Evaluation of SLAM algorithms for Search and Rescue applications

This research investigates three SLAM algorithms on a low-cost mobile robot and finds the algorithms’ performance through a set of experiments including different types of ground surfaces

Hydrophobic Residues of the D 2 Dopamine Receptor Are Important for Binding and Signal Transduction

Dopamine receptors belong to the seven transmembrane helix-containing, G protein-coupled receptor superfamily. Mutagenesis studies suggest that dopamine and its analogues interact with aspartate-114 in helix 3 and two helix 5 serines (194 and 197) of the D 2 receptor. In addition to these amino acids, hydrophobic residues within the receptor core may be important not only for binding but also for receptor activation. Described is a site-directed mutagenesis investigation into the roles of these hydrophobic residues in the long isoform of the human D 2 receptor. Replacement of helix 6 phenylalanines (389 or 390) with alanines resulted in disrupted binding to several agonists and antagonists and impaired inhibition of adenylyl cyclase activity. Replacement of the helix 5 phenylalanine-198 with an alanine selectively disrupted [ 3 H]N-0437 binding, whereas the affinities for other agonists and antagonists remained unchanged. This mutant remained functionally intact when stimulated with dopamine or bromocriptine. Replacement of the helix 7 phenylalanine-411 or the helix 6 leucine-387 with alanines produced receptors that bound agonists well but were unable to inhibit adenylyl cyclase. Based on these data, two conserved helix 6 phenylalanines (389 and 390) appear to be crucial for ligand binding, and phenylalanine-411 in helix 7 and leucine-387 in helix 6 may be important for propagating conformational changes from the agonist binding site(s) to G protein coupling domain(s) of the D 2 receptor.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/65921/1/j.1471-4159.1995.65052105.x.pd

PEMODELAN SEBARAN KUALITAS AIR DI PESISIR SELAT BALI TERHADAP EKOSISTEM PERAIRAN

Selat Bali secara geografis terletak diantara Pulau Jawa dan Pulau Bali. Luas perairan Selat Bali diperkirakan mencapai 900 mil persegi. Perairan ini memiliki potensi perikanan yaitu menghasilkan ikan rata-rata 100 ton/tahun. Potensi perikanan di Selat Bali sangat beragam terutama ikan lemuru (bali sardinella). Dari beberapa penelitian, menunjukkan bahwa Selat Bali merupakan perairan yang sangat subur, ditandai dengan melimpahnya nutrien di Selat Bali, nutrien yang berlebih memicu terjadinya blooming algae atau meledaknya populasi fitoplankton. PT. 1368 adalah salah satu industri yang membuang limbah cair hasil pengolahan dan pembekuan udang ke Selat Bali. Parameter kualitas air limbah cair udang meliputi BOD, DO, Nitrat, Fosfat, COD dan TSS. Penelitian ini dilakukan pada musim barat yaitu bulan Januari 2019, dan kemudian melakukan pemodelan dengan MIKE 21 EcoLab, untuk mengetahui besaran dan pola sebaran pencemaran di Selat Bali. Hasil dari pemodelan menunjukkan bahwa parameter yang mempengaruhi kualitas air di Selat Bali adalah DO, Nitrat dan Fosfat. Nilai DO mengalami penurunan dibawah baku mutu, baik pada saat pasang, menuju pasang, surut dan menuju surut sebesar 1.850 – 2.227 mg/L, nilai nitrat di atas baku mutu sebesar 0.720 – 0.730 mg/L dan nilai fosfat di atas baku mutu sebesar 0.710 – 0.713 mg/L. Hasil tersebut menunjukkan terjadinya perebutan oksigen bagi biota dan perairan Selat Bali dalam kategori sangat subur dan dapat memicu blooming algae, dengan ditandai menurunnya hasil tangkap ikan lemuru. Penanganan pencemaran di Selat Bali ini melibatkan stake holder terkait pusat sampai ke daerah, pemantauan dan pengawasan secara rutin, hingga pemutusan perizinan pihak indistri yang melakukan pencemaran, penyempurnaan penggunaan IPAL untuk mengurangi kadar nitrat dan fosfat dan penerepan selanjutnya menggunakan ocean outfall

Pengaruh Penggunaan Energy Saving Device Pada Propeller B4 55 Dengan Metode Cfd

Tingginya harga bahan bakar semakin mendorong pelaku industri khususnya pemilik kapal melakukan penghematan konsumsi bahan bakar dan cara yang cukup efektif untuk mengurangi konsumsi bahan bakar tersebut adalah dengan menambah instalasi alat yang disebut Energy Saving Device (ESD) pada propeller dengan tujuan meningkatkan efisiensi propulsi. Beberapa desain ESD propeller yang telah dikembangkan yakni Ducted Propellers (Kort Nozzel propeller), dan Propeller Boss Cap Fins (PBCF). Perbedaan jenis Energy Saving Device (ESD) mengindikasikan Perubahan gaya torque dan thrust yang berbeda sehingga penulis disini ingin menganalisa pengaruh instalasi Energy Saving Device (ESD) pada propeller terhadap torque dan thrust yang dihasilkan sehingga dapat diketahui jenis ESD dengan performa paling optimal dengan bantuan paket program CAD (Computer Aided Design) serta CFD (Computational Fluid Dynamics). Hasil analisa dengan menggunakan RANS software CFD menunjukkan akibat penambahan instalasi Energy Saving Device (ESD) pada propeller, terjadi Perubahan bentuk aliran fluida, yang berpengaruh pula terhadap nilai thrust dan torque yang dihasilkan. Gaya thrust yang terjadi pada pada PBCF Propeller adalah sebesar 8.70E+05 N, dengan Torque 7.18E+05, sedangkan thrust pada Nozzle Propeller adalah sebesar 1.18E+06 dengan Torque 9.86E+0

