Memory-efficient real-time map building using octree of planes and points

This paper presents an octree-based map building algorithm for mobile home-service robots. The robot is equipped with a time-of-flight camera, which produces point clouds of the environment surfaces. Given the successive input of point clouds, a 3D map is incrementally computed in real time. The map is accurate and memory-efficient because the octree nodes containing points on a plane are merged and represented simply by an index to the plane. The real-time performance is achieved largely due to the parallel processing capability of the many-core Graphics Processing Unit used for plane extraction.     

Design equations for prediction of pressuremeter soil deformation moduli utilizing expression programming systems

Providing precise estimations of soil deformation modulus is very difficult due to its dependence on many factors. In this study, gene expression programming (GEP) and multi-expression programming (MEP) systems are presented to derive empirical equations for the prediction of the pressuremeter soil deformation modulus. The employed expression programming (EP) systems formulate the soil deformation modulus in terms of the soil physical properties. Selection of the best models is on the basis of developing and controlling several models with different combinations of the affecting parameters. The proposed EP-based models are established upon 114 pressuremeter tests on different soil types conducted in this study. The generalization capabilities of the models are verified using several statistical criteria. Contributions of the variables influencing the soil modulus are evaluated through a sensitivity analysis. The GEP and MEP approaches accurately characterize the soil deformation modulus resulting in a very good prediction performance. The result indicates that moisture content and soil dry unit weight can efficiently represent the initial state and consolidation history of soil for determining its modulus.     

Failure of silver nanowire transparent electrodes under current flow

Silver nanowire transparent electrodes have received much attention as a replacement for indium tin oxide, particularly in organic solar cells. In this paper, we show that when silver nanowire electrodes conduct current at levels encountered in organic solar cells, the electrodes can fail in as little as 2 days. Electrode failure is caused by Joule heating which causes the nanowires to breakup and thus create an electrical discontinuity in the nanowire film. More heat is created, and thus failure occurs sooner, in more resistive electrodes and at higher current densities. Suggestions to improve the stability of silver nanowire electrodes are given.     

Study of inhibition effect of carboxylic salt derivative on corrosion of C1010 carbon steel in saline solution

In the present work, sodium 4-[(4-formylbenzylidene) amino] benzoiate (4) was synthesized and its structure was confirmed using spectroscopic techniques. Prepared compound was successfully applied as a corrosion inhibitor for C1010 carbon steel in 3.5% NaCl solution at 25°C. Different electrochemical measurements such as linear polarization resistance (LPR), potentiodynamic polarization (PDP), and electrochemical impedance spectroscopy (EIS) were used to evaluate the suggested inhibitor (4). The results of different electrochemical measurements show that inhibition efficiencies obtained from EIS curves are in consistence with the results of potentiodynamic polarization and LPR measurements due to increase corrosion inhibition efficiency by increasing the concentration of organic inhibitor (4). Semi-empirical calculations with PM3 method were used to find relationship between molecular structure and inhibiting effect of suggested inhibitor (4).     

Preparation of novel 2-(2-oxo-2H-chromen-4-yl)-3- arylthiazolidin-4-one derivatives using an efficient ionic liquid catalyst

An eco-friendly procedure for synthesis of 2-(2-oxo-2H-chromen-4-yl)-3-arylthiazolidin-4-one derivatives by three-component reaction of 2-oxo-2H-chromene-4-carbaldehydes, aromatic amines and thioglycolic acid, with tetramethylbutane-1,4-diammonium acetate as a low-cost ionic liquid catalyst under reflux condition is described. The use of an ionic liquid as a catalyst has the advantages of high yields, short reaction time and environmentally friendly reaction media.     

Synthesis of thermoresponsive block and graft copolymers via the combination of living cationic polymerization and RAFT polymerization using a vinyl ether-type RAFT agent

A novel vinyl ether-type RAFT agent, benzyl 2-(vinyloxy)ethyl carbonotrithioate (BVCT) was synthesized for various block copolymers via the combination of living cationic polymerization of vinyl ethers and reversible addition−fragmentation chain transfer (RAFT) polymerization. The novel BVCT–trifluoroacetic acid adduct play an important role to produce well-defined block copolymers, which is both as a cationogen under EtAlCl₂ initiation system in the presence of ethyl acetate for living cationic polymerization and a RAFT agent for blocks by RAFT polymerization. The resulting polymer, poly(vinyl ether)s, by living cationic polymerization had a high number average α-end functionality (≥0.9) as determined by both ¹H NMR and MALDI-TOF-MS spectrometry. In addition, this poly(vinyl ether)s worked well as a macromolecular chain transfer agent for RAFT polymerization. The RAFT polymerization of radically polymerizable monomers was conducted in toluene using 2,2′-azobis(isobutyronitrile) at 70 °C. For example, a double thermoresponsive block copolymer (MOVE₆₁-b-NIPAM₁₅₀) consisting of 2-methoxyethyl vinyl ether (MOVE) and N-isopropylacrylamide (NIPAM) was prepared via the combination of living cationic polymerization and RAFT polymerization. The block copolymer reversibly formed and deformed micellar assemblies above the phase separation temperature (T_ps) of poly(NIPAM) block in water. This BVCT is not only functioned as an initiator, but also acted as a monomer. When BVCT was copolymerized with MOVE by living cationic polymerization, followed by graft copolymerization with NIPAM via RAFT polymerization, well-defined graft copolymers (MOVE_n-co-BVCT_m)-g-NIPAM_x (n = 62–73, m = 1–9, x = 19–214) were successfully obtained. However, no micelle formed in water above T_ps of poly(NIPAM) graft chain unlike the case of block copolymers.     

