Line-of-sight task-space sensing methodology for the localization of robotic end-effectors

In this paper, the implementation of a line-of-sight (LOS) task-space sensing methodology is presented for guidance-based microlocalization of robotic end-effectors. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the end-effector's pose (position and orientation). The mobility of the localization application dictates the minimum number and the type (planar or spatial) of the LOS that would be necessary to use and, consequently, the exact configuration of the sensing system. Although the main focus of the paper is the presentation of the proposed LOS sensing system, a brief discussion of a robot-guidance method, which relies on the use of this sensing system, is also included. Extensive experiments conducted for a high-precision 3-DOF (degrees of freedom) planar robotic platform utilizing the overall guidance system validated our research.     

Applying gravitational search algorithm in the QoS-based Web service selection problem

With the growing use of service-oriented architecture for designing next generation software systems,the service composition problem and its execution complexity have become even more important in resp...     

A self-routing load balancing algorithm in parallel computing: comparison to the central algorithm

Load balancing is an important stage of a system using parallel computing where the aim is the balance of workload among all processors of the system. In this paper, we introduce a new load balancing algorithm with new capabilities for parallel systems, among which is the independence of a separate route-finder algorithm between the load receiver and sender nodes. In addition to simulation of the new algorithm, due to similarity in behavior to the proposed algorithm, the central algorithm is simulated. Simulation results show that, the system performance increases with the increase of the degree of neighborhood between the processors. These results also indicate the algorithm’s high compatibility with environment changes.     

Simple preparation and characterization of molecularly imprinted nylon 6 nanofibers for the extraction of bisphenol A from wastewater

Nylon 6 nanofibers incorporated with molecularly imprinted polymers (MIPs) were successfully fabricated by electrospinning with fiber diameters in the range 80–145 nm. Then, they were used as a new material for the extraction of selected bisphenol A (BPA) in water samples. Field emission scanning electron microscopy images revealed that the nanofibers had a smooth morphology with a good incorporation of MIPs. The Fourier transform infrared and energy-dispersive X-ray spectroscopy results also confirmed the formation of the MIPs in the nanofibers. Furthermore, Raman spectroscopy showed that the crystalline structure of the pristine nylon 6 nanofiber was a kind of α form, and the incorporation of MIPs led to a γ-form structure in the nanofibers; this proved the interactions between nylon 6 and the MIPs. Adsorption studies also confirmed that the adsorption efficiency of BPA onto the molecularly imprinted polymer nanofibers (MIP-NFs; 83.5%) was much greater than that onto nonimprinted polymer nanofibers (NIP-NFs; 36.8%). Also, the imprinting factor was 3.4; this strongly implied the successful formation of molecularly imprinted cavities on the MIP-NFs with a strong affinity to BPA. The maximum adsorption capacity of the MIP-NFs was 103.8 mg/g. © 2018 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47112.     

Electronic and magnetic properties of Cd-doped zigzag AlN nanoribbons from first principles

The effect of Cd impurity on the electronic structure and magnetic properties of hydrogen-terminated AlN nanoribbons with zigzag edges (ZAlNNRs) was investigate using the band structure results obtained through the full potential linearized augmented plane wave (FP-LAPW) method within the density functional theory (DFT). The exchange correlation potential was treated by the generalized gradient approximation within the Perdew scheme. The calculated results show that the H-terminated zigzag AlN nanoribbon is semiconducting and nonmagnetic material with a direct band gap of about 2.78 eV, while the Cd-doped H-terminated ZAlNNR structures show complete (100 %) spin polarization very close to the Fermi level, which will result in spin-anisotropic transport. The charge transport is totally dominated by Cd spin down electrons in the H-terminated ZAlNNR. These results suggest potential applications for the development of using the AlN nanoribbons in nanoelectronics and magnetoelectronic devices as a base.     

ERES: an extended regular expression signature for polymorphic worm detection

Journal of Computer Virology and Hacking Techniques - The quick spreading of modern sophisticated polymorphic worms poses a serious threat to the internet security. So far, several signature...     

Hand pose aware multimodal isolated sign language recognition

Multimedia Tools and Applications - Isolated hand sign language recognition from video is a challenging research area in computer vision. Some of the most important challenges in this area include...     

Selective molecularly imprinted polymer nanofiber sorbent for the extraction of bisphenol A in a water sample

Novel molecularly imprinted polymer nanofibers (MIP‐NFs) were prepared for the adsorption of bisphenol A (BPA) in a water sample using the sol–gel process and the electrospinning technique. The effects of a number of synthesis parameters on the adsorption efficiency were investigated. The successful removal of BPA from MIP‐NFs was studied using UV–visible spectroscopy. The prepared MIP‐NFs were characterized by Fourier transform infrared, field emission SEM, TEM and energy dispersive X‐ray analysis. The results showed that the required molar ratio of 3‐aminopropyltriethoxysilane (APTES) to BPA was 15:1, which indicates a good performance in the rebinding test. Likewise, the molar ratio of APTES:acid:water was 1:2:9. The nylon 6 polymer solution, with a concentration of 12 wt%, showed a maximum adsorption capacity for BPA due to a decrease in the nanofiber diameter and an increase in the accessible sites. Furthermore, the maximum adsorption capacity of BPA was achieved at pH 7. Concerning the binding of BPA on MIP‐NFs, the experimental data matched well with the pseudo‐second‐order kinetics data and the Sips isotherm model. The saturated binding capacity for MIP‐NFs was predicted to be 115.1 mg g^?1, which was more than twice as high as that for non‐imprinted polymer nanofibers (46.82 mg g^?1). The results obtained in this study confirmed that the prepared MIP‐NFs showed considerable binding specificity for BPA in comparison with similar structural compounds such as phenol, naphthol and Naphthol AS, in aqueous solution. The binding capacity of MIP‐NFs remained almost constant after five cycles of reuse. The real sample analysis indicated that MIP‐NFs could be utilized as a useful sorbent material for the extraction of BPA from a water sample.