Jacobian Matrix Derived from Cross Product and its Application into High Power Joint Mechanism Analysis

The size and weight of an actuator tend to increase with actuator power because the actuator power-to-mass ratio is near constant for a given type of motor. Rapid motion such as jumping or running is difficult to realize by using simple actuator power. The aim of this research is to develop a high power joint mechanism that mimics the leg mechanism of a locust. The characteristics of the joint mechanism are evaluated using vector and dynamic analysis.The proposed high power joint mechanism consists of a closed link structure comprising four links and a spring. Linear actuators are attached to the top and bottom links, and the joint angle changes by controlling the lengths of the top and bottom links. A spring is located between two of the links, and is contracted using two linear actuators to provide stored force, which can be released instantaneously to produce a higher power response than that available directly from both actuators.The analysis demonstrates how the joint mechanism produces an output with a higher power than the rated input actuator power. The output characteristics of the joint mechanism depend on link length and link conditions.     

Enhancing frequency of regeneration of somatic embryos of avocado (Persea americana Mill.) using semi-permeable cellulose acetate membranes

Regeneration of avocado via somatic embryogenesis is difficult due to poor embryo maturation, resulting in low frequencies of germination. In this study, the influence of semi-permeable cellulose acetate membranes and culture media, containing high levels of sucrose along with coconut water, on maturation and germination of somatic embryos of avocado have been evaluated. The culture of embryogenic calli on top of cellulose acetate membranes significantly increased the number of mature, white-opaque embryos that were recovered after 5 weeks of culture. These embryos showed a much more normal appearance and better quality compared with the control embryos, although the embryo size was significantly reduced. To increase the embryo size and to complete maturation, several two-step maturation treatments were tested. The culture of white-opaque somatic embryos in a modified MS medium with B5 macronutrients gelled with 10 g L^?1 agar (B5m10A medium) over a 5-week period, followed by 5 additional weeks in B5m10A with 45 g L^?1 sucrose and 20 % coconut water, yielded the best results, reducing the percentage of necrotic embryos and the number of calli formed. The beneficial effects of this maturation treatment were enhanced when using embryos that were pre-matured on cellulose acetate membranes. Following this two-step maturation treatment, the germination rate of the control somatic embryos, which were not cultured on cellulose membranes, was lower than 10 %, but it significantly improved when the embryos had been pre-matured on cellulose acetate membranes for 5 weeks, reaching a germination rate close to 40 %. The water availability was significantly reduced when somatic embryos were cultured on cellulose membranes, and after this pre-maturation treatment, the white-opaque embryos showed lower water potential and ABA content compared with the control embryos. These results suggest that culturing over cellulose membranes causes a controlled embryo desiccation that enhances the recovery of plants.     

Verification of Beam Models for Ionic Polymer-Metal Composite Actuator

Ionic Polymer-Metal Composite (IPMC) can work as an actuator by applying a few voltages.A thick IPMC actuator,whereNafion-117 membrane was synthesized with polypyrrole/alumina composite filler,was analyzed to verify the equivalent beamand equivalent bimorph beam models.The blocking force and tip displacement of the IPMC actuator were measured with a DCpower supply and Young’s modulus of the IPMC strip was measured by bending and tensile tests respectively.The calculatedmaximum tip displacement and the Young’s modulus by the equivalent beam model were almost identical to the correspondingmeasured data.Finite element analysis with thermal analogy technique was utilized in the equivalent bimorph beam model tonumerically reproduce the force-displacement relationship of the IPMC actuator.The results by the equivalent bimorph beammodel agreed well with the force-displacement relationship acquired by the measured data.It is confirmed that the equivalentbeam and equivalent bimorph beam models are practically and effectively suitable for predicting the tip displacement,blockingforce and Young’s modulus of IPMC actuators with different thickness and different composite of ionic polymer membrane.     

Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators

This paper addresses the design of a biomimetic fish robot actuated by piezoeeramic actuators and the effect of artificial caudal fins on the fish robot＇s performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fm characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel＇s fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fm area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.     

Investigation of Ionic Polymer Metal Composite Actuators Loaded with Various Tetraethyl Orthosilicate Contents

Ionic Polymer Metal Composite (IPMC) can be used as an electrically activated actuator,which has been widely used in artificial muscles,bionic robotic actuators,and dynamic sensors since it has the advantages of large deformation,light weight,flexibility,and low driving voltage,etc.To further improve the mechanical properties of IPMC,this paper reports a new method for preparing organic-inorganic hybrid Nafion/SiO2 membranes.Beginning from cast Nation membranes,IPMCs with various tetraethyl orthosilicate (TEOS) contents were fabricated by electroless plating.The elastic moduli of cast Nation membranes were measured with nano indenters,the water contents were calculated,and the cross sections of Nafion membranes were observed by scanning electron microscopy.The blocking force,the displacement,and the electric current of IPMCs were then measured on a test apparatus.The results show that the blocking force increases as the TEOS content gradually increases,and that both the displacement and the electric current initially decrease,then increase.When the TEOS content is 1.5％,the IPMC shows the best improved mechanical properties.Finally,the IPMC with the best improved performance was used to successfully actuate the artificial eye and tested.     

