Effects of calcium-magnesium carbonate and calcium-magnesium hydroxide as supplemental sources of magnesium on microbial fermentation in a dual-flow continuous culture

Supplemental sources of Mg can also aid in ruminal pH regulation due to their alkaline properties. Magnesium oxide (MgO) is the most common source of Mg for ruminants and can help controlling ruminal pH; however, alkaline potential of other sources of Mg has not been evaluated. We aimed to evaluate the inclusion of calcium-magnesium carbonate (CaMg(CO3)2) and calcium-magnesium hydroxide (CaMg(OH)4) alone or in combination as supplemental sources of Mg in corn silage-based diets and its impact on ruminal microbial fermentation. We hypothesized that inclusion of CaMg(OH)4 would allow for ruminal fermentation conditions resulting in a greater pH compared to inclusion of CaMg(CO3)2. Four treatments were defined by the supplemental source of Mg in the diet: 1) Control (100% MgO, plus sodium sesquicarbonate as a buffer); 2) CO3 [100% CaMg(CO3)2]; 3) OH [100% CaMg(OH)4]; and 4) CO3/OH [50% Mg from CaMg(CO3)2, 50% Mg from CaMg(OH)4]. Nutrient concentration was held constant across treatments (16% CP, 30% NDF, 1.66 MCal NEl/kg, 0.67% Ca, and 0.21% Mg). Four fermenters were used in a 4x4 Latin Square design with 4 periods of 10 d each. Samples were collected for analyses of nutrient digestibility, soluble Mg, VFA, and NH3, while pH was measured at 0, 1, 2, 4, 6, 8, and 10 h post morning feeding to estimate % time when pH was below 6 (pH-B6) and area under the pH curve for pH below 6.0 (pH-AUC). Bacteria pellets were harvested for 15N analysis and estimates of N metabolism. Treatment effects were analyzed with the mixed procedure of SAS, while effects of using either CaMg(CO3)2 or CaMg(OH)4 as Mg source in comparison to Control treatment were evaluated by orthogonal contrasts. Similar pH-related variables were observed for Control, OH, and CO3/OH treatments, which had smaller pH-AUC and pH-B6 than CO3 (P ≤ 0.01). Butyrate molar proportion was greater in Control and CO3/OH than in CO3 and OH (P = 0.04). Orthogonal contrasts showed lower flow of bacterial N (P = 0.04), lower butyrate molar proportion (P = 0.08) and greater pH-AUC (P = 0.05) for diets with CaMg(CO3)2 in comparison with the Control. Concentration of soluble Mg in ruminal fluid (P = 0.73) and nutrient digestibility (P ≥ 0.52) were similar across treatments. Under the conditions of this experiment, using CaMg(OH)4 alone or combined with CaMg(CO3)2 allowed for a less acidic ruminal fermentation pattern than a diet with only CaMg(CO3)2.

Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint

A new trajectory planning approach on the basis of the quintic Pythagorean–Hodograph (PH) curve is presented and applied to Delta robot for implementing pick-and-place operation (PPO). To satisfy a prescribed geometrical constraint, which indicates the distance between the transition segment curve and right angle of PPO trajectory is no greater than a prescribed value, the quintic PH curve is used to produce a connection segment path for collision avoidance. The relationship between the PH curve and constraint is analyzed, based on which PH curve is calculated simply. Afterwards, the trajectory is planned in different phases with different motion laws, i.e. polynomial motion laws and PH curve parameter-dependent motion laws, to obtain a smooth performance both in Cartesian and joint space. The relationship between the PH curve and constraint is also used to improve the efficiency of calculation, and the trajectory symmetry is used to reduce calculation time by direct symmetric transformation. Thus, real-time performance is improved. The results of simulations and experiments indicate that the approach in this paper can provide smooth motion and meet the real-time requirement under the prescribed geometrical constraint.

Path Planning for Multi-UAV Formation Rendezvous Based on Distributed Cooperative Particle Swarm Optimization

This paper studies the problem of generating cooperative feasible paths for formation rendezvous of unmanned aerial vehicles (UAVs). Cooperative path-planning for multi-UAV formation rendezvous is mostly a complicated multi-objective optimization problem with many coupled constraints. In order to satisfy the kinematic constraints, i.e., the maximum curvature constraint and the requirement of continuous curvature of the UAV path, the Pythagorean hodograph (PH) curve is adopted as the parameterized path because of its curvature continuity and rational intrinsic properties. Inspired by the co-evolutionary theory, a distributed cooperative particle swarm optimization (DCPSO) algorithm with an elite keeping strategy is proposed to generate a flyable and safe path for each UAV. This proposed algorithm can meet the kinematic constraints of UAVs and the cooperation requirements among UAVs. Meanwhile, the optimal or sub-optimal paths can be obtained. Finally, numerical simulations in 2-D and 3-D environments are conducted to demonstrate the feasibility and stability of the proposed algorithm. Simulation results show that the paths generated by the proposed DCPSO can not only meet the kinematic constraints of UAVs and safety requirements, but also achieve the simultaneous arrival and collision avoidance between UAVs for formation rendezvous. Compared with the cooperative co-evolutionary genetic algorithm (CCGA), the proposed DCPSO has better stability and a higher searching success rate.

