Miracle-dz/UniFAR-FTUs huggingface dataset:
Environment recognition with multiple sensors and mobile robot navigation based on the fuzzy via-point selection method = 다중 센서를 이용한 환경인식 및 퍼지 경유점 선택기법에 의한 주행 알고리즘

Intelligent mobile robots, the ultimate goal for researchers in the mobile robotics area, can be defined as robots that have such capabilities as perception, reasoning, decision making, action and learning. As a research work toward this ultimate goal, in this thesis, two major fields for intelligent mobile robot have been studied: environment recognition and navigation algorithm. The study is based on indoor wheeled mobile robot that moves within structured but unknown 2D environment, and the mobile robot LCAR has been used as a test bed. With the aim of more robust environment recognition, a sensor fusion scheme for mobile robot environment recognition that incorporates range data and contour data is proposed. Ultrasonic sensor provides coarse spatial description but guarantees open space (with no obstacle) within sonic cone with relatively high belief. Laser structured light system provides detailed contour description of environment but prone to light noise and is easily affected by surface reflectivity. A sensor fusion scheme that can compensate the disadvantages of both sensors has been proposed. Scanning of environments is performed by rotating two sensors installed on the pan-tilt device on the top of the robot. For the purpose of not losing spatial detail and more natural environment description, line and corner models are used. Overall fusion process is composed of two stages: Noise elimination and belief updates. Dempster-Shafer’s evidential reasoning is applied at each stage. Open space estimation from sonar range measurements brings elimination of noisy lines from laser sensor. Comparing actual sonar data to the simulated
Determination of Chloramphenicol in Pharmaceutical Samples at Electrochemically Pretreated Glassy Carbon Electrode

This study focuses on the importance of electrochemical pretreatment of glassy carbon electrode (GCE) for the determination of chloramphenicol (CAP) in pharmaceutical formulations using square wave voltammeter. Electrochemical pretreatment of the electrode greatly enhanced the reduction peak current (Ip) of CAP that it shows a reduction peak current response at -0.032 V vs. Ag/AgCl at the GCE in 0.05 M acetate buffer of pH 5. Detailed experiments were carried out to establish the electrochemical property, the optimal buffer and its pH, electrode pretreatment potential, effect of concentration and square wave voltammetric parameters. Following optimization of the instrumental parameters and pH of buffer solution, the peak current response for the reduction of CAP shows an enhanced response, 5.82 times greater than the bare GCE. The method was successfully applied to three CAP containing pharmaceutical samples: CAP eye drop, CAP palmitat oral suspension and CAP as sodium succinate and the level of CAP in these samples was verified.
A zero ODP replacement for R12 in a centrifugal compressor: an experimental study using R134a

It is well believed that the hydrofluorocarbons (HFCs) and their mixtures are the most promising candidates to substitute the conventional refrigerants, chlorofluorocarbons (CFCs) and HCFCs which contain chlorine atoms in the molecule. This substitution is necessary for the harmful action of CFCs and of HCFCs toward atmospheric ozone layer damage because the disruption of ozone has been attributed to chlorine. For this reason they must be replaced by more environment‐friendly refrigerants, as the new family, designated as HFCs, that are chlorine free. Centrifugal compressors differ from positive displacement compressors in two major respects: high vapour volume flow for a given physical size and lower pressure ratio. They are particularly suited to applications where differences between evaporator and condenser temperatures are low. The preferred properties for fluids used in centrifugal compressors differ in certain important aspects from those preferred for fluids used in positive displacement units. In particular centrifugal compressors typically utilize fluids such as CFC114, CFC113, CFC12 and CFC11 for which many potential candidate replacements exist; however, for CFC12, HFC134a is the most suitable replacement. A comparison of the refrigerants HFC134a and CFC12 has been carried out and the results from the tests, using data from a refrigerating plant operating with a centrifugal compressor are reported. The chilled water cooling plant, with a refrigerating capacity of 6500 kW is made up of a centrifugal two‐stage compressor, a condenser linked to a cooling tower, an economizer and a flooded evaporator. Experimental results show that a lower coefficient of performance is found when R134a is used as substitute for R12; the difference between the COP values decreases rising the compression ratio. Copyright © 2002 John Wiley & Sons, Ltd.
Comment on “Selective adsorption of tannins onto hide collagen fibres”

