Robotic clusters: Multi-robot systems as computer clusters: A topological map merging demonstration

In most multi-robot systems, an individual robot is not capable of solving computationally hard problems due to lack of high processing power. This paper introduces the novel concept of robotic clusters to empower these systems in their problem solving. A robotic cluster is a group of individual robots which are able to share their processing resources, therefore, the robots can solve difficult problems by using the processing units of other robots. The concept, requirements, characteristics and architecture of robotic clusters are explained and then the problem of “topological map merging” is considered as a case study to describe the details of the presented idea and to evaluate its functionality. Additionally, a new parallel algorithm for solving this problem is developed. The experimental results proved that the robotic clusters remarkably speedup computations in multi-robot systems. The proposed mechanism can be used in many other robotic applications and has the potential to increase the performance of multi-robot systems especially for solving problems that need high processing resources.     

The Tunable Porous Structure of Gelatin–Bioglass Nanocomposite Scaffolds for Bone Tissue Engineering Applications: Physicochemical,Mechanical, and In Vitro Properties

Unidirectional freeze‐casting method is used to fabricate gelatin–bioglass nanoparticles (BGNPs) scaffolds. Transmission electron microscopy (TEM) images show that sol–gel prepared BGNPs are distributed throughout the scaffold with diameters of less than 10 nm. Fourier transform infrared spectroscopy (FTIR), and differential scanning calorimetric are used to evaluate the physicochemical properties of BGNPs. Scanning electron microscopy (SEM) micrographs present an oriented porous structure and a homogeneous distribution of BGNPs in the gelatin matrix. The lamellar‐type structure indicates an improvement of mechanical strength and absorption capacity of the scaffolds. Increasing the concentration of BGNPs from 0 to 50 wt% have no noticeable effect on pore orientation, but decreases porosity and pore size distribution. Increase in BGNPs content improves the compressive strength. The absorption and biodegradation rate reduces with augmentation in BGNPs concentration. Bioactivity is evaluated through apatite formation after immersion of the nanocomposites in simulated body fluid and is verified by SEM–energy‐dispersive X‐ray spectroscopy (EDS), an element map analysis, X‐ray powder diffractometer, and FTIR spectrum. SEM images and methyl thiazolyl tetrazolium assay confirm the biocompatibility of scaffolds and the supportive behavior of nanocomposites in cellular spreading. The results show that gelatin–(30 wt%)bioglass nanocomposites have incipient physicochemical and biological properties.     

Application of the nondestructive second derivative spectrophotometry to eliminate the effect of substrate in identification of madder used in Persian carpets

The handmade Persian carpet is famous worldwide not only for its elegant design and artistic structure, but also for its brilliant color harmony and incomparable raw materials. Various natural dyes accompanied by different mordants are used on various woolen yarns to obtain a wide range of unrepeatable shades for carpet. In this article, as a first step, the diversity of the undyed woolen yarns used in Persian carpets was statistically investigated by implementation of the Principle Component Analysis. Then the second derivative of Kubelka‐Munk function of samples dyed with madder was considered to reach a pattern for identifying madder. The results show that, although the spectral reflectance of different selected woolen yarns has at least 3 dimensions, all derivative curves are qualitatively very similar with the same minimum and maximum peaks at 510 and 605 nm, respectively. The findings are confirmed when various types of madder were used in the dyeing process. As a result, it is shown that the nondestructive derivative spectrophotometry is able to identify madder on alum mordanted woolen yarns used in Persian carpets and to eliminate the effect of substrate. It is a useful technique for preservation, conservation, and dissemination of the Persian carpet.     

Microfluidic Synthesis of Ultrasmall Chitosan/Graphene Quantum Dots Particles for Intranasal Delivery in Alzheimer's Disease Treatment

Nanoparticles (NPs) based therapies for Alzheimer's disease (AD) attract interest due to their ability to pass across or bypass the blood-brain barrier. Chitosan (CS) NPs or graphene quantum dots (GQDs) are promising drug carriers with excellent physicochemical and electrical properties. The current study proposes the combination of CS and GQDs in ultrasmall NP form not as drug carriers but as theranostic agents for AD. The microfluidic-based synthesis of the CS/GQD NPs with optimized characteristics makes them ideal for transcellular transfer and brain targeting after intranasal (IN) delivery. The NPs have the ability to enter the cytoplasm of C6 glioma cells in vitro and show dose and time-dependent effects on the viability of the cells. IN administration of the NPs to streptozotocin (STZ) induced AD-like models lead to a significant number of entrances of the treated rats to the target arm in the radial arm water maze (RAWM) test. It shows the positive effect of the NPs on the memory recovery of the treated rats. The NPs are detectable in the brain via in vivo bioimaging due to GQDs as diagnostic markers. The noncytotoxic NPs localize in the myelinated axons of hippocampal neurons. They do not affect the clearance of amyloid β (Aβ) plaques at intercellular space. Moreover, they showed no positive impact on the enhancement of MAP2 and NeuN expression as markers of neural regeneration. The memory improvement in treated AD rats may be due to neuroprotection via the anti-inflammation effect and regulation of the brain tissue microenvironment that needs to be studied.