Elizabethkingia sp. strain 2-6 was collected from a water faucet in the intensive care unit of a medical center in Taiwan. The complete genome sequence and annotation are reported. Analysis of the genetic relatedness to the known Elizabethkingia genomes indicated that strain 2-6 may be a new genomospecies of Elizabethkingia.
This paper presents the design and implementation of a flexible manipulator formed of connected continuum kinematic modules (CKMs) to ease the fabrication of a continuum robot with multiple degrees of freedom. The CKM consists of five sequentially arranged circular plates, four universal joints intermediately connecting five circular plates, three individual actuated tension cables, and compression springs surrounding the tension cables. The base and movable circular plates are used to connect the robot platform or the neighboring CKM. All tension cables are controlled via linear actuators at a distal site. To demonstrate the function and feasibility of the proposed CKM, the kinematics of the continuum manipulator were verified through a kinematic simulation at different end velocities. The correctness of the manipulator posture was confirmed through the kinematic simulation. Then, a continuum robot formed with three CKMs is fabricated to perform Jacobian-based image servo tracking tasks. For the eye-to-hand (ETH) experiment, a heart shape trajectory was tracked to verify the precision of the kinematics, which achieved an endpoint error of 4.03 in Root Mean Square Error (RMSE). For the eye-in-hand (EIH) plugging-in/unplugging experiment, the accuracy of the image servo tracking system was demonstrated in extensive tolerance conditions, with processing times as low as 58±2.12 s and 83±6.87 s at the 90% confidence level in unplugging and plugging-in tasks, respectively. Finally, quantitative tracking error analyses are provided to evaluate the overall performance.
Three‐phase crystallization (TPC) was applied to purify S‐methyl‐2‐chloropropionate (S‐M2CP) from liquid enantiomer mixtures with various initial concentrations. TPC combines melt crystallization and vaporization to produce the desired crystalline solid along with the vapor from the liquid feed via a series of three‐phase transformations. The three‐phase states during TPC were calculated in terms of the thermodynamic properties of M2CP. Basically, the liquid mixture was gradually transformed to the S‐M2CP crystalline solid and vapor mixture at reduced temperature and pressure during TPC. A model was proposed based on the material and energy balances to determine the variations of the masses of the remained liquid mixture, of the produced S‐M2CP crystalline solid, and of the produced vapor mixture during the batch TPC operation. The results indicated that the experimental yield and purity for the final S‐M2CP product obtained during TPC were consistent with those predicted by the model.
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