Abstract: This paper presents an Extended Kaman Filter
implementation of a single-camera Visual Simultaneous Localization
and Mapping algorithm, a novel algorithm for simultaneous
localization and mapping problem widely studied in mobile robotics
field. The algorithm is vision and odometry-based, The odometry
data is incremental, and therefore it will accumulate error over time,
since the robot may slip or may be lifted, consequently if the
odometry is used alone we can not accurately estimate the robot
position, in this paper we show that a combination of odometry and
visual landmark via the extended Kalman filter can improve the robot
position estimate. We use a Pioneer II robot and motorized pan tilt
camera models to implement the algorithm.
Abstract: Organochlorine pesticides (OCPs) are known to be
persistent and bioaccumulative toxicants that may cause reproductive
impairments in wildlife as well as human. The current study uses the
snail-eating turtle Malayemys macrocephala, a long-lived animal
commonly distribute in rice field habitat in central part of Thailand,
as a sentinel to monitor OCP contamination in environment. The
nest soil, complete clutch of eggs, and blood of the turtle were
collected from agricultural areas in the Chao Phraya River Basin,
Thailand during the nesting season of 2007-2008. The novel
methods for tissue extraction by an accelerated solvent extractor
(ASE, for egg) and liquid-liquid extraction (for blood) have been
developed. The nineteen OCP residues were analyzed by gas
chromatography with micro-electron captured detector (GC-μECD).
The validated methods have met requirements of the AOAC
standard. The results indicated that significant amounts of OCPs are
still contaminated in nest soil and eggs of the turtle even though the
OCPs had been banned in this area for many years. This suggested
the potential risk to health of wildlife as well as human in the area.
Abstract: Anti-allergic effects of royal jelly were evaluated in a human-like mouse model of atopic dermatitis. NC/Nga mice were cutaneously applied with royal jelly for 6 weeks. Royal jelly-treated mice exhibited lower levels of serum total immunoglobulin E in comparison with controls. We found that the treatment decreased (11% to the control) expression of mRNA for aquaporin-3, which is involved in the modulation of epidermal hydration. Microarray analysis revealed more than 10-fold changes in the expression of several genes, such as transglutaminase 2, repetin, and keratins. In normal human epidermal keratinocytes, royal jelly extract suppressed interleukin-8 elevation induced by TNF-α and interferon-γ, suggesting direct anti-inflammatory activity in keratinocytes. Collectively, topical application of royal jelly may be useful for amelioration of lesions and inflammation in atopic dermatitis.
Abstract: The charnockitic and associated granitic rocks of Akure area were studied for their field and petrographic relationship's. The outcrops locations were plotted in Surfer 8. The granitic rock exhibits a porphyritic texture and outcrops in the north-eastern side of the study area while the charnockitics outcrop in the central/western part. An essentially dark coloured and fine grained intrusive exhibiting xenoliths and xenocrysts (plagioclase phenocrysts) of the granite outcrops between the granitic and charnockitic rocks. Mineralogically, the central rock combines the content of the other two indicating that it is most likely a product of their hybridization. The charnockitic magma is believed to have intruded and assimilated the granite substantially thereby contaminating itself and consequently emplacing the hybrid. The presented model of emplacement elucidates the hybridization proposal. Conclusively, the charnockitics are believed to be (a) younger than the granite, (b) of Pan-African age and (c) of igneous origin.
Abstract: This research studied the hypoglycemic effect of
water soluble polysaccharide (WSP) extracted from yam (Dioscorea
hispida) tuber by three different methods: aqueous extraction, papain
assisted extraction, and tempeh inoculums assisted extraction. The
two later extraction methods were aimed to remove WSP binding
protein to have more pure WSP. The hypoglycemic activities were
evaluated by means in vivo test on alloxan induced hyperglycemic
rats, glucose response test (GRT), in situ glucose absorption test
using everted sac, and short chain fatty acids (SCFAs) analysis. All
yam WSP extracts exhibited ability to decrease blood glucose level in
hyperglycemia condition as well as inhibited glucose absorption and
SCFA formation. The order of hypoglycemic activity was tempeh
inoculums assisted- >papain assisted- >aqueous WSP extracts. GRT
and in situ glucose absorption test showed that order of inhibition
was papain assisted- >tempeh inoculums assisted- >aqueous WSP
extracts. Digesta of caecum of yam WSP extracts oral fed rats had
more SCFA than control. Tempeh inoculums assisted WSP extract
exhibited the most significant hypoglycemic activity.
