Rice bran was found to effectively adsorb pesticides in artificial gastric fluid. Equilibrium adsorption isotherms conformed to the Freundlich type (loglog linear). Pretilachlor and esprocarb were successfully removed in artificial gastric fluid with an average removal efficiency of 85.5% and 95.8%, respectively after 90 min when rice bran (10 g/l) was added to samples containing from 0.05 to 5 mg/l of pesticides. The removal of pesticides by rice bran was attributed to the uptake by intracellular particles called spherosomes.
Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and robust deployment in the presence of humans. The Partner Robot Challenge in World Robot Challenge (WRC) 2020, a global competition held in September 2021, benchmarked tidying tasks in the real home environments, and importantly, tested for full system performances. For this challenge, we developed an entire household service robot system, which leverages a data-driven approach to adapt to numerous edge cases that occur during the execution, instead of classical manual pre-programmed solutions. In this paper, we describe the core ingredients of the proposed robot system, including visual recognition, object manipulation, and motion planning. Our robot system won the second prize, verifying the effectiveness and potential of data-driven robot systems for mobile manipulation in home environments.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.