Fault detection via power consumption monitoring of industrial robots is a substantial problem considered in this article, in which the healthy measurements of power consumption and encoders data for a prespecified task are employed as a reference for comparison to diagnose the potential failures or excessive degradation in the robot joints. Since most electrical and mechanical faults directly affect the consumed energy, the proposed solution analyzes the comparison outcomes between the healthy reference data with that monitored in a real time for each individual task. To integrate the power measurements with a base station, a ZigBee-based wireless data acquisition circuit has been developed to process the joints data. This article suggests a measurement-based mathematical model called Bode equations vector fitting as a robust fitting method to estimate such power consumption patterns. The achieved estimates allow a clear distinction for the potential failures in the robot joints that affect the power rate patterns even when involving sharp fluctuations. A table-based neural network classifier is presented to indicate the faulty joint or encoder according to the time intervals that divided for the executed task. The experimental results demonstrate the performance verification and feasibility of the proposed approach in ABB-IRB-1200 robot manipulator. Note to Practitioners-Industrial machines are seeking to achieve energy optimization to verify the sustainability demand goal. Currently, many industrial robotic systems are not effectively monitored and modeled mathematically toward detecting the potential faults. In this context, a faults diagnosis method with an accurate mathematical model based on reference power patterns is proposed for monitoring the performance of that system. The proposed energy-based diagnosis technique can be readily integrated with the existent industrial robots supply and can be monitored remotely. Furthermore, no significant changes in the machine's hardware, but a reference pattern of a power consumption per each individual task per each robot, are required.
The Korean Food Code has approved irradiation less than 7 kGy for microbial control in algal food, which is often not sufficient to achieve the acceptable contamination level (<10 4 CFU/g). In this study, heat‐assisted low‐dose electron beam (E‐beam) irradiation was applied for improving the microbial quality of dried laver through the response surface optimization of process conditions (Xn); irradiation dose (0–4 kGy, X1), heating temperature (140–180°C, X2) and heating time (0–28 s, X3) for their effects on total aerobic bacteria (TAB) count, moisture content, chlorophyll content, carotenoid content and overall palatability of dried laver. TAB counts were affected more by irradiation dose than by heating temperature and time. Moisture, chlorophyll and carotenoid content and overall palatability were more affected by heating temperature and heating time than by irradiation dose. The overall results indicated that the optimal conditions were irradiation dose of 1.8–3.0 kGy, heating temperature of 154–170°C and heating time of 10–18 s to achieve appropriate quality attributes of heat‐assisted E‐beam irradiated dried laver, such as TAB count of 10 3 CFU/g, moisture content of 5% and 6.5 of good overall palatability score out of 7.
The development of functional imaging is a promising strategy for diagnosis and treatment of infectious and cancerous diseases. In this study, epirubicin was developed as a [ 99m Tc]‐labeled radiopharmaceutical for the imaging of multi‐drug‐resistant Staphylococcus aureus infections. The labeling was carried out using sodium pertechnetate (Na 99m TcO 4 ; ~370 MB q). The other parameters such as amount of ligand, reducing agent (SnCl 2 .2H 2 O), and pH were optimized. The highest labeling yield ≥96.98% was achieved when 0.3 mg epirubicin, 13 μg SnCl 2 .2H 2 O, and ~370 MB q Na 99m TcO 4 were incubated at pH 7 for 15 min in the presence of ascorbic acid at room temperature. Radiochemical purity, stability, charge, and glomerular filtration rate were studied to evaluate the biological compatibility for in vivo administration. Biodistribution investigations showed radiotracer uptake (13.89 ± 1.56% ID/gm organ) by liver and 7.79 ± 0.38% ID /gm organ by kidneys at 30 min post‐injection which promisingly wash out at 24 hr post‐injection. Scintigraphy study showed selective uptake in S. aureus ‐infected tissues in contrast to turpentine oil‐induced inflamed tissues. Target‐to‐non‐target ratio (6.7 ± 0.05) was calculated at 1 hr post‐injection using SPECT gamma camera. The results of this study reveal that the [ 99m Tc]‐epirubicin can be a choice of imaging and monitoring the treatment process of multi‐drug resistant S. aureus bacterial infections.