Abstract: Silver/polylactide nanocomposites (Ag/PLA-NCs) were
synthesized via chemical reduction method in diphase solvent. Silver
nitrate and sodium borohydride were used as a silver precursor
and reducing agent in the polylactide (PLA). The properties of
Ag/PLA-NCs were studied as a function of the weight percentages
of silver nanoparticles (8, 16 and 32 wt% of Ag-NPs) relative to
the weight of PLA. The Ag/PLA-NCs were characterized by Xray
diffraction (XRD), transmission electron microscopy (TEM),
electro-optical microscopy (EOM), UV-visible spectroscopy (UV-vis)
and Fourier transform infrared spectroscopy (FT-IR). XRD patterns
confirmed that Ag-NPs crystallographic planes were face centered
cubic (fcc) type. TEM images showed that mean diameters of Ag-NPs
were 3.30, 3.80 and 4.80 nm. Electro-optical microscopy revealed
excellent dispersion and interaction between Ag-NPs and PLA films.
The generation of silver nanoparticles was confirmed from the UVvisible
spectra. FT-IR spectra showed that there were no significant
differences between PLA and Ag/PLA-NCs films. The synthesized
Ag/PLA-NCs were stable in organic solution over a long period of
time without sign of precipitation.
Abstract: Rice husk is a lignocellulosic source that can be
converted to ethanol. Three hundreds grams of rice husk was mixed
with 1 L of 0.18 N sulfuric acid solutions then was heated in an
autoclave. The reaction was expected to be at constant temperature
(isothermal), but before that temperature was achieved, reaction has
occurred. The first liquid sample was taken at temperature of 140 0C
and repeated every 5 minute interval. So the data obtained are in the
regions of non-isothermal and isothermal. It was observed that the
degradation has significant effects on the ethanol production. The
kinetic constants can be expressed by Arrhenius equation with the
frequency factors for hydrolysis and sugar degradation of 1.58 x 105
1/min and 2.29 x 108 L/mole/min, respectively, while the activation
energies are 64,350 J/mole and 76,571 J/mole. The highest ethanol
concentration from fermentation is 1.13% v/v, attained at 220 0C.
Abstract: Here we report on the utilization of Laser-Induced
Breakdown Spectroscopy (LIBS) for determination of Quantum Dots
(QDs) in liquid solution. The process of optimization of experimental
conditions from choosing the carrier medium to application of colloid
QDs is described. The main goal was to get the best possible signal to
noise ratio.
The results obtained from the measurements confirmed the capability
of LIBS technique for qualitative and afterwards quantitative
determination of QDs in liquid solution.
Abstract: Mutations of the telomeric copy of the survival motor neuron 1 (SMN1) gene cause spinal muscular atrophy. A deletion of the Eef1a2 gene leads to lower motor neuron degeneration in wasted mice. Indirect evidences have been shown that the eEF1A protein family may interact with SMN, and our previous study showed that abnormalities of neuromuscular junctions in wasted mice were similar to those of Smn mutant mice. To determine potential colocalization between SMN and tissue-specific translation elongation factor 1A2 (eEF1A2), an immunochemical analysis of HeLa cells transfected with the plasmid pcDNA3.1(+)C-hEEF1A2- myc and a new quantitative test of colocalization by intensity correlation analysis (ICA) was used to explore the association of SMN and eEF1A2. Here the results showed that eEF1A2 redistributed from the cytoplasm to the nucleus in response to serum and epidermal growth factor. In the cytoplasm, compelling evidence showed that staining for myc-tagged eEF1A2 varied in synchrony with that for SMN, consistent with the formation of a SMN-eEF1A2 complex in the cytoplasm of HeLa cells. These findings suggest that eEF1A2 may colocalize with SMN in the cytoplasm and may be a component of the SMN complex. However, the limitation of the ICA method is an inability to resolve colocalization in components of small organelles such as the nucleus.
Abstract: In Indonesia, goat milk is often consumed and
believed as anti-allergy. The objective of this research was to study
the effect of goat milk and their fractions (casein and whey)
supplementation on total serum IgE concentrations and leukocytes
count in rat sensitized with contact allergen dinitrochlorobenzene
(DNCB). Female Wistar rats 6-8 weeks old were divided into four
groups: 1) whey, 2) casein, 3) whole milk supplementation and 4)
phosphate-buffered saline/PBS (control). The results showed that
supplementation of goat milk on rats did not affects on total serum
IgE concentrations and number of leukocytes. After sensitized with
DNCB, the monocyte percentage in rats was higher (P
Abstract: Sediment and mangrove root samples from Iko River
Estuary, Nigeria were analyzed for microbial and polycyclic
aromatic hydrocarbon (PAH) content. The total heterotrophic
bacterial (THB) count ranged from 1.1x107 to 5.1 x107 cfu/g, total
fungal (TF) count ranged from 1.0x106 to 2.7x106 cfu/g, total
coliform (TC) count ranged from 2.0x104 to 8.0x104cfu/g while
hydrocarbon utilizing bacterial (HUB) count ranged from 1.0x 105 to
5.0 x 105cfu/g. There was a range of positive correlation (r = 0.72 to
0.93) between THB count and total HUB count, respectively. The
organisms were Staphylococcus aureus, Bacillus cereus,
Flavobacterium breve, Pseudomonas aeruginosa, Erwinia
amylovora, Escherichia coli, Enterobacter sp, Desulfovibrio sp,
Acinetobacter iwoffii, Chromobacterium violaceum, Micrococcus
sedentarius, Corynebacterium sp, and Pseudomonas putrefaciens.
