Inverse Kinematic Analysis and Evaluation of a Robot for Nondestructive Testing Application

The robot system has been utilized in the nondestructive testing field in recent years. However, only a few studies have focused on the application of ultrasonic testing for complex work pieces with the robot system. The inverse kinematics problem of the 6-DOF robot should be resolved before the ultrasonic testing task. A new effective solution for curved-surface scanning with a 6-DOF robot system is proposed in this study. A new arm-wrist separateness method is adopted to solve the inverse problem of the robot system. Eight solutions of the joint angles can be acquired with the proposed inverse kinematics method. The shortest distance rule is adopted to optimize the inverse kinematics solutions. The best joint-angle solution is identified. Furthermore, a 3D-application software is developed to simulate ultrasonic trajectory planning for complex-shape work pieces with a 6-DOF robot. Finally, the validity of the scanning method is verified based on the C-scan results of a work piece with a curved surface. The developed robot ultrasonic testing system is validated. The proposed method provides an effective solution to this problem and would greatly benefit the development of industrial nondestructive testing

Universal factorial Schur P,QP,Q-functions and their duals

We define universal factorial Schur $P,Q$-functions and their duals, which specialize to generalized (co)-homology "Schubert basis" for loop spaces of the classical groups. We also investigate some of their properties.Comment: 10 pages, old paper written in 2012.1

Inhibition of Influenza A Virus (H1N1) Fusion by Benzenesulfonamide Derivatives Targeting Viral Hemagglutinin

Hemagglutinin (HA) of the influenza virus plays a crucial role in the early stage of the viral life cycle by binding to sialic acid on the surface of host epithelial cells and mediating fusion between virus envelope and endosome membrane for the release of viral genomes into the cytoplasm. To initiate virus fusion, endosome pH is lowered by acidification causing an irreversible conformational change of HA, which in turn results in a fusogenic HA. In this study, we describe characterization of an HA inhibitor of influenza H1N1 viruses, RO5464466. One-cycle time course study in MDCK cells showed that this compound acted at an early step of influenza virus replication. Results from HA-mediated hemolysis of chicken red blood cells and trypsin sensitivity assay of isolated HA clearly showed that RO5464466 targeted HA. In cell-based assays involving multiple rounds of virus infection and replication, RO5464466 inhibited an established influenza infection. The overall production of progeny viruses, as a result of the compound's inhibitory effect on fusion, was dramatically reduced by 8 log units when compared with a negative control. Furthermore, RO5487624, a close analogue of RO5464466, with pharmacokinetic properties suitable for in vivo efficacy studies displayed a protective effect on mice that were lethally challenged with influenza H1N1 virus. These results might benefit further characterization and development of novel anti-influenza agents by targeting viral hemagglutinin

Response of "Glacier-Runoff" system in a typical monsoonal temperate glacier region, Hailuogou Basin in Mt. Gongga of China, to global warming

International audienceThe method of correlation analysis and trend analysis were used in this research in order to confirm the response of "glacier-runoff" system to global warming. Hailuogou glacier had retreated by 1871.8 m over the past 76 years, Hailuogou No. 2 glacier had also retreated by 1100 m. Glaciers retreats are contrary to the climatic warming trend in China and the Northern Hemisphere. Glaciers in Hailuogou basin were in the loss with a fluctuating manner since 1950s, and accumulative value of mass balance is ?10 825.5 mm water equivalent with an annual mean value of ?240.6 mm. The inverse correlation is highly significant between mass balance variation and climatic fluctuation of China and the Northern Hemisphere after 1950s. Glacier ablation is intensive with a ratio of 7.86 m yr?1. A steady rise tendency toward glaciers runoff has been observed since 1980s, and the runoff rise is mainly responsible for melt water in Hailuogou basin. It is noticeable that climatic warming not only strengthened ablation extent and enlarged ablation area, but also prolonged ablation period. Global warming is the main cause of glacier retreat, mass loss and runoff rise in Hailuogou basin

Isolation, identification and odour-producing abilities of geosmin/2-MIB in actinomycetes from sediments in Lake Lotus, China

This study aimed to determine whether actinomycetes could contribute to the odours occurring in Lake Lotus, China. In total, 55 actinomycete strains were isolated from sediments in Lake Lotus and their odorous metabolites, geosmin and 2-methylisoborneol (2-MIB), were identified using HSPME-GC-MS. Results showed that 24, 23 and 34 strains produced geosmin and/or 2-MIB in Gause, TSB and M liquid media, respectively. Of odour-producing actinomycetes, most could produce geosmin and some produced both metabolites, while few of them produced only 2-MIB. Six isolates with high-level odour were selected for further investigation. Their biomass and odour-producing abilities were monitored in both the slants and liquid media. The results suggest that TSB was the most suitable medium for the growth of mycelium; Gause and M slant supported good production of spores, while M liquid medium was the most favourable for the production of both geosmin and 2-MIB. Those strains that produced geosmin only were less influenced than those that produced both geosmin and 2-MIB under shaking conditions. The results indicate that actinomycetes from sediments should be taken into consideration when off-flavours occur in water columns. According to the 16S rRNA sequences, six actinomycetes were classified in the Streptomyces