In a recent publication by Liao et al., the section 1.3 Modeling of adsorption kinetics, authors mentioned a pseudosecond-order model from eq. (3) to eq. (5). In fact, the second order kinetic expression for the adsorption systems of divalent metal ions using sphagnum moss peat has been reported by Ho. In order to distinguish the kinetics equation based on adsorption capacity of solid from concentration of solution, Ho’s second order rate expression has been named pseudo-second order. The most frequently cited papers were published in Chemical Engineering Journal, Process Biochemistry and Water Research.
Iron-catalysed oxidation of N,N-dimethylaniline with molecular oxygen

N,N-Dimethylaniline is oxidised by molecular oxygen in the presence of a number of iron complexes or salts in acetonitrile to give a mixture of N-methylformanilide and 4,4′-methylenebis(N,N′-dimethylaniline) together with N-methylaniline, the product composition being a marked function of the identity of the iron species employed.
Isolation and structure of Pinotin A, a new anthocyanin derivative from Pinotage wine

K e y w o r d s : Vitis vinifera, red wine, Pinotage, high-speed countercurrent chromatography, anthocyanins, malvidin, vinylcatechol, pyranoanthocyanin. Introduction: The color of red wine is composed by monomeric anthocyanins, mainly malvidin-3-O-glucoside, acetylated and coumaroylated derivatives as well as a com- plex mixture of polymeric pigments which are predominantly present in aged wines. In addition, copigmentation is also known to contribute to the overall color intensity. In recent years, additional anthocyanin derivatives containing a pyran ring between C-4 and the hydroxyl group at position 5 of the aglycon moiety have been characterized. Among these, the vitisin-type pigments are formed by the reaction between malvidin and pyruvic acid (BAKKER et al. 1997, FULCRAND
Approaches to the Structure of Fibrinogen

The history of the struggle to comprehend fibrinogen is written in individual experiments of individual investigators. Nonetheless, much of the strategy used in approaching its structure can be classified into a few overlapping categories. One class comprises chemical and immunological analyses. The former have yielded considerable progress toward the primary structure and have revealed various types of heterogeneity. The latter have demonstrated both homologies and domains, and may prove invaluable in phylogenetic and biosynthetic studies ; however, by definition, they are at the mercy of the antibody-producing organism. A second strategic class is model building. Early models were based on data from physical (largely hydrodynamic) measurements ; later ones, on morphological observations. More recent efforts have involved dissective approaches, e.g., proteolytic fragmentation. Though models constructed to date are mutually exclusive in detail, their common structural features and the design of experiments used to test them have not yet permitted unequivocal conclusions. Studies of afibrinogenemia, like organ extirpation, can indicate physiological roles but provide little structural information. By contrast, investigations of congenital dysfibrinogenemia are more analogous to perturbation experiments. In addition to providing well defined examples of permissible structural variations, these investigations carry the potential for revealing important structure-function relationships.
Carbon input by plants into the soil. Review.

The methods used for estimating below-ground carbon (C) translocation by plants, and the results obtained for different plant species are reviewed. Three tracer techniques using C isotopes to quantify root-derived C are discussed: pulse labeling, continuous labeling, and a method based on the difference in 13 C natural abundance in C3 and C4 plants. It is shown, that only the tracer methods provided adequate results for the whole below-ground C translocation. This included roots, exudates and other organic substances, quickly decomposable by soil microorganisms, and CO 2 produced by root respiration. Advantages due to coupling of two different tracer techniques are shown. The differences in the below-ground C translocation pattern between plant species (cereals, grasses, and trees) are discussed. Cereals (wheat and barley) transfer 20%-30% of total assimilated C into the soil. Half of this amount is subsequently found in the roots and about one-third in CO2 evolved from the soil by root respiration and microbial utilization of rootborne organic substances. The remaining part of below-ground translocated C is incorporated into the soil microorganisms and soil organic matter. The portion of assimilated C allocated below the ground by cereals decreases during growth and by increasing N fertilization. Pasture plants translocated about 30%-50% of assimilates below-ground, and their translocation patterns were similar to those of crop plants. On average, the total C amounts translocated into the soil by cereals and pasture plants are approximately the same (1500 kg C ha -1 ), when the same growth period is considered. However, during one vegetation period the cereals and grasses allocated beneath the ground about 1500 and 2200kg C ha -1 , respectively. Finally, a simple approach is suggested for a rough calculation of C input into the soil and for root-derived CO 2 efflux from the soil.
Gaz de bosons ultra-froids dans des potentiels désordonnés : excitations collectives et effets de localisation