The PAH were Naphthalene, 2-Methylnaphthalene, Acenapthylene,
Acenaphthene, Fluorene, Phenanthene, Anthracene, Fluoranthene,
Pyrene, Benzo(a)anthracene, Chrysene, Benzo(b)fluoranthene,
Benzo(k)fluoranthene, Benzo(a)pyrene, Dibenzo(a,h)anthracene,
Benzo(g,h,l)perylene ,Indeno(1,2,3-d)pyrene with individual PAH
concentrations that ranged from 0.20mg/kg to 1.02mg/kg, 0.20mg/kg
to 1.07mg/kg and 0.2mg/kg to 4.43mg/kg in the benthic sediment,
epipellic sediment and mangrove roots, respectively. Total PAH
ranged from 6.30 to 9.93mg/kg, 6.30 to 9.13mg/kg and 9.66 to
16.68mg/kg in the benthic sediment, epipellic sediment and
mangrove roots, respectively. The high concentrations in the
mangrove roots are indicative of bioaccumulation of the pollutant in
the plant tissue. The microorganisms are of ecological significance
and the detectable quantities of polycyclic aromatic hydrocarbon
could be partitioned and accumulated in tissues of infaunal and
epifaunal organisms in the study area.
Abstract: Environmental micro-organisms include a large number of taxa and some species that are generally considered nonpathogenic, but can represent a risk in certain conditions, especially for elderly people and immunocompromised individuals. Chemotaxonomic identification techniques are powerful tools for environmental micro-organisms, and cellular fatty acid methyl esters (FAME) content is a powerful fingerprinting identification technique. A system based on an unsupervised artificial neural network (ANN) was set up using the fatty acid profiles of standard bacterial strains, obtained by gas-chromatography, used as learning data. We analysed 45 certified strains belonging to Acinetobacter, Aeromonas, Alcaligenes, Aquaspirillum, Arthrobacter, Bacillus, Brevundimonas, Enterobacter, Flavobacterium, Micrococcus, Pseudomonas, Serratia, Shewanella and Vibrio genera. A set of 79 bacteria isolated from a drinking water line (AMGA, the major water supply system in Genoa) were used as an example for identification compared to standard MIDI method. The resulting ANN output map was found to be a very powerful tool to identify these fresh isolates.
Abstract: We considered repeated-root cyclic codes whose
block length is divisible by the characteristic of the underlying field.
Cyclic self dual codes are also the repeated root cyclic codes. It is
known about the one-level squaring construction for binary repeated
root cyclic codes. In this correspondence, we introduced of two
level squaring construction for binary repeated root cyclic codes of
length 2a b , a > 0, b is odd.
Abstract: Metropolitan areas have suffered from traffic problems, which have steadily increased in many monocentric cities. Urban expansion, population growth, and road network development have resulted in a structural shift toward urban sprawl, increasing commuters’ dependence on private modes of transport. This paper aims to model the influence of socioeconomic and land-use factors on mode choice using a multinomial and nested logit model. Land-use patterns—such as residential, commercial, retail, educational and employment related—affect the choice of mode and destination in the short and medium term. Socioeconomic factors—such as age, gender, income, household size, and house type—also affect choice, while residential location is affected in the long term. Riyadh in Saudi Arabia and Melbourne in Australia were chosen as case studies. Riyadh is a car-dependent city with limited public transport, whereas Melbourne has good public transport but an increase in car dependence. Aggregate level land-use data and disaggregate level individual, household, and journey-to-work data are used to determine the effects of land use and socioeconomic factors on mode choice. The model results determined that urban sprawl is the main factor that affects mode choice, income, and house type.
