A robust-adaptive fuzzy coverage control for robotic swarms

In this paper, a decentralized adaptive control scheme for multi-robot coverage is proposed. This control method is designed based on centroidal Voronoi configuration integrated with robust adaptive fuzzy control techniques. We consider simple single integrator mobile robots used for covering dynamical environments, where an adaptive fuzzy logic system is used to approximate the unknown parts of control law. A robust coverage criterion is used to attenuate the adaptive fuzzy approximation error and measurement noises to a prescribed level. Therefore, the robots motion is forced to obey solutions of a coverage optimization problem. The advantages of the proposed controller can be listed as robustness to external disturbances, computation uncertainties, and measurement noises, while applicability on dynamical environments. A Lyapunov-function based proof is given of robust stability, i.e. convergence to the optimal positions with bounded error. Finally, simulation results are demonstrated for a swarm coverage problem simultaneous with tracking mobile intruders.     

Vector and Cell Line Engineering Technologies Toward Recombinant Protein Expression in Mammalian Cell Lines

The rapid growth of global biopharmaceutical market in the recent years has been a good indication of its significance in biotechnology industry. During a long period of time in recombinant protein production from 1980s, optimizations in both upstream and downstream processes were launched. In this regard, one of the most promising strategies is expression vector engineering technology based on incorporation of DNA opening elements found in the chromatin border regions of vectors as well as targeting gene integration. Along with these approaches, cell line engineering has revealed convenient outcomes in isolating high-producing clones. According to the fact that more than 50% of the approved therapeutic proteins is being manufactured in mammalian cell lines, in this review, we focus on several approaches and developments in vector and cell line engineering technologies in mammalian cell culture.     

Soap-free emulsion polymerization of poly (methyl methacrylate-co-butyl acrylate): effects of anionic comonomers and methanol on the different characteristics of the latexes

Soap-free emulsion polymerization (SFEP) of methyl methacrylate, butyl acrylate was conducted in water/methanol media with sodium salts of four different acidic comonomers, namely styrene sulfonic acid (NaSS), 2-acrylamide-2-methyl-1-propane sulfonic acid (NaAmps), acrylic acid (NaAA), and itaconic acid (Na₂ita). It was found that the introduction of methanol as co-solvent (35 wt%) to the medium greatly decreases the amount of water-soluble polyelectrolyte in the cases NaAA and Na₂ita while it does not make difference for NaSS and NaAmps. Having employed the concept of conductance dependency to the ion mobility, the onset concentration in which soluble chains were formed was detected. The addition of sulfonic-based comonomers (NaSS and NaAmps), first decreased particle size and then led to predomination of solution polymerization over SFEP. On the contrary, the incorporation of carboxylic-based comonomers (NaAA and Na₂ita) led to increase in particle size. Moreover, the particle size results were in good qualitative agreement with the classical Smith–Ewart theory.     

Theoretical introduction and design of Si/N catalysts as efficient reducing agents in CO2 hydroboration by planar Si/N π-conjugated molecules

Structural Chemistry - Hydroboration of CO2 has been recognized as a desirable reaction for value-added chemical production. The main aims of this report are to introduce and study the mechanism of...     

Microwave Thermolysis: A Rapid and Selective Method for the Cleavage of THP Ethers Using CrO 3 Supported onto Zeolite in Solventless System

Oxidative deprotection of tetrahydropyranyl ethers (THP ethers) using chromium trioxide supported onto zeolite under microwave irradiation in solvent free condition is described.     

Facile,one-pot synthesis of new phenanthridine derivatives through 1,4-dipolar cycloaddition of phenantridine,activated acetylenes,and aromatic aldehydes

A facile, one-pot synthesis of new phenanthridine derivatives by a three-component reaction between phenantridine, dialkyl acetylenedicarboxylates（DAADs）, and aromatic aldehydes is described. The reaction is characterized by mild conditions, high selectivity, and tolerance to various functional groups.     

Green and one‐pot surface coating of iron oxide magnetic nanoparticles with natural amino acids and biocompatibility investigation

We report the synthesis of iron oxide magnetic nanoparticles (IONPs) coated with various natural amino acids (AAs) using a one‐pot reaction in an aqueous medium. Several AAs, which contained hydrophilic and hydrophobic groups, were selected to study their effects on size, morphology and toxicity of IONPs. Functionalized IONPs were characterized using X‐ray diffraction, differential scanning calorimetry, thermogravimetric analysis, Fourier transform infrared spectroscopy, and scanning and transmission electron microscopies. Furthermore, vibrating sample magnetometry analysis shows these nanoparticles have excellent magnetic properties. Cellular toxicity of IONPs was also investigated on HFF2 cell lines. The AA‐coated IONPs are non‐toxic and biocompatible. Natural AA‐coated IONPs show a potential for their development in in vitro and in vivo biomedical fields due to their non‐toxicity, good ζ‐potential and related small size and narrow size distribution.     

Minimum Norm Solution to the Absolute Value Equation in the Convex Case

In this paper, we give an algorithm to compute the minimum norm solution to the absolute value equation (AVE) in a special case. We show that this solution can be obtained from theorems of the alternative and a useful characterization of solution sets of convex quadratic programs. By using an exterior penalty method, this problem can be reduced to an unconstrained minimization problem with once differentiable convex objective function. Also, we propose a quasi-Newton method for solving unconstrained optimization problem. Computational results show that convergence to high accuracy often occurs in just a few iterations.     

Comparative study of electrically conductive cotton fabric prepared through the in situ synthesis of different conductive materials

Cellulose - The electrical conductivity of cotton fabrics was enhanced using an in situ synthesis of graphene or polymerization of conductive polymer. The impact of conductive materials...