy to identify a cell design that satisfies all constraints related to robot placement.

scholarly journals Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

2021 ◽  
Vol 11 (12) ◽  
pp. 5398
Author(s):  
Tomáš Kot ◽  
Zdenko Bobovský ◽  
Aleš Vysocký ◽  
Václav Krys ◽  
Jakub Šafařík ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Dynamic Simulation ◽  
Robot Manipulator ◽  
The Other ◽  
Robotic Arm ◽  
Robotic Cell ◽  
Wear Reduction ◽  
Fixed End ◽  
Robot Placement ◽  
Collaborative Robot

We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory.

Computationally efficient algorithms for location area planning in future cellular systems

2000 ◽  
Vol 23 (13) ◽  
pp. 1263-1280 ◽  
Author(s):  
P. Demestichas ◽  
N. Georgantas ◽  
E. Tzifa ◽  
V. Demesticha ◽  
M. Striki ◽  
...  
Keyword(s):  
Efficient Algorithms ◽  
Cellular Systems ◽  
Computationally Efficient ◽  
Location Area ◽  
Computationally Efficient Algorithms ◽  
Area Planning

scholarly journals Effective Biodegradation of Aflatoxin B1 Using the Bacillus licheniformis (BL010) Strain

Toxins ◽  
2018 ◽  
Vol 10 (12) ◽  
pp. 497 ◽  
Author(s):  
Ye Wang ◽  
Haiyang Zhang ◽  
Hai Yan ◽  
Chunhua Yin ◽  
Yang Liu ◽  
...  
Keyword(s):  
Liquid Chromatography ◽  
Bacillus Licheniformis ◽  
Aflatoxin B1 ◽  
High Performance ◽  
Culture Fluid ◽  
Molecular Formula ◽  
Induction Periods ◽  
A Cell ◽  
Cell Culture Fluid ◽  
Biotransformation Products

Aflatoxin B1 (AFB1), a pollutant of agricultural products, has attracted considerable attention in recent years, due to its potential impact on health. In the present study, Bacillus licheniformis (BL010) was demonstrated to efficiently degrade AFB1, reducing over 89.1% of the toxin content within 120 h. A crude enzyme solution of BL010 exhibited the highest degradation level (97.3%) after three induction periods. However, uninduced BL010 bacteria was not capable of reducing AFB1. Furthermore, high performance liquid chromatography (HPLC) analysis showed that while a cell-free extract caused a significant decrease in AFB1 content (93.6%, p < 0.05), cell culture fluid treatment did not significantly degrade AFB1. The biotransformation products of AFB1 were detected and further identified by quadrupole time-of-flight liquid chromatography–mass spectrometry (LC-Q-TOF/MS); these corresponded to a molecular formula of C12H14O4. A sequence analysis of whole BL010 genes with a bioinformatics approach identified the secondary structures of two degrading enzymes (Chia010 and Lac010), providing an important basis for subsequent homology modeling and functional predictions.

Enzymatic Synthesis of 1-Sinapoylglucose from Free Sinapic Acid and UDP-Glucose by a Cell-Free System from Raphanus sativus Seedlings

1980 ◽  
Vol 35 (3-4) ◽  
pp. 204-208 ◽  
Author(s):  
Dieter Strack
Keyword(s):  
Phenolic Acids ◽  
Enzymatic Synthesis ◽  
Raphanus Sativus ◽  
High Performance ◽  
Sinapic Acid ◽  
Carboxyl Group ◽  
Ph Optimum ◽  
Free System ◽  
Sh Group ◽  
A Cell

Abstract Protein extracts from seedlings of Raphanus sativus catalyze the transfer of the glucosyl moiety of UDP-glucose to the carboxyl group of phenolic acids. Enzymatic activity was determined spectrophotometrically by measuring the increase in absorbance at 360 nm and/or by the aid of high performance liquid chromatography (HPLC). From 12 phenolic acids tested as acceptors, sinapic acid was by far the best substrate. The glucosyltransfer to sinapic acid has a pH optimum near 7 and requires as SH group for activity, p-Chloromercuribenzoate (PCMB) inhibits activity, which can be restored by the addition of dithiothreitol (DTT). The formation of 1-sinapoylglucose was found to be a reversible reaction, since the addition of UDP results in a breakdown of the ester.