Pure and mixed gas permeation study of silica incorporated polyurethane-urea membrane modified by MOCA chain extender

Polyurethane-urea (PUU) nanocomposite membranes have been prepared using various loadings of silica (SiO₂) nanoparticles. A Novel PU was fabricated by a two-step bulk polymerization technique based on polycaprolactone (PCL), hexamethylene diisocyanate (HDI), and diamine chain extender, 4,4-methylenebis(2-chloroaniline) (MOCA). The FTIR spectra indicated that the extent of phase separation reduces with increasing SiO₂ content. The presence of crystal regions in the soft and hard segments was confirmed by DSC and XRD analyses. The obtained results illustrated a decrement in the gases' permeation in the presence of SiO₂ particles. By increasing the filler content up to 15 wt% and pressure of 8 bar, the gas permeation value of the CO₂, O₂, and N₂ decreased 36%, 54%, and 59%, respectively. However, the permselectivity of the CO₂/N₂ and O₂/N₂ increased considerably, 55% and 13% respectively. On the contrary, by raising the temperature, a dramatic augmentation in the permeability of all gases with a simultaneous reduction in the selectivity values of both gas pairs was revealed. Increasing the pressure led to a decrease in the permeability values of all membranes for O₂ and N₂, whereas the permeability for CO₂ increased with the pressure. Nevertheless, the selectivity values for the pair of gases increased (at a pressure of 10 bar, 1.66 and 1.17 times the neat PU for CO₂/N₂ and O₂/N₂, respectively). Furthermore, the permeability of the CO₂, O₂, and N₂ for the mixed gases was smaller than for pure ones at the same gas upstream pressure. Nonetheless, like the pure gas, the selectivity of both pair gases increased.     

Electrical and mechanical properties of BZT − xBCT lead-free piezoceramics

In this study, lead-free (1 − x)Ba(Zr_0.2Ti_0.8)O₃ − x(Ba_0.7Ca_0.3)TiO₃ compositions are synthesized via conventional solid oxide route, and the ceramics are fabricated with normal sintering in air. The effects of composition fluctuations on dielectric, piezoelectric, and mechanical properties are investigated. The phase structure and the microstructure are analyzed with X-ray diffraction and scanning electron microscopy. The best dielectric and piezoelectric properties of ε_r = 11 207 and d₃₃ = 330 pC/N were obtained for BZT−0.35BCT and BZT−0.5BCT ceramics, respectively. The mechanical behavior—in terms of Vickers hardness and compressive and flexural strengths—was investigated, and the best mechanical behavior was found in the vicinity of the phase transition boundary with x values between 0.5 and 0.6.     

Efficacy of synbiotic supplementation in patients with nonalcoholic fatty liver disease: A systematic review and meta-analysis of clinical trials: Synbiotic supplementation and NAFLD

ABSTRACT

Objective: We systematically reviewed available randomized clinical trials (RCTs) to elucidate the overall effects of synbiotic supplementation in patients with nonalcoholic fatty liver disease (NAFLD).

Methods: PubMed, Scopus, ISI Web of science and Google Scholar were searched up to December, 2017. All RCTs using synbiotic supplements to treat NAFLD included in this systematic review and meta-analysis. Mean Difference (MD) was pooled using a random-effects model.

Results: Eleven eligible databases from seven RCTs were identified for the present meta-analysis. Our results showed that synbiotic supplementation can decrease body weight, fasting blood sugar, insulin, low density lipoprotein cholesterol, total cholesterol, triglyceride, high-sensitivity C-reactive protein, tumor necrosis factor alpha, alanine transaminase and aspartate transaminase levels among patients with NAFLD. In contrast, synbiotic did not have favorable effects on body mass index (BMI), waist circumference, homeostasis model assessment for insulin resistance (HOMA-IR), and high density lipoprotein cholesterol (HDL) levels compared with the placebo group.

Conclusion: The current study revealed that synbiotic supplementation has favorable effect on inflammatory factors, liver enzymes and some anthropometric indices, lipid profiles and glucose homeostasis parameters in patients with NAFLD.     

A Modified Method for the Determination of N‐Nitrosodiethanolamine in Coconut Diethanolamide Using HPLC with Dual‐Wavelength UV–Vis Detector

A simple and novel method based on high‐performance liquid chromatography with dual‐wavelength ultraviolet detection at 234 and 254 nm has been developed for the determination of underivatized N‐nitrosodiethanolamine in coconut diethanolamide. The correlation coefficient obtained shows that the method is correct.