Pengembangan Kompetensi Penyuluh Pertanian dalam Pendidikan Jarak Jauh Universitas Terbuka (UT): Kasus Alumni UT di Wilayah Serang, Karawang, Cirebon dan Tanggamus

Agricultural extension agent must have several competencies in order to do their job properly. As educators, theyhave to master several competencies not only related to their personalities but also their professionalism,andragogic and social interaction abilities. This research was intended to formulate strategies for the developmentof agricultural extension agent competencies. Data were collected in July through December 2008. A surveytechnique was implemented among 111 agricultural extension agents who were graduated from UT in four differentlocations, namely Serang, Karawang, Cirebon and Tanggamus. Information from stakeholders were also collected toelaborate the findings. Data was analyzed by using descriptive and regression analysis. The findings indicated thatUT\u27s graduates tend to have a high level in competencies and have several dominant factors affecting theircompetencies

Analysis of Social-Economic Life of Labours Working in Roof Tile Industry (Case Study on Labours of Roof Tile Home Industry in Pancasan Village, Ajibarang Subdistrict, Banyumas Regency)

This study entitled Social Economic Analysis of Industrial Crafters (Case Study on Industrial Household Workers of Tile in Pancasan Village Ajibarang Sub-district of Banyumas Regency ). The purpose of this research is 1) to know the amount of income of tile crafter in Ajibarang; 2 ) to analyze the contribution of crafter’s tile income toward crafter’s household income of tile industry in Ajibarang; 3 ) to analyze the level of household welfare of tile industry craftsmen in Ajibarang based on the fulfillment of the decent living needs of 2017; 4 ) to analyze the effect of length of work, the number of family dependents, age and education level on the income of tile industry craftsmen in Ajibarang. Population in this research is tile crafter in Desa Pancasan Ajibarang. Data collection using census method, meaning that all crafters in Pancasan Village made as respondents, crafters in the village of Pancasan amounted to 76 people. Analyzis tool using multiple linear regression Based on the result of the research, it can be concluded that: 1 ) the contribution of crafters income to UMR of Banyumas Regency 1.0068, this means that the income of tile crafters in Ajibarang is equivalent to UMR Banyumas Rp1,461,400; 2 ) Based on the results of the study also known that the contribution of craftsmen income to household income of artisans in Ajibarang tile industry of 66.6%; 3) The socio-economic condition of tile industry craftsmen in Ajibarang is prosperous; 4) The length of work, the number of dependents of the family, and the level of education have a significant effect on the revenue of tile industry craftsmen in Ajibarang; 5) Age does not significantly influence the income of tile industry craftsmen in Ajibarang Based on analysis result, ajibarang’s roof tiles craftmen have higher income compared with Banyumas UMR, but the defference is very low just as Rp9,982. It’s mean, the income is only enough to fulfil primary needs of craftsmen. So, The Government should be take more attention to push economic growht of rooftiles craftmen in Ajibarang by promotes Pancasan’s rooftiles production to another region. Hopefully, it will increasing the demand of Pancasan’s rooftiles also raising income and increasing prosperity level of Pancasan’s community

Nociceptin/Orphanin FQ Content is Decreased in Forebrain Neurones During Acute Stress

We examined the effects of acute and chronic stress on neurotransmission of nociceptin/orphanin FQ (N/OFQ) in a variety of brain regions. Four groups of rats were exposed to chronic variable stress, and/or a single acute stress before decapitation. Group 1 served as unstressed controls. The rats in group 2 (chronic stress/no acute stress) were exposed to a 10-day regimen of chronic stress (two unpredictable stressors per day). These rats were decapitated 20 h after the last stressor. The rats in group 3 (no chronic stress/acute stress) were not exposed to chronic stress, but they were restrained for 30 min prior to decapitation. The rats in group 4 (chronic stress/acute stress) were chronically stressed for 10 days, and were then restrained prior to decapitation. Trunk blood was collected, and plasma adrenocorticotrophic hormone (ACTH) and corticosterone (CORT) were assayed by radioimmunoassay (RIA). The rats' brains were dissected, and N/OFQ content was measured by RIA in a variety of brain regions, and in spinal cord. Chronic stress exposure altered the hormonal responses to the acute stress exposure. In the rats that were exposed to chronic stress without acute stress (group 2), N/OFQ content did not differ from the content of the unstressed controls in any of the dissected brain regions. In the two groups that were stressed acutely just before decapitation (groups 3 and 4), N/OFQ content was decreased by 25–30% in the basal forebrain. Accordingly, the neuronal content of N/OFQ is decreased in basal forebrain neurones during acute stress exposure. In light of our previous finding that N/OFQ administration increases circulating ACTH and CORT concentrations, and augments hormonal responses to an acute stressor, the current finding raises the possibility that endogenous N/OFQ participates in neuronal regulation of hormonal responses to acute stress exposure.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/73048/1/j.1365-2826.2003.00868.x.pd