移动机械手协调的研究进展

移动机械手的协调是结合操作能力和移动能力的典范。本文针对目前已有的典型协调策略做出了论述，指出各自的优点和不足，精确总结了协调的要素和研究的方向。

自治式移动车视觉导航系统：道路寻找及障碍检出方法的研究

自治式移动车系统中的一个主要课题是视觉导航系统的研制。本文介绍了作者有关自治式移动车视觉系统的研究工作和实验结果，对道路分割及障碍检出的问题及方法，从理论与实验的角度予以剖析，提出了一些解决问题的新方法，同时根据实验中存在一些问题，对进一步的工作提出了有益的设想。论文工作包括如下四部分：1 一般道路的基于彩色的区域分割方法。2 消失点-路边支持道路分割方法3 基于道路区域宽度直方图分析的道路形状识别方法4 大间距垂直上下双相机立体障碍物检出方法

地球化学勘查综合方法在潞西金矿找矿中的应用

地球化学勘查是找矿预测的重要手段，在云南潞西金矿的地质勘查工作中采用了多种地球化学勘查手段，包括X荧光、γ能谱、氨气测量及地电化学。X荧光测量能快速有效地对成矿有利地段的红色粘土层进行快速评价，圈定矿化带和红色粘土型金矿体；在有红色粘土型金矿矿化异常的地段，采用简便易行的γ能谱和氡气测量进行初查，再进一步开展地电化学勘查工作寻找卡林型原生金矿。多种方法综合运用，取得了良好的找矿效果。

Our missions in India 1834-1924 , by Rev. E.M. Wherry.

http://www.archive.org/details/ourmissionsinind012419mbp

Disciplined Seeing: Forms of Christianity and Forms of Life

Estrategias en la resolución de problemas matemáticos de la prueba pisa. Un estudio de casos

El artículo analiza las estrategias desarrolladas por estudiantes de nivel medio superior al resolver problemas matemáticos de la prueba PISA. El estudio toma como base las explicaciones escritas, verbales y gestuales presentadas por los estudiantes en el proceso de resolución de los problemas. Fueron caracterizadas dos tipos de estrategias: formales e informales. Las primeras, a partir de conceptos sobre objetos, relaciones y operaciones, así como de proposiciones y propiedades matemáticas y las segundas, por medio de transformaciones como la descomposición y recomposición de formas geométricas, asimismo, del uso de la estimación visual y estimación de medidas.

La práctica de la simulación en la solución de problemas de probabilidad: el caso de los estudiantes del nivel medio superior

En este trabajo en proceso presentamos los resultados de la primera fase de nuestra investigación (análisis preliminar), que pretende reconocer a la práctica o la estrategia de la simulación que realizan los estudiantes al momento de resolver problemas de probabilidad y con ello las cuestiones en probabilidad será de gran sencillez teniendo a la herramienta de la simulación. En ello sostenemos que la práctica de la simulación enriquece al conocimiento matemático del ser humano y en particular a la probabilidad.

Triterpenoid saponins from a cytotoxic root extract of Sideroxylon foetidissimum subsp. gaumeri

