SUMMARYOften inspection and maintenance work involve a large number of highly dangerous manual operations, especially within industrial fields such as shipbuilding and construction. This paper deals with the autonomous climbing robot which uses the "caterpillar" concept to climb in complex 3D metallic-based structures. During its motion the robot generates in real-time the path and grasp planning in order to ensure stable self-support to avoid the environment obstacles, and to optimise the robot consumption during the inspection. The control and monitoring of the robot is achieved through an advanced Graphical User Interface to allow an effective and user friendly operation of the robot. The experiments confirm its advantages in executing the inspection operations.

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Forty-nine plant species from Spain, belonging to the Boraginaceae, Scrophulariaceae, Onagraceae, and Ranunculaceae families, were surveyed in a search of new sources of γ-linolenic acid (18:3ω6, GLA). Fatty acid profiles from seeds, stems, roots, flowers and leaves were determined. GLA was detected mainly in seed and root tissues. High GLA amounts were found in seeds of Boraginaceae species, with a maximum of 20.25% of total fatty acids in Myosotis nemorosa. Within the Scrophulariaceae the highest GLA content (10.17%) was found in Scrophularia sciophila. Variable amounts of stearidonic acid, (18:4ω3, SDA) were present in Boraginaceae species, ranging from 0.08% of total seed fatty acids in Anchusa azurea to 21.06% in Echium asperrimum. SDA was also very abundant in all organs of Asperugo procumbens. A multivariate analysis was performed using our results and those reported for other plant species belonging to the same families in order to investigate a possible correlation between the fatty acid profile and the genera within these families.

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The contents of oxalic acid and calcium in several wild edible plants were analyzed. Oxalic acid was determined by an espectrophotometric method based on the decrease of absorbance at 335 nm due to the dissociation of the zirconium(IV)−chloranilate complex, consecutive to the addition of oxalic acid. Calcium was determined by atomic absorption spectroscopy. The results show the absence of this acid in two of the studied plants:  hoary cress (Cardaria draba (L.) Desv.) and vervain (Verbena officinalis L.). Also noticeable is the high content of oxalic acid in goosefoot (Chenopodium album L.), with a range of values from 360 to 2000 mg/100 g of fresh weight, and the high ratio (oxalic acid/calcium) in curly dock (Rumex crispus L.), with a mean value of 32. Keywords: Oxalic acid; calcium; antinutritive substance; wild edible plants

Seven solvent mixtures have been used to extract the lipid fraction of lyophilized biomass ofIsochrysis galbana. Six of them were composed of biocompatible solvents. Each method was carried out under relaxed operating conditions (i.e., one hour at room temperature) with extraction in a nitrogen atmosphere to prevent autooxidation and degradation of polyunsaturated fatty acids (PUFAs). Apart from the well‐established Bligh and Dyer method [Can. J. Biochem. Physiol. 37:911 (1959)] (Cl3CH/MeOH/H2O, 1∶2∶0.8, vol/vol/vol), which rendered the highest yield of lipids (93.8%), ethanol (96%) and hexane/ethanol (96%), 1∶2.5 vol/vol produced the best results (84.4 and 79.6%, respectively). To obtain free fatty acids, KOH was added to the solvent mixtures used to extract the total lipids, except for Cl3CH/MeOH/H2O, and direct saponification was carried out at 60°C for 1 h or at room temperature for 8 h. The highest yields obtained by direct saponicification were 81% with hexane/ethanol (96%), 1∶2.5, vol/vol and 79.8% with ethanol (96%). Partial yields of the mainn‐3 PUFAs found inI. galbana, stearidonic acid (SA), eicosapentaenoic acid (EPA) and docosahexaenoic acid (DHA), were calculated for both extraction methods. For lipid extraction with ethanol (96%), yields of 91, 82 and 83% were obtained for SA, EPA and DHA, respectively. When direct saponification was used, hexane/ethanol (96%; 1∶2.5, vol/vol) produced the best yields of (91, 79 and 69% for SA, EPA and DHA, respectively).

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