This work describes a novel technology for the reuse of low concentrated electronic wastewater using selected microbe immobilisation cell (SMIC) system. The SMIC system is an innovative technology to maximise the activity of specific microorganisms capable of decomposing tetramethyl ammonium hydroxide (TMAH) as a major organic compound in the low concentrated electronic wastewater. The versatility of the SMIC system has been studied by using continuous-flow reactors. The TOC in a SMIC system was removed completely, indicating that SMIC is a useful technology to remove TOC biologically in low concentrated wastewater. The most important advantages of this system are highly effective and stable in view of TMAH removal. These characteristics make well suited to various applications depending on targeted compounds and microorganisms and, especially, in the wastewater of electronic facilities.
A bridge-transported bilateral master-slave servo manipulator system called the Bridge-Transported Dual-Arm Servo-Manipulator (BDSM) was developed for remote manipulation at the Pyroprocess Integrated Inactive Demonstration (PRIDE) facility. Its many innovative design concepts include a motion-decoupled, cable-drive mechanism, fully counterbalanced linkage structure, and interface system for easy attachment/detachment of the arms during remote maintenance. In addition, the manipulator is mounted at the end of a novel redundantdrive extensible telescopic boom with a synchronized compact cabling management system. The BDSM is currently installed in the Remote Handling Evaluation Mock-up (RHEM), where it has successfully completed operating tests with a remote control system incorporating a bilateral force-reflection controller. Good tracking performance was confirmed regardless of the payload, allowing highly transparent control. The system is thus expected to achieve its design goals in dexterous remote handling tasks in PRIDE. C 2011 Wiley Periodicals, Inc.
Ulcerative colitis (UC) is an inflammatory bowel disease caused by various factors, including intestinal inflammation and barrier dysfunction. Herein, we determined the effects of fermented glutinous rice (FGR) on the expression of tight junction proteins and levels of inflammation and apoptosis in the dextran sodium sulfate (DSS)-induced acute colitis model. FGR was orally administered once per day to C57BL/6J mice with colitis induced by 5% DSS in drinking water. FGR administration recovered DSS-induced body weight loss and irregularly short colon lengths. FGR inhibited the DSS-induced decrease in FITC-dextran (FD)-4 permeability and myeloperoxidase activity. Moreover, FGR treatment repaired the reduction of zonula occluden-1 (ZO-1) and occludin expression and the increase in claudin-2 expression in colonic tissue relative to that following DSS administration. FGR treatment significantly recovered expression of cytokines, such as tumor necrosis factor (TNF)-α, interleukin (IL)-6, and IL-1β, in serum or respective mRNA expression in colonic tissue relative to that following DSS administration. FGR regulated levels of oxidative stress-related factors, such as malondialdehyde and glutathione, and the activity of catalase and superoxide dismutase in the colon tissue of the DSS-induced acute colitis mice model. Furthermore, FGR treatment inhibited apoptosis by reducing the activity of caspase-3 and the ratio of Bcl-2 associated X (Bax)/B-cell lymphoma 2 (Bcl-2). Collectively, FGR treatment protected the intestinal barrier from dysfunction and inhibited inflammation and apoptosis in DSS-induced colitis. Therefore, FGR may decrease the inflammatory response and be a candidate for treating and prevention inflammatory bowel disease by protecting the intestinal integrity.
NOMENCLATURE J = moment of inertia Kp, Kd = proportional and derivative control gains Km, Ks = equivalent stiffness of master tendon and slave tendon q = modal coordinate U, V = right and left modal matrics x, z = state variables α = force reflection ratio γ = L2-gain λ = eigenvalue θ = angle of rotation In this work, a bilateral control for a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. The measurable variables are the positions and rates of master/slave motors. In the consideration of the flexibility of the power transmission tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. The system model is reduced to guarantee the controllability and observability which are necessity for the static output feedback control by using modal analysis. Based on the reduced model, the control gains are determined to attenuate vibration in the sense of optimality. The feasibility of the proposed control design was verified along with some simulation results.
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