Abstract: In this research, a method is developed to obtain high-dimensional configuration space for path planning problems. In typical cases, the path planning problems are solved directly in the 3-dimensional (D) workspace. However, this method is inefficient in handling the robots with various geometrical and mechanical restrictions. To overcome these difficulties, path planning may be formalized and solved in a new space which is called configuration space. The number of dimensions of the configuration space comes from the degree of freedoms of the system of interest. The method can be applied in two ways. In the first way, the point clouds of all the bodies of the system and interaction of them are used. The second way is performed via using the clearance function of simulation software where the minimum distances between surfaces of bodies are simultaneously measured. A double-turret system is held in the scope of this study. The 4-D configuration space of a double-turret system is obtained in these two ways. As a result, the difference between these two methods is around 1%, depending on the density of the point cloud. The disparity between the two forms steadily decreases as the point cloud density increases. At the end of the study, in order to verify 4-D configuration space obtained, 4-D path planning problem was realized as 2-D + 2-D and a sample path planning is carried out with using A* algorithm. Then, the accuracy of the configuration space is proved using the obtained paths on the simulation model of the double-turret system.
Abstract: Objectives/Hypotheses: The adverse health effect potential of dietary lipid oxidation products (LOPs) has evoked much clinical interest. Therefore, we employed a 1H NMR-linked Principal Component Regression (PCR) chemometrics modelling strategy to explore relationships between data matrices comprising (1) aldehydic LOP concentrations generated in culinary oils/fats when exposed to laboratory-simulated shallow frying practices, and (2) the prior saturated (SFA), monounsaturated (MUFA) and polyunsaturated fatty acid (PUFA) contents of such frying media (FM), together with their heating time-points at a standard frying temperature (180 oC). Methods: Corn, sunflower, extra virgin olive, rapeseed, linseed, canola, coconut and MUFA-rich algae frying oils, together with butter and lard, were heated according to laboratory-simulated shallow-frying episodes at 180 oC, and FM samples were collected at time-points of 0, 5, 10, 20, 30, 60, and 90 min. (n = 6 replicates per sample). Aldehydes were determined by 1H NMR analysis (Bruker AV 400 MHz spectrometer). The first (dependent output variable) PCR data matrix comprised aldehyde concentration scores vectors (PC1* and PC2*), whilst the second (predictor) one incorporated those from the fatty acid content/heating time variables (PC1-PC4) and their first-order interactions. Results: Structurally complex trans,trans- and cis,trans-alka-2,4-dienals, 4,5-epxy-trans-2-alkenals and 4-hydroxy-/4-hydroperoxy-trans-2-alkenals (group I aldehydes predominantly arising from PUFA peroxidation) strongly and positively loaded on PC1*, whereas n-alkanals and trans-2-alkenals (group II aldehydes derived from both MUFA and PUFA hydroperoxides) strongly and positively loaded on PC2*. PCR analysis of these scores vectors (SVs) demonstrated that PCs 1 (positively-loaded linoleoylglycerols and [linoleoylglycerol]:[SFA] content ratio), 2 (positively-loaded oleoylglycerols and negatively-loaded SFAs), 3 (positively-loaded linolenoylglycerols and [PUFA]:[SFA] content ratios), and 4 (exclusively orthogonal sampling time-points) all powerfully contributed to aldehydic PC1* SVs (p 10-3 to < 10-9), as did all PC1-3 x PC4 interaction ones (p 10-5 to < 10-9). PC2* was also markedly dependent on all the above PC SVs (PC2 > PC1 and PC3), and the interactions of PC1 and PC2 with PC4 (p < 10-9 in each case), but not the PC3 x PC4 contribution. Conclusions: NMR-linked PCR analysis is a valuable strategy for (1) modelling the generation of aldehydic LOPs in heated cooking oils and other FM, and (2) tracking their unsaturated fatty acid (UFA) triacylglycerol sources therein.
