Line tracking robot using vision systems

This project was about to build a robot that can detect straight white line using vision system (MATLAB). The aim of this paper was to prove that vision system can be used to detect line. The software that used was MATLAB R2010a. The project was divided into four phases. Phase 1: Hardware Design, Phase 2: Software Implementation and Phase 3: Hardware Interfacing. The main part for this project was about the software implementation. So, the paper will focus on the using of the MATLAB software. The main parts that used in the MATLAB software were Image Acquisition Toolbox and Image Processing Toolbox. The techniques that had been apply in the project were Image Enhancement Technique, Image Filtering Technique and Image Restoration Technique. The project had make realtime database using webcam. The function of the webcam was detecting line and then transmits the image data into the PC. After that, as the interfaced devices, PCI 1710 (Data Acquisition Card) was used to make connection between PC and the robo

Mathematical Modelling of In-Chamber Processes in Hydrocombined Propellant Solid Rocket Motors

The special conditions of employment of commercial rockets in the sea environment has opened up new possibilities of improving motor performance. The interesting method suggests supplying water into the running motor. This paper reports the calculations and experiments carried out with solid propellant model setups. The results prove the validity of the proposed method and allow the refinement of calculation techniques for the prediction of solid rocket motor performance characteristics. The serviceability of the solid propellant charges working in combination with water is demonstrated. A mathematical model is proposed for the operation of a hydrocombined propellant motor with water and powdered additives applied to the combustion chamber.

Stratigraphy of the Golden Hoard Town of Madzhar. First Observations

The paper presents the first stratigraphic scale for the main Golden Horde center in the North Caucasus - the town of Madzhar. The scale has been developed on the basis of materials obtained during the three field archaeological seasons of 2015–2017, during which the Caffa archaeological expedition within the framework of the State Program of the Republic of Tatarstan “Preservation of the national identity of the Tatar people (2014–2021)” founded three excavation areas (XI–XIII), and two trenches in the territory of the settlement. All cultural strata belong to the Golden Horde period in the history of the town of Madzhar. The developed stratigraphic column of Madzhar settlement includes five main strata: I – 20th – early 21st centuries, II – 1380s–1390s, III – 1340s–1370s, IV – 1300s–1330s, and V – 1260s–1290s

Topological relaxation of entangled flux lattices: Single vs collective line dynamics

A symbolic language allowing to solve statistical problems for the systems with nonabelian braid-like topology in 2+1 dimensions is developed. The approach is based on the similarity between growing braid and "heap of colored pieces". As an application, the problem of a vortex glass transition in high-T_c superconductors is re-examined on microscopic levelComment: 4 pages (revtex), 4 figure

Adsorption of a random heteropolymer at a potential well revisited: location of transition point and design of sequences

The adsorption of an ideal heteropolymer loop at a potential point well is investigated within the frameworks of a standard random matrix theory. On the basis of semi-analytical/semi-numerical approach the histogram of transition points for the ensemble of quenched heteropolymer structures with bimodal symmetric distribution of types of chain's links is constructed. It is shown that the sequences having the transition points in the tail of the histogram display the correlations between nearest-neighbor monomers.Comment: 11 pages (revtex), 3 figure

Localization in simple multiparticle catalytic absorption model

We consider the phase transition in the system of n simultaneously developing random walks on the halfline x>=0. All walks are independent on each others in all points except the origin x=0, where the point well is located. The well depth depends on the number of particles simultaneously staying at x=0. We consider the limit n>>1 and show that if the depth growth faster than 3/2 n ln(n) with n, then all random walks become localized simultaneously at the origin. In conclusion we discuss the connection of that problem with the phase transition in the copolymer chain with quenched random sequence of monomers considered in the frameworks of replica approach.Comment: 17 pages in LaTeX, 5 PostScript figures; submitted to J.Phys.(A): Math. Ge

Protein Phosphatase-1 Activates CDK9 by Dephosphorylating Ser175

The cyclin-dependent kinase CDK9/cyclin T1 induces HIV-1 transcription by phosphorylating the carboxyterminal domain (CTD) of RNA polymerase II (RNAPII). CDK9 activity is regulated by protein phosphatase-1 (PP1) which was previously shown to dephosphorylate CDK9 Thr186. Here, we analyzed the effect of PP1 on RNAPII phosphorylation and CDK9 activity. The selective inhibition of PP1 by okadaic acid and by NIPP1 inhibited phosphorylation of RNAPII CTD in vitro and in vivo. Expression of the central domain of NIPP1 in cultured cells inhibited the enzymatic activity of CDK9 suggesting its activation by PP1. Comparison of dephosphorylation of CDK9 phosphorylated by (32P) in vivo and dephosphorylation of CDK9's Thr186 analyzed by Thr186 phospho-specific antibodies, indicated that a residue other than Thr186 might be dephosphorylated by PP1. Analysis of dephosphorylation of phosphorylated peptides derived from CDK9's T-loop suggested that PP1 dephosphorylates CDK9 Ser175. In cultured cells, CDK9 was found to be phosphorylated on Ser175 as determined by combination of Hunter 2D peptide mapping and LC-MS analysis. CDK9 S175A mutant was active and S175D – inactive, and dephosphorylation of CDK9's Ser175 upregulated HIV-1 transcription in PP1-dependent manner. Collectively, our results point to CDK9 Ser175 as novel PP1-regulatory site which dephosphorylation upregulates CDK9 activity and contribute to the activation of HIV-1 transcription

