RGB-D based place representation in topological maps

With the recent developments in sensor technology including Microsoft Kinect, it has now become much easier to augment visual data with three-dimensional depth information. In this paper, we propose a new approach to RGB-D based topological place representation—building on bubble space. While bubble space representation is in principle transparent to the type and number of sensory inputs employed, practically, this has been only verified with visual data that are acquired either via a two degrees of freedom camera head or an omnidirectional camera. The primary contribution of this paper is of practical nature in this perspective. We show that bubble space representation can easily be used to combine RGB and depth data while affording acceptable recognition performance even with limited field of view sensing and simple features.     

The effect of par‐baking and frozen storage time on the quality of cup cake

The effects of frozen storage and initial baking time of par‐baked cake on baking loss, volume, moisture, colour and textural properties of cake obtained after thawing and rebaking were investigated. Cakes, par‐baked at 175 °C for 15, 20 and 25 min, were stored at ?18 °C for 3, 6 and 9 months. After storage, par‐baked cakes were thawed and rebaked at 175 °C for 10, 15 and 20 min. Baking loss, moisture content, L and +b colour values, firmness, gumminess and chewiness of the resulting full‐baked cakes were significantly affected by both par‐baking and frozen storage time, while specific volume, cohesiveness, springiness and resilience values were significantly affected by frozen storage time. The increase in the time of frozen storage of the par‐baked cake leads to a decrease in the quality of the rebaked cake, namely an increase of baking loss and cake crumb firmness, and a loss in the moisture content and specific volume. Moisture of cake crumb, L and +b colour values, firmness, gumminess and chewiness significantly increased as the par‐baking time increased. However, regarding baking loss, specific volume, moisture content and textural properties, 3‐month intermediate storage at ?18 °C and 20‐min initial baking time gave the best result among the cakes produced by using the two‐step baking procedure.     

Treatment of ureteral stones: comparison of extracorporeal shock wave lithotripsy and endourologic alternatives

Demographic data, personal and familial characteristics, as well as DSM-III-R-based psychiatric diagnoses were collected in 369 adolescents and young adults aged between 15 and 29 years, referred to an Emergency Department for psychological problems. In total, 60% of them were suicide attempters. Separations before the age of 12 years and depression in the family emerged as the main features distinguishing the suicidal group from the psychiatric control group. Fifty per cent of suicide attempters were repeaters. Fostering during childhood, suicide attempts and depression in the family were found to be risk factors for repeated self-attempts. These results support the view that significant levels of dysfunction, together with increased psychiatric morbidity, especially suicidal behaviour, characterize the families of young self-attempters.     

Extracorporeal shock wave lithotripsy in children

An experience with 103 children treated with extracorporeal shock wave lithotripsy (ESWL) is reviewed in this report. The success rate was 63%. The stone volume was of major importance for the result. There was a continuous decrease in success rate with increasing stone size. It was also shown that stone-free rates decreased with an increasing number of stones. Short-term complications were minor and hospitalization times were short. It is concluded that ESWL is a first-choice treatment in children with urinary calculi smaller than 200 mm2 in size.     

Cefditorene-Mediated Synthesis of Silver Nanoparticles and Its Catalytic Activity

Ag(0) NPs were prepared by chemical reduction method in which silver nitrate was taken as the metal precursor and cefditorene as a reducing/capping agent and NaOH as the catalyst for reaction enhancement. The formation of the Ag(0) NPs was monitored using UV–Vis absorption spectroscopy confirmed the formation of Ag(0) NPs by exciting the typical surface plasmon absorption maxima at 405 nm. Transmission electron microscopy (TEM) confirmed the spherical morphology of the (Ag(0) NPs). The crystallite (11 ± 3 nm) and particle size (14.1 ± 2.2 nm) obtained from TEM and XRD analysis were coinciding with each other. Prepared Ag(0) NPs were then used as catalyst against 2-nitroaniline, 3-nitroaniline and 4-nitroaniline, which all showed best catalytic activity.     