In Vitro Removal of Ochratoxin A by Wine Lactic Acid Bacteria

2007 ◽  
Vol 70 (9) ◽  
pp. 2155-2160 ◽  
Author(s):  
VINCENZO DEL PRETE ◽  
HECTOR RODRIGUEZ ◽  
ALFONSO V. CARRASCOSA ◽  
BLANCA de las RIVAS ◽  
EMILIA GARCIA-MORUNO ◽  
...  
Keyword(s):  
Lactic Acid ◽  
Lactic Acid Bacteria ◽  
Ochratoxin A ◽  
High Performance ◽  
Culture Medium ◽  
Degradation Products ◽  
Cell Binding ◽  
A Cell ◽  
In Vitro Interaction

A study was carried out to determine the in vitro interaction between ochratoxin A (OTA) and wine lactic acid bacteria (LAB). Fifteen strains belonging to five relevant oenological LAB species were grown in liquid synthetic culture medium containing OTA. The portion of OTA removed during the bacterial growth was 8 to 28%. The OTA removed from the supernatants was partially recovered (31 to 57%) from the bacterial pellet. Cell-free extracts of three representative strains were produced by disrupting cells in a French pressure cell. The ability of crude cell-free extracts to degrade OTA was studied. OTA was not degraded by cell-free extracts of wine LAB strains, and no degradation products of OTA were detected in the high-performance liquid chromatograms of the methanol extract of the bacterial pellet. On the basis of these results, we conclude that OTA removal by wine LAB is a cell-binding phenomenon. The chemistry and the molecular basis of OTA binding to wine LAB remains unknown.

scholarly journals Characterizing Longitudinal Changes in the Impedance Spectra of In-Vivo Peripheral Nerve Electrodes

Micromachines ◽  
2018 ◽  
Vol 9 (11) ◽  
pp. 587 ◽  
Author(s):  
Malgorzata Straka ◽  
Benjamin Shafer ◽  
Srikanth Vasudevan ◽  
Cristin Welle ◽  
Loren Rieth
Keyword(s):  
Electrochemical Impedance ◽  
Iridium Oxide ◽  
Support Vector ◽  
Impedance Spectra ◽  
Computationally Efficient ◽  
Wide Range ◽  
Tissue Interface ◽  
Computationally Efficient Algorithms ◽  
Physical Changes

Characterizing the aging processes of electrodes in vivo is essential in order to elucidate the changes of the electrode–tissue interface and the device. However, commonly used impedance measurements at 1 kHz are insufficient for determining electrode viability, with measurements being prone to false positives. We implanted cohorts of five iridium oxide (IrOx) and six platinum (Pt) Utah arrays into the sciatic nerve of rats, and collected the electrochemical impedance spectroscopy (EIS) up to 12 weeks or until array failure. We developed a method to classify the shapes of the magnitude and phase spectra, and correlated the classifications to circuit models and electrochemical processes at the interface likely responsible. We found categories of EIS characteristic of iridium oxide tip metallization, platinum tip metallization, tip metal degradation, encapsulation degradation, and wire breakage in the lead. We also fitted the impedance spectra as features to a fine-Gaussian support vector machine (SVM) algorithm for both IrOx and Pt tipped arrays, with a prediction accuracy for categories of 95% and 99%, respectively. Together, this suggests that these simple and computationally efficient algorithms are sufficient to explain the majority of variance across a wide range of EIS data describing Utah arrays. These categories were assessed over time, providing insights into the degradation and failure mechanisms for both the electrode–tissue interface and wire bundle. Methods developed in this study will allow for a better understanding of how EIS can characterize the physical changes to electrodes in vivo.

