Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques.
The performance of pectin in turbidity reduction and the optimum condition were determined using Response Surface Methodology (RSM). The effect of pH, cation's concentration, and pectin's dosage on flocculating activity and turbidity reduction was investigated at three levels and optimized by using Box-Behnken Design (BBD). Coagulation and flocculation process were assessed with a standard jar test procedure with rapid and slow mixing of a kaolin suspension (aluminium silicate), at 150 rpm and 30 rpm, respectively, in which a cation e.g. Al(3+), acts as coagulant, and pectin acts as the flocculant. In this research, all factors exhibited significant effect on flocculating activity and turbidity reduction. The experimental data and model predictions well agreed. From the 3D response surface graph, maximum flocculating activity and turbidity reduction are in the region of pH greater than 3, cation concentration greater than 0.5 mM, and pectin dosage greater than 20 mg/L, using synthetic turbid wastewater within the range. The flocculating activity for pectin and turbidity reduction in wastewater is at 99%.
Polyacrylamide (PAM), a commonly used organic synthetic flocculant, is known to have high reduction in turbidity treatment. However, PAM is not readily degradable. In this paper, pectin as a biopolymeric flocculant is used. The objectives are (i) to determine the characteristics of both flocculants (ii) to optimize the treatment processes of both flocculants in synthetic turbid waste water. The results obtained indicated that pectin has a lower average molecular weight at 1.63 x 10(5) and PAM at 6.00 x 10(7). However, the thermal degradation results showed that the onset temperature for pectin is at 165.58 degrees C, while the highest onset temperature obtained for PAM is at 235.39 degrees C. The optimum treatment conditions for the biopolymeric flocculant for flocculating activity was at pH 3, cation concentration at 0.55 mM, and pectin concentration at 3 mg/L. In contrast, PAM was at pH 4, cation concentration >0.05 mM and PAM concentration between 13 and 30 mg/L.
In view of green developments in water treatment, plant-based flocculants have become the focus due to their safety, degradation and renewable properties. In addition, cost and energy-saving processes are preferable. In this study, malva nut gum (MNG), a new plant-based flocculant, and its composite with Fe in water treatment using single mode mixing are demonstrated. The result presents a simplified extraction of the MNG process. MNG has a high molecular weight of 2.3 × 10⁵ kDa and a high negative charge of -58.7 mV. From the results, it is a strong anionic flocculant. Moreover, it is observed to have a branch-like surface structure. Therefore, it conforms to the surface of particles well and exhibits good performance in water treatment. In water treatment, the Fe-MNG composite treats water at pH 3.01 and requires a low concentration of Fe and MNG of 0.08 and 0.06 mg/L, respectively, when added to the system. It is concluded that for a single-stage flocculation process, physico-chemical properties such as molecular weight, charge of polymer, surface morphology, pH, concentration of cation and concentration of biopolymeric flocculant affect the flocculating performance.
The southern South China coastal oceans within the South East Asian region are much lacking in the perception of the surface energy budget and evaporation over the ocean waters in response to climatic changes. The eddy covariance method was used to measure the energy fluxes, microclimate variables, and surface water temperature from November 2015 to October 2017 at the Straits of Malacca, South China Sea; Pulau Pinang, Malaysia, situated at latitude 5°28'06″N, and longitude 100°12'01″E. This work focused on the methodological approach to the air-sea energy fluxes data collection and analysis. In this regard, the method applied for the direct measurements and analysis of energy fluxes and other meteorological parameters in the site is considered and reported. •The paper summarizes the analysis of energy fluxes, microclimate variables, and surface water temperature data in a tropical coastal ocean station using the eddy covariance method.•The methodological approach illustrates the method of analysis applied in this study which can be compared and used for similar studies in other places.•The reproducible data analysis technique matches similar comparative methods such as Matlab and Python.
Air-sea flux exchanges influence the climate condition and the global carbon-moisture cycle. It is imperative to understand the fundamentals of the natural systems at the tropical coastal ocean and how the transformation takes place over the time. Hence, latent and sensible heat fluxes, microclimate variables, and surface water temperature data were collected using eddy covariance instruments mounted on a platform at a tropical coastal ocean station from November 2015 to October 2017. The research data is to gain the needful knowledge of the energy exchanges in the tropical climatic environment to further improve predictive algorithms or models. Therefore, it is intended that this data report will offer appropriate information for the Monsoonal, and diurnal patterns of latent (LE) and sensible (H) heats and hence, establish the relationship between microclimate variables on the energy fluxes at the peninsular Malaysian tropical coastal ocean.