Evaluation of the cytotoxicity of an ethanolic root extract of Sideroxylonfoetidissimum subsp. gaumeri (Sapotaceae) revealed activity against the murine macrophage-like cell line RAW 264.7. Systematic bioassay-guided fractionation of this extract gave an active saponin-containing fraction from which four saponins were isolated. Use of 1D ((1)H, (13)C, DEPT135) and 2D (COSY, TOCSY, HSQC, and HMBC) NMR, mass spectrometry and sugar analysis gave their structures as 3-O-(beta-D-glucopyranosyl-(1-->6)-beta-D-glucopyranosyl)-28-O-(alpha-L-rhamnopyranosyl-(1-->3)[beta-D-xylopyranosyl-(1-->4)]-beta-D-xylopyranosyl-(1-->4)-alpha-L-rhamnopyranosyl-(1-->2)-alpha-L-arabinopyranosyl)-16alpha-hydroxyprotobassic acid, 3-O-beta-D-glucopyranosyl-28-O-(alpha-L-rhamnopyranosyl-(1-->3)[beta-D-xylopyranosyl-(1-->4)]-beta-D-xylopyranosyl-(1-->4)-alpha-L-rhamnopyranosyl-(1-->2)-alpha-L-arabinopyranosyl)-16alpha-hydroxyprotobassic acid, 3-O-(beta-D-glucopyranosyl-(1-->6)-beta-D-glucopyranosyl)-28-O-(alpha-L-rhamnopyranosyl-(1-->3)-beta-D-xylopyranosyl-(1-->4)[beta-D-apiofuranosyl-(1-->3)]-alpha-L-rhamnopyranosyl-(1-->2)-alpha-L-arabinopyranosyl)-16alpha-hydroxyprotobassic acid, and the known compound, 3-O-beta-D-glucopyranosyl-28-O-(alpha-L-rhamnopyranosyl-(1-->3)[beta-D-xylopyranosyl-(1-->4)]-beta-D-xylopyranosyl-(1-->4)-alpha-L-rhamnopyranosyl-(1-->2)-alpha-L-arabinopyranosyl)-protobassic acid. Two further saponins were obtained from the same fraction, but as a 5:4 mixture comprising 3-O-(beta-D-glucopyranosyl)-28-O-(alpha-L-rhamnopyranosyl-(1-->3)-beta-D-xylopyranosyl-(1-->4)[beta-D-apiofuranosyl-(1-->3)]-alpha-L-rhamnopyranosyl-(1-->2)-alpha-L-arabinopyranosyl)-16alpha-hydroxyprotobassic acid and 3-O-(beta-D-apiofuranosyl-(1-->3)-beta-D-glucopyranosyl)-28-O-(alpha-L-rhamnopyranosyl-(1-->3)[beta-D-xylopyranosyl-(1-->4)]-beta-D-xylopyranosyl-(1-->4)-alpha-L-rhamnopyranosyl-(1-->2)-alpha-L-arabinopyranosyl)-16alpha-hydroxyprotobassic acid, respectively. This showed greater cytotoxicity (IC(50)=11.9+/-1.5 microg/ml) towards RAW 264.7 cells than the original extract (IC(50)=39.5+/-4.1 microg/ml), and the saponin-containing fraction derived from it (IC(50)=33.7+/-6.2 microg/ml).

Inclusion of poorly soluble drugs in highly ordered mesoporous silica nanoparticles

Silica nanoparticles (MSNs) with a highly ordered mesoporous structures (103A) with cubic Im3 m have been synthesized using triblock copolymers with high poly(alkylene oxide) (EO) segments in acid media. The produced nanoparticles displayed large specific surface area (approximately 765 cm(2)/g) with an average particles size of 120 nm. The loading efficiency was assessed by incorporating three major antiepileptic active substances via passive loading and it was found to varying from 17 to 25%. The state of the adsorbed active agents was further analyzed using differential scanning calorimetry (DSC) and X-ray powder diffraction (XRPD). Dissolution studies revealed rapid release profiles within the first 3 h. The viability of 3T3 endothelial cells was not affected in the presence of MSNs indicating negligible cytotoxicity. 2009 Elsevier B.V. All rights reserved.

Electrostatic modelling and measurement of airborne particles concentration

Granular air-borne particles generally carry very small amounts of electric charge as a consequence of charging by the triboelectric effect. The presence of such particles induces charge of opposite polarity on a stationary conducting electrode. The amount of charge carried by the particles and the trajectories of the particles have significant random components and the signals produced are of very low level. The signal processing is further complicated by the random variation in the concentration of particles, i.e. the solid/gas ratio. This paper compares the results obtained from the electrostatic modelling of such sensors with those obtained from experiments.