Conventional and anti-erosion fluoride toothpastes: effect on enamel erosion and erosion-abrasion

New toothpastes with anti-erosion claims are marketed, but little is known about their effectiveness. This study investigates these products in comparison with various conventional NaF toothpastes and tin-containing products with respect to their erosion protection/abrasion prevention properties. In experiment 1, samples were demineralised (10 days, 6 × 2 min/day; citric acid, pH 2.4), exposed to toothpaste slurries (2 × 2 min/day) and intermittently stored in a mineral salt solution. In experiment 2, samples were additionally brushed for 15 s during the slurry immersion time. Study products were 8 conventional NaF toothpastes (1,400-1,490 ppm F), 4 formulations with anti-erosion claims (2 F toothpastes: NaF + KNO(3) and NaF + hydroxyapatite; and 2 F-free toothpastes: zinc-carbonate-hydroxyapatite, and chitosan) and 2 Sn-containing products (toothpaste: 3,436 ppm Sn, 1,450 ppm F as SnF(2)/NaF; gel: 970 ppm F, 3,030 ppm Sn as SnF(2)). A mouth rinse (500 ppm F as AmF/NaF, 800 ppm Sn as SnCl(2)) was the positive control. Tissue loss was quantified profilometrically. In experiment 1, most NaF toothpastes and 1 F-free formulation reduced tissue loss significantly (between 19 and 42%); the Sn-containing formulations were the most effective (toothpaste and gel 55 and 78% reduction, respectively). In experiment 2, only 4 NaF toothpastes revealed significant effects compared to the F-free control (reduction between 29 and 37%); the F-free special preparations and the Sn toothpaste had no significant effect. The Sn gel (reduction 75%) revealed the best result. Conventional NaF toothpastes reduced the erosive tissue loss, but had limited efficacy regarding the prevention of brushing abrasion. The special formulations were not superior, or were even less effective.

Chemical compatibility of soil-bentonite cutoff wall backfills containing modified bentonites

This study examined the chemical compatibility of several model soil-bentonite(SB) backfills with an inorganic salt solution (CaCl2). First, bentonite-water slurry was created using a natural sodium-bentonite, as well as two modified bentonites –multiswellable bentonite (MSB) and a “salt-resistant” bentonite (SW101). Once slurries that met typical construction specifications had been created using the various bentonites,the model SB backfills were prepared for each type of bentonite. These backfills werealso designed to meet conventional construction and design requirements. The SB backfills were then subjected to permeation with tap water and/or CaCl2 solutions of various concentrations in order to evaluate the compatibility of the SB backfills with inorganic chemicals. The results indicate that SB backfill experiences only minor compatibility issues (i.e., no large differences between the hydraulic conductivity of the SB backfill to tap water and CaCl2) compared to many other types of clay barriers. In addition, SB backfills show no major change in final hydraulic conductivity to CaCl2 when permeated with tap water before CaCl2 versus being permeated with CaCl2 directly. These results may be due to the ability of the bentonite in the SB backfills to undergo osmotic swelling before permeation begins, and the inability of the CaCl2 solutions to undo the osmotic swelling. Similar results were obtained for all three clays tested, and while MSB did show less compatibility issues than the natural bentonite and SW101, it appears that the differences in performance may generally be negligible. Overall, thisstudy makes a significant addition to the understanding of SB cutoff wall compatibility.

