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Novel Algorithm for Mobile Robot Path Planning in Constrained Environment

Computers, Materials & Continua 2022年第5期71卷 2697-2719页

作者： aisha muhammad Mohammed A.H.Ali Sherzod Turaev Ibrahim Haruna Shanono Fadhl Hujainah Mohd Nashrul Mohd Zubir muhammad Khairi Faiz Erma Rahayu Mohd Faizal Rawad Abdulghafor Faculty of Manufacturing Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechanical Engineering Faculty of EngineeringUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science and Software Engineering College of Information TechnologyUnited Arab Emirates UniversityAl AinUnited Arab Emirates Faculty of Electrical and Electronics Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechatronics Engineering Faculty of TechnologyBayero UniversityKano(BUK)700241Nigeria Computer Science and Engineering Department Chalmers and University of Gothenburg41296GothenburgSweden Department of Artificial Intelligence Faculty of Computer Science and Information TechnologyUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science Faculty of Information and Communication TechnologyInternational Islamic University Malaysia53100Kuala LumpurMalaysia

This paper presents a development of a novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobilerobot path planning problem in a two-dimensional map with the presence ofconstraints. This approach gives the possibility to find the path for a wheelmobile robot considering some constraints during the robot movement inboth known and unknown environments. The feasible path is determinedbetween the start and goal positions by generating wave of points in alldirection towards the goal point with adhering to constraints. In simulation,the proposed method has been tested in several working environments withdifferent degrees of complexity. The results demonstrated that the proposedmethod is able to generate efficiently an optimal collision-free path. Moreover,the performance of the proposed method was compared with the A-star andlaser simulator (LS) algorithms in terms of path length, computational timeand path smoothness. The results revealed that the proposed method hasshortest path length, less computational time and the best smooth path. Asan average, GLS is faster than A∗ and LS by 7.8 and 5.5 times, respectivelyand presents a path shorter than A∗ and LS by 1.2 and 1.5 times. In orderto verify the performance of the developed method in dealing with constraints, an experimental study was carried out using a Wheeled Mobile Robot(WMR) platform in labs and roads. The experimental work investigates acomplete autonomous WMR path planning in the lab and road environmentsusing a live video streaming. Local maps were built using data from a live video streaming with real-time image processing to detect segments of theanalogous-road in lab or real-road environments. The study shows that theproposed method is able to generate shortest path and best smooth trajectoryfrom start to goal points in comparison with laser simulator.

关键词： Path planning generalized laser simulator wheeled mobile robot global path panning local path planning

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Highly selective adsorption of rhenium by amyloid-like protein material

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Science China(Technological Sciences) 2024年第5期67卷 1417-1430页

作者： muhammad Arif YANG QingMin KANWAL aisha ZHAO Jian NAWAZ Mohsan REN Hao YANG Peng Key Laboratory of Applied Surface and Colloid Chemistry Ministry of Education Xi’an Key Laboratory of Polymeric Soft Matter International Joint Research Center on Functional Fiber and Soft Smart TextileSchool of Chemistry and Chemical EngineeringShaanxi Normal UniversityXi’an710119China School of Chemistry and Chemical Engineering Northwestern Polytechnical UniversityXi’an710072China

Rhenium separation from molybdenum in molybdenite minerals and waste leachate has become an emerging *** this challenge,we prepared a set of protein-based alkylamine/alkylammonium salts complexes as extractants for selective uptake of rhenium from molybdenum,where the protein component turned into the insoluble amyloid-like structure when its internal disulfide bonds were reduced,namely phase-transition *** them,the phase-transited lysozyme and methyletrioctyleammonium chloride complex(PTL-N263)exhibited the most efficient adsorption at the alkaline condition for the electrostatic interaction between negatively charged metal ions with positively charged center(R_(4)N^(+))in N263,where negatively charged protein residues hindered the ion exchange of Cl^(-)in N263 for larger size Mo species(Mo_(7)O_(24)^(6-))than smaller size Re species(ReO^(4-)).The adsorption follows the Freundlich model and pseudo-second-order kinetics,which exhibits toplevel adsorption performance with a maximum adsorption capacity of 124 mg/g and a separation factor(β_(Re/Mo))of 2.78×10^(3)for *** adsorption capacity per unit area(57.2 mg/(g m^(2)))is 1.6–41 times higher than previously reported adsorbents,and the cost for adsorbing 1 g of Re(VII)is$1.07,indicating its industrial *** adsorption strategy can be applied to separating Re from Mo in binary solutions and industrial wastewater with other competing ions.