Data on the micrometeorological parameters and Energy Fluxes at an intertidal zone of a Tropical Coastal Ocean was carried out on an installed eddy covariance instruments at a Muka head station in the north-western end of the Pinang Island (5°28'06''N, 100°12'01''E), Peninsula Malaysia. The vast source of the supply of energy and heat to the hydrologic and earth׳s energy cycles principally come from the oceans. The exchange of energies via air-sea interactions is crucial to the understanding of climate variability, energy, and water budget. The turbulent energy fluxes are primary mechanisms through which the ocean releases the heat absorbed from the solar radiations to the environment. The eddy covariance (EC) system is the direct technique of measuring the micrometeorological parameters which allow the measurement of these turbulent fluxes in the time scale of half-hourly basis at 20 Hz over a long period. The data being presented is the comparison of the two-year seasonality patterns of monsoons variability on the measured microclimate variables in the southern South China Sea coastal area.
The influence of variety (Cavendish and Dream), stage of ripeness (green and ripe) and parts (pulp and peel) on antioxidative compounds and antioxidant activity of banana fruit was investigated. The TPC and TFC ranged widely from 75.01 to 685.57 mg GAE/100 g and 39.01 to 389.33 mg CEQ/100 g of dry matter respectively. Cavendish banana flour contained higher TPC and TFC compared to Dream variety. TPC and TFC values of banana peel were higher than those of banana pulp. Also, green banana showed higher TPC and TFC values than those of ripe fruit. Radical scavenging activities (inhibition of DPPH) of the extracts ranged from 26.55 to 52.66%. Although Dream banana peel extracts appeared to have low TPC and TFC, its antioxidant activities were ranked moderate to high. This implies that antioxidative compounds other than phenolics and flavonoids were probably responsible for inhibition of DPPH.
Proximate composition, pH and amylose content of ripe Cavendish banana flour (RBF) prepared in this study were compared with all-purpose wheat flour (WF). RBF was found to be significantly (P < 0.05) higher in total carbohydrates and minerals content, while significantly (P < 0.05) lower in protein and fat contents compared with those of WF. Wheat-ripe banana composite flours (W-RBF) prepared by partial substitution of WF with RBF were assessed for swelling power, solubility, pasting properties and gel textural properties. Granular swelling of RBF occurred at a higher temperature compared to that of WF, suggesting that more energy and water were required to cook WF-RBF as the presence of soluble carbohydrates would compete for water and this would eventually delay starch hydration and granular expansion during cooking. Higher substitution with RBF led to higher soluble carbohydrates content, and increase in solubility index of WF-RBF. Partial substitution with RBF also resulted in significant (P < 0.05) decrease in pasting properties. A higher substitution of WF with RBF could reduce starch gelatinisation during cooking and retrogradation owing to the reduction of available starch in WF-RBF. All WF-RBF gels were significantly (P < 0.05) firmer and less sticky compared to WF gels.
The objectives of this work were to select suitable design parameters and optimize the operating parameters of a soybean oil-based bulk liquid membrane (BLM) for Cu(II) removal and recovery from aqueous solutions. The soybean oil-based BLM consists of an aqueous feed phase (Cu(II) source), an organic membrane phase (soybean oil (diluent), di-2-ethylhexylphosphoric acid (D2EHPA) (carrier) and tributylphosphate (phase modifier)) and an aqueous stripping phase (sulfuric acid solution (H(2)SO(4))). Effects of design parameters (stirring condition and stripping/membrane to feed/membrane interface area ratio) of soybean oil-based BLM on the Cu(II) removal and recovery from aqueous solutions were investigated and the suitable parameters were selected for further studies. Optimization of the operating parameters (D2EHPA concentration, H(2)SO(4) concentration, stirring speed, temperature and operating time) of soybean oil-based BLM for maximum percentage (%) recovery of Cu(II) was then conducted using Response Surface Methodology and the optimum parameters were determined. A regression model for % recovery was developed and its adequacy was evaluated. The experimental % recovery obtained under the optimum operating conditions was compared with the predicted one and they were found to agree satisfactorily with each other.
Yellow alkaline noodles (YAN) prepared by partial substitution of wheat flour with soy protein isolate and treated with microbial transglutaminase (MTG) and ribose were investigated during cooking. Cooking caused an increase in lightness but a decrease in redness and yellowness, pH, tensile strength and elasticity values of noodles. The extents of these changes were influenced by formulation and cross-linking treatments. The pH and lightness for YAN-ribose were lowest but the yellowness and redness were the highest whilst the tensile strength and elasticity values remained moderate. For YAN-MTG, the color and pH values were moderate, but tensile strength and elasticity values were the highest. YAN prepared with both cross-linking agents had physical values between YAN-ribose and YAN-MTG. Although certain sensory parameters showed differences in score, the overall acceptability of all 10-min-cooked YAN was similar. It is possible to employ cross-linking agents to improve physical properties of cooked YAN.