High cycle fatigue of AA6082 and AA6063 aluminum extrusions

The high cycle fatigue behavior of hollow extruded AA6082 and AA6063 aluminum extrusions has been studied. Hollow extruded aluminum profiles can be processed into intricate shapes, and may be suitable replacements for fatigue critical automotive applications requiring reduced weight. There are several features inherent in hollow aluminum extrusions, such as seam welds, charge welds, microstructural variations and die lines. The effects of such extrusion variables on high cycle fatigue properties were studied by taking specimens from an actual car bumper extrusion. It appears that extrusion die lines create large anisotropy differences in fatigue properties, while welds themselves have little effect on fatigue lives. Removal of die lines greatly increased fatigue properties of AA6082 specimens taken transverse to the extrusion direction. Without die lines, anisotropy in fatigue properties between AA6082 specimens taken longitudinal and transverse to the extrusion direction, was significantly reduced, and properties associated with the orientation of the microstructure appears to be isotropic. A fibrous microstructure for AA6082 specimens showed great improvements in fatigue behavior. The effects of elevated temperatures and exposure of specimens to NaCl solutions was also studied. Exposure to the salt solution greatly reduced the fatigue lives of specimens, while elevated temperatures showed more moderate reductions in fatigue lives.

Synthesis, structure, and stability of metal-organic frameworks

Metal-organic frameworks (MOFs) obtained much attention because of their unusual structures and properties as well as their potential applications. This dissertation research was focused on (1) the effects of synthesis conditions on the structures of MOFs, (2) the thermal stability of MOFs, (3) pressure-induced amorphization, and (4) the effect of high-valent ions on the structure of a MOF. This research demonstrated that the crystal structure of MOF-5 could be controlled by drying solvents. If the vacuum solvent is dimethylformamide (DMF), the crystal structure of MOF-5 is tetragonal. In contrast, if the DMF is displaced by CH2Cl2 before the vacuum, the obtained MOF-5 occupies a cubic structure. Furthermore, it was found that the tetragonal MOF-5 exhibited a mediate surface area (300-1000 m2/g). The surface area of tetragonal MOF-5 is also dependent on Zn(NO3)2/H2BDC (H2BDC: terephthalic acid) molar ratios used for its synthesis. The optimum ratio is 1.38, at which synthesized tetragonal MOF-5 exhibits the highest crystallinity and surface area (1297 m2/g). The thermal stability and decomposition of MOF-5 were systematically investigated. The thermal decomposition of cubic and tetragonal MOF-5s resulted in the same products: CO2, benzene, amorphous carbon, and crystal ZnO. The thermal decomposition is due to breaking carboxylic bridges between benzene rings and Zn4O clusters. Identifying structural relationships between crystalline and noncrystalline states is of fundamental interest in materials research. Currently, amorphization of solid materials at ambient temperature requires an ultra-high pressure (several GPa). However, this research demonstrated that MOF-5 and IRMOF-8 can be irreversibly amorphized at ambient temperature by employing a low compressing pressure of 3.5 MPa, which is 100 times lower than that required for amorphization of other solids. Furthermore, the pressure-induced amorphization (PIA) of MOFs is strongly dependent on the changeability of bond angles. If the geometric structure of a MOF can allow bond angles to be changed without breaking bonds, it can easily be amorphized by compression. This can explain why MOF-5 and IRMOF-8 can easily be amorphized via compression than Cu-BTC. It is generally recognized that zeolitic imidazolate frameworks (ZIFs) occupy much higher stability than other types of MOFs. The representative of ZIFs is Zn(2-methylimidazole)2 (ZIF-8) exhibiting high-decomposition temperature and high chemical resistance to various solvents. However, so far, it is still unknown whether the high stability of ZIF-8 can be challenged by ions, which is important for its modification by doping ions. In this research, we performed aqueous salt solution treatment on ZIF-8, and the results showed that anions (Cl¯ and NO3¯) in a solution exhibited no effect on the crystal structure of ZIF-8. However, the effect of cations (in a solution) on structure of ZIF-8 strongly depends on the cation valences. The univalent metal cations showed no effect on the structure of ZIF-8, whereas the bivalent or higher-valent metal cations caused the collapse of ZIF-8 crystal structure. Therefore, structure stability of ZIF-8 is considered when it is subjected to the application, in which high-valent metal cations are involved.