Gastric inhibitory polypeptide release from a tumor-derived cell line

1995 ◽  
Vol 269 (2) ◽  
pp. E316-E322 ◽  
Author(s):  
T. J. Kieffer ◽  
Z. Huang ◽  
C. H. McIntosh ◽  
A. M. Buchan ◽  
J. C. Brown ◽  
...  
Keyword(s):  
Cell Line ◽  
High Performance ◽  
Neutralizing Antibody ◽  
Gastric Inhibitory Polypeptide ◽  
Total Cell ◽  
Controlled Environment ◽  
Intestinal Tumors ◽  
Cell Content ◽  
Basal Release ◽  
A Cell

A cell line derived from intestinal tumors of transgenic mice (STC-1) was subcloned to produce a stable line with approximately 30% immunoreactive gastric inhibitory polypeptide (irGIP)-containing cells (STC 6-14). High-performance liquid chromatography (HPLC) of STC 6-14 extracts indicated that the tumor cell-derived irGIP had the same retention time as synthetic porcine GIP-(1-42) (pGIP). Approximately 30% of the cells also contained immunoreactive somatostatin (irSS), which eluted as a single peak on HPLC, corresponding with SS-(1-14). On average, each well of extracted cells (5.0 x 10(5) cultured 4 days) contained 33.3 +/- 1.4 ng irGIP and 18.4 +/- 1.5 ng irSS. Basal release of irGIP in the presence of 5 mM glucose was 733 +/- 58 pg.ml cells-1.2h-1 (2.20 +/- 0.17% of total cell content; TCC) and doubled at 20 mM glucose (4.20 +/- 0.42% TCC). The response to glucose was augmented by addition of a SS neutralizing antibody (SOMA-10) and suppressed by 10 nM SS. Basal release of irSS in 5 mM glucose was 377 +/- 35 pg.ml cells-1.2h-1 (2.05 +/- 0.19% TCC) and was increased by glucose (> or = 15 mM) and the addition of pGIP (> or = 1 nM). The STC 6-14 cell line represents a model to study the synthesis, storage, and release of GIP and SS in a controlled environment.

scholarly journals Identification of Proteins Associating with Glycosylphosphatidylinositol- Anchored T-Cadherin on the Surface of Vascular Endothelial Cells: Role for Grp78/BiP in T-Cadherin-Dependent Cell Survival

2008 ◽  
Vol 28 (12) ◽  
pp. 4004-4017 ◽  
Author(s):  
Maria Philippova ◽  
Danila Ivanov ◽  
Manjunath B. Joshi ◽  
Emmanouil Kyriakakis ◽  
Katharina Rupp ◽  
...  
Keyword(s):  
Endothelial Cells ◽  
Cell Surface ◽  
Cell Survival ◽  
High Performance ◽  
Vascular Endothelial Cells ◽  
Surface Lipid ◽  
Gaba A ◽  
Dependent Cell ◽  
A Cell ◽  
Cell Surface Signaling

ABSTRACT There is scant knowledge regarding how cell surface lipid-anchored T-cadherin (T-cad) transmits signals through the plasma membrane to its intracellular targets. This study aimed to identify membrane proteins colocalizing with atypical glycosylphosphatidylinositol (GPI)-anchored T-cad on the surface of endothelial cells and to evaluate their role as signaling adaptors for T-cad. Application of coimmunoprecipitation from endothelial cells expressing c-myc-tagged T-cad and high-performance liquid chromatography revealed putative association of T-cad with the following proteins: glucose-related protein GRP78, GABA-A receptor α1 subunit, integrin β3, and two hypothetical proteins, LOC124245 and FLJ32070. Association of Grp78 and integrin β3 with T-cad on the cell surface was confirmed by surface biotinylation and reciprocal immunoprecipitation and by confocal microscopy. Use of anti-Grp78 blocking antibodies, Grp78 small interfering RNA, and coexpression of constitutively active Akt demonstrated an essential role for surface Grp78 in T-cad-dependent survival signal transduction via Akt in endothelial cells. The findings herein are relevant in the context of both the identification of transmembrane signaling partners for GPI-anchored T-cad as well as the demonstration of a novel mechanism whereby Grp78 can influence endothelial cell survival as a cell surface signaling receptor rather than an intracellular chaperone.

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