Ce memoire presente une etude theorique des proprietes de localisation de gaz de Bose avec interactions faibles, en presence de desordre uni-dimensionnel. Nous abordons trois aspects de ces systemes desordonnes. En premier lieu, nous etudions le cas d'un gaz sans interactions. Des resultats generaux stipulent que tous les etats a une particule sont localises en une dimension. Nous montrons que pour certaines classes de desordre correle, la dependance de la longueur de localisation des atomes vis-a-vis de leur energie est marquee par d'abruptes transitions a faible desordre. Ceci permet l'interpretation de resultats experimentaux recents, au-dela des analyses precedentes. Dans un deuxieme temps, nous etudions l'etat fondamental d'un gaz avec interactions repulsives, et etablissons un diagramme des etats quantiques du systeme en fonction de l'amplitude du desordre et des interactions. Nous analysons les modulations de densite imposees au gaz par le desordre afin de decrire le passage du regime de condensat de Bose- Einstein delocalise a celui de condensat fragmente. Pour le regime des tres faibles interactions, nous developpons une description microscopique du systeme sur la base des etats propres de basse energie du hamiltonien a une particule. Ces resultats contribuent a la caracterisation de la phase de verre de Bose encore peu exploree aux faibles interactions. Enfin, nous etudions la localisation des excitations elementaires du gaz de Bose dans le regime de (quasi-) condensat. Nous montrons que la localisation reduite des excitations de plus faible energie est imputable a un ecrantage efficace par le (quasi-) condensat des variations de grande longueur d'onde du potentiel exterieur.
Intrinsic carrier mobility of germanene is larger than graphene's: first-principle calculations

Shown here is the intrinsic carrier mobility (ICM) of germanene, a group-IV graphene-like two-dimensional buckled nanosheet. Specifically, combining the Boltzmann transport equation with the relaxation time approximation at the first-principle level, it was calculated that the ICM of the germanene sheet can reach ∼6 × 105 cm2 V−1 s−1, in an order of magnitude (105 cm2 V−1 s−1), and even larger than that of graphene. The high ICM of germanene is attributed to the large buckled distance and the small effective mass. Since Ge has good compatibility with Si in the conventional semiconductor industry, the results indicate that germanene should be a good supplement to prospective nanoelectronics.
Measurement of Soluble Arsenic in Soil of Bangladesh by Acid-alkali Sequential Extraction

To measure easily soluble fraction of arsenic, a sequential extraction method by 0.1N HCl and 0.1N NaOH was used according to the soil phosphorus extraction procedure . The effects of reducing conditions on arsenic extraction were examined in incubation test. In high reducing conditions arsenic solubility was shown to be high and seemed to be controlled by dissolution of iron oxy-hydroxides. pH played a predominant role in determining the concentrations of soluble arsenic. Arsenic solubility could be possible at low or high pH conditions. Released arsenic in different pH and redox conditions showed that it is a part of acid extractable arsenic which is sorbed weakly on the soil surface and can be extracted during acid-alkali sequential extraction. Therefore, the method could be applicable to measure potential solubility of arsenic as a result of alteration in soil (e.g. redox, pH) and environmental factors. Sequential extraction results of the soil samples collected in dry and wet season suggested that acid-alkali extracted arsenic fractions of surface and core soil samples of paddy field were increased in wet season. They seemed to be moved with irrigation groundwater. Â Keywords : Acid-alkali extraction; Arsenic contamination; Soil arsenic mobility; Groundwater contamination; Paddy soil. Â Â© 2009 JSR Publications. ISSN: 2070-0237(Print); 2070-0245 (Online). All rights reserved. Â DOI: 10.3329/jsr.v1i1. 1058 Â Â
Escherichia coli damage by ceramic powder slurries

