Tying the Liis: The Connection of the Haida to Ancestral Belongings in Museums

In Haida culture, we have a concept of  an invisible liis (string). It ties us to our mothers and all the mothers before her. It also ties us to Haida Gwaii. I believe there is a liis connecting us to our Ancestors’ 12,000 belongings in museums. My research goal is to strengthen the liis connecting us to our Haida belongings. I aim to tell the story of Haida museology, to support the Haida control and return of Haida belongings; and to show the Haida way of bringing reconciliation to the heritage sector. I will combine my traditional practice with my academic learning. My research is situated in yahgudang (respect) ḵangang (responsibility) yahk’ii (to tell the truth) and tla yahda (to make things right). I use a blended theoretical and action-based approach, including grounded theory, auto-ethnography, and participatory action, to conduct qualitative community-based interviews, literature review, and archival research in a Haida way. The Haida community not only guides my research but is actively involved in my research journey. It is important to me that they feel involved and see and hear themselves in my research. I call upon Jaad ahl K’iiganaa (Story Woman) to bring stories and experiences to life in my dissertation. I aim for my research to be meaningful and accessible for the Haida and Indigenous communities and for academic and museum audiences. I honour the Haida community and our Kuniisii (Ancestors) by telling our story

CAGD - Computer Aided Gripper Design for a Flexible Gripping System

This paper is a summary of the recently accomplished research work on flexible gripping systems. The goal is to develop a gripper which can be used for a great amount of geometrically variant workpieces. The economic aspect is of particular importance during the whole development. The high flexibility of the gripper is obtained by three parallel used principles. These are human and computer based analysis of the gripping object as well as mechanical adaptation of the gripper to the object with the help of servo motors. The focus is on the gripping of free-form surfaces with suction cup

Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables

[EN] Robotics has been introduced in industry to replace humans in arduous and repetitive tasks, to reduce labour costs and to ensure consistent quality control of the process. Nowadays robots are cheaper, can work in hostile and dirty environments and they are able to manipulate products at high speed. High speed and reliability and low robot gripper costs are necessary for a profitable pick and place (P&P) process. However, current grippers are not able to handle these products properly because they have uneven shapes, are flexible and irregular, have different textures and are very sensitive to being damaged. This review brings together the requirements and phases used in the process of manipulation, summarises and analyses of the existing, potential and emerging techniques and their possibilities for the manipulation of fresh horticultural products from a detailed study of their characteristics. It considers the difficulties and the lack of engineers to conceive of and implement solutions. Contact grippers with underactuated mechanism and suction cups could be a promising approach for the manipulation of fresh fruit and vegetables. Ongoing study is still necessary on the characteristics and handling requirements of fresh fruit and vegetables in order to design grippers which are suitable for correct manipulation, at high speed, in profitable P&P processes for industrial applications.This work has been partially funded by research project with reference DPI2010-20286 financed by the Spanish Ministerio de Ciencia e Innovacion.Blanes Campos, C.; Mellado Arteche, M.; Ortiz Sánchez, MC.; Valera Fernández, Á. (2011). Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables. SPANISH JOURNAL OF AGRICULTURAL RESEARCH. REVISTA DE INVESTIGACION AGRARIA. 9(4):1130-1141. https://doi.org/10.5424/sjar/20110904-501-10S1130114194Akella, S., & Mason, M. T. (1999). Using Partial Sensor Information to Orient Parts. The International Journal of Robotics Research, 18(10), 963-997. doi:10.1177/02783649922067663Akella, S., Huang, W. H., Lynch, K. M., & Mason, M. T. (s. f.). Sensorless parts orienting with a one-joint manipulator. Proceedings of International Conference on Robotics and Automation. doi:10.1109/robot.1997.619318Allende, A., Desmet, M., Vanstreels, E., Verlinden, B. E., & Nicolaı̈, B. M. (2004). Micromechanical and geometrical properties of tomato skin related to differences in puncture injury susceptibility. Postharvest Biology and Technology, 34(2), 131-141. doi:10.1016/j.postharvbio.2004.05.007R. W. Bajema, G. M. Hyde, & A. L. Baritelle. (1998). TEMPERATURE AND STRAIN RATE EFFECTS ON THE DYNAMIC FAILURE PROPERTIES OF POTATO TUBER TISSUE. Transactions of the ASAE, 41(3), 733-740. doi:10.13031/2013.17201Barreiro, P., Steinmetz, V., & Ruiz-Altisent, M. (1997). Neural bruise prediction models for fruit handling and machinery evaluation. Computers and Electronics in Agriculture, 18(2-3), 91-103. doi:10.1016/s0168-1699(97)00022-7Bicchi, A. (2000). Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity. IEEE Transactions on Robotics and Automation, 16(6), 652-662. doi:10.1109/70.897777Bielza, C., Barreiro, P., Rodrı́guez-Galiano, M. I., & Martı́n, J. (2003). Logistic regression for simulating damage occurrence on a fruit grading line. Computers and Electronics in Agriculture, 39(2), 95-113. doi:10.1016/s0168-1699(03)00021-8Bloss, R. (2006). How do you quickly load cases and trays with tough to handle product? Industrial Robot: An International Journal, 33(5), 339-341. doi:10.1108/01439910610684990Brantmark, H., & Hemmingson, E. (2001). FlexPicker with PickMaster revolutionizes picking operations. Industrial Robot: An International Journal, 28(5), 414-420. doi:10.1108/eum0000000005844Brown, E., Rodenberg, N., Amend, J., Mozeika, A., Steltz, E., Zakin, M. R., … Jaeger, H. M. (2010). Universal robotic gripper based on the jamming of granular material. Proceedings of the National Academy of Sciences, 107(44), 18809-18814. doi:10.1073/pnas.1003250107G. H. Brusewitz, & J. A. Bartsch. (1989). Impact Parameters Related to Post Harvest Bruising of Apples. Transactions of the ASAE, 32(3), 