Impedence Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling

The current discussion on physical human robot interaction and the related safety aspects, but also the interest of neuro-scientists to validate their hypotheses on human motor skills with bio-mimetic robots, led to a recent revival of tendondriven robots. In this paper, the modeling of tendon-driven elastic systems with nonlinear couplings is recapitulated. A control law is developed that takes the desired joint position and stiffness as input. Therefore, desired motor positions are determined that are commanded to an impedance controller. We give a physical interpretation of the controller. More importantly, a static decoupling of the joint motion and the stiffness variation is given. The combination of active (controller) and passive (mechanical) stiffness is investigated. The controller stiffness is designed according to the desired overall stiffness. A damping design of the impedance controller is included in these considerations. The controller performance is evaluated in simulation

Still present after all these years: persistence plus potential toxicity raise questions about the use of atrazine

As one of the worlds’ most heavily applied herbicides, atrazine is still a matter of controversy. Since it is regularly found in ground and drinking water, as well as in sea water and the ice of remote areas, it has become the subject of continuous concern due to its potential endocrine and carcinogenic activity. Current findings prove long-held suspicions that this compound persists for decades in soil. Due to the high amount applied annually all over the world, the soil burden of this compound is considered to be tremendous, representing a potential long-term threat to the environment. The persistence of chemicals such as atrazine has long been underestimated: Do we need to reconsider the environmental risk

Factors affecting the removal of organic micropollutants from wastewater in conventional treatment plants (CTP) and membrane bioreactors (MBR)

As a consequence of insufficient removal during treatment of wastewater released from industry and households, different classes of organic micropollutants are nowadays detected in surface and drinking water. Among these micropollutants, bioactive substances, e.g., endocrine disrupting compounds and pharmaceuticals, have been incriminated in negative effects on living organisms in aquatic biotope. Much research was done in the last years on the fate and removal of those compounds from wastewater. An important point it is to understand the role of applied treatment conditions (sludge retention time (SRT), biomass concentration, temperature, pH value, dominant class of micropollutants, etc.) for the efficiency of conventional treatment plants (CTP) and membrane bioreactors (MBR) concerning the removal of micropollutants such as pharmaceuticals, steroid- and xeno-estrogens. Nevertheless, the removal rates differ even from one compound to the other and are related to the physico-chemical characteristics of the xenobiotic

Multi-catalysis reactions: new prospects and challenges of biotechnology to valorize lignin

Considerable effort has been dedicated to the chemical depolymerization of lignin, a biopolymer constituting a possible renewable source for aromatic value-added chemicals. However, these efforts yielded limited success up until now. Efficient lignin conversion might necessitate novel catalysts enabling new types of reactions. The use of multiple catalysts, including a combination of biocatalysts, might be necessary. New perspectives for the combination of bio- and inorganic catalysts in one-pot reactions are emerging, thanks to green chemistry-driven advances in enzyme engineering and immobilization and new chemical catalyst design. Such combinations could offer several advantages, especially by reducing time and yield losses associated with the isolation and purification of the reaction products, but also represent a big challenge since the optimal reaction conditions of bio- and chemical catalysis reactions are often different. This mini-review gives an overview of bio- and inorganic catalysts having the potential to be used in combination for lignin depolymerization. We also discuss key aspects to consider when combining these catalysts in one-pot reaction

Effect of silver nanoparticles on the standard soil arthropod Folsomia candida (Collembola) and the eukaryote model organism Saccharomyces cerevisiae

Additional file 2. Yeast colony formation

Processing of residual gold (III) solutions via ion exchange

The processing of gold (III)-hydrochloric acid solutions by the anionic ion exchange Lewatit MP-64_resin has been investigated. The influence of several variables such as the temperature, the hydrochloric acid and metal concentrations in the aqueous solution and the variation of the amount of resin added has been studied. Moreover, a kinetic study performed in the uptake of gold (III) by Lewatit MP-64_shows that either the film-diffusion and the particle-diffusion models fit the adsorption process on the resin. Results obtained from batch experiments were applied to a continuous system using a vertical column. The loaded resin could be eluted by an acidic thiourea solution at 20°C. Various systems were investigated to precipitate gold from eluants, only the use of sodium borohydride allowed to accomplish the recovery of the metal from the pregnant solutions. Gold was recovered as fine particles, which were characterised by means of optical and scanning electron microscopy.The authors thank Mr. Bascones and Mr. López for technical assistance. Also to the CSIC (Spain) for support.Peer reviewe