NDT for concrete under accelerated freeze/thaw tests and surface scaling

Freezing of water or salt solution in concrete pores is a main cause for severe damage and significant reduction of the service life. Most of the freeze-thaw (F-T) accelerated tests measure the scaling of concrete by weighting. This paper presents complementary procedures based on the use of strain gages and ultrasonic pulse velocity (UPV) for measuring the deterioration of concrete due to freezing and thawing. These non-destructive testing (NDT) procedures are applied to two types of concretes, one susceptible to F-T damage and the other does not. The results show a good correlation between scaling and the measurements obtained with NDT. Showing NDT the advantage to detect before the damage and to perform continuous measurement

Incorporación de escorias de aluminio en la fabricación de productos de Arcilla cocida

Las sociedades desarrolladas generan una gran cantidad de residuos, que necesitan una adecuada gestión. Esta problemática requiere, de este modo, una atención creciente por parte de la sociedad, debido a la necesidad de proteger el medio ambiente. En este sentido, los esfuerzos se centran en reducir al máximo la generación de residuos y buscar vías de aprovechamiento de aquellos que son inevitables, soluciones mucho más aconsejables desde el punto de vista técnico, ecológico y económico que su vertido o destrucción. Las industrias deben adoptar las medidas precisas para fomentar la reducción de estos residuos, desarrollar tecnologías limpias que permitan el ahorro de los recursos naturales que poseemos, y sobre todo buscar métodos de reutilización, reciclado, inertización y valorización de los residuos generados en su producción. La industria de la construcción es un campo muy receptivo para el desarrollo de nuevos materiales en los que incorporar estos residuos. La incorporación de diferentes residuos industriales en matrices cerámicas se plantea como una vía barata de fijar las diferentes especies metálicas presentes en transformación de rocas ornamentales, lodos de galvanización o metalúrgicos, etc. En todos los casos, la adición de estos residuos requiere su caracterización previa y la optimización de las condiciones de conformado y cocción en el caso de su incorporación a la arcilla cocida. Entre los residuos incorporados en materiales de construcción se encuentran las escorias de aluminio. La industria metalúrgica produce durante sus procesos de fusión diferentes tipos de escorias. Su reciclado es una de las líneas de interés para estas industrias. En el caso de las escorias de aluminio, su tratamiento inicial consiste en una recuperación del aluminio mediante métodos mecánicos seguido de un tratamiento químico, o plasma. Este método conduce a que la escoria final apenas contenga aluminio y sea rica en sales solubles lo que limita su almacenamiento en escombreras. La escoria es una mezcla de aluminio metal y productos no metálicos como óxidos, nitruros y carburos de aluminio, sales y otros óxidos metálicos. En este estudio se ha analizado la posibilidad de la adición de escorias de aluminio procedentes de la metalurgia secundaria en materiales de construcción, de forma que tras un procesado de las mismas permita la obtención de materiales compuestos de matriz cerámica. En la presente Tesis Doctoral se ha analizado la viabilidad técnica de la incorporación de las escorias de aluminio procedentes de la metalurgia secundaria en una matriz de arcilla cocida. Para ello se han aplicado diferentes tratamientos a la escoria y se han aplicado diferentes variables en su procesado como la energía de molienda o la temperatura de sinterizacion, además del contenido de escoria. Su compactación con agua entre el 5-10 %, secado y sinterización permite obtener piezas rectangulares de diverso tamaño. Desde el punto de vista del contenido de la escoria, se incorporó entre un 10 y 40% de escoria TT, es decir sometida una calcinación previa a 750ºC en aire. Los mejores resultados alcanzados corresponden a un contenido del 20% ESC TT, sinterizada a 980ºC, por cuanto altos contenidos en escoria condicen a piezas con corazón negro. Los productos obtenidos con la adición de 20% de escoria de aluminio a la arcilla, presentan una baja expansión tras sinterización, mejores propiedades físicas y mecánicas, y mayor conductividad térmica que los productos obtenidos con arcilla sin adiciones. Aumenta su densidad, disminuye su absorción y aumenta sus resistencias de flexión y compresión, al presentar una porosidad cerrada y una interacción escoria-matriz. En todos los casos se produce una exudación superficial de aluminio metálico, cuyo volumen está relacionado con la cantidad de escoria adicionada. Mediante la incorporación de este contenido de escoria, tras un tratamiento de disolución de sales y posterior calcinación (ESC TTQ), se mejoran las propiedades del material compuesto, no sólo sobre la de la escoria calcinada (ESC TT), sino también, sobre la escoria sin tratamiento (ESC). Si además, la adición del 20% de escoria añadida, está tratada, no sólo térmicamente sino también químicamente (ESC TTQ), éstas mejoran aún más las propiedades del material compuesto, siendo el producto más compacto, con menos poros, por lo que los valores de densidad son más elevados, menores son las absorciones y mayores resistencias de flexión y compresión, que los productos obtenidos con la