0953. doi:10.13031/2013.31097Ceccarelli, M., Figliolini, G., Ottaviano, E., Mata, A. S., & Criado, E. J. (2000). Designing a robotic gripper for harvesting horticulture products. Robotica, 18(1), 105-111. doi:10.1017/s026357479900226xChen, P., & Sun, Z. (1991). A review of non-destructive methods for quality evaluation and sorting of agricultural products. Journal of Agricultural Engineering Research, 49, 85-98. doi:10.1016/0021-8634(91)80030-iChua, P. Y., Ilschner, T., & Caldwell, D. G. (2003). Robotic manipulation of food products – a review. Industrial Robot: An International Journal, 30(4), 345-354. doi:10.1108/01439910310479612Davis, S., Gray, J. O., & Caldwell, D. G. (2008). An end effector based on the Bernoulli principle for handling sliced fruit and vegetables. Robotics and Computer-Integrated Manufacturing, 24(2), 249-257. doi:10.1016/j.rcim.2006.11.002Erzincanli, F., & Sharp, J. M. (1997). A classification system for robotic food handling. Food Control, 8(4), 191-197. doi:10.1016/s0956-7135(97)00048-0R. Feller, E. Margolin, A. Zacharin, & H. Pasternak. (1985). Development of a Clod Separator for Potato Packing Houses. Transactions of the ASAE, 28(4), 1019-1023. doi:10.13031/2013.32380Fischer, I. H., Ferreira, M. D., Spósito, M. B., & Amorim, L. (2009). Citrus postharvest diseases and injuries related to impact on packing lines. Scientia Agricola, 66(2), 210-217. doi:10.1590/s0103-90162009000200010Foglia, M. M., & Reina, G. (2006). Agricultural robot for radicchio harvesting. Journal of Field Robotics, 23(6-7), 363-377. doi:10.1002/rob.20131Garcı́a, J. L., Ruiz-Altisent, M., & Barreiro, P. (1995). Factors Influencing Mechanical Properties and Bruise Susceptibility of Apples and Pears. Journal of Agricultural Engineering Research, 61(1), 11-17. doi:10.1006/jaer.1995.1025Garcı́a-Ramos, F. ., Ortiz-Cañavate, J., & Ruiz-Altisent, M. (2004). Evaluation and correction of the mechanical aggressiveness of commercial sizers used in stone fruit packing lines. Journal of Food Engineering, 63(2), 171-176. doi:10.1016/s0260-8774(03)00297-8Grunert, K. G. (2005). Food quality and safety: consumer perception and demand. European Review of Agricultural Economics, 32(3), 369-391. doi:10.1093/eurrag/jbi011Han, I. (2007). Vibratory orienting and separation of small polygonal parts. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 221(12), 1743-1753. doi:10.1243/09544054jem846HAYASHI, S., GANNO, K., ISHII, Y., & TANAKA, I. (2002). Robotic Harvesting System for Eggplants. Japan Agricultural Research Quarterly: JARQ, 36(3), 163-168. doi:10.6090/jarq.36.163Hayashi, S., Shigematsu, K., Yamamoto, S., Kobayashi, K., Kohno, Y., Kamata, J., & Kurita, M. (2010). Evaluation of a strawberry-harvesting robot in a field test. Biosystems Engineering, 105(2), 160-171. doi:10.1016/j.biosystemseng.2009.09.011Herold, B., Truppel, I., Siering, G., & Geyer, M. (1996). A Pressure Measuring Sphere for monitoring handling of fruit and vegetables. Computers and Electronics in Agriculture, 15(1), 73-88. doi:10.1016/0168-1699(96)00004-xHirose, S., & Umetani, Y. (1978). The development of soft gripper for the versatile robot hand. Mechanism and Machine Theory, 13(3), 351-359. doi:10.1016/0094-114x(78)90059-9Kondo, N. (2010). Automation on fruit and vegetable grading system and food traceability. Trends in Food Science & Technology, 21(3), 145-152. doi:10.1016/j.tifs.2009.09.002Lewis, R., Yoxall, A., Marshall, M. B., & Canty, L. A. (2008). Characterising pressure and bruising in apple fruit. Wear, 264(1-2), 37-46. doi:10.1016/j.wear.2007.01.038M. J. Lichtensteiger, R. G. Holmes, M. Y. Hamdy, & J. L. Blaisdell. (1988). Evaluation of Kelvin Model Coefficients for Viscoelastic Spheres. Transactions of the ASAE, 31(1), 0288-0292. doi:10.13031/2013.30702Alejandro Isabel Luna Maldonado. (2010). Automation and robots for handling, storing and transporting fresh horticulture produce. Stewart Postharvest Review, 6(3), 1-6. doi:10.2212/spr.2010.3.14Mantriota, G. (2007). Theoretical model of the grasp with vacuum gripper. Mechanism and Machine Theory, 42(1), 2-17. doi:10.1016/j.mechmachtheory.2006.03.003Mantriota, G. (2007). Optimal grasp of vacuum grippers with multiple suction cups. Mechanism and Machine Theory, 42(1), 