Identification of major ADH genes in ethanol metabolism of Pichia pastoris

The methylotrophic yeast Pichia pastoris (syn. Komagataella phaffii) is a successful host widely used in recombinant protein production. The widespread use of a methanol-regulated alcohol oxidase 1 (AOX1) promoter for recombinant protein production has directed studies particularly about methanol metabolism in this yeast. Although there is comprehensive knowledge about methanol metabolism, there are other mechanisms in P. pastoris that have not been investigated yet, such as ethanol metabolism. The gene responsible for the consumption of ethanol ADH2 (XM_002491337, known as ADH3) was identified and characterized in our previous study. In this study, the ADH genes (XM_002489969, XM_002491163, XM_002493969) in P. pastoris genome were investigated to determine their roles in ethanol production by gene disruption analysis. We report that the ADH900 (XM_002491163) is the main gene responsible for ethanol production in P. pastoris. The ADH2 gene, previously identified as the only gene responsible for ethanol consumption, also plays a minor role in ethanol production in the absence of the ADH900 gene. The investigation of the carbon source regulation mechanism has also revealed that the ADH2 gene exhibit similar expression behaviours with ADH900 on glucose, glycerol, and methanol, however, it is strongly induced by ethanol.     

铆接卡车底盘的应力分析

将有限元方法应用于铆接卡车底盘的应力分析。商用有限元软件ANSYS5·3也曾经运用于该课题。制造前测定卡车底盘应力非常重要,为了能够减少底盘框架连接件附近的大量应力,改变了应力集中区域的厚度、连接板厚度及其长度。数值结果显示:可以通过局部增加应力集中区域材料的厚度来减少该区域的应力。如果不能改变材料厚度,增加连接件的长度也是一个很好的替代方法。     

Dough characteristics of wheat flour milled from wheat grains stored in spike form

This study compares the effects of storage form (grain and spike) of wheat as well as grain moisture content (12%, 14% and 16%), storage time (0, 3, 6 and 9 months) and temperature (10, 20 and 30 °C) on rheological (farinograph and extensograph) characteristics of dough obtained from stored wheat. While water absorption, stability and degree of softening of wheat stored in spike form were 61.2%, 15.8 min and 25.9 Brabender unit (BU), these values of wheat stored in grain form were 60.8%, 14.1 and 29.1 BU, respectively. Resistance to extension and dough energy of wheat stored in grain form were significantly higher than those of wheat stored in spike form, while extensibility was significantly lower. Storage in spike form had a positive effect on all farinograph and extensograph characteristics of wheat stored under nonoptimal storage conditions such as high grain moisture content, high temperature and long storage time.     

Acid Functionalized Multiwall Carbon Nanotube/Magnetite (MWCNT)-COOH/Fe3O4 Hybrid: Synthesis, Characterization and Conductivity Evaluation

A functionalized multiwall carbon nanotube (MWCNT)–COOH/Fe₃O₄ hybrid was fabricated by co-precipitation method. Fe₃O₄ nanoparticles were stably attached to the surface of carboxyl groups (COOH). The presence of Fe₃O₄ nanoparticles and their surface conjugation to MWCNT have been confirmed by XRD, TEM and FT-IR techniques. Magnetic evaluation revealed a superparamagnetic character of the hybrid and therefore the attached Fe₃O₄ nanoparticles. The crystallite size (9 ± 3 nm), particle size (9 ± 2 nm) and magnetic domain size estimated for Fe₃O₄ are consistent with each other, which reveal the single crystalline character of the nanoparticles. Electrical conductivity and dielectric behavior have also been characterized by utilizing impedance spectroscopy up to 3 MHz for an isotherm line varying from 293 to 393 K by 10 K steps. Electrical characteristics and its complex dielectric approaches might be elucidated with the existence of a conventional tunneling conduction mechanism of temperature-independency. The AC conductivity of MWCNT–COOH/Fe₃O₄ hybrid could also be a consequence of the estimations of the universal dynamic response.     

The coordinated production and transportation scheduling problem with a time-sensitive product: a branch-and-cut algorithm

In many supply chain scenarios in which short lifespan products are considered, production and transportation decisions must be made in a coordinated manner with no inventory stage. Hence, a solution to this problem conveys information about production starting times of each product lot at facility and delivery times of the lots to various customer-sites located in different geographic regions. In this paper, we study a variant of the problem that single product with limited shelf life is produced at single facility. Once produced, production lot is directly distributed to the customers with non-ignorable transportation time by single vehicle having limited capacity before the lifespan. Objective is to determine the minimum time required to produce and deliver all customer demands. To this end, we develop a branch-and-cut (B&C) algorithm using several valid inequalities adopted from the existing literature to improve lower bounds and applying a local search based on simulated annealing approach to improve upper bounds. On test problems available in the literature, we evaluate the performance of the B&C algorithm. Results show the promising performance of the B&C algorithm.