adición de escoria sólo tratada térmicamente. Alcanzando valores de resistencias características a compresión del orden de 109 MPa. Los valores de conductividad térmica obtenidos también son mayores. Los ensayos tecnológicos con piezas de 160 x 30 x 5 mm y el material compuesto optimizado de arcilla+ 20%ESCTTQ, consistieron en la determinación de su expansión por humedad, eflorescencia y heladicidad, mostrando en general un mejor comportamiento que la arcilla sin adiciones. Así, se han obtenido nuevos materiales compuestos de matriz cerámica para la construcción, mejorando sus propiedades físicas, mecánicas y térmicas, utilizando escorias de aluminio procedentes de la metalurgia secundaria, como opción de valorización de estos residuos, evitando así, que se viertan a vertederos y contaminen el medio ambiente. ABSTRACT Developed societies generate a lot of waste, which need proper management. Thus, this problem requires increased attention from the society, due to the need to protect the environment. In this regard, efforts are focused on to minimize the generation of waste and find ways of taking advantage of those who are inevitable, much more advisable solutions from the technical, ecological and economic viewpoint to disposal or destruction. Industries should adopt precise measures to promote waste reduction, develop clean technologies that allow the saving of natural resources that we possess, and above all seek methods of reuse, recycling, recovery and valorisation of the waste generated in their production. The industry of the construction is a very receptive field for the development of new materials in which to incorporate these residues. The incorporation of different industrial residues in ceramic counterfoils appears as a cheap route to fix the different metallic present species in transformation of ornamental rocks, muds of galvanization or metallurgical, etc. In all the cases, the addition of these residues needs his previous characterization and the optimization of the conditions of conformed and of baking in case of his incorporation to the baked clay. Residues incorporated into construction materials include aluminium slag. The metallurgical industry produces during their fusion processes different types of slags. Recycling is one of the lines of interest to these industries. In the case of aluminium slag, their initial treatment consists of a recovery of the aluminium using mechanical methods followed by chemical treatment, or plasma. This method leads to that final slag just contains aluminium and is rich in soluble salts which limits storage in dumps. The slag is a mixture of aluminium metal and non-metallic such as oxides, nitrides and carbides of aluminium salts products and other metal oxides. The present Doctoral thesis has analysed the technical viability of the incorporation of aluminium slag from secondary Metallurgy in an array of baked clay. So they have been applied different treatments to the slag and have been applied different variables in its processing as the temperature of sintering, in addition to the content of slag or energy grinding. Its compaction with water between 5-10%, drying and sintering allows rectangular pieces of different size. From the point of view of the content of the slag, it is incorporated between 10 and 40% slag TT, that is to say, submitted a calcination prior to 750 ° C in air. The best results achieved correspond to 20% ESC TT, sintered at 980 ° C, as high levels of slag in accordance to pieces with black heart. The products obtained with the addition of 20% of slag from aluminium to clay, present a low expansion after sintering, better physical properties and mechanical, and higher thermal conductivity than the products obtained with clay, without addictions. Its density increases, decreases its absorption and increases its resistance to bending and compression, introducing a closed porosity and slag-matrix interaction. In all cases there is a superficial exudation of metallic aluminium, whose volume is related to the amount of slag added. By incorporating this content of slag, following a treatment of salt solution and subsequent calcination (ESC TTQ), are improved the properties of composite material not only on the calcined slag (ESC TT), but also in the slag without treatment (ESC). If the addition of 20% of slag added, is also treated, not only thermally but also chemically (ESC TTQ), they further improve the properties of the composite material, the product is more compact, less porous, so the values are higher density, minors are absorptions and greater resistance in bending and compression, to the products obtained with the addition of slag only treated thermally. Reaching values of compressive resistance characteristic of the order of 109 MPa. The thermal conductivity values obtained are also higher. Testing technology with pieces of 160 x 30 x 5 mm and optimized composite material of clay 20% ESCTTQ, consisted in the determination of its expansion by moisture, efflorescence and frost resistance, in general, showing a better performance than the clay without additions. Thus, we have obtained new ceramic matrix composite materials for construction, improving its physical, mechanical and thermal properties, using aluminium slag secondary metallurgy, as an option Valuation of these wastes, thus preventing them from being poured to landfills and pollute environment.

