the problem of navigation among movable obstacles (namo) is to find a collision free path for a robot while the robot is able to manipulate and transfer some objects (if possible or needed) to clear its path toward the goal. namo is a np-complete problem and is in a class of motion planning problems that have dynamic environments. in this domain, an optimal plan for the robot can be defined wit...

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

Carbon nanotubes (CNTs) have been readily functionalized by microwave activation using two different reactions affording functional derivatives characterized by two orthogonally protected amino groups. The doubly functionalized CNTs can serve as multipurpose, versatile synthons in materials science and biological applications.

More than 125 million people wear contact lenses worldwide, and contact lens use is the single greatest risk factor for developing microbial keratitis. We tested the antibacterial activity of multipurpose contact lens solutions and their individual component preservatives against the two most common pathogens causing bacterial keratitis, Pseudomonas aeruginosa and Staphylococcus aureus The in v...

Statistics clearly show an unmet need for highly effective contraception, especially in less developed countries. Many of these countries are at the core of the HIV/AIDS epidemic and show very high prevalence rates for other sexually transmitted infections (STIs) such as that caused by HSV-2. A woman at risk of unintended pregnancy due to unprotected intercourse is also at risk for HIV/STI. Owi...