Abstract: The construction of Nitro -N-amino phenyl maleimide branches onto Cellulose acetate (CA) substrate by free radical graft copolymerization using benzoyl peroxide as initiator led to formation of highly thermal stable copolymers as shown from the results of gravimetric analysis (TGA). CA-g-2,4-dinitro amino phenyl maleimide exhibited higher thermal stability than the CA-g-4-nitro amino phenyl maleimide as shown from the initial decomposition temperature (To). This is due to the ability of nitro group to form hydrogen bonding with hydroxyl group of the glucopyranose ring which increases the crystallinity of polymeric matrix. The crystalline shapes representing the graft part are clearly distinct in the Emission scanning electron microscope (ESEM) morphology of the copolymer. A suggested reaction mechanism for the grafting process was also discussed.
Abstract: The structure-property relationship and initiator effect on bulk polymerized poly(methyl methacrylate) (PMMA)–oragnomodified layered silicate nanocomposites was investigated. In this study, we used 2, 2'-azobis (4-methoxy-2,4-dimethyl valeronitrile and benzoyl peroxide initiators for bulk polymerization. The bulk polymerized nanocomposites’ morphology was investigated by X-ray diffraction and transmission electron microscopy. The type of initiator strongly influences the physiochemical properties of the polymer nanocomposite. The thermal degradation of PMMA in the presence of nanofiller was studied. 5 wt% weight loss temperature (T5d) increased as compared to pure PMMA. The peak degradation temperature increased for the nanocomposites. Differential scanning calorimetry and dynamic mechanical analysis were performed to investigate the glass transition temperature and the nature of the constrained region as the reinforcement mechanism respectively. Furthermore, the optical properties such as UV-Vis and Total Luminous Transmission of nanocomposites are examined.
Abstract: Activated carbon DSAC36-24 iy is adsorbent materials, characterized by a specific surface area of 548.13 m²g⁻¹. Their manufacture uses the natural raw materials like the nucleus of dates. In this study the treatment is done in two stages: A chemical treatment by H3PO4 followed by a physical treatment under nitrogen for 1 hour then under stream of CO2 for 24 hours. A characterization of the various parameters was determined such as the measurement of the specific surface area, determination of pHPZC, bulk density, iodine value. The study of the adsorption of organic molecules (hydroquinone, paranitrophenol, 2,4-dinitrophenol, 2,4,6-trinitrophenol) indicates that the adsorption phenomena are essentially due to the van der Waals interaction. In the case of organic molecules carrying the polar substituents, the existence of hydrogen bonds is also proved by the donor-acceptor forces. The study of the pH effect was done with modeling by different models (Langmuir, Freundlich, Langmuir-Freundlich, Redlich-Peterson), a kinetic treatment is also followed by the application of Lagergren, Weber, Macky.
Abstract: This paper addresses a virtual environment approach to work integrated learning for students in construction-related disciplines. The virtual approach provides a safe and pedagogically rigorous environment where students can apply theoretical knowledge in a simulated real-world context. The paper describes the development of a 4-dimensional digital construction environment and associated learning activities funded by the Australian Office for Learning and Teaching. The environment was trialled with over 1,300 students and evaluated through questionnaires, observational studies and coursework analysis. Results demonstrate a positive impact on students’ technical learning and collaboration skills, but there is need for further research in relation to critical thinking skills and work-readiness.
Abstract: Salinity is one of the most widespread agricultural problems in arid and semi-arid areas that limits the plant growth and crop productivity. In this study, the salt stress effects on protein, reducing sugar, proline contents and antioxidant enzymes activities of Carum copticum L. under in vitro conditions were studied. Seeds of C. copticum were cultured in Murashige and Skoog (MS) medium containing 0, 25, 50, 100 and 150 mM NaCl and calli were cultured in MS medium containing 1 μM 2, 4-dichlorophenoxyacetic acid, 4 μM benzyl amino purine and different levels of NaCl (0, 25, 50, 100 and 150 mM). After NaCl treatment for 28 days, the proline and reducing sugar contents of shoots, roots and calli increased significantly in relation to the severity of the salt stress. The highest amount of proline and carbohydrate were observed at 150 and 100 mM NaCl, respectively. The reducing sugar accumulation in shoots was the highest as compared to roots, whereas, proline contents did not show any significant difference in roots and shoots under salt stress. The results showed significant reduction of protein contents in seedlings and calli. Based on these results, proteins extracted from the shoots, roots and calli of C. copticum treated with 150 mM NaCl showed the lowest contents. The positive relationships were observed between activity of antioxidant enzymes and the increase in stress levels. Catalase, ascorbate peroxidase and superoxide dismutase activity increased significantly under salt concentrations in comparison to the control. These results suggest that the accumulation of proline and sugars, and activation of antioxidant enzymes play adaptive roles in the adaptation of seedlings and callus of C. copticum to saline conditions.