Thermal unfolding of human high-density apolipoprotein A-1: implications for a lipid-free molten globular state.

Apolipoprotein A-1 (apoA-1) in complex with high-density lipoprotein is critically involved in the transport and metabolism of cholesterol and in the pathogenesis of atherosclerosis. We reexamined the thermal unfolding of lipid-free apoA-1 in low-salt solution at pH approximately 7, by using differential scanning calorimetry and circular dichroism. At protein concentrations <5 mg/ml, thermal unfolding of apoA-1 is resolved as an extended peak (25 degrees C-90 degrees C) that can be largely accounted for by a single reversible non-two-state transition with midpoint Tm 57 +/- 1 degree C, calorimetric enthalpy deltaH(Tm)= 200 +/- 20 kcal/mol (1 kcal = 4.18 kJ), van't Hoff enthalpy deltaHv(Tm) approximately 32.5 kcal/mol, and cooperativity deltaHv(Tm)/deltaH(Tm) approximately 0.16. The enthalpy deltaH(Tm) can be accounted for by melting of the alpha-helical structure that is inferred by CD to constitute approximately 60% of apoA-1 amino acids. Farand near-UV CD spectra reveal noncoincident melting of the secondary and tertiary structural elements and indicate a well-defined secondary structure but a largely melted tertiary structure for apoA-1 at approximately 37 degrees C and pH 7. This suggests a molten globular-like state for lipid-free apoA-1 under near-physiological conditions. Our results suggest that in vivo lipid binding by apoA-1 may be mediated via the molten globular apolipoprotein state in plasma.

The influence of coating materials on some properties of alginate beads and survivability of microencapsulated probiotic bacteria

The probiotics, Lactobacillus acidophilus 547, Bifidobacterium bifidum ATCC 1994, and Lactobacillus casei 01, were encapsulated into uncoated calcium alginate beads and the same beads were coated with three types of material, chitosan, sodium alginate, and poly-L-lysine in combination with alginate. The thickness of the alginate beads increased with the addition of coating materials. No differences were detectable in the bead strength by texture analysis or in the thickness of the beads with different types of coating materials by transmission electron microscopy. The survivability of three probiotics in uncoated beads, coated beads, and as free cells (unencapsulated) was conducted in 0.6% bile salt solution and simulated gastric juice (pH 1.55) followed by incubation in simulated intestinal juice with and without 0.6% bile salt. Chitosan-coated alginate beads provided the best protection for L. acidophilus and L. casei in all treatments. However, B. bifidum did not survive the acidic conditions of gastric juice even when encapsulated in coated heads. (C) 2004 Elsevier Ltd. All rights reserved.

