Environmentally Safe Plating of Tin-Lead Alloy Coatings

The aim of this experimental study was to minimize the input of lead and tin ions and fluoboric acid into the waste water from the electroplating line, where the printed circuit boards and other parts of electronic devices are plated with tin-lead alloy. For this purpose, after unloading the parts from the plating tank, they were rinsed in the reclaim tank, from which the aforementioned ions were removed with a reclaim immersed electrochemical module (IEM). __________ Translated from Zashchita Metallov, Vol. 41, No. 6, 2005, pp. 637–639. Original Russian Text Copyright ? 2005 by Kruglikov, Turaev, Borodulin.     

Predicting the stress-strain state for the beds of heavy structures

Translated from Osnovaniya, Fundamenty i Mekhanika Gruntov, No. 4, pp. 21–24, July–August, 1991.     

Theoretical and Practical Basis of the Regeneration and Disposal of Sulfuric Copper Etching Solutions Used in the Production of Printed Circuit Boards by Membrane and Membraneless Electrolysis

Theoretical Foundations of Chemical Engineering - An electrochemical method for the neutralization, disposal, and regeneration of sulfuric acid solutions of copper etching used in the production of...     

Evaluation of the functional and clinical qualities of the new GSG-2 dual-sensor gamma-topograph

A double-sensor gamma-topograph model GSG-2 has been constructed to realize colour shade lining and black-and-white photographic registration of images reflecting spatial distribution of radioactive isotopes introduced to patients for diagnostic purposes. On the ground of trial tests the valuation of functional and clinical qualities of the device is given.     

Dopant microassociation mechanisms in Si〈Mn〉 and Si〈Ni〉

This paper examines the mechanisms underlying the formation of Mn and Ni impurity microassociates in Si. Thermodynamic analysis of Si??Mn?? and Si??Ni?? suggests that the formation of various types of microassociates is mainly due to internal Coulomb forces. Theoretical models for the formation of microassociates adequately describe impurity microassociates revealed in silicon by IR microscopy, X-ray diffraction, and electron probe microanalysis.     

Novel Algorithm for Mobile Robot Path Planning in Constrained Environment

This paper presents a development of a novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobile robot path planning problem in a two-dimensional map with the presence of constraints. This approach gives the possibility to find the path for a wheel mobile robot considering some constraints during the robot movement in both known and unknown environments. The feasible path is determined between the start and goal positions by generating wave of points in all direction towards the goal point with adhering to constraints. In simulation, the proposed method has been tested in several working environments with different degrees of complexity. The results demonstrated that the proposed method is able to generate efficiently an optimal collision-free path. Moreover, the performance of the proposed method was compared with the A-star and laser simulator (LS) algorithms in terms of path length, computational time and path smoothness. The results revealed that the proposed method has shortest path length, less computational time and the best smooth path. As an average, GLS is faster than A* and LS by 7.8 and 5.5 times, respectively and presents a path shorter than A* and LS by 1.2 and 1.5 times. In order to verify the performance of the developed method in dealing with constraints, an experimental study was carried out using a Wheeled Mobile Robot (WMR) platform in labs and roads. The experimental work investigates a complete autonomous WMR path planning in the lab and road environments using a live video streaming. Local maps were built using data from a live video streaming with real-time image processing to detect segments of the analogous-road in lab or real-road environments. The study shows that the proposed method is able to generate shortest path and best smooth trajectory from start to goal points in comparison with laser simulator.     

Nonterminal complexity of tree controlled grammars

This paper studies the nonterminal complexity of tree controlled grammars. It is proved that the number of nonterminals in tree controlled grammars without erasing rules leads to an infinite hierarchy of families of tree controlled languages, while every recursively enumerable language can be generated by a tree controlled grammar with erasing rules and at most nine nonterminals.