18-33. doi:10.1016/j.mechmachtheory.2006.02.007Menesatti, P., & Paglia, G. (2001). PH—Postharvest Technology. Journal of Agricultural Engineering Research, 80(1), 53-64. doi:10.1006/jaer.2000.0669Monta, M., Kondo, N., & Ting, K. C. (1998). Artificial Intelligence Review, 12(1/3), 11-25. doi:10.1023/a:1006595416751MORROW, C. T., & MOHSENIN, N. N. (1968). Dynamic Viscoelastic Characterization of Solid Food Materials. Journal of Food Science, 33(6), 646-651. doi:10.1111/j.1365-2621.1968.tb09093.xMuscato, G., Prestifilippo, M., Abbate, N., & Rizzuto, I. (2005). A prototype of an orange picking robot: past history, the new robot and experimental results. Industrial Robot: An International Journal, 32(2), 128-138. doi:10.1108/01439910510582255PELEG, M., & CALZADA, J. F. (1976). STRESS RELAXATION OF DEFORMED FRUITS AND VEGETABLES. Journal of Food Science, 41(6), 1325-1329. doi:10.1111/j.1365-2621.1976.tb01163.xPeterson, C. L., & Hall, C. W. (1975). Dynamic mechanical properties of the Russet Burbank potato as related to temperature and bruise susceptibility. American Potato Journal, 52(10), 289-312. doi:10.1007/bf02874443Petterson, A., Ohlsson, T., Caldwell, D. G., Davis, S., Gray, J. O., & Dodd, T. J. (2010). A Bernoulli principle gripper for handling of planar and 3D (food) products. Industrial Robot: An International Journal, 37(6), 518-526. doi:10.1108/01439911011081669Pettersson, A., Davis, S., Gray, J. O., Dodd, T. J., & Ohlsson, T. (2010). Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes. Journal of Food Engineering, 98(3), 332-338. doi:10.1016/j.jfoodeng.2009.11.020Ruiz-Altisent, M., Ruiz-Garcia, L., Moreda, G. P., Lu, R., Hernandez-Sanchez, N., Correa, E. C., … García-Ramos, J. (2010). Sensors for product characterization and quality of specialty crops—A review. Computers and Electronics in Agriculture, 74(2), 176-194. doi:10.1016/j.compag.2010.07.002Saadat, M., & Nan, P. (2002). Industrial applications of automatic manipulation of flexible materials. Industrial Robot: An International Journal, 29(5), 434-442. doi:10.1108/01439910210440255Sarig, Y. (1993). Robotics of Fruit Harvesting: A State-of-the-art Review. Journal of Agricultural Engineering Research, 54(4), 265-280. doi:10.1006/jaer.1993.1020Sharma, M. G., & Mohsenin, N. N. (1970). Mechanics of deformation of a fruit subjected to hydrostatic pressure. Journal of Agricultural Engineering Research, 15(1), 65-74. doi:10.1016/0021-8634(70)90111-3Studman, C. J. (2001). Computers and electronics in postharvest technology — a review. Computers and Electronics in Agriculture, 30(1-3), 109-124. doi:10.1016/s0168-1699(00)00160-5Van Henten, E. J., Van Tuijl, B. A. J., Hemming, J., Kornet, J. G., Bontsema, J., & Van Os, E. A. (2003). Field Test of an Autonomous Cucumber Picking Robot. Biosystems Engineering, 86(3), 305-313. doi:10.1016/j.biosystemseng.2003.08.002Van Henten, E. J., Van’t Slot, D. A., Hol, C. W. J., & Van Willigenburg, L. G. (2009). Optimal manipulator design for a cucumber harvesting robot. Computers and Electronics in Agriculture, 65(2), 247-257. doi:10.1016/j.compag.2008.11.004Van Zeebroeck, M., Van linden V., Darius, P., De Ketelaere, B., Ramon, H., & Tijskens, E. (2007). The effect of fruit factors on the bruise susceptibility of apples. Postharvest Biology and Technology, 46(1), 10-19. doi:10.1016/j.postharvbio.2007.03.017Wallin, P. J. (1997). Robotics in the food industry: an update. Trends in Food Science & Technology, 8(6), 193-198. doi:10.1016/s0924-2244(97)01042-xWilson, M. (2010). Developments in robot applications for food manufacturing. Industrial Robot: An International Journal, 37(6), 498-502. doi:10.1108/01439911011081632Wurdemann, H. A., Aminzadeh, V., Dai, J. S., Reed, J., & Purnell, G. (2011). Category-based food ordering processes. Trends in Food Science & Technology, 22(1), 14-20. doi:10.1016/j.tifs.2010.10.003Zhong, Z. W., & Yeong, C. K. (2006). Development of a gripper using SMA wire. Sensors and Actuators A: Physical, 126(2), 375-381. doi:10.1016/j.sna.2005.10.017Zhu, T., Liu, R., Wang, X. D., & Wang, K. (2006). Principle and Application of Vibrating Suction Method. 2006 IEEE International Conference on Robotics and Biomimetics. doi:10.1109/robio.2006.34024