关键词： amyloid phase-transited lysozyme selective adsorption rhenium waste leachate solution

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Design and Synthesis of NiO@Co_(3)O_(4)@ZSM-5 Heterogeneous Multitask Hollow Structures for Tandem Catalysis

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Chemical Research in Chinese Universities 2024年第3期40卷 529-535页

作者： muhammad Waqas Interdisciplinary Research Center for Refining and Advanced Chemicals King Fahd University of Petroleum&MineralsDhahran 31261Saudi Arabia

Precipitation and impregnation procedures unevenly distribute metals on zeolite,limiting chemical transformation in Lewis-acid,Brönsted-acid and metal-catalyzed tandem ***,heterogeneous multitask transition metals oxides@zeolites are promising catalysts for sustainable processes;nevertheless,synthesis is fascinating and ***,the construction of purposely designed multitask materials segregated in selective shells reveals the remarkable spatial organization of metals-zeolite,resulting in them being suitable for a wide range of tandem *** synthesis of multi-site catalysts begins with a universal wet chemistry approach that yields nickel oxide(NiO)***,the NiO crystals are stabilized using cationic dodecyltrimethylammonium bromide,followed by achieving cross-linking carbon growth by emulsion polymerization of glucose in hydrothermal treatment to yield uniformed NiO@carbon spheres(NiO@CSs).Next,sequential adsorption of cobalt cations and colloidal ZSM-5(1%in H_(2)O,mass fraction),followed by calcination in air,yielded NiO@cobalt oxide@zeolite denoted as NiO@Co_(3)O_(4)@ZEO hollow *** hollowing mechanism and materials segregation within shells are revealed by scanning and transmission electron microscopy,thermogravimetric analysis,and X-ray *** finding advances the rational synthesis of heterogenous core-shell hollow structures for various gas phase catalytic tandem reactions to yield valuable chemicals.

关键词： Multifunctional Core-shell hollow spheres Gas-phase reaction Valuable chemical

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An integrated land change modeler and distributed hydrological model approach for quantifying future urban runoff dynamics

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Science China Earth Sciences 2024年第10期67卷 3288-3301页

作者： Asad Hussain muhammad Waseem muhammad Ajmal muhammad Atiq Ur Rehman Tariq muhammad Jiaqing XIAO Tao YANG Pengfei SHI Institute for Disaster Risk Management School of Geographical ScienceNanjing University of Information Science and TechnologyNanjing 210044China The National Key Laboratory of Water Disaster Prevention Hohai UniversityNanjing 210098China Yangtze Institute for Conservation and Development Hohai UniversityNanjing 210098China College of Hydrology and Water Resources Hohai UniversityNanjing 210098China Centre of Excellence in Water Resources Engineering University of Engineering and TechnologyLahore 54890Pakistan Department of Agricultural Engineering Faculty of CivilAgricultural and Mining EngineeringUniversity of Engineering and TechnologyPeshawar 25120Pakistan

Climate and land use changes have a significant impact on the runoff generation process in urban environments, and these effects could get worse in the future. The combined contributions of these changes have increased the risk of ***, there is a need for integrated modeling to better understand the runoff variability, especially in small urban catchments. To quantify and separate the effects of land-use changes and climate change on the hydrological response of urban catchments with a distributed hydrological model(Storm Water Management Model, SWMM), this study introduces a new integrated approach based on the Machine Learning based land use change modeler and climate change scenarios under *** on supervised classification and land use change model analysis, accumulated impervious area increase from 22%(in2023) to 33%(in 2060) was observed in the study area. Furthermore, integrating this projected increase in imperviousness with future climate change into SWMM by considering three different scenarios i.e., S1(Climate Change), S2(Combined Land Use and Climate Change), and S3(Land use Change) resulted that climate change could cause an increase in runoff from 13.2% to18.3% in peak runoff and the contribution of land use could range from 9.1% to 18.6%. Similarly, in response to the coupled effects of climate and land-use change, the runoff would likely change from 24.53% to 39.66%. Conclusively, the study showed that despite climate change, intensive urban development by the substitution of impervious surfaces could also have a severe impact on the microclimate and hydrology of small catchments. Lastly, this study could provide a way forward for the future planning and management of water resources in small catchments which could be extended to larger catchments.