Abstract: The antioxidant compounds are needed for the food, beverages, and pharmaceuticals industry. For this purpose, an appropriate method is required to measure the antioxidant properties in various types of samples. Spectrophotometric method usually used has some weaknesses, including the high price, long sample preparation time, and less sensitivity. Among the alternative methods developed to overcome these weaknesses is antioxidant biosensor based on superoxide dismutase (SOD) enzyme. Therefore, this study was carried out to measure the SOD activity originating from Deinococcus radiodurans and to determine its kinetics properties. Carbon paste electrode modified with ferrocene and immobilized SOD exhibited anode and cathode current peak at potential of +400 and +300mv respectively, in both pure SOD and SOD of D. radiodurans. This indicated that the current generated was from superoxide catalytic dismutation reaction by SOD. Optimum conditions for SOD activity was at pH 9 and temperature of 27.50C for D. radiodurans SOD, and pH 11 and temperature of 200C for pure SOD. Dismutation reaction kinetics of superoxide catalyzed by SOD followed the Lineweaver-Burk kinetics with D. radiodurans SOD KMapp value was smaller than pure SOD. The result showed that D. radiodurans SOD had higher enzyme-substrate affinity and specificity than pure SOD. It concluded that D. radiodurans SOD had a great potential as biological recognition component for antioxidant biosensor.
Abstract: One of the aims of the paper is to make a comparison
of experimental results with numerical simulation for a side cooler.
Specifically, it was the amount of air to be delivered by the side
cooler with fans running at 100%. This integral value was measured
and evaluated within the plane parallel to the front side of the side
cooler at a distance of 20mm from the front side. The flow field
extending from the side cooler to the space was also evaluated.
Another objective was to address the contribution of evaluated values
to the increase of data center energy consumption.
Abstract: In order to study the effects of supplemental irrigation, different levels of nitrogen chemical fertilizer and inoculation with rhizobium bacteria on the grain yield of chickpea, an experiment was carried out using split plot arrangement in randomize complete block design with three replication in agricultural researches station of Zanjan, Iran during 2009-2010 cropping season. The factors of experiment consisted of irritation (without irrigation (I1), irrigation at flowering stage (I2), irrigation at flowering and grain filling stages (I3) and full irrigation (I4)) and different levels of nitrogen fertilizer (without using of nitrogen fertilizer (N0), 75 kg.ha-1 (N75), 150 kg.ha-1 (N150) and inoculation with rhizobium bacteria (N4). The results of the analysis of variance showed that the effects of irrigation, nitrogen fertilizer levels and bacterial inoculation, were significant affect on number of pods per plant, number grains per plant, grain weight, grain yield, biological yield and harvest index at 1% probability level. Also Results showed that the grain yield in full irrigation treatment and inoculated with rhizobium bacteria was significantly higher than the other treatments.
Abstract: We investigate the ZnO role in the inherent protection
of old manuscripts to protect them against environmental damaging
effect of ultraviolet radiation, pollutant gasses, mold and bacteria. In
this study a cellulosic nanocomposite of ZnO were used as protective
coating on the surface of paper fibers. This layered nanocomposite
can act as a consolidate materials too. Furthermore, to determine how
well paper works screen objects from the damaging effects, two
accelerated aging mechanisms due to light and heat are discussed.
Results show good stability of papers with nanocomposite coating.
Also, a good light stability was shown in the colored paper that
treated with this nanocomposite. Furthermore, to demonstrate the
degree of antifungal and antibacterial properties of coated papers,
papers was treated with four common molds and bacteria and the
good preventive effects of coated paper against molds and bacteria
are described.
Abstract: Network on a chip (NoC) has been proposed as a viable solution to counter the inefficiency of buses in the current VLSI on-chip interconnects. However, as the silicon chip accommodates more transistors, the probability of transient faults is increasing, making fault tolerance a key concern in scaling chips. In packet based communication on a chip, transient failures can corrupt the data packet and hence, undermine the accuracy of data communication. In this paper, we present a comparative analysis of transient fault tolerant techniques including end-to-end, node-by-node, and stochastic communication based on flooding principle.
Abstract: In the present work, an attempt has been made to
understand the feasibility of using UHF technique for identification
of any corona discharges/ arcing in insulating material due to water
droplets. The sensors of broadband type are useful for identification
of such discharges. It is realised that arcing initiated by liquid droplet
radiates UHF signals in the entire bandwidth up to 2 GHz. The
frequency content of the UHF signal generated due to corona/arcing
is not much varied in epoxy nanocomposites with different weight
percentage of clay content. The exfoliated/intercalated properties
were analysed through TEM studies. It is realized that corona
initiated discharges are of intermittent process. The hydrophobicity
of the material characterized through contact angle measurement. It
is realized that low Wt % of nanoclay content in epoxy resin reduces
the surface carbonization due to arcing/corona discharges. The results
of the study with gamma irradiated specimen indicates that contact
angle, discharge inception time and evaporation time of the liquid are
much lower than the virgin epoxy nanocomposite material.