Oxidative Transformationen von Phenolen und verwandten Verbindungen

Die vorliegende Dissertation handelt von der oxidativen Transformation von Phenolen und Naphtholen. Der Fokus des ersten Teils der Arbeit liegt auf der Laccase-katalysierten Iodierung von p-substituierten Phenolen zu Iodphenolen während sich der zweite Teil der Arbeit mit der Synthese von hochsubstituierten 1-Naphtholen und Versuchen zu ihrer oxidativen Dimerisierung zu entsprechenden Gossypol- bzw. Isogossypolderivaten beschäftigt. Laccasen werden in der organischen Synthese oft zur oxidativen Dimerisierung von Phenolen mit dem ubiquitär vorhandenen Luftsauerstoff als Oxidationsmittel eingesetzt. Hier wird gezeigt, dass sich diese Reaktion nahezu vollständig zugunsten einer Laccase-katalysierten Iodierung von p-substituierten Phenolen mit Kaliumiodid als Iodquelle und Luftsauerstoff als Oxidationsmittel unterdrücken lässt. Dabei geht man davon aus, dass die Laccase bzw. das Laccase-Mediator-System das Kaliumiodid zu Iod oxidiert, das dann die Phenole in einer elektrophilen aromatischen Substitution in die Iodphenole umwandelt. Der dabei entstehende Iodwasserstoff kann wieder Laccase-katalysiert zu Iod reoxidiert werden. Es konnte gezeigt werden, dass sich mit Hilfe der Laccase-katalysierten Iodierung eine große Anzahl an p-Hydroxyarylcarbonyl- und p-Hydroxyarylcarboxylverbindungen unter milden Bedingungen effizient iodieren lässt. Substrate mit einer Iodierungsposition wurden mit Ausbeuten von bis zu 87 % iodiert. Einige Substrate mit zwei Iodierungspositionen lieferten ausschließlich die diiodierten Produkte, andere hingegen ergaben Gemische aus mono- und diiodierten Phenolen. Das Verhältnis von Monoiodierung zu Diiodierung ließ sich durch Anpassung der Reaktionsbedingungen steuern. Durch Optimierung der Reaktionsbedingungen wurde an ausgewählten Beispielen gezeigt, dass sich die Laccase-katalysierte Iodierung zu einer nachhaltigen Synthesemethode entwickeln lässt, die sich durch hohe Atomökonomie und niedrige E-Faktoren auszeichnet. Im zweiten Teil der Arbeit werden die Ergebnisse vorgestellt, die das Ziel hatten, einen Zugang zu Gossypol- und Isogossypolderivaten zu etablieren, der auf einer oxidativen Dimerisierung von 1-Naphtholen beruht. Die benötigten 1-Naphthole sind durch eine intermolekulare regiospezifische anionische Anellierung zwischen einem in situ erzeugten Didehydrobenzen und einem ebenfalls in situ generierten Lithiumdienolat zugänglich. Die für die Erzeugung der Didehydrobenzene als Vorläufer benötigten (hoch)funktionalisierten Brombenzene ließen sich nach Literaturvorschriften bzw. durch Adaption von literaturbekannten Methoden aufbauen. Auf diese Weise wurden drei Isohemigossypolderivate und Isohemigossypol sowie ein Hemigossypolderivat hergestellt. Versuche zur oxidativen Dimerisierung ergaben, dass die hergestellten 1-Naphthole eine Laccase-katalysierte Phenolkupplung nicht eingehen. Bei Versuchen mit tert-Butylperacetat als Oxidationsmittel erfolgte in einigen Fällen zwar eine oxidative Dimerisierung, es gelang allerdings nicht, die entsprechenden Dimeren in reiner Form zu isolieren.This dissertation is about the oxidative transformation of phenols and naphthols. The focus of the first part of the work is on the laccase-catalyzed iodination of p-substituted phenols to iodophenols, while the second part of the work deals with the synthesis of highly substituted 1-naphthols and attempts towards their oxidative dimerization to corresponding gossypol or isogossypol derivatives. In organic synthesis, laccases are often used for the oxidative dimerization of phenols using the ubiquitous atmospheric oxygen as the oxidant. Here, it is demonstrated that this reaction can be almost completely suppressed in favor of the laccase-catalyzed iodination of p-substituted phenols using potassium iodide as the iodine source and atmospheric oxygen as the oxidant. It is assumed that the laccase or the laccase-mediator system oxidizes the potassium iodide to iodine, which then converts phenols the iodophenols by means of an electrophilic aromatic substitution. The resulting hydrogen iodide can be reoxidized to iodine in a laccase-catalyzed reaction. It has been demonstrated that a large number of p-hydroxyarylcarbonyl and p-hydroxyarylcarboxyl compounds can be efficiently iodinated by laccase-catalyzed iodination under mild conditions. Substrates with one iodination position were iodinated with yields of up to 87 %. Some substrates with two iodination positions delivered the diiodinated products exclusively, while others gave mixtures of mono- and diiodinated phenols. The ratio of monoiodination to diiodination could be controlled by adjusting the reaction conditions. By optimization of the reaction conditions, it was shown for selected examples that the laccase-catalyzed iodination can be developed into a sustainable synthetic method that stands out for high atom economy and low E-factors. In the second part of the paper, the results which aimed to establish an approach to gossypol and isogossypol derivatives based on oxidative dimerization of 1-naphthols are presented. The required 1-naphthols are accessible by an intermolecular regiospecific anionic annulation between a benzyne generated in situ and a lithium dienolate that was also generated in situ. The (highly) functionalized bromobenzenes required for the production of the benzyne precursors could be obtained according to literature procedures or by adaptation of methods known in the literature. In this way, three isohemigossypol derivatives, isohemigossypol as well as a hemigossypol derivative were synthesized. Experiments towards the oxidative dimerization showed that the synthesized 1-naphthols do not undergo a laccase-catalyzed phenolic coupling. In experiments with tert-butyl peracetate as the oxidant, oxidative dimerization occurred in some cases, but it was not possible to isolate the dimers in pure form