Correlation of Maturity Parameters Derived from Methylphenanthrenes and Methyldibenzothiophenes in the Carboniferous Source Rocks from Qaidam Basin, NW China

Twenty-one core samples from the Carboniferous Keluke Formation in the Qaidam basin, NW China, have been geochemically characterized to investigate thermal maturation influence on the evolution behaviors of aromatic hydrocarbons and the validity of commonly used maturity parameters. The Keluke Formation was deposited in marine to continental transitional facies and dominated by type III kerogen. Rock-Eval and vitrinite reflectance () measurement suggested that the studied samples are highly matured at peak oil to gas condensate generation stages. Most biomarkers lost their sensitivity to indicate maturity level due to either approaching the equilibrium point or too low concentrations, while isomer distributions in alkylnaphthalenes, alkylphenanthrenes, and alkyldibenzothiophenes still show systematic variations with increasing maturity. The present study focused on the maturity parameters derived from methylphenanthrenes (MP) and methyldibenzothiophenes (MDBT). The most widely used methylphenanthrene index 1 () shows no correlation with known maturity indicators, but the methylphenanthrene ratio () and methyldibenzothiophenes ratio () increase steadily with increasing maturity levels and are proved to be valid maturity parameters. However, empirical vitrinite reflectance estimations derived from MPR and MDR have dramatically overestimated the maturity levels. Our quantitative data illustrated that concentrations of thermally stable isomers (3-MP, 2-MP, and 4-MDBT) increase continuously with increasing maturity while thermally unstable isomers (9-MP, 1-MP, and 1-MDBT) are almost invariable in the studied maturity range. The invalidity of MPI-1 is caused by the involvement of phenanthrene in the maturity parameter formula possibly due to a variable degree of alkylation. Dealkylation of methylphenanthrenes to form parent phenanthrene occurs much earlier than of 1.35% reported in the literature. The increment of MPR and MDR values with maturity levels is mainly caused by different generation rates with a higher generation rate of thermally stable isomer than thermally unstable counterpart rather than isomerization between them. Caution should be taken when empirical formula published in literature based on commonly used maturity parameters is directly applied for maturity estimation as no universal applicable correlation is likely available.Peer Reviewe

Isolation, identification and odour-producing abilities of geosmin/2-MIB in actinomycetes from sediments in Lake Lotus, China

This study aimed to determine whether actinomycetes could contribute to the odours occurring in Lake Lotus, China. In total, 55 actinomycete strains were isolated from sediments in Lake Lotus and their odorous metabolites, geosmin and 2-methylisoborneol (2-MIB), were identified using HSPME-GC-MS. Results showed that 24, 23 and 34 strains produced geosmin and/or 2-MIB in Gause, TSB and M liquid media, respectively. Of odour-producing actinomycetes, most could produce geosmin and some produced both metabolites, while few of them produced only 2-MIB. Six isolates with high-level odour were selected for further investigation. Their biomass and odour-producing abilities were monitored in both the slants and liquid media. The results suggest that TSB was the most suitable medium for the growth of mycelium; Gause and M slant supported good production of spores, while M liquid medium was the most favourable for the production of both geosmin and 2-MIB. Those strains that produced geosmin only were less influenced than those that produced both geosmin and 2-MIB under shaking conditions. The results indicate that actinomycetes from sediments should be taken into consideration when off-flavours occur in water columns. According to the 16S rRNA sequences, six actinomycetes were classified in the Streptomyces

Differential Thermal Evolution between Oil and Source Rocks in the Carboniferous Shale Reservoir of the Qaidam Basin, NW China

Shale oil and source rock samples of the Carboniferous Keluke Formation from well Chaiye 2 in the Delingha Depression were analyzed by gas chromatography–mass spectrometry. Source rocks were highly mature at the gas generation stage with vitrinite reflectance (Ro) of 1.45–1.88%. However, the oil produced from the shale reservoir was characterized by abundant biomarkers but low abundance of diamondoid hydrocarbons with estimated Ro of ca. 0.78%, indicating hydrocarbons were still at a relatively low thermal maturity level. As the crude oil was generated and accumulated autochthonously, preliminary results indicate that crude oil and source rocks witnessed differential thermal evolution and significant disparity of the current thermal maturity in the shale reservoir due to rapid tectonic subsidence and clay mineral catalysts that accelerated the thermal maturation process. Although tectonic uplifts occurred afterwards, the vitrinite recorded the highest maturity that source rocks have ever reached, whereas the oil has not reached the same maturity level due to less impact from thermal alteration or mineral catalysis than source rocks in the shale reservoir. Such a discovery enlarges the hydrocarbon perseveration of maturity ranges in reservoirs, particularly for the unconventional tight formation, and benefits potential hydrocarbon exploration from highly mature sediments