XPS study of basic aluminum sulphate and basic aluminium nitrate

Basic aluminium sulphate and nitrate crystals were prepared by forced hydrolysis of aluminium salt solution followed by precipitation with a sulphate solution or by evaporation for the basic aluminium nitrate. X-ray Photoelectron Spectroscopy (XPS) confirms the chemical composition determined by ICP-AES in earlier work. High resolution XPS scans of the individual elements allow the identification of both the central (AlO4)-Al-IV group and the 12 aluminium octahedra in the [IVAlO4AlVI(OH)(24)(H2O)(12)] building unit by two Al 2p transitions with binding energies of 73.7 and 74.2 eV in both the basic aluminium sulphate and nitrate. Four different types of oxygen atoms were identified in the basic aluminium sulphate associated with the central AlO4, OH, H2O and SO4 groups in the crystal structure with transitions at 529.4, 530.1, 530.7 and 531.8 eV, respectively. (c) 2005 Elsevier B.V. All rights reserved.

Wear and corrosion of mechanical seals

Mechanical seals are used extensively to seal machinery such as pumps, mixers and agitators in the oil, petrochemical and chemical industries. The performance of such machinery is critically dependent on these devices. Seal failures may result in the escape of dangerous chemicals, possibly causing injury or loss of life. Seal performance is limited by the choice of face materials available. These range from cast iron and stellited stainless steel to cemented and silicon carbides. The main factors that affect seal performance are the wear and corrosion of seal faces. This research investigated the feasibility of applying surface coating/treatments to seal materials, in order to provide improved seal performance. Various surface coating/treatment methods were considered; these included electroless nickel plating, ion plating, plasma nitriding, thermal spraying and high temperature diffusion processes. The best wear resistance, as evaluated by the Pin-on-Disc wear test method, was conferred by the sprayed tungsten carbide/nickel/tungsten-chromium carbide deposit, produced by the high energy plasma spraying (Jet-Kote) process. In general, no correlation was found between hardness and wear resistance or surface finish and friction. This is due primarily to the complexity of the wear and frictional oxidation, plastic deformation, ploughing, fracture and delamination. Corrosion resistance was evaluated by Tafel extrapolation, linear polarisation and anodic potentiodynamic polarisation techniques. The best corrosion performance was exhibited by an electroless nickel/titanium nitride duplex coating due to the passivity of the titanium nitride layer in the acidified salt solution. The surface coating/treatments were ranked using a systematic method, which also considered other properties such as adhesion, internal stress and resistance to thermal cracking. The sealing behaviour of surface coated/treated seals was investigated on an industrial seal testing rig. The best sealing performances were exhibited by the Jet-Kote and electroless nickel silicon carbide composite coated seals. The failure of the electroless nickel and electroless nickel/titanium nitride duplex coated seals was due to inadequate adhesion of the deposits to the substrate. Abrasion of the seal faces was the principal wear mechanism. For operation in an environment similar to the experimental system employed (acidified salt solution) the Jet-Kote deposit appears to be the best compromise.

The susceptibility of various UK aggregates to alkali silica reaction

A group of lithologically varied UK aggregates have been incorporated into concrete prisms of variable alkali content to ascertain the alkali levels at which significant ASR first occurs at 38oC and 100% RH. Petrographical analysis was used to establish the source of reactivity. The results of these expansion tests showed that significant ASR can develop with certain aggregates at initial alkali levels as low as 3.5 kg/m3 Na2Oe. Similar prisms were made at initial alkali levels, well above, on and just below the alkali thresholds for each aggregate. These prisms were placed in salt solution to establish the effects of ASR. The results showed that an external source of NaCl does accentuate ASR in high alkali mixes. However, in low alkali mixes the ASR initiated was even greater than that developed by the high alkali mixes. It was proposed that an `initial alkali pessimum' existed for each aggregate type for specimens placed in salt solution. Electron microprobe analysis of the ASR gels from concretes immersed in salt solution, showed that two compositionally varied gel suites develop. The first suite was derived from ASR caused by the initial alkalis in a concrete mix and was identical to ASR gels derived from the various concretes when immersed in distilled water. The second suite was developed by alkalis derived from a reaction between NaCl and the C3A component of the cement paste. It was demonstrated that the `initial alkali pessimum' was probably due to a combination of these two ASR types at the alkali threshold point where both suites of ASR gel can develop. Equivalent mixes were made with a 25% replacement of the cement by pulverised fuel ash (pfa) to establish whether alkalis released from the pfa could initiate ASR in otherwise non-reactive low alkali mixes. The addition of air entrainment to reactive concrete mixes was also examined as a method of suppressing ASR.

