Kinematic Design Analysis and Optimization of Mobility System Using MATLAB

209-212In this research work, several sophisticated types of equipment and automation have been studied, points taken and considered to realise the locomotion of modern territory of all uneven environments. One of the most main mission and structure of this study is the preferred simplicity of the bipedal walking locomotion system. The study included from simple to complicated legs as like single-legged, like humanoid and up to sixteen legs like a caterpillar. Most of the bipedal walking robots are with research study and we concentrated to emphasizes the significance of robotic legged motion stability in the compact. These bipedal walking robots can walk on rough surfaces, turn efficiently and climb staircase if needed. In particular, a suitable bipedal walking model having an upper link and a lower link will make the system to the desired motions, which has been experimentally exposed to provide a stable walking system. The MATLAB software tool is used to optimize the mechanical constraints and to compare, analyse and investigate the influence of motion stability. The simulation results show a possible performance of projected leg bipedal walking mechanism

Synthesis, characterization and density functional theory study of low cost hydrazone sensitizers

The 2-{4-[2-benzylidenehydrazino]phenyl}ethylene-1,1,2-tricarbonitrile (System 1), 2-{4-[2-(1-naphthylmethylene)hydrazino]phenyl}ethylene-1,1,2-tricarbonitrile (System 2) and 2-{4-[2-(9-anthrylmethylene)- hydrazino]phenyl}ethylene-1,1,2-tricarbonitrile (System 3) were synthesized by direct tricyanovinylation of hydrazones. The bathochromic shift in absorption spectra has been observed by increasing the solvent polarity. The FTIR spectra of these new dyes exhibited three important absorption bands. The first band centered near 3260 cm-1 in System 1 while 3208 cm-1 and 3211 cm-1 in System 2 and System 3 for the nNH absorption, respectively. The second band is a sharp absorption band in the region of 2212-2209 cm-1, which was attributed to the cyano group absorption. The third is an absorption band in the region of 1611-1603 cm-1 ascribed for the C=N. Density functional theory (DFT) calculation of relative energies, relative enthalpies and free energies shows that E isomers are the most stable except System 3 in which the most stable is Z isomers. The conformational energy profile shows two maxima near (-90 and 90o) while three local minima observed at (-180, 0 and 180) for N1-N2-C1-C2 torsional angle. The highest occupied molecular orbitals (HOMOs) are localized on the whole molecules while lowest unoccupied molecular orbitals (LUMOs) are distributed on the tricarbonitrile. KEY WORDS: Dye-sensitized solar cells, HOMO, LUMO, Absorption, FTIR spectra Bull. Chem. Soc. Ethiop. 2015, 29(1), 137-148DOI: http://dx.doi.org/10.4314/bcse.v29i1.1

One-Year Results of Simultaneous Topography-Guided Photorefractive Keratectomy and Corneal Collagen Cross-Linking in Keratoconus Utilizing a Modern Ablation Software

Purpose. To evaluate effectiveness of simultaneous topography-guided photorefractive keratectomy and corneal collagen cross-linking in mild and moderate keratoconus. Methods. Prospective nonrandomized interventional study including 20 eyes of 14 patients with grade 1-2 keratoconus that underwent topography-guided PRK using a Custom Ablation Transition Zone (CATz) profile with 0.02% MMC application immediately followed by standard 3 mw/cm2 UVA collagen cross-linking. Maximum ablation depth did not exceed 58 μm. Follow-up period: 12 months. Results. Progressive statistically significant improvement of UCVA from 0.83±0.37 logMAR preoperative, reaching 0.25±0.26 logMAR at 12 months (P<0.001). Preoperative BCVA (0.27±0.31 logMAR) showed a progressive improvement reaching 0.08±0.12 logMAR at 12 months (P=0.02). Mean Kmax reduced from 48.9±2.8 to 45.4±3.1 D at 12 months (P<0.001), mean Kmin reduced from 45.9±2.8 D to 44.1±3.2 D at 12 months (P<0.003), mean keratometric asymmetry reduced from 3.01±2.03 D to 1.25±1.2 D at 12 months (P<0.001). The safety index was 1.39 at 12 months and efficacy index 0.97 at 12 months. Conclusion. Combined topography-guided PRK and corneal collagen cross-linking are a safe and effective option in the management of mild and moderate keratoconus. Precis. To our knowledge, this is the first published study on the use of the CATz ablation system on the Nidek Quest excimer laser platform combined with conventional cross-linking in the management of mild keratoconus

Optical Properties of Bismuth Borate Glasses Doped with Zinc and Calcium Oxides

Some bismuth-borate oxide glass' samples were prepared by the fast quenching method, where B2O3 was replaced with equal concentrations of ZnO and CaO. X-ray diffraction (XRD) was used to examine the internal structure and Fourier transform infrared (FTIR) to identify building units and bonds throughout the studied structural matrices. XRD showed that all samples have short range order structural nature, while FTIR demonstrated some of Zn2+ acted as glass network formers and all Bi3+ acted as glass. UV-visible measurements and calculations showed a decreasing in the energy band gap from 3.83 eV to 1.73 eV with decreasing B2O3 content. Also with decreasing B2O3 content, both real refractive index and metallization factor decreased from 3.1 to 1.9 and from 0.56 to 0.71, respectively. For the studied glass' samples, density and molar volume showed inverted behaviors, where the density decreased while the molar volume increases with decreasing B2O3

Multiphoton Microscopy for Ophthalmic Imaging

We review multiphoton microscopy (MPM) including two-photon autofluorescence (2PAF), second harmonic generation (SHG), third harmonic generation (THG), fluorescence lifetime (FLIM), and coherent anti-Stokes Raman Scattering (CARS) with relevance to clinical applications in ophthalmology. The different imaging modalities are discussed highlighting the particular strength that each has for functional tissue imaging. MPM is compared with current clinical ophthalmological imaging techniques such as reflectance confocal microscopy, optical coherence tomography, and fluorescence imaging. In addition, we discuss the future prospects for MPM in disease detection and clinical monitoring of disease progression, understanding fundamental disease mechanisms, and real-time monitoring of drug delivery