Abstract: Crop improvement through genetic engineering depends on effective and reproducible plant regeneration systems. Immature embryos are the most widely used explant source for in vitro regeneration in barley (Hordeum vulgare L.). However, immature embryos require the continuous growth of donor plants and the suitable stage for their culture is also certainly limited. On the other hand, mature embryos can be procured and stored easily; they can be studied throughout the year. In this study, an effective callus induction and plant regeneration were aimed to develop from mature embryos of different barley genotypes. The effect of medium (MS1 and MS2), auxin type (2,4-D, dicamba, picloram and 2,4,5-T) and concentrations (2, 4, 6 mg/l) on callus formation and effect of cytokinin type (TDZ, BAP) and concentrations (0.2, 0.5, 1.0 mg/l) on green plant regeneration were evaluated in mature embryo culture of barley. Callus and shoot formation was successful for all genotypes. By depending on genotype, MS1 is the best medium, 4 mg/l dicamba is the best growth regulator in the callus induction and MS1 is the best medium, 1 mg/l BAP is the best growth regulator in the shoot formation were determined.
Abstract: Edible seed pumpkin (Cucurbita pepo L.) is one of the important edibles preferred by consumer in Turkey due to its higher nutrient contents. However, there is almost very few study on water consumption and irrigation water requirement of confectionary edible seed pumpkin in Turkey. Therefore, a 2-year study (2013-2014) was conducted to determine the effects of irrigation levels on the seed yield and yield components of drip-irrigated confectionary edible seed pumpkin under Turkey conditions. In the study, the experimental design was made in randomized blocks with three replications. Treatments consisted of five irrigation water levels that compensated for the 100% (I100, full irrigation), 75% (I75), 50% (I50), 25% (I25) and 0% (I0, no irrigation) of crop water requirements at 14-day irrigation intervals. Seasonal evapotranspiration of treatments varied from 194.2 to 625.2 mm in 2013 and from 208.6 to 556.6 mm in 2014. In both years, the highest seasonal evapotranspiration was obtained in I100 treatment. Average across years, the seed yields ranged between 1090 (I100) and 422 (I0) kg ha-1. The irrigation treatments were found to significantly affect the yield parameters such as the seed yield, oil seed yield number of seeds per fruit, seed size, seed width, fruit size, fruit width and fruit index.
Abstract: The objective of this study was to synthesize and characterize 5-acryloyloxy-3,4-dichlorocrotonolactone (a furanone derivative), use this derivative to modify a dental restorative, and study the effect of the derivative on the antibacterial activity and compressive strength of the formed restorative. In this study, a furanone derivative was synthesized, characterized, and used to formulate a dental restorative. Compressive strength (CS) and S. mutans viability were used to evaluate the mechanical strength and antibacterial activity of the formed restorative. The fabricated restorative specimens were photocured and conditioned in distilled water at 37oC for 24 h, followed by direct testing for CS or/and incubating with S. mutans for 48 h for antibacterial testing. The results show that the modified dental restorative showed a significant antibacterial activity without substantially decreasing the mechanical strengths. With addition of the antibacterial derivative up to 30%, the restorative kept its original CS nearly unchanged but showed a significant antibacterial activity with 68% reduction in the S. mutans viability. Furthermore, the antibacterial function of the modified restorative was not affected by human saliva. The aging study also indicates that the modified restorative may have a long-lasting antibacterial function. It is concluded that this experimental antibacterial restorative may potentially be developed into a clinically attractive dental filling restorative due to its high mechanical strength and antibacterial function.
Abstract: According to IR, 13C and 1H NMR, APT, 1D NOE,
2D heteronuclear 1H/13C HSQC and 2D DOSY experiments the main
chemical constituent of high-molecular preparations from Symphytum
asperum, S. caucasicum, S. officinale and Anchusa italica
(Boraginaceae) was found to be caffeic acid-derived polyether,
namely poly[3-(3,4-dihydroxyphenyl)glyceric acid] (PDPGA) or
poly[oxy-1-carboxy-2-(3,4-dihydroxyphenyl)ethylene]. Most
carboxylic groups of this polymer of A. italica are methylated.
