Robot Motion Prediction by Channel State Information

Autonomous robotic systems have gained a lot of attention, in recent years. However, accurate prediction of robot motion in indoor environments with limited visibility is challenging. While vision-based and light detection and ranging (LiDAR) sensors are commonly used for motion detection and localization of robotic arms, they are privacy-invasive and depend on a clear line-of-sight (LOS) for precise measurements. In cases where additional sensors are not available or LOS is not possible, these technologies may not be the best option. This paper proposes a novel method that employs channel state information (CSI) from WiFi signals affected by robotic arm motion. We developed a convolutional neural network (CNN) model to classify four different activities of a Franka Emika robotic arm. The implemented method seeks to accurately predict robot motion even in scenarios in which the robot is obscured by obstacles, without relying on any attached or internal sensors.Comment: 6 pages, 10 figures, 2 tables, MLSP Conferenc

Comparative study of adsorptive role of carbonaceous materials in removal of UV-active impurities of paclitaxel extracts

Graphite oxide (GO) and reduced graphene oxide (rGO) nanosheets were synthesized with a low-cost manufacturing method. The morphology and structures of the synthesized samples were studied using X-ray diffraction (XRD), atomic force microscopy (AFM), Fourier-transform infrared (FTIR) and Raman spectroscopy. The efficiencies of GO and rGO as novel candidate adsorbents in the pre-purification of paclitaxel were compared and contrasted with those of commercial graphite (Gt), graphene (G) and multi-wall carbon nanotube (MWCNT). According to UV–vis and HPLC analyses, rGO was evaluated as the best absorbent for the removal of impurities in pre-purification of paclitaxel from plant cell cultures. In contrast, the GO had the poorest proficiency for paclitaxel pre-purification in comparison with the other carbonaceous adsorbents. This is attributed to the existence of many localized defects in the π-structure of GO that is related to weakness of π–π stacking interactions between crude extract impurities and GO

Synthesis and Characterization of Encapsulated Nanosilica Particles with an Acrylic Copolymer by in Situ Emulsion Polymerization Using Thermoresponsive Nonionic Surfactant

Nanocomposites of encapsulated silica nanoparticles were prepared by in situ emulsion polymerization of acrylate monomers. The synthesized material showed good uniformity and dispersion of the inorganic components in the base polymer, which enhances the properties of the nanocomposite material. A nonionic surfactant with lower critical solution temperature (LCST) was used to encapsulate the silica nanoparticles in the acrylic copolymer matrix. This in situ method combined the surface modification and the encapsulation in a single pot, which greatly simplified the process compared with other conventional methods requiring separate processing steps. The morphology of the encapsulated nanosilica particles was investigated by dynamic light scattering (DLS) and transmission electron microscopy (TEM), which confirmed the uniform distribution of the nanoparticles without any agglomerations. A neat copolymer was also prepared as a control sample. Both the neat copolymer and the prepared nanocomposite were characterized by Fourier transform infrared spectroscopy (FTIR), thermal gravimetric analyses (TGA), dynamic mechanical thermal analysis (DMTA) and the flame resistance test. Due to the uniform dispersion of the non-agglomerated nanoparticles in the matrix of the polymer, TGA and flame resistance test results showed remarkably improved thermal stability. Furthermore, DMTA results demonstrated an enhanced storage modulus of the nanocomposite samples compared with that of the neat copolymer, indicating its superior mechanical properties

Synthesis and Characterization of Encapsulated Nanosilica Particles with an Acrylic Copolymer by in Situ Emulsion Polymerization Using Thermoresponsive Nonionic Surfactant

Nanocomposites of encapsulated silica nanoparticles were prepared by in situ emulsion polymerization of acrylate monomers. The synthesized material showed good uniformity and dispersion of the inorganic components in the base polymer, which enhances the properties of the nanocomposite material. A nonionic surfactant with lower critical solution temperature (LCST) was used to encapsulate the silica nanoparticles in the acrylic copolymer matrix. This in situ method combined the surface modification and the encapsulation in a single pot, which greatly simplified the process compared with other conventional methods requiring separate processing steps. The morphology of the encapsulated nanosilica particles was investigated by dynamic light scattering (DLS) and transmission electron microscopy (TEM), which confirmed the uniform distribution of the nanoparticles without any agglomerations. A neat copolymer was also prepared as a control sample. Both the neat copolymer and the prepared nanocomposite were characterized by Fourier transform infrared spectroscopy (FTIR), thermal gravimetric analyses (TGA), dynamic mechanical thermal analysis (DMTA) and the flame resistance test. Due to the uniform dispersion of the non-agglomerated nanoparticles in the matrix of the polymer, TGA and flame resistance test results showed remarkably improved thermal stability. Furthermore, DMTA results demonstrated an enhanced storage modulus of the nanocomposite samples compared with that of the neat copolymer, indicating its superior mechanical properties