A unified approach for including non-extractable residues (NER) of chemicals and pesticides in the assessment of persistence

Abstract All chemicals form non-extractable residues (NER) to various extents in environmental media like soil, sediment, plants and animals. NER can be quantified in environmental fate studies using isotope-labeled (such as 14C or 13C) tracer compounds. Previous NER definitions have led to a mismatch of legislation and state of knowledge in research: the residues are assumed to be either irreversibly bound degradation products or at least parts of these residues can be released. In the latter assumption, soils and sediments are a long-term source of slowly released residues. We here present a conceptual experimental and modeling approach to characterize non-extractable residues and provide guidance how they should be considered in the persistence assessment of chemicals and pesticides. Three types of NER can be experimentally discriminated: sequestered and entrapped residues (type I), containing either the parent substance or xenobiotic transformation products or both and having the potential to be released, which has indeed been observed. Type II NER are residues that are covalently bound to organic matter in soils or sediments or to biological tissue in organisms and that are considered being strongly bound with very low remobilization rates like that of humic matter degradation rates. Type III NER comprises biogenic NER (bioNER) after degradation of the xenobiotic chemical and anabolic formation of natural biomolecules like amino acids and phospholipids, and other biomass compounds. We developed the microbial turnover to biomass (MTB) model to predict the formation of bioNER based on the structural properties of chemicals. Further, we proposed an extraction sequence to obtain a matrix containing only NER. Finally, we summarized experimental methods to distinguish the three NER types. Type I NER and type II NER should be considered as potentially remobilizable residues in persistence assessment but the probability of type II release is much lower than that of type I NER, i.e., type II NER in soil are “operationally spoken” irreversibly bound and can be released only in minute amounts and at very slow rates, if at all. The potential of remobilization can be evaluated by chemical, physical and biological methods. BioNER are of no environmental concern and, therefore, can be assessed as such in persistence assessment. The general concept presented is to consider the total amount of NER minus potential bioNER as the amount of xenoNER, type I + II. If a clear differentiation of type I and type II is possible, for the calculation of half-life type I NER are considered as not degraded parent substance or transformation product(s). On the contrary, type II NER may generally be considered as (at least temporarily) removed. Providing proof for type II NER is the most critical issue in NER assessment and requires additional research. If no characterization and additional information on NER are available, it is recommended to assess the total amount as potentially remobilizable. We propose our unified approach of NER characterization and evaluation to be implemented into the persistence and environmental hazard assessment strategies for REACH chemicals and biocides, human and veterinary pharmaceuticals, and pesticides, irrespective of the different regulatory frameworks

Impact of bio-augmentation with Sphingomonas sp. strain TTNP3 in membrane bioreactors degrading nonylphenol

This study evaluates the potential of bio-augmentation to improve the degradation of recalcitrant nonylphenol during the wastewater treatment in membrane bioreactors (MBR). One MBR containing activated sludge was bio-augmented using multistep inoculation with freeze dried Sphingomonas sp. strain TTNP3, whereas a second control reactor contained activated sludge solely. The 14C-labeled-nonylphenol isomer (4-[1-ethyl-1,3-dimethylpentyl]phenol) was applied as a single pulse. Bio-augmentation resulted in an immediate increase of dissolved radioactivity in the effluent in comparison to the control reactor (13% and 2% of initially applied radioactivity after 1day, respectively). After 5days of operation, the retentate of the bio-augmented reactor contained only 7% of the initial radioactivity in contrast to 50% in the control reactor. The radioactivity associated to the mixed liquor suspended solids, i.e., the suspension of biomass and other solids on the retentate side of the membrane, was mainly found as non-extractable residues that were increasingly formed during prolonged reactor operation, especially for the control MBR. HPLC-LSC and GC-MSn analyses revealed that the bio-augmented reactor produced more polar hydroquinone as main degradation intermediate, whereas the control reactor effluent contained a complex mixture of apolar compounds with shortened oxidized alkyl chains. Thus, the apparent differences in the behavior of nonylphenol between the reactors were due to the catabolism of nonylphenol conferred by bio-augmentation with Sphingomonas sp. strain TTNP