Collision Avoidance in Bi-Directional AGV Systems

The use of a bi-directional, as opposed to a one-way, transportation system, can increase the operational efficiency of automated guided vehicles in both manufacturing and warehousing environments. However, the full potential will only be realized if the routeing algorithms pay particular attention to the problem of collision avoidance. This paper is concerned with the development of such an algorithm. The method is based on the use of delays and deviations to avoid collisions that could arise when using the shortest routes for each vehicle, and is applicable to any transportation system which can be represented as a network with known travel times.     

Micellar effect in hydroformylation of high olefin catalysed by water-soluble rhodium complexes associated with sulfonated diphosphines

High linear alkenes (1-octene and 1-decene) have been hydroformylated using water-soluble rhodium complexes associated with sulfonated diphosphines in the presence of ionic surfactants or methanol. In all cases, the hydroformylation activities were higher than in experiments without additives. The selectivity in aldehydes was higher when we used cetyltrimethylammonium hydrogensulfate (CTAHSO₄) as the surfactant or methanol as the co-solvent.     

Adsorbed state and vibrational excitation of N2 on Pd(110)

High-resolution vibrational electron energy loss spectroscopy, low-energy electron diffraction and Auger electron spectroscopy have been used to study the interactions of nitrogen with the Pd(110) surface. At 120 K, N₂ is chemisorbed molecularly on the Pd(110) surface, and the (2 × 1)-N₂ structure is formed. Most probably, the N₂ molecules are chemisorbed in the on-top sites of the bulk-like Pd(110) surface in the upright-linear structure. The Pd---N₂ bond energy is estimated to be ˜ 6 kcal/mol. The Pd---N₂ and N---N stretching vibrations of N₂ admolecules on Pd(110) are observed at 30 and 278 meV, respectively. The primary-energy dependence and angle dependence of their excitation cross sections agree reasonably well with the prediction of the dipole theory. The electron beam-induced effects are briefly discussed.     

Paying the Price for Sugar and Spice: Shifting the Analytical Lens in Equity Research

The analytical stance taken by equity researchers in education, the methodologies employed, and the interpretations that are drawn from data all have an enormous impact on the knowledge that is produced about sources of inequality. In the 1970s and 1980s, a great deal of interest was given to the issue of women's and girls' underachievement in mathematics. This prompted numerous different research projects that investigated the extent and nature of the differences between girls' and boys' achievement and offered reasons why such disparities occurred. This work contributed to a discourse on gender and mathematics that flowed through the media channels and into schools, homes, and the workplace. In this article, I consider some of the scholarship on gender and mathematics, critically examining the findings that were produced and the influence they had. In the process, I propose a fundamental tension in research on equity, as scholars walk a fine and precarious line between lack of concern on the one hand and essentialism on the other. I argue in this article that negotiating that tension may be the most critical role for equity researchers as we move into the future.     

Investigation of the Separation of Higher Fatty Acid Methyl Esters by Reversed-Phase HPTLC

JPC – Journal of Planar Chromatography – Modern TLC - Separations of eight methyl esters of higher fatty acids on RP-18 stationary phase with methanol—water and...     

Light Modulates Electric Phenomena in Hornet Cuticle¶

In the cuticle of live social hornets, such as Vespa orientalis (Hymenoptera, Vespinae), endogenous electric effects are encountered, i.e. voltages of 100–200 mV under illumination and currents amounting to several microamperes on its subjection to darkness—clearly a process of charging and discharging. Of the various wavelengths of sunlight, UV was found to be the most contributory to the active cuticular voltage generation. Throughout the warm season of the yearthe–the active period in colonies of social hornets and wasps—colony members exit from the dark nest during the daytime and fly to the field under the hot sun for various foraging purposes, ultimately returning to the nest. Thus, each hornet, be it queen, worker or drone, probably undergoes daily cyclical process of electric charge and discharge in the exterior part of their integument, cuticle, which lasts up to 30–40 min. Such photoelectric phenomenon was detected in both live, ether‐anaesthetized hornets and dead hornets, albeit in the latter the electric values recorded were lower. The present study addresses the possible impact of the phenomenon on vespan daily life and also compares it with a parallel occurrence in electric fish.     

Densitometric Determination of Embelin in Lysimachia punctata

JPC – Journal of Planar Chromatography – Modern TLC - Athin layer chromatographic method with densitometric UV detection at λ = 285 nm has been developed for quantification of...