CAGD - Computer Aided Gripper Design for a Flexible Gripping System

This paper is a summary of the recently accomplished research work on flexible gripping systems. The goal is to develop a gripper which can be used for a great amount of geometrically variant workpieces. The economic aspect is of particular importance during the whole development. The high flexibility of the gripper is obtained by three parallel used principles. These are human and computer based analysis of the gripping object as well as mechanical adaptation of the gripper to the object with the help of servo motors. The focus is on the gripping of free-form surfaces with suction cup

Gudáang ‘láa Hl ḵíiyanggang: I Am Finding Joy in Haida Repatriation and Research

Over 12,000 Haida belongings and 500 Haida ancestral remains were collected and locked away in museums at the height of colonization in the late 1800s to early 1900s. It has been my lifelong quest to undo the colonial harm done to my Ancestors and their belongings. With gudáang ‘láa, (joy) as a foundational philosophy and methodology, I am researching and telling the story of Haida repatriation and reconciliatory work with museums

Neue Ansätze zur Handhabung biegeschlaffer Bänder

Kurzfassung Bislang werden Endlosschleifbänder zu Gebinden, genannt Nestern, durch manuelles Ineinanderstecken zu Verkaufseinheiten verpackt, um zugleich das Lager- und Transportvolumen zu verringern. Zur Reduktion des hohen Personalaufwands und der gesundheitlichen Belastung beim manuellen Handhaben der Schleifbänder ist am Institut für Roboterforschung der Technischen Universität Dortmund ein Verfahren entwickelt worden, das den Vorgang des manuellen Nestens umkehrt: Anstatt das zu nestende Band verformt in bereits gepackte Bänder zu stecken, werden bei diesem automatisierten Verfahren die bereits abgelegten Bänder zunächst verformt und die nachfolgenden, nahezu kreisrunden Endlosschleifbänder übergezogen. Systeme zur Positionierung der Nahtstelle, zum Ausschleusen defekter Bänder oder zur Überprüfung der Bündigkeit wurden erarbeitet bzw. implementiert. Anschließend werden die Nester einer Verpackungsmaschine zugeführt.</jats:p

Efficient and sustainable laccase-catalyzed iodination of<i>p</i>-substituted phenols using KI as iodine source and aerial O₂as oxidant

A new and sustainable laccase-catalyzed iodination ofp-substituted phenols using KI as iodine source and aerial O2as oxidant has been developed.</p