Manufacture and Performance of Ionic Polymer-Metal Composites

Ion-exchange Polymer Metal Composites （IPMC） are a new class of intelligent material that can be used effectively as actuators and artificial muscles. IPMC was fabricated and its displacement and force characteristics were investigated with respect to voltage, frequency and waveform of the controlling signal. A square waveform input generated slightly larger displacement and force than sinusoidal or triangular waveform. When the voltage was increased and the frequency was decreased, displacement and force were both increased. However, although the bending deformation of IPMC was large, the output force was much lower than we expected. Improvement of the force output is key and is the main obstacle to be overcome in order to make IPMC of practical use.     

Thin and flexible bio-batteries made of electrospun cellulose-based membranes

The present work proposes the development of a bio-battery composed by an ultrathin monolithic structure of an electrospun cellulose acetate membrane, over which was deposited metallic thin film electrodes by thermal evaporation on both surfaces. The electrochemical characterization of the bio-batteries was performed under simulated body fluids like sweat and blood plasma [salt solution--0.9% (w/w) NaCl]. Reversible electrochemical reactions were detected through the cellulose acetate structure. Thus, a stable electrochemical behavior was achieved for a bio-battery with silver and aluminum thin films as electrodes. This device exhibits the ability to supply a power density higher than 3 μW cm(-2). Finally, a bio-battery prototype was tested on a sweated skin, demonstrating the potential of applicability of this bio-device as a micropower source.     

Effect of adhesive on the morphology and mechanical properties of electrospun fibrous mat of cellulose acetate

Ultrafine fibers of cellulose acetate/poly(butyl acrylate) (CA/PBA) composite in which PBA acted as an adhesive and CA acted as a matrix, were successfully prepared as fibrous mat via electrospinning. The morphology observation from the electrospun CA/PBA composite fibers, after treatment with heat hardener, revealed that the fibers were cylindrical and had point-bonded structures. SEM, FT-IR spectra, Raman spectra, TGA analysis, and mechanical properties measurement were used to study the different properties of hybrid mats. The tensile strength of blend fibrous electrospun mats was found to be effectively increased. This resultant enhancement of the mechanical properties of polymer fibrous mats, caused by generating the point-bonded structures (due to adhesive), could increase the number of potential applications of mechanically weak electrospun CA fibers.     

Inability of Microorganisms To Degrade Cellulose Acetate Reverse-Osmosis Membranes

Operational cellulose acetate reverse-osmosis membranes were examined for evidence of biological degradation. Numerous fungi and bacteria were isolated by direct and enrichment techniques. When tested, most of the fungi were active cellulose degraders, but none of the bacteria were. Neither fungi nor bacteria were able to degrade cellulose acetate membrane in vitro, although many fungi were able to degrade cellulose acetate membrane after it had been deacetylated. Organisms did not significantly degrade powdered cellulose acetate in pure or mixed cultures as measured by reduction in acetyl content or intrinsic viscosity or production of reducing sugars. Organisms did not affect the performance of cellulose triacetate fibers when incubated with them. The inability of the organisms to degrade cellulose acetate was attributed to the high degree of acetate substitution of the cellulose polymer. The rate of salt rejection decline was strongly correlated with chlorination of feed water and inversely with densities of microorganisms. These data suggest that microbial degradation of operational cellulose acetate reverse-osmosis membranes is unlikely.     

LBL fabricated biopolymer-layered silicate based nanofibrous mats and their cell compatibility studies

N-(2-hydroxyl) propyl-3-trimethyl ammonium chitosan chloride (HTCC) was synthesized from chitosan (CS). Organic rectorite (OREC) added into cellulose acetate (CA) was used to fabricate electrospun nanofibrous mats with improved thermal properties, as a result of depositing multilayers of the positively charged HTCC-OREC composites and the negatively charged sodium alginate (ALG) via layer-by-layer (LBL) technique. The morphology was affected by the number of deposition bilayers and the component of the outmost layer. Observed from the field emission scanning electron microscopy (FE-SEM) images, the LBL structured nanofibrous mats had much larger fiber sizes than CA-OREC nanofibrous mats. X-ray photoelectron spectroscopy (XPS) and X-ray diffraction (XRD) results further confirmed that HTCC-OREC was assembled on nanofibrous mats. Additionally, cell experiments and MTT results demonstrated that OREC had little effect on the cytotoxicity of LBL template, but obviously affected both the cytotoxicity and the cell compatibility of LBL structured mats when OREC was in the deposition films.     