Response surface methodology (RSM) was carried out to study the effect of temperature, pH, and heating time as input variables on the yield and degree of esterification (DE) as the output (responses). The results showed that yield and DE of extracted pectin ranged from 2.27% to 9.35% (w/w, based on dry weight of durian rind) and 47.66% to 68.6%, respectively. The results also showed that a 2nd-order model adequately fitted the experimental data for the yield and DE. Optimum condition for maximum yield and DE was achieved at 85 degrees C, a time of either 4 or 1 h, and a pH of 2 or 2.5.
D-optimal design was employed to optimize the mixture of cross-linking agents formulation: microbial transglutaminase (MTGase) and ribose, and the processing parameters (i.e. incubation and heating time) in the mixture in order to obtain combined-cross-linked bovine serum albumin gels that have high gel strength, pH close to neutral and yet medium in browning. Analysis of variance (ANOVA) showed that the contribution of quadratic term to the model over the linear was significant for pH and L* value, whereas linear model was significant for gel strength. Optimization study using response surface methodology (RSM) was performed to the mixture components and process variables and the optimum conditions obtained were: MTGase of 1.34-1.43 g/100 mL, ribose of 1.07-1.16 g/100 mL, incubation time of 5 h at 40 degrees C and heating time of 3 h at 90 degrees C.
Statistical analysis of heavy metal concentrations in sediment was studied to understand the interrelationship between different parameters and also to identify probable source component in order to explain the pollution status of selected estuaries. Concentrations of heavy metals (Cu, Zn, Cd, Fe, Pb, Cr, Hg and Mn) were analyzed in sediments from Juru and Jejawi Estuaries in Malaysia with ten sampling points of each estuary. The results of multivariate statistical techniques showed that the two regions have different characteristics in terms of heavy metals selected and indicates that each region receives pollution from different sources. The results also showed that Fe, Mn, Cd, Hg, and Cu are responsible for large spatial variations explaining 51.15% of the total variance, whilst Zn and Pb explain only 18.93 of the total variance. This study illustrates the usefulness of multivariate statistical techniques for evaluation and interpretation of large complex data sets to get better information about the heavy metal concentrations and design of monitoring network.
Major (sodium, potassium, calcium, magnesium) and minor elements (iron, copper, zinc, manganese) and one heavy metal (lead) of Cavendish banana flour and Dream banana flour were determined, and data were analyzed using multivariate statistical techniques of factor analysis and discriminant analysis. Factor analysis yielded four factors explaining more than 81% of the total variance: the first factor explained 28.73%, comprising magnesium, sodium, and iron; the second factor explained 21.47%, comprising only manganese and copper; the third factor explained 15.66%, comprising zinc and lead; while the fourth factor explained 15.50%, comprising potassium. Discriminant analysis showed that magnesium and sodium exhibited a strong contribution in discriminating the two types of banana flour, affording 100% correct assignation. This study presents the usefulness of multivariate statistical techniques for analysis and interpretation of complex mineral content data from banana flour of different varieties.
Multivariate statistical techniques such as multivariate analysis of variance (MANOVA) and discriminant analysis (DA) were applied for analyzing the data obtained from two rivers in the Penang State of Malaysia for the concentration of heavy metal ions (As, Cr, Cd, Zn, Cu, Pb, and Hg) using a flame atomic absorption spectrometry (F-AAS) for Cr, Cd, Zn, Cu, Pb, As and cold vapor atomic absorption spectrometry (CV-AAS) for Hg. The two locations of interest with 20 sampling points of each location were Kuala Juru (Juru River) and Bukit Tambun (Jejawi River). MANOVA showed a strong significant difference between the two rivers in terms of heavy metal concentrations in water samples. DA gave the best result to identify the relative contribution for all parameters in discriminating (distinguishing) the two rivers. It provided an important data reduction as it used four parameters (Zn, Pb, Cd and Cr) affording 100% correct assignations. Results indicated that the two rivers were different in terms of heavy metals concentrations in water, and the major difference was due to the contribution of Zn. A negative correlation was found between discriminate functions (DF) and Cr and As, whereas positive correlation was exhibited with other heavy metals. Therefore, DA allowed a reduction in the dimensionality of the data set, delineating a few indicator parameters responsible for large variations in heavy metal concentrations. Correlation matrix between the parameters exhibited a strong evidence of mutual dependence of these metals.
