Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators.

This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm.

Indoor solar thermal energy saving time with phase change material in a horizontal shell and finned-tube heat exchanger.

An experimental as well as numerical investigation was conducted on the melting/solidification processes of a stationary phase change material (PCM) in a shell around a finned-tube heat exchanger system. The PCM was stored in the horizontal annular space between a shell and finned-tube where distilled water was employed as the heat transfer fluid (HTF). The focus of this study was on the behavior of PCM for storage (charging or melting) and removal (discharging or solidification), as well as the effect of flow rate on the charged and discharged solar thermal energy. The impact of the Reynolds number was determined and the results were compared with each other to reveal the changes in amount of stored thermal energy with the variation of heat transfer fluid flow rates. The results showed that, by increasing the Reynolds number from 1000 to 2000, the total melting time decreases by 58%. The process of solidification also will speed up with increasing Reynolds number in the discharging process. The results also indicated that the fluctuation of gradient temperature decreased and became smooth with increasing Reynolds number. As a result, by increasing the Reynolds number in the charging process, the theoretical efficiency rises.

Adsorption of Cu(II), Co(II), and Ni(II) ions by modified magnetic chitosan chelating resin.

Cross-linked magnetic chitosan-isatin Schiff's base resin (CSIS) was prepared for adsorption of metal ions. CSIS obtained was investigated by means of FTIR, (1)H NMR, wide-angle X-ray diffraction (WAXRD), magnetic properties and thermogravimetric analysis (TGA). The adsorption properties of cross-linked magnetic CSIS resin toward Cu(2+), Co(2+) and Ni(2+) ions were evaluated. Various factors affecting the uptake behavior such as contact time, temperature, pH and initial concentration of the metal ions were investigated. The kinetic parameters were evaluated utilizing the pseudo-first-order and pseudo-second-order. The equilibrium data were analyzed using the Langmuir, Freundlich, and Tempkin isotherm models. The adsorption kinetics followed the mechanism of the pseudo-second-order equation for all systems studied, evidencing chemical sorption as the rate-limiting step of adsorption mechanism and not involving a mass transfer in solution. The best interpretation for the equilibrium data was given by Langmuir isotherm, and the maximum adsorption capacities were 103.16, 53.51, and 40.15mg/g for Cu(2+), Co(2+) and Ni(2+) ions, respectively. Cross-linked magnetic CSIS displayed higher adsorption capacity for Cu(2+) in all pH ranges studied. The adsorption capacity of the metal ions decreased with increasing temperature. The metal ion-loaded cross-linked magnetic CSIS were regenerated with an efficiency of greater than 88% using 0.01-0.1M ethylendiamine tetraacetic acid (EDTA).

Immobilization of horseradish peroxidase on modified chitosan beads.

A method has been developed to immobilize horseradish peroxidase (HRP) on modified chitosan beads by means of graft copolymerization of polyethylacrylate in presence of potassium persulphate and Mohr's salt redox initiator. The activity of free and immobilized HRP was studied. FTIR spectroscopy and scanning electron microscopy were used to characterize HRP immobilization. The efficiency of the immobilization was investigated by examining the relative enzymatic activity of free enzyme before and after the HRP immobilization. The obtained values were found to reach 98.4%. The results show that the optimum temperature of immobilized HRP was 45 degrees C, which was identical to that of free enzyme, and the immobilized HRP exhibited a higher relative activity than that of free HRP over 45 degrees C. The optimal pH for immobilized HRP was 10, which was higher than that of the free HRP (pH 9.0), and the immobilization resulted in stabilization of enzyme over a broader pH range. The apparent kinetic constant value (K(m)) of immobilized HRP was 3.784 mmol ml(-1), which was higher than that of free HRP. On the other hand, the activity of immobilized HRP decreased slowly against time when compared to that of the free HRP, and could retain 65.8% residual activity after 6 consecutive cycles.

Adsorption of Cu(II), Hg(II), and Ni(II) ions by modified natural wool chelating fibers.

The graft copolymerization of ethyl acrylate (EA) onto natural wool fibers initiated by potassium persulphate and Mohr's salt redox initiator system in limited aqueous medium was carried out in heterogeneous media. Ester groups of the grafted copolymers were partially converted into hydrazide function groups followed by hydrazone formation through reaction with isatin. Also the application of the modified fibers for metal ion uptake was studied using Cu(II), Hg(II) and Ni(II). The modified chelating fibers were characterized using FTIR spectroscopy, SEM and X-ray diffraction.

Aetiological factors of obesity in children.

A survey was carried out of the prevalence of obesity in 7600 schoolchildren aged 11-16 years in Cairo. Weight, height and skinfold thicknesses were measured and the children classified as underweight, normal or overweight. Overweight children were further screened for obesity, a triceps skinfold thickness of greater than 18 mm for boys and greater than 25 mm for girls being taken as the lower level of obesity. Age at menarche, birth order, social class, obesity in other members of the family, food habits and dietary intakes were all studied. The prevalence of obesity in Egyptian children was comparable to that in the US. The study emphasizes the importance of social and cultural influences in the development of obesity in Egyptian children.