Many service mobile robots have an articulated robotic manipulator mounted on their platform. The mobile platform extends the workspace of the arm, whereas the arm offers several operational ...functionalities. The basic idea is to mount two cameras to the robotic arm. One camera provides the perception of the surrounding environment and navigation of the robot, the second one located on the robot arm provides for the perception of the object of cooperation. This paper deals with an early-stage design process of the mentioned robotic manipulator using dual visual perception. It includes kinematic, dynamic and stress-strength analysis. For the kinematic analysis the homogeneous matrix method and for dynamic analysis the Newton-Euler method has been used. These analyses are required for control solution.
•Thermally active wall with pipes arranged in thermal insulation was investigated.•The wall’s function can be alternated between space heating and a thermal barrier.•The system has the potential to ...reduce heat loss when used as a thermal barrier.•Heating capacity is reduced compared to walls with pipes outside thermal insulation.•Embedding pipes in thermally conductive material is crucial for heating capacity.
Numerical simulations and experiments were performed for a thermally active wall with pipes arranged in milled channels in the thermal insulation. The advantage of this system is its suitability for installation in both new and existing buildings in the form of precast heat insulation panels attached to their facades. The study shows that by active control of the supply water temperature, it is possible to alternate the walĺs function between space heating and a thermal barrier. The wall system has the potential to significantly reduce heat loss when used as a thermal barrier. When operated as space heating, embedding the pipes in thermal insulation reduced the heating capacity by 50% as compared to systems with pipes arranged in a concrete core and by 63% for pipes arranged in a layer underneath the surface. It is crucial that pipes arranged in channels are embedded in a thermally conductive material. Failing to do so can substantially diminish the heating capacity due to the imperfect contact between the pipes and radiant surface and also due to the air gap that may form around the pipes. The thickness of the thermal insulation, spacing of the pipes, and supply water temperature also have a substantial effect on the heating capacity, whereas the thickness of the concrete core does not.
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•Water-based wall systems for heating and cooling and thermal barriers are reviewed.•A classification scheme is proposed for heating/cooling systems and thermal barriers.•Benefits and ...drawbacks are summarized, design recommendations are provided.•Alternating between heating, cooling, and thermal barrier is perspective operation strategy.•Incorporating PCM in the wall and use in building retrofit are research opportunities.
This study reviews water-based wall systems for space heating and cooling and thermal barriers (TB) for the reduction of buildings’ thermal load. The review gives a general overview of the research and groups it into subtopics that are discussed in detail. For space heating and cooling, the subtopics entail thermal performance, thermal comfort, renewable energy sources, use for building retrofit, and combination with phase change materials (PCM). For TB, especially the working principle, types and designs, and performance are discussed. A classification system is proposed separately for wall heating and cooling systems and TB based on the designs found in scientific literature. Benefits and drawbacks are summarized, and design recommendations are provided for the wall systems.
It was shown that in certain cases, radiant wall systems can be preferable to radiant floors and ceilings, but further comparisons would be useful to provide conclusive evidence. For TB, the studies uniformly declare that TB reduce buildings’ thermal loads and energy demands. Few studies focused on the economic and environmental aspects of using TB. Most of the studies about TB are based on calculations. Measurements to quantify the benefits of TB under real operation and refine the conditions under which various types of TB are feasible are lacking. Enhancing the wall performance by PCM in the active layer, application of the wall systems in building retrofit, and alternating between the functions of heating, cooling, and TB present the biggest research opportunities and challenges.