Cellulose acetate impregnated with polyacrylamide: a novel medium for electrophoresis

Cross-linked polyacrylamide gel containing a low proportion of methylenebis-acrylamide has been incorporated into cellulose acetate membranes. Unlike on cellulose acetate itself, electrophoresis on these modified membranes enables molecular sieving of proteins under a wide range of conditions. By modifying only part of the membrane, samples can be loaded in the normal way and sharpen as they migrate across the cellulose acetate-polyacrylamide boundary. The thin membranes retain their general ease of handling and speed of staining and destaining.     

Preparation and Evaluation of Electrospun Zein/HA Fibers Based on Two Methods of Adding HA Nanoparticles

Zein/HA fibrous membranes were successfully prepared by electrospinning the zein/HA solution mixed by magnetic stirrer （Method I） or ultrasonic power （Method Ⅱ）. The morphology of zeirdHA nanocomposite fibers and the distribution of HA within the fibers electrospun by two methods were researched by Scanning Electron Microscopy （SEM） and Energy-dispersive X-ray spectroscopy （EDX）. In Method I, the distribution of HA nanoparticles is not homogeneous and HA particles tend to agglom- erate. The relatively homogeneous HA distribution can be observed in the membranes electrospun by Method Ⅱ. Using mag- netic stirrer to prepare the electrospinning solution improves the wettability of zein/HA membranes. From the viewpoint of application, electrospun zein/HA membranes fabricated by the solution mixed via Methods I and II both possessed reasonable tensile strength and elongation at break for both handling and sterilization. Considering two aspects of strength and elongation, electrospun zein/HA membranes fabricated by Method I are more balanced than those fabricated by Method Ⅱ. Biological performances of the control zein and zein/HA membranes were assessed by in vitro culture of hMSCs. Results show that both types of the membranes can support cell proliferation. The cells cultured on the zein/HA membranes electrospun by Method I with 5 wt% HA （on weight ofzein） show significantly higher proliferation than those cultured on the control zein membranes on the seventh day. The electrospun zein/HA fibrous membranes show promises for bone tissue engineering applications.     

Lipase immobilisation on to polymeric membranes

Lipase (EC 3.1.1.3) from Candida rugosa was covalently immobilised on to cellulose, cellulose derivatives (cellulose acetate and cellulose phthalate) and cellulose composite membranes using activating agents such as sodium periodate or carbodiimide. Other non-cellulosic polymeric membranes (nylon, polyurethane, chitosan and hydroxyethyl methacrylate-co-methyl methacrylate) were also prepared and used for lipase immobilisation. The results obtained showed that the expressed activities are of the same order of magnitude for similar enzyme loadings when compared with those obtained from literature.     

Acute and chronic influence of hemodialysis according to the membrane used on phagocytic function of neutrophils and monocytes and pro-inflammatory cytokines production in chronic renal failure patients

This work evaluated the phagocytic capacity of monocytes and neutrophils, and tumor necrosis factor-alpha, interleukin 6, 1 and 8 serum levels in chronic renal failure patients under peritoneal dialysis and hemodialysis treatment, compared with chronic renal failure patients without dialysis treatment and healthy individuals, in order to contribute to a better understanding of the action of these therapies on the evolution of chronic renal failure patients. All patients with chronic renal failure (under dialysis or not) showed decreased phagocytic capacity of neutrophils and monocytes. All those in hemodialysis (cellulose acetate or polysulfone membranes) showed a decreased phagocytic capacity. The phagocytic index for neutrophil was 13 times lower than that of the control group for both membranes, whereas for monocytes, only those using polysulfone membrane showed a significant decrease of 4.9 times in phagocytic capacity. There was an acute stimulation of the phagocytosis by neutrophils after a single session of dialysis with both types of membrane, while only cellulose acetate membrane decreased the phagocytic index of monocytes after the hemodialysis session. Patients using cellulose acetate showed a chronic increase in tumor necrosis factor-alpha serum levels, while those using polysulfone showed a chronic increase in interleukin 6. After a single hemodialysis procedure, no acute effect of the treatment on tumor necrosis factor-alpha and interleukin 6 levels was identified. The decreased phagocytic function of neutrophils and monocytes may account for the high levels of susceptibility of chronic renal failure patients to infections with pyogenic bacteria and tuberculosis. Furthermore, inflammatory activity may occur with both types of membrane studied, suggesting that it will be useful for these patients to evaluate some anti-inflammatory or anti-cytokine therapies against tumor necrosis factor-alpha and interleukin 6, in order to avoid cardiovascular complication.     

