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Bin-picking systems face challenges in fully emptying containers due to Collision risks in real-world scenarios. In this contribution, we present a grasp planning approach that combines 2D and 3D sensor data to ensure collision-free handling. The method is successfully tested on objects with eccentric centers of mass and is implemented directly on the robot’s control unit, eliminating the need for separate computing hardware.
Peptidyl-lys metalloendopeptidases (PKMs) are enzymes that selectively cleave peptide bonds at the N-terminus of lysine residues present in the P1′ position, making them valuable tools in proteomics. This mini-review presents an overview of PKMs, covering their traditional production from native sources, recent advances in recombinant production, and the current limitations in availability. The historical and current applications of PKMs in proteomics are discussed, highlighting their role in protein sequencing, peptide mapping, and mass spectrometry-based studies. Advances in recombinant technology now enable tailored modifications to PKM, allowing it to function not only as a sister enzyme to LysC but also to trypsin, thereby enhancing its suitability for specific analytical applications. The mini-review concludes with a forward-looking statement on PKM research, emphasizing the potential to broaden its use in novel proteomic methods and other applications.
Redox-active biochars can enhance contaminant transformation in persulfate-based Fenton-like water treatment by facilitating Fe(III) reduction to Fe(II). However, biochar properties vary greatly depending on both feedstock selection and pyrolysis conditions. Best suited biochars for Fe(III) reduction and persulfate activation have yet to be identified. Here, we investigated eight biochars for their ability to activate persulfate with Fe(III) to transform N,N-diethyl-m-toluamide (DEET) in water. Four of the biochars were produced from beech wood under different pyrolysis conditions (450–750 °C, high and low nitrogen flow rate in the reactor) and four biochars were produced from softwood amended with 0 – 43 weight percent (wt%) wood ash prior to pyrolysis at 500 °C. Beech wood biochar produced at 450 °C transformed DEET most efficiently with a half-life time of 39 ± 4 min, likely due to the high concentration of surface oxygen functional groups and persistent free radicals that accelerated Fe(III) reduction and formation of reactive species. Among the ash-amended biochars, biochar with 16 wt% ash amendment showed the most efficient DEET transformation with a half-life time of 27 ± 0.6 min, which is 10-times faster compared to a non-ash-amended biochar produced from the same biomass under similar pyrolysis conditions. Ash amendment led to the formation of crystalline iron minerals in biochars, which likely promoted Fe(III) reduction and persulfate activation. Our results highlight the potential for fine-tuning the redox properties of biochar, e.g., by ash amendment to a woody feedstock, enabling tailored performance for specific water treatment applications.
Advances in eye-tracking control for assistive robotic arms provide intuitive interaction opportunities for people with physical disabilities. Shared control has gained interest in recent years by improving user satisfaction through partial automation of robot control. We present an eye-tracking-guided shared control design based on insights from state-of-the-art literature. A Wizard of Oz setup was used in which automation was simulated by an experimenter to evaluate the concept without requiring full implementation. This approach allowed for rapid exploration of user needs and expectations to inform future iterations. Two studies were conducted to assess user experience, identify design challenges, and find improvements to ensure usability and accessibility. The first study involved people with disabilities by providing a survey, and the second study used the Wizard of Oz design in person to gain technical insights, leading to a comprehensive picture of findings.
A failure model for SFRP for FEM simulations is developed to describe the strain rate dependency, the influence of the local fiber orientation and of the stress state on the failure behavior. The material is considered as a continuum while internally calculating the micro-mechanics analytically. The described micro-mechanics are based on experimental observations and on analyzation with numerical studies. In particular the strain rate dependent delamination of fibers and matrix is incorporated in the model. The distortion energy density is defined as the driving value for failure and estimated by the model. This is achieved with the analytic solution by Eshelby for the stress field in the matrix and by introducing an additional phase for the plasticly deformed volume. The validation on characterization specimens as well as component test demonstrates that the influence of strain rate, fiber orientation, and stress state on the failure behavior can be described with only one material parameter, the critical distortion energy density.