The performance of ruminants is affected mainly by the rumen bacterial community. The composition and properties of the rumen bacterial community depend largely on the diet components that are fed to ...the ruminant. The aim of this study was to determine the effect of grape pomace intake on the rumen bacterial community of sheep. Four different diets, two of which contained dried grape pomace (DGP), were used in this study. Rumen fluid samples from 12 wethers were used for 16S rRNA gene sequencing and subsequent bacterial identification. At the phylum level, Bacteroidetes and Firmicutes; at the family level, Prevotellaceae and Porphyromonadaeceae; and at the genera level, Prevotella and Verrucomicrobia_Subdivision5_genera_incertae_sedis were the most common regardless of the diet the animals were fed. After the addition of DGP to the diet, the relative abundance of Methanobrevibacter, Butytirivibrio, Fretibacterium, and Verrucomicrobia _Subdivision3 _genera_incertae_sedis significantly increased, whereas that of Succiniclasticum and Selenomonas significantly decreased. The upregulated pathway of methanogenesis from H2 and CO2 was supported by a significant increase in Methanobacteriaceae after the diet was supplemented with DGP. The rumen bacterial community diversity indices (Richness and Shannon) were significantly affected by diet composition as well as by the change of housing location. The addition of DGP into the wethers’ diet increased the richness of the rumen bacterial community, which is good for maintaining rumen bacterial homeostasis. No adverse effect of the addition of DPG on the rumen bacterial community was noted.
A radiant wall heating and cooling system with pipes attached to thermally insulating bricks was tested using climate chambers and a hotbox. This system is especially suitable for building retrofit ...due to its affordability and ease of installation but can be also applied in new buildings. Besides walls, the design tested can be also used for ceilings. Thermal output and response, wall surface and cross-section temperature, and water temperature were measured under a range of thermal loads. The thermal response was fast despite the coupling of the pipe with the bricks; the time constant τ63 was 0.5 h. The low-conductivity core substantially reduced thermal losses meaning that the system can properly function even without thermal insulation. These qualities may present an advantage compared to systems with pipes coupled to a conductive core which require insulation and have longer response times. The difference between water and average surface temperature was small, up to 7.0 °C at the peak output of 100 W/m2, which benefits the energy source efficiency. However, the surface temperature was non-uniform, which should be considered to prevent local condensation. Numerical simulations at room level showed that locating the system at one wall leads to a non-homogeneous thermal environment. Installation at multiple walls can be preferable to attain more uniform conditions.
This study evaluated the effects of biological silage additives with and without chemical salts on the fermentation parameters of whole plant corn silage. The experiment consisted of five treatments: ...two with lactic acid bacteria (LAB without chemical salts), two with combined additives (LAB + chemical salts), and a control. Firstly, control (C) and subsequently facultatively heterofermentative (A) and obligately heterofermentative (B) LAB (LAB1: L. plantarumA, L. brevisB, E. faeciumA; LAB2: L. plantarumA, L. buchneriB, P. pentosaceusA) were examined. After that, LABCHSE inclusive of obligately homofermentative (C) and facultatively heterofermentative (A) LAB (L. plantarumA, L. salivariusC, E. faeciumA, P. acidilacticiC) + chemical salts (sodium benzoate, potassium sorbate) + enzymes (cellulase, hemicellulase, pentosanase, amylase) were evaluated. The last variant LABCHS with LAB (L. plantarumA, E. faeciumA, P. acidilacticiC) + chemical salt (potassium sorbate) was consisted. After six weeks of storage, the results confirmed that the application of additives can affect the quality of the fermentation process by decreasing lactic acid as a result of heterofermentative bacteria fermentation, the most strongly marked additive based on L. buchneri. The addition of all additives increased the titratable acidity and acetic content, which manifested in a narrowed lactic/acetic acid ratio and an increased pH value because of heterofermentative bacteria fermentation. The addition of additives containing chemical salts affected the fermentation process more favourably compared to the addition of additives without chemical salts, particularly by inhibiting alcohol content.
•Construction rules were studied for wall and ceiling systems suitable for retrofit.•Adding insulation was not necessary with insulating core even for low wall thickness.•Increase in output per 1 cm ...of pipe spacing was maximal at 6 cm.•A dense spacing maximized the system output per energy input.•A metal fin attached to a pipe in insulation led to the highest output.