Hematopoiesis on cellulose acetate membranes in the presence of lipopolysaccharides

The formation of hemopoietic colonies on acetate cellulose membranes in the peritoneal cavity of mice was markedly enhanced after the injection of bacterial lipopolysaccharide. In addition to granulocytic-macrophagal differentiation, the foci of erythropoiesis appeared. The stimulating effect of lipopolysaccharide was not expressed in nonirradiated mice and during the formation of hemopoietic foci on acetate cellulose membranes in the subcutaneous connective tissue.     

Characteristics and bending performance of electroactive polymer blend made with cellulose and poly(3-hydroxybutyrate)

This paper describes a novel cellulose/poly(3-hydroxybutyrate) blend based electroactive polymer. The fabrication process, bending actuation test and its characteristics are investigated. To prepare this new EAP, cellulose and PHB were dissolved in trifluoroacetic acid. The solution was cast to form a film followed by depositing thin gold electrode on both sides of the film. The characteristics of the cellulose/PHB film were investigated by Fourier transform infrared spectra, scanning electron microscopy, X-ray diffraction differential scanning calorimetry, tensile test and dynamic mechanical analysis. The bending performance was evaluated in terms of free bending displacement, electrical power consumption output and lifetime test under ambient conditions. Primary results show that this cellulose/PHB blend EAP is less sensitive to humidity and it shows higher bending displacement and longer lifetime than pure cellulose EAP at room humidity condition. These results indicate that this new cellulose/PHB blend EAP has potential for many biomimetic applications.     

Hemopoiesis on Acetate Cellulose Membranes in the Presence of Lipopolysaccharide

The formation of hemopoietic colonies on acetate cellulose membranes in the peritoneal cavity of mice was markedly enhanced after the injection of bacterial lipopolysaccharide. In addition to granulocytic-macrophagal differentiation, the foci of erythropoiesis appeared. The stimulating effect of lipopolysaccharide was not expressed in nonirradiated mice and during the formation of hemopoietic foci on acetate cellulose membranes in the subcutaneous connective tissue.     

The use of ultrafiltration for concentration and purification of beta-galactosidase

A possibility of concentration and purification of culture fluid of Escherichia coli by the ultrafiltration technique using Soviet cellulose acetate membranes were studied. It is established that cellulose acetate membranes may be used for purification from low molecular weight protein and concentration of preliminarily purified culture fluid of Escherichia coli. Membranes YAM-300 are most preferable. At the temperature of 18 degrees C, pressure 0.16-0.24 MPa and 20-fold concentration the yield of the enzyme at the ultrafiltration stage was 84.5%.     

Dual-mode security authentication of SrAl2O4:Eu,Dy phosphor encapsulated in electrospun cellulose acetate nanofibrous films

Photochromic inks have been an attractive authentication strategy to improve the anti-counterfeiting efficiency of commercial products. However, recent reports have shown significant disadvantages with photochromic inks, including poor durability and high cost. In this context, we developed novel photochromic nanofibres for advanced anti-counterfeiting applications. Lanthanide-doped strontium aluminate (LdSA) nanoparticles (NPs) were prepared and immobilized into electrospun cellulose acetate nanofibres (CANF). Authentication materials immobilized with inorganic photochromic agents can warranty durability and photostability. Therefore, the ultraviolet-stimulated photochromism of LdSA-encapsulated cellulose acetate nanofibres (LdSA@CANF) demonstrated high reversibility and photostability. A broad range of cellulose acetate nanofibres with unique emission characteristics was developed when applying different ratios of LdSA NPs. LdSA@CANF appeared colourless under visible daylight, whereas a green emission was monitored under ultraviolet-light illumination. The shape and chemical content of the photochromic fibrous films were examined using various analytical techniques. The mechanical characteristics of LdSA@CANF-coated paper were investigated. The emission wavelength was detected at 514 nm to designate green colour, whereas the excitation wavelength was detected at 369 nm to indicate transparency. The prepared cellulose acetate nanofibrous film can be described as an efficient strategy for the anti-counterfeiting of commercialized items.     

Two-dimensional electrophoresis on the layers of cellulose acetate membrane

A new type of two-dimensional electrophoresis for analysis of protein using cellulose acetate membrane has been developed. Prior to the separation, proteins in a sample are concentrated to a narrow zone on a strip of cellulose acetate according to “steady-state stacking” of isotachophoresis. Electroendosmotic counterflow on cellulose acetate membranes is advantageous for the isotachophoretic concentration of large sample volumes. The concentrated protein zone is then subjected to electrophoretic separation on the same strip. This first-dimensional separation including the concentrating process is named “concentrating electrophoresis.” Iso-electric focusing on several layers of cellulose acetate membrane is performed in the second-dimensional step. Many kinds of detection methods can be applied to the layers among which proteins are distributed. The novel two-dimensional electrophoresis takes only 5 h to perform.