A Hierarchical Mission Planning Method for Simultaneous Arrival of Multi-UAV Coalition

A hierarchical mission planning method was proposed to solve a simultaneous attack mission planning problem for multi-unmanned aerial vehicles (UAVs). The method consisted of three phases aiming to decouple and solve the mission planning problem. In the first phase, the Pythagorean hodograph (PH) curve was used in the path estimation process for each UAV, which also served as the input for the task allocation process. In the second phase, a task allocation algorithm based on a negotiation mechanism was proposed to assign the targets. Considering the resource requirement, time-dependent value of targets and resource consumption of UAVs, the proposed task allocation algorithm can generate a feasible allocation strategy and get the maximum system utility. In the last phase, a path planning method was proposed to generate a simultaneous arrival PH path for each UAV considering UAV’s kinematic constraint and collision avoidance with obstacles. The comparison simulations showed that the path estimation process using the PH curve and the proposed task allocation algorithm improved the system utility, and the hierarchical mission planning method has potential in a real mission.

Perspectives in solubility measurement and interpretation

Several key topics in solubility measurement and interpretation are briefly summarized and illustrated with case studies drawing on published solubility determinations as a function of pH. Featured are examples of ionizable molecules that exhibit solubility-pH curve distortion from that predicted by the traditionally used Henderson-Hasselbalch equation and possible interpretations for these distortions are provided. The scope is not exhaustive; rather it is focused on detailed descriptions of a few cases. Topics discussed are limitations of kinetic solubility, ‘brick-dust and grease-balls,’ applications of simulated and human intestinal fluids, supersaturation and the relevance of pre-nucleation clusters and sub-micellar aggregates in the formation of solids, drug-buffer/excipient complexation, hydrotropic solubilization, acid-base ‘supersolubilization,’ cocrystal route to supersaturation, as well as data quality assessment and solubility prediction. The goal is to highlight principles of solution equilibria – graphically more than mathematically – that could invite better assay design, to result in improved quality of measurements, and to impart a deeper understanding of the underlying solution chemistry in suspensions of drug solids. The value of solid state characterizations is stressed but not covered explicitly in this mini-review.

Immobilization adjusted clock reaction in the urea–urease–H+ reaction system

The reported immobilization shifts the bell-shaped reactivity-pH curve to lower pHs and enables the clock reaction to occur from a very low initial pH, where the free enzyme had already lost its activity.

Secondary metabolites of Antarctic fungi antagonistic to aquatic pathogenic bacteria

Polar microbial derived antibiotics have potential as alternatives to traditional antibiotics in treating fish against pathogenic bacteria. In this paper, 23 strains of polar fungi were fermented to detect bacteriostatic products on three aquatic pathogenic bacteria, subsequently the active fungus was identified. It was indicated that secondary metabolites of 23 strains weredistinct; of these, the extract of strain B-7 (belonging toBjerkanderaaccording to molecular identification) demonstrated a strong antibacterial activity toStreptococcus agalactiae,Vibrio anguillarumandAeromonas hydrophilaATCC7966 by Kirby-Bauerpaper strip method. During one fermentation cycle, the pH curve of the fermentation liquor became lowest (4.0) on the 4thday and rose back to 7.6 finally after 5 days, The residual sugar curve was decreased before stablising on the 6thday. It is presumed that a large amount of alkaline secondary metabolites might have been produced during fermentation. This study focuses on antagonism between aquatic pathogenic bacteria and fermentation metabolites from Antarctic fungi for the first time, which may provide data on research of antibiotics against aquatic pathogenic bacteria.

Simultaneous ammonium and nitrate removal by a modified intermittently aerated sequencing batch reactor (SBR) with multiple filling events

Optimized methods for simultaneous removal of nitrate, nitrite and ammonium are important features of nutrient removal. Nitrogen removal efficiency in an intermittently aerated sequencing batch reactor (IA-SBR) with multiple filling events was studied. No external carbon source was added and three filling events were considered. Oxidationreduction potential (ORP) and pH curve at solids retention time (SRT) of 20 d were analyzed. Effects of three organic loading rates (OLR), 0.67, 1.0 and 1.5 kgCOD/m3d, and three nitrogen loading rates (NLR), 0.054, 0.1 and 0.15 kgN/m3d, on nitrogen removal were studied. Nitrate Apex in pH curve and Nitrate Knee in ORP profile indicated that the end of denitrification would be achieved sooner. The kinetic coefficients of endogenous decay (kd) and yield (Y) were identified to evaluate heterotrophic specific denitrification rate (SDNRb). In period 2 at NLR of 0.054 kgN/m3d and considering 2 anoxic and 3 aerobic phases, nitrogen removal efficiency was 91.43%.