Small Molecules Targeted to a Non-Catalytic “RVxF” Binding Site of Protein Phosphatase-1 Inhibit HIV-1

HIV-1 Tat protein recruits host cell factors including CDK9/cyclin T1 to HIV-1 TAR RNA and thereby induces HIV-1 transcription. An interaction with host Ser/Thr protein phosphatase-1 (PP1) is critical for this function of Tat. PP1 binds to a Tat sequence, Q35VCF38, which resembles the PP1-binding “RVxF” motif present on PP1-binding regulatory subunits. We showed that expression of PP1 binding peptide, a central domain of Nuclear Inhibitor of PP1, disrupted the interaction of HIV-1 Tat with PP1 and inhibited HIV-1 transcription and replication. Here, we report small molecule compounds that target the “RVxF”-binding cavity of PP1 to disrupt the interaction of PP1 with Tat and inhibit HIV-1 replication. Using the crystal structure of PP1, we virtually screened 300,000 compounds and identified 262 small molecules that were predicted to bind the “RVxF”-accommodating cavity of PP1. These compounds were then assayed for inhibition of HIV-1 transcription in CEM T cells. One of the compounds, 1H4, inhibited HIV-1 transcription and replication at non-cytotoxic concentrations. 1H4 prevented PP1-mediated dephosphorylation of a substrate peptide containing an RVxF sequence in vitro. 1H4 also disrupted the association of PP1 with Tat in cultured cells without having an effect on the interaction of PP1 with the cellular regulators, NIPP1 and PNUTS, or on the cellular proteome. Finally, 1H4 prevented the translocation of PP1 to the nucleus. Taken together, our study shows that HIV- inhibition can be achieved through using small molecules to target a non-catalytic site of PP1. This proof-of-principle study can serve as a starting point for the development of novel antiviral drugs that target the interface of HIV-1 viral proteins with their host partners

Diffusion of a Polymer Chain through a Thin Membrane

We study the configurational and dynamic properties of a long polymer chain during the process of penetration of the chain through the thin and porous membrane. The mobility of a polymer in this state depends strongly on the topological restrictions imposed by the membrane. The largest mobility have configurations in which the polymer chain crosses the membrane only once and diffuses through a single pore from one side of the membrane to the other. This configuration may have small statistical weight compared to other configurations with low mobility in which the polymer chain crosses the membrane many times. The relative weight of these configurations depends also on the chemical potential of the membrane. We find the configurations which give the main contribution to the transport and calculate the overall permeability of the membrane for Zimm and Rouse mechanisms of polymer dynamics

New Bone Overlay with a Dragon Image Discovered at Madzhar Fortified Settlement

Systematic studies are conducted at Madzhar settlement by the “Kaffa” expedition of the Institute of Archaeology named after A.Kh. Khalikov of the Academy of Sciences of the Republic of Tatarstan within the framework of the State Program of the Republic of Tatarstan “Preservation of the National Identity of the Tatar People (2014–2019)”. Madzhar fortified settlement represents the remains of the Golden Horde town of Madzhar located near the contemporary town of Budennovsk in Stavropol Krai. The work is dedicated to the discovery of a bone article at the fortified settlement in question. A carved bone overlay with a dragon image was discovered at the archaeological excavations of 2016. The bone overlay was found during cleaning of the pavement of a medieval town street. A paved street was discovered in a Golden Horde town for the first time in history. The studied area of the pavement consisted of 174 fragments of locally manufactured defective bricks, 115 sandstones and 127 broken brick fragments. The period of operation of the town street and, correspondingly, the time of loss of the bone overlay correspond to the reign of Djanibek Khan, and has been dated on the basis of 12 coins. The carved overlay was made of thick horn. A four-leaved medallion with a rectangular pointed upper edge dimensioned 72×72 mm, which resembles a lotus bud, features a carved image of a dragon. The symbolics of the dragon image was thoroughly studied. Suggestions are made in relation to the possible location of manufacture of such products and the use of similar articles in the territory of the Mongol Empire