The effect of frequency and microstructure on corrosion fatigue crack propagation in high strength aluminium alloys

Fatigue crack growth in high strength aluminium alloy 7150 commercial plate material has been studied in both laboratory air and acidified aqueous salt solution. The aggressive aqueous environment enhanced fatigue crack growth rates by up to an order in magnitude compared to laboratory air. The enhancement in fatigue crack growth rate was accompanied by evidence of embrittlement in the crack path, involving both brittle intergranular and transgranular failure modes. Both the enhancement of fatigue crack growth rates and the extent of intergranular growth modes are dependent on cyclic frequency which, along with the absence of a similar frequency effect in a spray-formed version of the material with a significantly different grain structure, supports a mechanism of grain boundary hydrogen diffusion for intergranular corrosion fatigue crack growth. The convergence of corrosion fatigue crack growth rates at high ΔK in both spray-formed and conventional plate materials coincides with the operation of identical transgranular corrosion fatigue modes dependent on strain-controlled hydrogen diffusion ahead of the crack tip. © 1997 Acta Metallurgica Inc.

Development of polymeric drug delivery vehicles for targeted cancer therapy

The aim of my Ph. D. thesis is to generalize a method for targeted anti-cancer drug delivery. Hydrophilic polymer-drug conjugates involve complicated synthesis; drug-encapsulated polymeric nanoparticles limit the loading capability of payloads. This thesis introduces the concept of nanoconjugates to overcome difficulties in synthesis and formulation. Drugs with hydroxyl group are able to initiate polyester synthesis in a regio- and chemo- selective way, with the mediation of ligand-tunable Zinc catalyst. Herein, three anti-cancer drugs are presented to demonstrate the high efficiency and selectivity in the method (Chapter 2-4). The obtained particles are stable in salt solution, releasing drugs over weeks in controlled manner. With the conjugation of aptamer, particles are capable to target prostate cancer cells in vitro. These results open the gateway to evaluate the in vivo efficacy of nanoconjugates for target cancer therapy (Chapter 5). Mechanism study of the polymerization leads to the discovery of chemosite selective synthesis of prodrugs with acrylate functional groups. Functional copolymer-drug conjugates will expand the scope of nanoconjugates (Chapter 6). Liposome-aptamer targeting drug delivery vehicle is well studied to achieve reversible cell-specific delivery of non-hydoxyl drugs e.g. cisplatin (Chapter 7). New monomers and polymerization mechanisms are explored for polyester in order to synthesize nanoconjugates with variety on properties (Chapter 8). Initial efforts to apply this type of prodrugs will be focused on the preparation of hydrogels for stem cell research (Chapter 9).

Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation

This thesis studies mobile robotic manipulators, where one or more robot manipulator arms are integrated with a mobile robotic base. The base could be a wheeled or tracked vehicle, or it might be a multi-limbed locomotor. As robots are increasingly deployed in complex and unstructured environments, the need for mobile manipulation increases. Mobile robotic assistants have the potential to revolutionize human lives in a large variety of settings including home, industrial and outdoor environments.

