An efficient headland-turning navigation system for a safflower picking robot

This study proposes a navigation system for the headland autonomous turning of a safflower picking robot. The proposed system includes binocular cameras, differential satellites, and inertial sensors. The method of extracting the headland boundary line combining the hue, saturation, and value-fixed threshold segmentation method and random sample consensus algorithm and planning the headland-turning trajectory of a robot based on the multiorder Bezier curve are used as control methods. In addition, a headland-turning tracking model of a safflower picking robot is designed, and a path-tracking control algorithm is developed. A field test verifies the performance of the designed headland-turning navigation system. The test results show that the accuracy of the judgment result regarding the existence of a headland is higher than 96%. In headland boundary detection, the angle deviation is less than 1.5˚, and the depth value error is less than 50 mm. The headland-turning path tracking test result shows that at a turning speed of 0.5 km/h, the average lateral deviation is 37 mm, and the turning time is 24.2 seconds. Compared to the 1 km/h, the turning speed of 0.5 km/h provides a better trajectory tracking effect, but the turning time is longer. The test results verify that this navigation system can accurately extract the headland boundary line and can successfully realise the headland-turning path tracking of a safflower picking robot. The results presented in this study can provide a useful reference for the autonomous navigation of a field robot

Effects of Additives and Metals on Crystallization of Nano-Sized HZSM-5 Zeolite for Glycerol Aromatization

Nano-sized HZSM-5 (n-HZSM-5) was synthesized and applied in the aromatization of glycerol. The effects of additives (carboxymethylcellulose sodium, NaCl, sodium alginate, etc.) on the chemical and physic properties of n-HZSM-5 during preparation were investigated. Metal modification was also investigated based on the synthesized n-HZSM-5. The results showed that the addition of carboxymethylcellulose sodium (CMC-Na), NaCl and sodium alginate (SA) led to forming smaller sizes of HZSM-5 and promoted the acid amounts of the catalysts, which increased its catalytic activities for obtaining BTX. The highest BTX yield of ~35% was obtained by SA derived n-HZSM-5, and the life of the catalyst were both obviously promoted by the additives with a highest of ~11 h by γ-(2,3-epoxypropoxy)propytrimethoxysilane (KH-560) derived n-HZSM-5. BTX yields could be improved by 40%by the addition of Zn and Cd in n-HZSM-5 while having little effect on the catalyst life

The Molecular Basis of FIX Deficiency in Hemophilia B

Coagulation factor IX (FIX) is a vitamin K dependent protein and its deficiency causes hemophilia B, an X-linked recessive bleeding disorder. More than 1000 mutations in the F9 gene have been identified in hemophilia B patients. Here, we systematically summarize the structural and functional characteristics of FIX and the pathogenic mechanisms of the mutations that have been identified to date. The mechanisms of FIX deficiency are diverse in these mutations. Deletions, insertions, duplications, and indels generally lead to severe hemophilia B. Those in the exon regions generate either frame shift or inframe mutations, and those in the introns usually cause aberrant splicing. Regarding point mutations, the bleeding phenotypes vary from severe to mild in hemophilia B patients. Generally speaking, point mutations in the F9 promoter region result in hemophilia B Leyden, and those in the introns cause aberrant splicing. Point mutations in the coding sequence can be missense, nonsense, or silent mutations. Nonsense mutations generate truncated FIX that usually loses function, causing severe hemophilia B. Silent mutations may lead to aberrant splicing or affect FIX translation. The mechanisms of missense mutation, however, have not been fully understood. They lead to FIX deficiency, often by affecting FIX’s translation, protein folding, protein stability, posttranslational modifications, activation to FIXa, or the ability to form functional Xase complex. Understanding the molecular mechanisms of FIX deficiency will provide significant insight for patient diagnosis and treatment

Biodiesel Preparation without a Cosolvent in an Opposite-Side Micro-Fixed-Bed Reactor

In the process of preparing biodiesel using microreactors, cosolvents and homogeneous catalysts are generally used, which adds to the separation cost. Hence, this study explored the use of an opposite-side feed micro-fixed-bed reactor with an inner diameter of 2 mm to produce biodiesel by the transesterification of soybean oil and methanol without any cosolvent, in which a fixed solid base acted as catalyst and obstacles. A biodiesel yield of 99.4% was achieved when the methanol-to-oil molar ratio was 12, the temperature was 70 °C, and the residence time was 8.05 min. A mixing study was conducted for this microreactor through computational fluid dynamics (CFD) simulations. The results showed that the best mixing index could reach 0.94 within 25 mm (length). Then, the transesterification kinetics in this reactor were found to be consistent with the proposed pseudo-homogeneous secondary reaction model. With the kinetics data and mixed-model, the biodiesel yield could be predicted. The simulated results were consistent with the experimental data