Abstract: The high-molecular water-soluble preparations from
several species of two genera (Symphytum and Anchusa) of
Boraginaceae family Symphytum asperum, S. caucasicum, S.officinale
and Anchusa italica were isolated. According to IR, 13C and 1H
NMR, APT, 1D NOE, 2D heteronuclear 1H/13C HSQC and 2D
DOSY experiments, the main chemical constituent of these
preparations was found to be caffeic acid-derived polyether, namely
poly[3-(3,4-dihydroxyphenyl)glyceric acid] (PDPGA) or poly[oxy-1-
carboxy-2-(3,4-dihydroxyphenyl)ethylene]. Most carboxylic groups
of this caffeic acid-derived polymer of A. italica are methylated.
Abstract: An analytical 4-DOF nonlinear model of a de Laval
rotor-stator system based on Energy Principles has been used
theoretically and experimentally to investigate fault symptoms in a
rotating system. The faults, namely rotor-stator-rub, crack and
unbalance are modeled as excitations on the rotor shaft. Mayes
steering function is used to simulate the breathing behaviour of the
crack. The fault analysis technique is based on waveform signal,
orbits and Fast Fourier Transform (FFT) derived from simulated and
real measured signals. Simulated and experimental results manifest
considerable mutual resemblance of elliptic-shaped orbits and FFT
for a same range of test data.
Abstract: To construct the lumped spring-mass model
considering the occupants for the offset frontal crash, the SISAME
software and the NHTSA test data were used. The data on 56 kph 40%
offset frontal vehicle to deformable barrier crash test of a MY2007
Mazda 6 4-door sedan were obtained from NHTSA test database. The
overall behaviors of B-pillar and engine of simulation models agreed
very well with the test data. The trends of accelerations at the driver
and passenger head were similar but big differences in peak values.
The differences of peak values caused the large errors of the HIC36
and 3 ms chest g’s. To predict well the behaviors of dummies, the
spring-mass model for the offset frontal crash needs to be improved.
Abstract: An important problem for the CaSO4/CaSO4・1/2H2O
Chemical heat pump (CHP) is that the material is deactivated through
repetitive reaction between hydration and dehydration in which the
crystal phase of the material is transformed from III-CaSO4 to
II-CaSO4. We investigated suppression on the phase change by adding
a sulfated compound. The most effective material was MgSO4. MgSO4
doping increased the durability of CaSO4 in the actual CHP repetitive
cycle of hydration/dehydration to 3.6 times that of undoped CaSO4.
The MgSO4-doped CaSO4 showed a higher phase transition
temperature and activation energy for crystal transformation from
III-CaSO4 to II-CaSO4. MgSO4 doping decreased the crystal lattice
size of CaSO4・1/2H2O and II-CaSO4 to smaller than that of undoped
CaSO4. Modification of the crystal structure is considered to be related
to the durability change in CaSO4 resulting from MgSO4 doping.
Abstract: High density electrical prospecting has been widely
used in groundwater investigation, civil engineering and
environmental survey. For efficient inversion, the forward modeling
routine, sensitivity calculation, and inversion algorithm must be
efficient. This paper attempts to provide a brief summary of the past
and ongoing developments of the method. It includes reviews of the
procedures used for data acquisition, processing and inversion of
electrical resistivity data based on compilation of academic literature.
In recent times there had been a significant evolution in field survey
designs and data inversion techniques for the resistivity method. In
general 2-D inversion for resistivity data is carried out using the
linearized least-square method with the local optimization technique
.Multi-electrode and multi-channel systems have made it possible to
conduct large 2-D, 3-D and even 4-D surveys efficiently to resolve
complex geological structures that were not possible with traditional
1-D surveys. 3-D surveys play an increasingly important role in very
complex areas where 2-D models suffer from artifacts due to off-line
structures. Continued developments in computation technology, as
well as fast data inversion techniques and software, have made it
possible to use optimization techniques to obtain model parameters to
a higher accuracy. A brief discussion on the limitations of the
electrical resistivity method has also been presented.
