Navigation of underwater robot based on dynamically adaptive harmony search algorithm

The current research work has employed an evolutionary based novel navigational strategy to trace the collision free near optimal path for underwater robot in a three-dimensional scenario. The population based harmony search algorithm has been dynamically adapted and used to search next global best pose for underwater robot while obstacle is identified near about robot’s current pose. Each pose is evaluated based on their respective value for objective function which incorporates features of path length minimization as well as obstacle avoidance. Dynamic adaptation of control parameters and new perturbation schemes for solution vectors of harmony search has been proposed to strengthen both exploitation and randomization ability of present search process in a balanced manner. Such adaptive tuning process has found to be more effective for avoiding early convergence during underwater motion in comparison with performances of other popular variants of Harmony Search. The proposed path planning method has also shown better navigational performance in comparison with improved version of ant colony optimization and heuristic potential field method for avoiding static obstacles of different shape and sizes during underwater motion. Simulation studies and corresponding experimental verification for three-dimensional navigation are performed to check the accuracy, robustness and efficiency of proposed dynamically adaptive harmony search algorithm.     

Optimized Extraction of Artemisinin from Artemisia annua L. and Corroborated Quantitative Analysis Using High-Performance Thin-Layer Chromatography

JPC – Journal of Planar Chromatography – Modern TLC - An optimized method for the extraction and quantification of artemisinin using high-performance thin-layer chromatography (HPTLC)...     

G‐Tetraplex‐Induced FRET within Telomeric Repeat Sequences Using PyA‐PerA as Energy Donor–Acceptor Pair

G‐tetraplex induced fluorescence resonance energy transfer (FRET) within telomeric repeat sequences has been studied using a nucleoside‐tethered FRET pair embedded in the human telomeric G‐quadruplex forming sequence (5′‐A GGG TT ^Py A GGG TT ^Per A GGG TTA GGG‐3′, Py=pyrene, Per=perylene). Conformational change from a single strand to an anti‐parallel G‐quadruplex leads to FRET from energy donor ( ^Py A ) to acceptor ( ^Per A ). The distance between the FRET donor/acceptor partners was controlled by changing the number of G‐quartet spacer units. The FRET efficiency decreases with increase in G‐quartet units. Overall findings indicate that this could be further used for the development of FRET‐based sensing and measurement techniques.     

Redox Non‐Innocence of Nitrosobenzene at Nickel

Nitrosobenzene (PhNO) serves as a stable analogue of nitroxyl (HNO), a biologically relevant, redox‐active nitric oxide derivative. Capture of nitrosobenzene at the electron‐deficient β‐diketiminato nickel(I) complex [ⁱPr₂NN_F6]Ni results in reduction of the PhNO ligand to a (PhNO)^./? species coordinated to a square planar Ni^II center in [ⁱPr₂NN_F6]Ni(η²‐ONPh). Ligand centered reduction leads to the (PhNO)^2? moiety bound to Ni^II supported by XAS studies. Systematic investigation of structure–reactivity patterns of (PhNO)^./? and (PhNO)^2? ligands reveals parallels with superoxo (O₂)^./? and peroxo (O₂)^2? ligands, respectively, and forecasts reactivity patterns of the more transient HNO ligand.     

Targeted synthesis of mu-oxo divanadium(V) compounds with asymmetry in coordination environments

Isovalent mu-oxo divanadium(V) compounds [L1VO(mu-O)VO(salen)] (1) and its bromo derivative [L2VO(mu-O)VO(salen)].CH3CN (2) (both H2L1 and H2L2 are tridentate dithiocarbazate-based ONS ligands) with ligands providing donor set and coordination number asymmetry in tandem have been synthesized for the first time; confirmations in favor of these unsymmetrical molecular structures have come from single-crystal X-ray diffraction analysis, as well as from NMR (both 1H and 51V) spectroscopy.     