Mobile Manipulation is the use or study of such mobile robots as they interact with physical objects in their environment. As compared to fixed base manipulators, mobile manipulators can take advantage of the base mechanism’s added degrees of freedom in the task planning and execution process. But their use also poses new problems in the analysis and control of base system stability, and the planning of coordinated base and arm motions. For mobile manipulators to be successfully and efficiently used, a thorough understanding of their kinematics, stability, and capabilities is required. Moreover, because mobile manipulators typically possess a large number of actuators, new and efficient methods to coordinate their large numbers of degrees of freedom are needed to make them practically deployable. This thesis develops new kinematic and stability analyses of mobile manipulation, and new algorithms to efficiently plan their motions.

I first develop detailed and novel descriptions of the kinematics governing the operation of multi- limbed legged robots working in the presence of gravity, and whose limbs may also be simultaneously used for manipulation. The fundamental stance constraint that arises from simple assumptions about friction and the ground contact and feasible motions is derived. Thereafter, a local relationship between joint motions and motions of the robot abdomen and reaching limbs is developed. Baseeon these relationships, one can define and analyze local kinematic qualities including limberness, wrench resistance and local dexterity. While previous researchers have noted the similarity between multi- fingered grasping and quasi-static manipulation, this thesis makes explicit connections between these two problems.

The kinematic expressions form the basis for a local motion planning problem that that determines the joint motions to achieve several simultaneous objectives while maintaining stance stability in the presence of gravity. This problem is translated into a convex quadratic program entitled the balanced priority solution, whose existence and uniqueness properties are developed. This problem is related in spirit to the classical redundancy resoxlution and task-priority approaches. With some simple modifications, this local planning and optimization problem can be extended to handle a large variety of goals and constraints that arise in mobile-manipulation. This local planning problem applies readily to other mobile bases including wheeled and articulated bases. This thesis describes the use of the local planning techniques to generate global plans, as well as for use within a feedback loop. The work in this thesis is motivated in part by many practical tasks involving the Surrogate and RoboSimian robots at NASA/JPL, and a large number of examples involving the two robots, both real and simulated, are provided.

Finally, this thesis provides an analysis of simultaneous force and motion control for multi- limbed legged robots. Starting with a classical linear stiffness relationship, an analysis of this problem for multiple point contacts is described. The local velocity planning problem is extended to include generation of forces, as well as to maintain stability using force-feedback. This thesis also provides a concise, novel definition of static stability, and proves some conditions under which it is satisfied.

Accelerated ageing methodologies for the evaluation of particulate matter role in the corrosion of outdoor-exposed bronzes

Deterioration phenomena occurring on outdoor cultural heritage have been the subject of several studies, but relatively few works investigated the specific role of Particulate Matter (PM) in the corrosion of metals. This topic is really complex and, besides field exposures, accelerated ageing tests are also necessary to isolate and understand deterioration mechanisms due to PM. For this reason, the development of a methodology that allows to reproduce and analyze the effect of PM on alloys through accelerated ageing in climatic chamber has been started. On quaternary bronze specimens, single salts and a mix of them were deposited via two deposition methods: dry (directly depositing the salt on the surface) and wet (dropping a salt solution and drying it), simulating the initial chemical activation of the salts by RH% variations or by raindrops, respectively. Then, to better mimic the composition of real PM, a mixture containing a soluble salts, a mineral, a black carbon and an organic fraction was formulated and spread on the samples. The samples were placed in a climatic chamber and exposed to cyclic variations of T and RH for three weeks. The ageing cycles were set according to predictions on salt deliquescence/recrystallization through E-AIM model and to the evaluation of regional climatic data. The surface evolution was followed by SEM-EDX, Raman, AT-IR and UV-Vis Spectrophotometry. At the end of the test, mass losses were determined and corroded metals removed by pickling were analyzed by AAS. On the basis of the obtained results, the tested procedures seem to be promising in accelerating and mimicking realistic corrosion phenomena, as under the selected conditions, corrosion products typically found at different exposure time (from days to years) on outdoor bronzes were able to progressively form and evolve. Moreover, the two deposition modes simulating different condition of chemical activation of PM deposits allow to obtain complementary information.