To elucidate the antibacterial mechanisms of the ceramics magnesium oxide (MgO), calcium oxide (CaO) and zinc oxide (ZnO), damage to bacteria caused by these powder slurries are studied on the basis of change insensitivities to antibiotics, of which the primary inhibitory actions are understood well. Four kinds of antibiotics, penicillin G, chloramphenicol, nalidixic acid and rifampicin, were used as the selective reagents. The MgO and CaO powder slurries increased the sensitivities of Escherichia coli to rifampicin and chloramphenicol. Though the MgO and CaO powder slurries have high pH values, changes in the sensitivities by the MgO and CaO powder slurries were obviously different from those via alkaline treatment. The ZnO powder slurry enhanced the sensitivity of the E. coli to chloramphenicol. This result suggests that the antibacterial actions of MgO and CaO powder slurries were different from those of ZnO powder slurry.
Chaotic oscillations of linear hyperbolic PDE with variable coefficients and implicit boundary conditions

In this paper, the chaotic oscillations of the initial-boundary value problem of linear hyperbolic partial differential equation (PDE) with variable coefficients are investigated, where both ends of boundary conditions are nonlinear implicit boundary conditions (IBCs). It separately considers that IBCs can be expressed by general nonlinear boundary conditions (NBCs) and cannot be expressed by explicit boundary conditions (EBCs). Finally, numerical examples verify the effectiveness of theoretical prediction.
Copolymerization of styrene and methyl α-cyanocinnamate, 1. Synthesis, NMR-assignment, reactivity ratios

The free-radical copolymerization of styrene and methyl α-cyanocinnamate was studied. The copolymers were investigated by means of NMR spectroscopy. From the assignment of the signals both in 1H and 13C NMR spectra it follows that not only head-to-tail but also head-to-head coupling of styrene and methyl α-cyanocinnamate monomeric units occurs in the copolymers. The composition data of the copolymers can be described by the penultimate model as seen from the linear distribution of the data points in a modified Kelen-Tudos representation.
Time-of-Flight SIMS

In Life Sciences, chemical characterisation with Time-of-Flight Secondary Ion Mass Spectrometry (ToF-SIMS) has found interest due to high surface sensitivity down to the femtomol range, and an information depth limited to the top-surface in the nanometer range, combined with molecular imaging capabilities in the micrometer range [1-3]. Selected examples given in this overview concern recent applications like dendritic nano-polymer molecules, immobilisation of sugar molecules on surfaces, neural cell adhesion, and characterisation of engineered surfaces (= biosensors). These examples illustrate advantages and possible limitations of ToF-SIMS in applied research.
Psychological Reflections on Ismail al-Faruqi’s Life and Contributions

Introduction Perhaps I am one of the few persons who can contemplate deeply upon the psychosocial factors that shaped Ismail al-Faruqi’s life and helped transform him into a great Muslim thinker. First, as a psychologist, I could clearly see from his career, as well as from his matchless linguistic ability and long personal discussions with him, that he was a highly intelligent and creative person with a rare gift for perceiving a holistic picture of seemingly unrelated aspects. Second, I am now an old man who lived in Lebanon and Jordan from the early 1950s until the late 1960s, interrupted only by the two years I spent in England pursuing my doctorate. I earned my BA and MA at the American University of Beirut (AUB) and then taught there after obtaining my doctorate. I am therefore well acquainted with the culture of Lebanon, Syria, and Jordan, as well as with AUB’s academic and social life, during those years. Al-Faruqi joined AUB at an early age and was greatly influenced by what it had to offer. Third, I was privileged to have long discussions and friendly talks with him during my visits to the United States and his visit to Saudi Arabia. I first met him in Indianapolis in 1976 at the international annual conference organized by the Muslim Students Association (MSA) and the Association of Muslim Social Scientists (AMSS). We had long academic discussions on Islamization and the future of Islamic psychology. It was his idea that Muslim psychologists in North America should form a psychology branch within the AMSS. I spent three months in Indianapolis, sharing the same house with the renowned scholar Taha Jabir al-Alwani. During these months I was asked to
Phase Transition and Electric Conductivity of ASnCl3 (A = Cs and CH3NH3).

