The current experiment was conducted for the simultaneous determination of several water-soluble vitamins like ribo- flavin (vitamin B2), niacin (vitamin B3), pantothenic acid (vitamin B5) and pyridoxine (vitamin B6) ...The current experiment was conducted for the simultaneous determination of several water-soluble vitamins like ribo- flavin (vitamin B2), niacin (vitamin B3), pantothenic acid (vitamin B5) and pyridoxine (vitamin B6) in five highly con- sumed local leafy vegetables named as bottle gourd leaves (Lagenaria vulgaris) (local name Lau shak), green amaranth leaves (Amaranthus viridis) (local name Data shak), red amaranth leaves (Amaranthus gangeticuss) (local name Lal shak), Indian spinach (Basella alba) (local name Pui shak) and bitter gourd leaves (Momordica charantia) (local name Korola shak). The analyses were performed by HPLC using an analytical reversed phase C-18 (ODS column, 250 × 4.6 mm, 5 μm, Phenomenex, Inc.) column with the mobile phase consisting of a mixture of buffer (hexane sulphonic acid sodium, potassium dihydrogen phosphate and triethylamine, pH 3.0) and methanol in the ratio of 96:4 (v/v) at a flow rate of 1 mL/min with UV detection at 210 nm. The retention times for the vitamins were obtained as 3.61 min, 6.37 min, 9.51 min and 11.51 min for Vitamins B2, B3, B5 and B6, respectively. These obtained values of the vitamins were compared with the values available in published literatures of Deshio Khaddar Pustiman (DKPM), Indian food value (IFV) and United States Department of Agriculture (USDA).展开更多
This paper presents modeling of a 12-degree of freedom （DoF） bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling o...This paper presents modeling of a 12-degree of freedom （DoF） bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass （CoM） trajectory and swing foot ankle trajectory based on stance foot ankle. The dynamic equations of motion of the bipedal robot are derived by considering the system as a quasi inverted pendulmn （QIP） model. The direction and acceleration of CoM movement of the QIP model is determined by the position of CoM relative to the centre of pressure （COP）. To determine heel-contact and toe-off, two custom designed switches are attached with heel and toe positions of each foot. Four force sensitive resistor （FSR） sensors are also placed at the plantar surface to measure pressure that is induced on each foot while walking which leads to the calculation of CoP trajectory. The paper also describes forward kinematic （FIK） and inverse kinematic （IK） investigations of the biped model where Denavit-Hartenberg （D-H） representation and Geometric-Trigonometric （G-T） formulation approach are applied. Experiments are carried out to ensure the reliability of the proposed model where the links of the bipedal system follow the best possible trajectories while walking on straight path.展开更多
文摘The current experiment was conducted for the simultaneous determination of several water-soluble vitamins like ribo- flavin (vitamin B2), niacin (vitamin B3), pantothenic acid (vitamin B5) and pyridoxine (vitamin B6) in five highly con- sumed local leafy vegetables named as bottle gourd leaves (Lagenaria vulgaris) (local name Lau shak), green amaranth leaves (Amaranthus viridis) (local name Data shak), red amaranth leaves (Amaranthus gangeticuss) (local name Lal shak), Indian spinach (Basella alba) (local name Pui shak) and bitter gourd leaves (Momordica charantia) (local name Korola shak). The analyses were performed by HPLC using an analytical reversed phase C-18 (ODS column, 250 × 4.6 mm, 5 μm, Phenomenex, Inc.) column with the mobile phase consisting of a mixture of buffer (hexane sulphonic acid sodium, potassium dihydrogen phosphate and triethylamine, pH 3.0) and methanol in the ratio of 96:4 (v/v) at a flow rate of 1 mL/min with UV detection at 210 nm. The retention times for the vitamins were obtained as 3.61 min, 6.37 min, 9.51 min and 11.51 min for Vitamins B2, B3, B5 and B6, respectively. These obtained values of the vitamins were compared with the values available in published literatures of Deshio Khaddar Pustiman (DKPM), Indian food value (IFV) and United States Department of Agriculture (USDA).
基金supported by Ministry of Higher Education,Malaysia through the MyRA Incentive Grant Scheme(No.MIRGS13-02-001-0001)
文摘This paper presents modeling of a 12-degree of freedom （DoF） bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass （CoM） trajectory and swing foot ankle trajectory based on stance foot ankle. The dynamic equations of motion of the bipedal robot are derived by considering the system as a quasi inverted pendulmn （QIP） model. The direction and acceleration of CoM movement of the QIP model is determined by the position of CoM relative to the centre of pressure （COP）. To determine heel-contact and toe-off, two custom designed switches are attached with heel and toe positions of each foot. Four force sensitive resistor （FSR） sensors are also placed at the plantar surface to measure pressure that is induced on each foot while walking which leads to the calculation of CoP trajectory. The paper also describes forward kinematic （FIK） and inverse kinematic （IK） investigations of the biped model where Denavit-Hartenberg （D-H） representation and Geometric-Trigonometric （G-T） formulation approach are applied. Experiments are carried out to ensure the reliability of the proposed model where the links of the bipedal system follow the best possible trajectories while walking on straight path.
