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.     

1,3-Dibromo-5,5-dimethylhydantoin(DBH)/kaolin:An efficient reagent system for the synthesis of 14-aryl-14H-dibenzo[a,j]xanthenes under solvent-free conditions

1,3-Dibromo-5,5-dimethylhydantoin,has been used as an efficient catalyst for the synthesis of 14-aryl-14H-dibenzo[a,j]xanthenes in the presence of kaolin.All reactions are performed in the absence of solvent in relatively short reaction times in good to high yields.     

Eisenstein type series for Calabi–Yau varieties

In this article we introduce an ordinary differential equation associated to the one parameter family of Calabi–Yau varieties which is mirror dual to the universal family of smooth quintic three folds. It is satisfied by seven functions written in the q-expansion form and the Yukawa coupling turns out to be rational in these functions. We prove that these functions are algebraically independent over the field of complex numbers, and hence, the algebra generated by such functions can be interpreted as the theory of (quasi) modular forms attached to the one parameter family of Calabi–Yau varieties. Our result is a reformulation and realization of a problem of Griffiths around seventies on the existence of automorphic functions for the moduli of polarized Hodge structures. It is a generalization of the Ramanujan differential equation satisfied by three Eisenstein series.     

The effect of porosity on the laser induced damage threshold of TiO2 and ZrO2 single layer films

Monolayer ZrO₂ and TiO₂ films were prepared on BK7 glass by physical vapor deposition (PVD) and were subsequently annealed for 1 h at 300 °C. By using the transmission spectra of two samples and the envelope method, the refractive index dispersion and extinction coefficients have been calculated. Laser induced damage threshold (LIDT) measurement shows that despite slight differences between the extinction coefficients of the two samples, the LIDT parameter of the ZrO₂ film is greater than that of the TiO₂ film. This fact leads us to consider thermal conductivity as an important parameter for interpreting the LIDT difference. According to our theoretical analysis, as a consequence of increase in the number of thermal barriers along poorer film, its thermal conductivity, and hence LIDT, decreased, which is in agreement with our experimental results. The measured porosity of the two samples shows higher porosity for TiO₂ single layer, which is in agreement with atomic force (AFM) images. The gradual and smooth damage morphology of ZrO₂ observed in optical images implies higher thermal conductivity than TiO₂.     

Oxidation and determination of Gabapentin on nanotubes of nickel oxide-modified carbon paste electrode

The electrooxidation of Gabapentin was studied on nanotubes of nickel oxide-modified carbon paste electrode for the first time. Cyclic voltammetry was employed to investigate the electrooxidation process. A simple, sensitive, and efficient amperometric method was developed for the analysis of the drug, and the corresponding analytical parameters were reported. For Gabapentin, a detection limit of 0.3 μM was obtained in a linear range of 2.4–50 μM. The proposed amperometric method was also applied to the analysis of commercial capsules, and the results were in good agreement with the declared values. Also, the applicability of the method to the direct assay of the drug in human serum and urine was described.     

Polyelectrolyte Nanocomposite Membranes Using Imidazole-Functionalized Nanosilica for Fuel Cell Applications

The preparation and characterization of a new type of nanocomposite polyelectrolyte membrane, based on DuPont Nafion/imidazole-modified nanosilica (Im-Si), for direct methanol fuel cell applications is described. Related to the interactions between the protonated imidazole groups, grafted on the surface of nanosilica, and negatively charged sulfonic acid groups of Nafion, new electrostatic interactions can be formed in the interface of Nafion and Im-Si which result in both lower methanol permeability and also higher proton conductivity. Physical characteristics of these manufactured nanocomposite membranes were investigated by scanning electron microscopy, thermogravimetry analysis, differential scanning calorimetry, Fourier transform infrared spectroscopy, water uptake, methanol permeability, and ion-exchange capacity, as well as proton conductivity. The Nafion/Im-Si membranes showed higher proton conductivity, lower methanol permeability and, as a consequence, higher selectivity parameter in comparison to the neat Nafion or Nafion/silica membranes. The obtained results indicated that the Nafion/Im-Si membranes could be utilized as promising polyelectrolyte membranes for direct methanol fuel cell applications.     

An improved ensemble learning machine for biological activity prediction of tyrosine kinase inhibitors

Boosting is one of the most important strategies in ensemble learning because of its ability to improve the stability and performance of weak learners. It is nonparametric, multivariate, fast and interpretable but is not robust against outliers. To enhance its prediction accuracy as well as immunize it against outliers, a modified version of a boosting algorithm (AdaBoost R2) was developed and called AdaBoost R3. In the sampling step, extremum samples were added to the boosting set. In the robustness step, a modified Huber loss function was applied to overcome the outlier problem. In the output step, a deterministic threshold was used to guarantee that bad predictions do not participate in the final output. The performance of the modified algorithm was investigated with two anticancer data sets of tyrosine kinase inhibitors, and the mechanism of inhibition was studied using the relative weighted variable importance procedure. Investigating the effect of base learner's strength reveals that boosting is only successful using the classification and regression tree method (a weak to moderate learner) and does not have a significant effect using the radial basis functions partial least square method (a strong base learners). Copyright © 2015 John Wiley & Sons, Ltd.     

Synthesis and Inhibitory Activity Against Epstein-Barr Virus of Some New 1,2,3,4-Tetrahydropyrimidine-2-thiones

1,2,3,4-Tetrahydropyrimidine-2-thiones 4a–n were synthesized through the reaction of aromatic aldehydes 1a–n , ethyl acetoacetate (2) and thiourea ( 3) . The structures of all newly synthesized heterocyclic compounds elucidated by the use of IR, ¹H NMR, mass spectra, and elemental analyses. The inhibitory activity against the Epstein-Barr Virus early antigen (EBA-VA) of all newly synthesized heterocyclic compounds were evaluated.