Grasp planning with soft hands using Bounding Box object decomposition

In this paper, we present a method to plan grasps for soft hands. Considering that soft hands can easily conform to the shape an the object, with preference to certain types of basic geometries and dimensions, we decompose the object into one type of these geometries, particularly into Minimal Volume Bounding Boxes (MVBBs), which are proved to be efficiently graspable by the hand we use. A set of hand poses are then generated using geometric information extracted from such MVBBs. All hand postures are used in a dynamic simulator of the PISA/IIT Soft Hand and put on a test to evaluate if a proposed hand posture leads to a successful grasp. We show, through a set of numerical simulations, that the probability of success of the hand poses generated with the proposed algorithm is very good and represents an evident improvement with respect to our previous results published in [1]

The dark side of biomass valorization: A laboratory experiment to understand humins formation, catalysis and green chemistry

This laboratory experiment introduces students to an important reaction in biomass valorization and allows them to gain a practical understanding of green chemistry. Acid-catalyzed dehydration reactions of fructose to 5-hydroxymethylfurfural and thus humins were performed both with and without aqueous solvent, along with two different catalysts (Amberlyst-15 and alumina). Students were able to compare and analyze the effects of these different conditions using thin-layer chromatography, while grasping concepts of catalysis and circular economy. By observing the formation of humins under some of the reactions tested, the students could evidence systems thinking in humin valorization

Simultaneous Hydrogenation of Multiring Aromatic Compounds over NiMo Catalyst

Hydrogenation of six model feeds containing three-, two- and one-ring aromatic compounds was investigated to gain insights into the aromatic hydrogenation reaction chemistry over a commercial NiMo catalyst under practical reaction conditions. The hydrogenation reactivity of the aromatic compounds followed the following order: phenanthrene ~ two-ring aromatics >> one-ring aromatic.   Comparison with previous studies revealed that the relative reactivity of the aromatic compounds is strongly influenced by the nature of the catalyst.  Multiple component feed studies showed that phenanthrene and naphthalene strongly inhibited the tetralin hydrogenation rate, however naphthalene and tetralin had no appreciable effect on phenanthrene conversion.  Langmuir-Hinshelwood type rate equations were used to describe the reaction kinetics with physically meaningful and well identified parameter values.  The inhibition was attributed to competitive adsorption and was described in the kinetic model by adsorption terms which were obtained from the multicomponent feed experiments.Fil: Beltramone, Andrea Raquel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Córdoba; ArgentinaFil: Resasco, D. E.. Oklahoma State University; Estados UnidosFil: Alvarez, W. E.. No especifíca;Fil: Choudhary, T. V.. No especifíca

Promoter effects of alkali metal cations on the electrochemical reduction of carbon dioxide

The electrochemical reduction of CO_2 is known to be influenced by the identity of the alkali metal cation in the electrolyte; however, a satisfactory explanation for this phenomenon has not been developed. Here we present the results of experimental and theoretical studies aimed at elucidating the effects of electrolyte cation size on the intrinsic activity and selectivity of metal catalysts for the reduction of CO_2. Experiments were conducted under conditions where the influence of electrolyte polarization is minimal in order to show that cation size affects the intrinsic rates of formation of certain reaction products, most notably for HCOO–, C_2H_4, and C_2H_5OH over Cu(100)- and Cu(111)-oriented thin films, and for CO and HCOO– over polycrystalline Ag and Sn. Interpretation of the findings for CO_2 reduction was informed by studies of the reduction of glyoxal and CO, key intermediates along the reaction pathway to final products. Density functional theory calculations show that the alkali metal cations influence the distribution of products formed as a consequence of electrostatic interactions between solvated cations present at the outer Helmholtz plane and adsorbed species having large dipole moments. The observed trends in activity with cation size are attributed to an increase in the concentration of cations at the outer Helmholtz plane with increasing cation size

Remote detection of invasive alien species

The spread of invasive alien species (IAS) is recognized as the most severe threat to biodiversity outside of climate change and anthropogenic habitat destruction. IAS negatively impact ecosystems, local economies, and residents. They are especially problematic because once established, they give rise to positive feedbacks, increasing the likelihood of further invasions and spread. The integration of remote sensing (RS) to the study of invasion, in addition to contributing to our understanding of invasion processes and impacts to biodiversity, has enabled managers to monitor invasions and predict the spread of IAS, thus supporting biodiversity conservation and management action. This chapter focuses on RS capabilities to detect and monitor invasive plant species across terrestrial, riparian, aquatic, and human-modified ecosystems. All of these environments have unique species assemblages and their own optimal methodology for effective detection and mapping, which we discuss in detail

Identification of active sites on supported metal catalysts with carbon nanotube hydrogen highways

Catalysts consisting of metal particles supported on reducible oxides exhibit promising activity and selectivity for a variety of current and emerging industrial processes. Enhanced catalytic activity can arise from direct contact between the support and the metal or from metal-induced promoter effects on the oxide. Discovering the source of enhanced catalytic activity and selectivity is challenging, with conflicting arguments often presented based on indirect evidence. Here, we separate the metal from the support by a controlled distance while maintaining the ability to promote defects via the use of carbon nanotube hydrogen highways. As illustrative cases, we use this approach to show that the selective transformation of furfural to methylfuran over Pd/TiO2 occurs at the Pd-TiO2 interface while anisole conversion to phenol and cresol over Cu/TiO2 is facilitated by exposed Ti3+ cations on the support. This approach can be used to clarify many conflicting arguments in the literatureWe acknowledge financial support from the National Science Foundation, Grant CAREER1653935. Use of the Advanced Photon Source is supported by the U.S. Department of Energy, Office of Science, and Office of Basic Energy Sciences, under Contract DE-AC02-06CH11357. MRCAT operations are supported by the Department of Energy and the MRCAT member institutions. E.C.W. and J.T.M. were supported in part by Center for Innovative Transformation of Alkane Resources (CISTAR) by the National Science Foundation under Cooperative Agreement No. EEC-1647722. Open access fees fees for this article provided whole or in part by OU Libraries Open Access Fund.Ye