The addition of ribose to bovine or porcine gelatine solutions followed by heating at 95 °C yielded brown solutions with different pH, colour (CIE L(*) and b(*)) and absorbance (A(420*) values. These differences were used for gelatine powder identification, differentiation and quality control. Differentiation analysis of the Maillard reaction parameters was conducted using cluster analysis (CA) and confidence intervals (CI). The potential use of the method as a quality control procedure was evaluated by using statistical process control (SPC). CA revealed that the two types of gelatine could be classified into two different groups. CI (95% confidence) revealed that the absorbance and colour values could be used as indicators for differentiation between the two types of gelatine because the intervals between the Maillard reaction parameters of the samples were far apart. The methodology demonstrated good reproducibility because it behaved predictably based on the X¯-S charts generated from the SPC charts.
Banana pulp and peel flour prepared from green and ripe Cavendish banana were assessed for physicochemical properties such as pH, total soluble solids (TSS), water holding capacity (WHC) and oil holding capacity (OHC) at 40, 60 and 80°C, colour values L∗, a∗ and b∗, back extrusion force (BEF) and viscosity. Data obtained were analysed by MANOVA, discriminant analysis and cluster analysis. All statistical analyses showed that physicochemical properties of flour prepared from pulp and peel, and green and ripe banana were different from each other. TSS, WHC40, WHC60 and BEF can be used to discriminate between peel and pulp flour, whilst TSS and viscosity can be used to discriminate between flour prepared from green and ripe banana.
Piper cubeba L. is the berry of a shrub that is indigenous to Java, Southern Borneo, Sumatra, and other islands in the Indian Ocean. The plant is usually used in folk traditional medicine and is an important ingredient in cooking. The purpose of this study was to isolate and purify the bioactive compounds from P. cubeba L. fractions. In addition, the isolated compounds were tested for their antibacterial and antispore activities against vegetative cells and spores of Bacilluscereus ATCC33019, B. subtilis ATCC6633, B.pumilus ATCC14884, and B.megaterium ATCC14581. The phytochemical investigation of the DCM fraction yielded two known compounds: β-asarone (1), and asaronaldehyde (2) were successfully isolated and identified from the methanol extract and its fractions of P. cubeba L. Results showed that exposing the vegetative cells of Bacillus sp. to isolated compounds resulted in an inhibition zone with a large diameter ranging between 7.21 to 9.61 mm. The range of the minimum inhibitory concentration (MIC) was between 63.0 to 125.0 µg/mL and had minimum bactericidal concentration (MBC) at 250.0 to 500.0 µg/mL against Bacillus sp. Isolated compounds at a concentration of 0.05% inactivated more than 3-Log10 (90.99%) of the spores of Bacillus sp. after an incubation period of four hours, and all the spores were killed at a concentration of 0.1%. The structures were recognizably elucidated based on 1D and 2D-NMR analyses (1H, 13C, COSY, HSQC, and HMBC) and mass spectrometry data. Compounds 1, and 2 were isolated for the first time from this plant. In conclusion, the two compounds show a promising potential of antibacterial and sporicidal activities against Bacillus sp. and thus can be developed as an anti-Bacillus agent.
Clinical solid waste (CSW) poses a challenge to health care facilities because of the presence of pathogenic microorganisms, leading to concerns in the effective sterilization of the CSW for safe handling and elimination of infectious disease transmission. In the present study, supercritical carbon dioxide (SC-CO2) was applied to inactivate gram-positive Staphylococcus aureus, Enterococcus faecalis, Bacillus subtilis, and gram-negative Escherichia coli in CSW. The effects of SC-CO2 sterilization parameters such as pressure, temperature, and time were investigated and optimized by response surface methodology (RSM). Results showed that the data were adequately fitted into the second-order polynomial model. The linear quadratic terms and interaction between pressure and temperature had significant effects on the inactivation of S. aureus, E. coli, E. faecalis, and B. subtilis in CSW. Optimum conditions for the complete inactivation of bacteria within the experimental range of the studied variables were 20 MPa, 60 °C, and 60 min. The SC-CO2-treated bacterial cells, observed under a scanning electron microscope, showed morphological changes, including cell breakage and dislodged cell walls, which could have caused the inactivation. This espouses the inference that SC-CO2 exerts strong inactivating effects on the bacteria present in CSW, and has the potential to be used in CSW management for the safe handling and recycling-reuse of CSW materials.