The application of radiant heating and cooling systems in building retrofit could facilitate the use of renewable energy sources in existing buildings. This research focused on adapting the design of a ceiling and wall system with pipes underneath the surface and a wall system with the pipe embedded in a bricklayer. These systems are suitable for installation in retrofitted rooms, but the findings are also applicable to new buildings. Heat transfer was computed using a validated numerical model. With a conductive core, insulation thickness of up to 3 cm was appropriate for an internal wall. With an insulating core, insulation was not necessary even if the core was only 15 cm thin. The increase in output per 1 cm of pipe spacing was maximal at 6 cm. Spacing below 3 cm was inefficient. A dense spacing maximized the system output per energy input by creating a uniform surface temperature, while also shortening the response time. Attaching a metal fin to a pipe in plaster increased the output by as much as reducing the pipe spacing from 10 to 6 cm (14 W/m2, i.e. 20%). Attaching a metal fin to a pipe embedded in insulation for a compact design led to the highest output of all cases studied. Placing the pipe in a brick layer added to a conductive wall did not increase the heat storage capacity of the wall.
In our study the presence of bacteria, yeast, and microscopic fungi was evaluated. Three forms of corn silage were made including silage without additive, silage with microbial additive (lactic acid ...bacteria), and silage with nutritional additive (urea). Silage additives were applied to the matter within the recommended dosage, then the matter was ensiled into plastic bags and stored at a constant temperature. After 5.5 months of storage, average samples for microbial and mycotoxins analysis were taken. From microbiological points, the plate count agar method for enumeration of total count of bacteria, lactic acid bacteria, enterococci, yeasts, and microscopic fungi and mass spectrometry for microbiota identification were used. In total, 43 species of bacteria and yeasts and 6 genera of microscopic fungi were identified from all samples of corn silages. The most isolated species were Lentilactobacillus buchneri and Kazachstania exigua from bacteria resp. yeasts and Aspergillus and Penicillium from microscopic fungi. Mycotoxins were determined by HPLC-MS/MS and divided into two groups as regulated and emerging. In the corn silages only Fusarium mycotoxins were observed. All corn silages, regardless of the addition of the additive, were the highest in nivalenol content. Deoxynivalenol and beauvericin with the highest concentrations were present in silage with urea. Although the mycotoxins content of the variants changed, these changes were not statistically significant. In general, addition of lactic acid bacteria Lentilactobacillus buchneri and Lacticaseibacillus casei and urea as silage additives affect the microbial diversity; however, the hygienic quality of whole crop corn silage was not negatively changed.
Looking for non-antibiotic substances that can enhance health by improving the gastrointestinal microbiome of animals is an ongoing task. Among other compounds, medium-chain fatty acids, such as ...lauric acid, can exert positive effects. Coconut oil is a rich source of lauric acid, and therefore, the aim of this study was to describe the effect of adding coconut oil to the feed of growing pigs on intestinal microbiome diversity and bacterial abundance. Rectal swab samples were analyzed to assess the intestinal microbiomes of pigs. Typically, growing pigs are characterized by continuously changing bacterial communities as a result of aging. However, a significant effect of coconut oil treatment was detected in the presented study. Decreases in Corynebacterium, Pseudomonadales, and Mitsuokdla and increases in Alloprevotella, Bifidobacteriales, and Lactobacilli could be attributed to the supplementation of feed with coconut oil. Coconut oil treatment did not have a significant effect on the diversity index of rectal microbiomes, but an abundant increase in probiotics such as Bifidobacterium and Lactobacillus in the gastrointestinal tract is desirable in pig breeding. From this point of view, the addition of coconut oil to the feed of pigs is a good option for improving the microbiome in their gastrointestinal tracts.
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Dostopno za:
DOBA, IZUM, KILJ, NUK, PILJ, PNG, SAZU, UILJ, UKNU, UL, UM, UPUK
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