A first-order phase transition of CsSnCl3 to a cubic perovskite phase was observed at Ttr = 379 K. The electric conductivity increased from 10−6 S cm−1 to 10−3 S cm−1 at the phase transition. The temperature dependence of the electric conductivity and the X-ray diffraction data for CsSnCl3 suggested a reconstructive nature of the phase transition. On the other hand, CH3NH3SnCl3 showed successive phase transitions at 283, 307, 331, and 463 K with increasing temperature. The highest temperature phase belongs to a cubic perovskite structure, and pyramidal SnCl3− anion exists below 465 K having distorted perovskite structures. The 119Sn NMR spectra for CH3NH3SnCl3 supported the coordination change around the Sn atom, and also suggested the onset of chloride-ion diffusion just below the phase-transition temperature to the cubic phase. The activation energy for chloride-ion diffusion was found to be 54 kJ mol−1 by analyzing the temperature dependence of 119Sn NMR T1. The electric conductivity of Cs and CH3NH3 s.
Intranasally delivered mesenchymal stromal cells decrease glial inflammation early in prion disease

Mesenchymal stromal cells (MSCs) are an intriguing avenue for the treatment of neurological disorders due to their ability to migrate to sites of neuroinflammation and respond to paracrine signaling in those sites by secreting cytokines, growth factors, and other neuromodulators. We potentiated this ability by stimulating MSCs with inflammatory molecules, improving their migratory and secretory properties. We investigated the use of intranasally delivered adipose-derived MSCs (AdMSCs) in combating prion disease in a mouse model. Prion disease is a rare, lethal neurodegenerative disease that results from the misfolding and aggregation of the prion protein. Early signs of this disease include neuroinflammation, activation of microglia, and development of reactive astrocytes. Later stages of disease include development of vacuoles, neuronal loss, abundant aggregated prions, and astrogliosis. We demonstrate the ability of AdMSCs to upregulate anti-inflammatory genes and growth factors when stimulated with tumor necrosis factor alpha (TNFα) or prion-infected brain homogenates. We stimulated AdMSCs with TNFα and performed biweekly intranasal deliveries of AdMSCs on mice that had been intracranially inoculated with mouse-adapted prions. At early stages in disease, animals treated with AdMSCs showed decreased vacuolization throughout the brain. Expression of genes associated with Nuclear Factor-kappa B (NF-κB) and Nod-Like Receptor family pyrin domain containing 3 (NLRP3) inflammasome signaling were decreased in the hippocampus. AdMSC treatment promoted a quiescent state in hippocampal microglia by inducing changes in both number and morphology. Animals that received AdMSCs showed a decrease in both overall and reactive astrocyte number, and morphological changes indicative of homeostatic astrocytes. Although this treatment did not prolong survival or rescue neurons, it demonstrates the benefits of MSCs in combatting neuroinflammation and astrogliosis.
Reaction of quinoxaline derivatives with nucleophilic reagents.

2-Chloro-3-methylquinoxaline reacts with aromatic amines in basic medium forming 2-arylamino-3-methylquinoxalines, also it reacts with mercaptoacetic acid. The 3-methyl-2(1H)-quinoxalinone condenses with aromatic aldehydes forming the corresponding 3-(substituted styryl)-2(1H)-quinoxalinones which add bromine in acetic acid to yield the corresponding dibromo derivatives which react with morpholine, sodium methoxide, and piperidine to give the corresponding compounds. 3-Methyl-2(1H)-quinoxalinone undergoes side-chain bromination to yield 3-bromomethyl-2(1H)-quinoxalinone, which reacts with aromatic amines, sodium salt of saccharine, potassium phthalimide··· 3-Methyl-2(1H)-quinoxalinone with P2S5 gave 3-methyl-2(1H)-quinoxalinethione which reacts with 2-aminoethanol, dimethyl sulfate, and halo acids.