Enhancing the ethanol production by exploiting a novel metagenomic-derived bifunctional xylanase/β-glucosidase enzyme with improved β-glucosidase activity by a nanocellulose carrier

Some enzymes can catalyze more than one chemical conversion for which they are physiologically specialized. This secondary function, which is called underground, promiscuous, metabolism, or cross activity, is recognized as a valuable feature and has received much attention for developing new catalytic functions in industrial applications. In this study, a novel bifunctional xylanase/β-glucosidase metagenomic-derived enzyme, PersiBGLXyn1, with underground β-glucosidase activity was mined by in-silico screening. Then, the corresponding gene was cloned, expressed and purified. The PersiBGLXyn1 improved the degradation efficiency of organic solvent pretreated coffee residue waste (CRW), and subsequently the production of bioethanol during a separate enzymatic hydrolysis and fermentation (SHF) process. After characterization, the enzyme was immobilized on a nanocellulose (NC) carrier generated from sugar beet pulp (SBP), which remarkably improved the underground activity of the enzyme up to four-fold at 80°C and up to two-fold at pH 4.0 compared to the free one. The immobilized PersiBGLXyn1 demonstrated 12 to 13-fold rise in half-life at 70 and 80°C for its underground activity. The amount of reducing sugar produced from enzymatic saccharification of the CRW was also enhanced from 12.97 g/l to 19.69 g/l by immobilization of the enzyme. Bioethanol production was 29.31 g/l for free enzyme after 72 h fermentation, while the immobilized PersiBGLXyn1 showed 51.47 g/l production titre. Overall, this study presented a cost-effective in-silico metagenomic approach to identify novel bifunctional xylanase/β-glucosidase enzyme with underground β-glucosidase activity. It also demonstrated the improved efficacy of the underground activities of the bifunctional enzyme as a promising alternative for fermentable sugars production and subsequent value-added products

Image_1_Enhancing the ethanol production by exploiting a novel metagenomic-derived bifunctional xylanase/β-glucosidase enzyme with improved β-glucosidase activity by a nanocellulose carrier.JPEG

Some enzymes can catalyze more than one chemical conversion for which they are physiologically specialized. This secondary function, which is called underground, promiscuous, metabolism, or cross activity, is recognized as a valuable feature and has received much attention for developing new catalytic functions in industrial applications. In this study, a novel bifunctional xylanase/β-glucosidase metagenomic-derived enzyme, PersiBGLXyn1, with underground β-glucosidase activity was mined by in-silico screening. Then, the corresponding gene was cloned, expressed and purified. The PersiBGLXyn1 improved the degradation efficiency of organic solvent pretreated coffee residue waste (CRW), and subsequently the production of bioethanol during a separate enzymatic hydrolysis and fermentation (SHF) process. After characterization, the enzyme was immobilized on a nanocellulose (NC) carrier generated from sugar beet pulp (SBP), which remarkably improved the underground activity of the enzyme up to four-fold at 80°C and up to two-fold at pH 4.0 compared to the free one. The immobilized PersiBGLXyn1 demonstrated 12 to 13-fold rise in half-life at 70 and 80°C for its underground activity. The amount of reducing sugar produced from enzymatic saccharification of the CRW was also enhanced from 12.97 g/l to 19.69 g/l by immobilization of the enzyme. Bioethanol production was 29.31 g/l for free enzyme after 72 h fermentation, while the immobilized PersiBGLXyn1 showed 51.47 g/l production titre. Overall, this study presented a cost-effective in-silico metagenomic approach to identify novel bifunctional xylanase/β-glucosidase enzyme with underground β-glucosidase activity. It also demonstrated the improved efficacy of the underground activities of the bifunctional enzyme as a promising alternative for fermentable sugars production and subsequent value-added products.</p