Spectroscopic studies on methyl torsional behavior in 1-methyl-2(1H)-pyridone, 1-methyl-2(1H)-pyridinimine, and 3-methyl-2(1H)-pyridone. I. Excited state

The laser induced fluorescence excitation and dispersed fluorescence spectra of three nitrogen heterocyclic molecules 1-methyl-2(1H)pyridone (1MPY), 1-methyl-2(1H)pyridinimine (1MPI), and 3-methyl-2(1H)pyridone (3MPY) have been studied under supersonic jet cooled condition. The methyl torsional and some low frequency vibrational transitions in the fluorescence excitation spectrum were assigned for 1MPY. These new assignments modify the potential parameters to the methyl torsion reported earlier. Some striking similarities exist between the torsional and vibrational transitions in the fluorescence excitation spectra of 1MPY and 1MPI. Apart from pure torsional transitions, a progression of vibration-torsion combination bands was observed for both these molecules. The excitation spectrum of 3MPY resembles the spectrum of its parent molecule, 2-pyridone. The barrier height of the methyl torsion in the excited state of 3MPY is highest amongst all these molecules, whereas the barrier in 1MPI is higher than that of 1MPY. To get an insight into the methyl torsional barrier for these molecules, results of the ab initio calculations were compared with the experimental results. It was found that the conformation of the methyl group undergoes a 60 degrees rotation in the excited state in all these molecules with respect to their ground state conformation. This phase shift of the excited state potential is attributed to the pi*-sigma* hyperconjugation between the out-of-plane hydrogen of the methyl group and the molecular frame. It has been inferred that the change in lowest unoccupied molecular orbital energy plays the dominant role in the excited state barrier formation.     

Mass spectral study of substituted allyl aryl and allyl alkyl selenides and some analogous sulfides

The electron impact (EI) mass spectra of allyl aryl selenides showed abundant molecular ions and many fragment ions containing the selenium atom. alpha-Cleavage is the dominant process in the fragmentation of selenides, and cleavage product ions are characteristic of the substituents. In the case of 3-methyl allyl and related aryl selenides, characteristic delta-hydrogen migration to the selenium atom is observed. A McLafferty-type rearrangement is found in benzyl allyl selenides and substituted alkyl allyl selenides. The charge on the rearrangement products preferably remains on the fragments containing the phenyl group. The [M - SeH](+), [M - CH(3)](+) and [M - C(2)H(4)](+) ions are found only in the EI mass spectrum of allyl phenyl selenide, and are attributed to a Claisen rearrangement in the source of the mass spectrometer. All structurally informative fragmentation processes are supported by collision induced dissociation spectra of molecular ions. The fragmentation patterns found in methane chemical ionization (CI) spectra of the selenides were significantly different from those observed in EI. The EI and CI mass spectra of analogous sulfides showed similar behaviour to that observed in the corresponding selenides. Copyright 1999 John Wiley & Sons, Ltd.     

The perturbative proton form factor reexamined

We recalculate the proton Dirac form factor based on the perturbative QCD factorization theorem, which includes Sudakov suppression. The evolution scale of the proton wave functions and the infrared cutoffs for the Sudakov re-summation are carefully chosen such that the soft divergences from large coupling constants are diminished and perturbative QCD predictions are stabilized. We find that the King–Sachrajda model for the proton wave function leads to results which are in better agreement with experimental data than those from the Chernyak–Zhitnitsky wave function. Received: 27 November 1998 / Published online: 7 April 1999     

New physics effects from B meson decays

In this talk, we point out some of the present and future possible signatures of physics beyond the Standard Model from B-meson decays, taking R-parity conserving and violating supersymmetry as illustrative examples. An expanded version is available on hep-ph archive.     

A numerical experiment in DLCQ: microcausality, continuum limit and all that

Issues related with microcausality violation and continuum limit in the context of (1+1) dimensional scalar field theory in discretized light-cone quantization (DLCQ) are addressed in parallel with discretized equal time quantization (DETQ) and the fact that Lorentz invariance and microcausality are restored if one can take the continuum limit properly is emphasized. In the free case, it is shown with numerical evidence that the continuum results can be reproduced from DLCQ results for the Pauli–Jordan function and the real part of Feynman propagator. The contributions coming from k⁺ near zero region in these cases are found to be very small. In the interacting case, aspects related to the continuum limit of DLCQ results in perturbation theory in momentum space are discussed.