Abstract: This paper shows in detail the mathematical model of
direct and inverse kinematics for a robot manipulator (welding type)
with four degrees of freedom. Using the D-H parameters, screw
theory, numerical, geometric and interpolation methods, the
theoretical and practical values of the position of robot were
determined using an optimized algorithm for inverse kinematics
obtaining the values of the particular joints in order to determine the
virtual paths in a relatively short time.
Abstract: This research aims to investigate callus induction,
somatic embryogenesis and indirect plant regeneration of Crassula
ovata (Mill.) Druce – the famous ornamental plant. Experiment no.1:
Callus induction was obtained from leaf and stem explants on
Murashige and Skoog (MS) medium supplemented with various plant
growth regulators (PGRs). Effects of different PGRs, plant
regeneration and subsequent plantlet conversion were also assessed.
Indirect plant regeneration was achieved from the callus of stem
explants by the addition of 1.5 mg/L Kinetin (KN) alone. Best shoot
induction was achieved (6.5 shoots/per explant) after 60 days. For
successful rooting, regenerated plantlets were sub-cultured on the
same MS media supplemented with 1.5 mg/L KN alone. The rooted
plantlets were acclimatized and the survival rate was 90%.
Experiment no.2: Results revealed that 0.5 mg/L 2,4-D alone and in
combination with 1.0 mg/L 6-Benzyladenine (BA) gave 89.8% callus
from the stem explants as compared to leaf explants. Callus
proliferation and somatic embryo formation were also evaluated by
‘Double Staining Method’ and different stages of somatic
embryogenesis were revealed by scanning electron microscope. Full
Strength MS medium produced the highest number (49.6%) of
cotyledonary stage somatic embryos (SEs). Mature cotyledonary
stage SEs developed into plantlets after 12 weeks of culture. Wellrooted
plantlets were successfully acclimatized at the survival rate of
85%. Indirectly regenerated plants did not show any detectable
variation in morphological and growth characteristics when
compared with the donor plant.
Abstract: This paper presents a 4-DOF nonlinear model of a
cracked de Laval rotor-stator system derived based on Energy
Principles. The model has been used to simulate coupled torsionallateral
response of the faulty system with multiple parametric
excitations; rotor-stator-rub, a breathing transverse crack, eccentric
mass and an axial force. Nonlinearity of a “breathing” crack is
incorporated in the model using a simple hinge mechanism suitable
for a shallow crack. Response of the system while passing via its
critical speed with intermittent rotor-stator rub is analyzed. Effects of
eccentricity with phase and acceleration are investigated. Features of
crack, rub and eccentricity in vibration response are explored for
condition monitoring. The presence of a crack and rub are observable
in the power spectrum despite excitations by an axial force and rotor
unbalance. Obtained results are consistent with existing literature and
could be adopted into rotor condition monitoring strategies.
Abstract: Malaria constitutes one of the major health problems
in Nigeria. One of the reasons attributed for the upsurge was the
development of resistance of Plasmodium falciparum and the
emergence of multi-resistant strains of the parasite to anti-malaria
drugs. A continued search for other effective, safe and cheap plantbased
anti-malaria agents thus becomes imperative in the face of
these difficulties. The objective of this study is therefore to evaluate
the in vivo anti-malarial efficacy of ethanolic extracts of
Chromolaena odorata and Androgaphis paniculata leaves. The two
plants were evaluated for their anti-malaria efficacy in vivo in a 4-day
curative test assay against Plasmodium berghei strain in mice. The
group treated with 500mg/ml dose of ethanolic extract of A.
paniculata plant showed parasite suppression with increase in Packed
Cell Volume (PCV) value except day 3 which showed a slight
decrease in PCV value. During the 4-day curative test, an increase in
the PCV values, weight measurement and zero count of Plasmodium
berghei parasite values was recorded after day 3 of drug
administration. These results obtained in group treated with A.
paniculata extract showed anti-malarial efficacy with higher
mortality rate in parasitaemia count when compared with
Chromolaena odorata group. These results justify the use of
ethanolic extracts of A. paniculata plant as medicinal herb used in
folklore medicine in the treatment of malaria.