Effect of the different encapsulation methods on the physicochemical and biological properties of Clitoria ternatea flowers microencapsulated in gelatin

Clitoria ternatea flowers are known as butterfly pea flowers which contain many bioactive compounds and can be found in tropical countries. However, the bioactive compounds are easily lost when exposed to various environmental conditions. Encapsulation technologies are introduced to provide maximum protection to the encapsulated bioactive compounds. The main objectives of this study were to determine the physicochemical properties of C. ternatea flowers encapsulated in gelatine prepared using different encapsulating methods and the microbiological properties of the best encapsulating methods for C. ternatea flowers with gelatine. In this study, the moisture contents for ultrasonic spray dried powders recorded the lowest (5.94±0.44%) while samples of convection oven recorded the highest (14.33±1.30%). However, the ultrasonic spray dried powders demonstrated the highest total flavonoid contents, but convection oven dried powders showed the lowest. The results for total anthocyanin contents were similar to total flavonoid contents. The highest encapsulation efficiency based on anthocyanin contents was found in freeze dried powders (95.75±0.24%). These results showed the same antioxidant activity (DPPH assay) with the highest percentage inhibition of freeze dried powders and the lowest percentage inhibition of ultrasonic spray dried powders. The phytochemical functional group that revealed from Fourier Transform Infrared spectroscopic (FTIR) analysis also indicate the presence of high amount of phenolic compounds in freeze dried powders although with ‘collapse building’ shape with fibrillary structure. The freeze dried powder showed the highest L* value (45.62±0.54), yet ultrasonic spray dried powders highest a*, b* and C* value. Thus, the analysis for microbial properties was carried out on freeze dried powders as freeze dryer was chosen as the best encapsulating methods. The freeze dried powders showed inhibition against gram positive and gram negative bacteria such as Bacillus cereus, Staphylococcus aureus, Escherichia coli and Salmonella enterica and fungi such as Aspergillus niger and Candida albicans. The current study demonstrated the potential of using gelatine to encapsulate technique to retain antioxidant compounds in gelatine encapsulated C. ternatea flowers. This finding provides useful information on the use of different encapsulated methods for the development of functional food products for gelatine encapsulated flowers of C. ternatea

Reconfigurable multi-legs robot for pipe inspection: Design and gait movement

1132-1144This paper focuses on studies on reconfigurable multi-legs robotic system. The aim of this paper is to identify and acquire findings on how multi-legs robot can walk, climb vertical pipe and walk along the horizontal pipe after climbing. Three degrees of freedom (3DOF) multi-legs robot is designed and built to replace human involvement either at hazardous pipeline or to check on vertical and horizontal pipes. The robot system is tested to climb the vertical pipe and then move along horizontal pipe for inspection or other purposes. This can reduce the cost and percentage of human risk exposure during inspection on outer pipe. This multi-legs robot has more movement gaits compared to wheeled robot, but in terms of speed, wheeled robot possesses greater advantages. Therefore, this system design has combination of both wheel and multiple legs ensure that the to system has higher stability, more gait movement, and higher speed manoeuvrability. The gaits analysis for the system movement includes angle of the legs to move and selection of certain legs to perform a given operation, either walking, climbing or hanging. The target result is the system able to climb 500 mm height with 85 mm radius pipe. The potential applications for the system are: (i) to move along either on surface or underwater pipe and (ii) to be equipped with ultrasonic sensor to inspect the pipe.</em

Comprehensive review on controller for leader-follower robotic system

985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies

Enhanced photovoltaic performance using reduced graphene oxide assisted by triple-tail surfactant as an efficient and low-cost counter electrode for dye-sensitized solar cells

In this work, 4-bis(neopentyloxy)-3-(neopentyloxycarbonyl)-1,4-dioxobutane-2-silphonate (TC14) surfactant assisted reduced graphene oxide (rGO) was used as a counter electrode (CE) in dye-sensitized solar cell (DSSC). Field emission scanning electron microscopy and high-resolution transmission electron microscopy observations revealed that the TC14-rGO film was well dispersed on fluorine-doped tin oxide surface. The TC14-rGO modified CE based DSSC showed a power conversion efficiency of 0.828%, a short current density (JSC) of 2.72 mA cm−2, an open circuit voltage (VOC) of 0.65 V, and a fill factor (FF) of 41.9 which were higher than those CE fabricated from commercially available SDS surfactant assisted rGO. Results revealed that TC14-rGO is a potential CE material to construct efficient DSSC for future solar cell applications