关键词： Climate change Land-use modeling Runoff simulation Percent Imperviousness TerrSet

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Enhancing PDF Malware Detection through Logistic Model Trees

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Computers, Materials & Continua 2024年第3期78卷 3645-3663页

作者： muhammad Binsawad Department of Information Systems King Abdulaziz UniversityP.O.Box 80217Jeddah21589Saudi Arabia

Malware is an ever-present and dynamic threat to networks and computer systems in cybersecurity,and because of its complexity and evasiveness,it is challenging to identify using traditional signature-based detection *** study article discusses the growing danger to cybersecurity that malware hidden in PDF files poses,highlighting the shortcomings of conventional detection techniques and the difficulties presented by adversarial *** article presents a new method that improves PDF virus detection by using document analysis and a Logistic Model *** a dataset from the Canadian Institute for Cybersecurity,a comparative analysis is carried out with well-known machine learning models,such as Credal Decision Tree,Naïve Bayes,Average One Dependency Estimator,Locally Weighted Learning,and Stochastic Gradient *** traditional structural and JavaScript-centric PDF analysis,the research makes a substantial contribution to the area by boosting precision and resilience in malware *** use of Logistic Model Tree,a thorough feature selection approach,and increased focus on PDF file attributes all contribute to the efficiency of PDF virus *** paper emphasizes Logistic Model Tree’s critical role in tackling increasing cybersecurity threats and proposes a viable answer to practical issues in the *** results reveal that the Logistic Model Tree is superior,with improved accuracy of 97.46%when compared to benchmark models,demonstrating its usefulness in addressing the ever-changing threat landscape.

关键词： Malware detection PDF files logistic model tree feature selection cybersecurity

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Progress in electrocatalytic nitrate reduction for green energy:Catalyst engineering,mechanisms,and techno-economic feasibility

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Journal of Energy Chemistry 2024年第8期95卷 380-406,I0009页

作者： Hafiz muhammad Adeel Sharif Hafiz muhammad Farooq Khan Sadeeq Ullah Yuwei Wang muhammad Ahmad Bo Yang Changping Li muhammad Bilal Asif Research Center for Eco-Environmental Engineering Dongguan University of TechnologyDongguan 523808GuangdongChina College of Chemistry and Engineering Shenzhen UniversityShenzhen 518060GuangdongChina FMH College of Medicine and Dentistry LahorePakistan School of Environment and Civil Engineering Research Center for Eco-Environment EngineeringDongguan University of TechnologyDongguan 523106GuangdongChina Advanced Membranes and Porous Materials Center(AMPMC) Physical Sciences and Engineering(PSE)King Abdullah University of Science and Technology(KAUST)Thuwal 23955Saudi Arabia

Ammonia(NH_(3))is an irreplaceable chemical that has been widely demanded to keep the sustainable development of modern ***,its industrial production consumes a huge amount of energy and releases extraordinary greenhouse gases(GHGs),leading to various environmental *** the green production of ammonia is a great challenge,which has been extensively pursued in the last *** this review,the most promising strategy,electrochemical nitrate reduction reaction(e-NO_(3)RR),is comprehensively investigated to give a complete understanding of its development and mechanism and provide guidance for future ***,owing to the complex reactions and limited selectivity,a comprehensive understanding of the mechanisms is crucial to further development and ***,NO_(3)^(-)RR is a promising strategy for simultaneous water treatment and NH_(3)production.A detailed overview of the recent progress in NO_(3)^(-)RR for NH_(3)production with nontransition and transition metal based electrocatalysts is *** addition,critical advanced techniques,future challenges,and prospects are discussed to guide future research on transition metal-based catalysts for commercial NH_(3)synthesis by NO_(3)^(-)reduction.

关键词： Nitrate reduction Electrolysis Pollution to solution Transition metal catalysts Ammonia synthesis Green energy

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Consequences of Rényi entropy on the thermal geometries and Hawking evaporation of topological dyonic dilaton black hole

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Communications in Theoretical Physics 2024年第2期76卷 102-110页

作者： muhammad Yasir Xia Tiecheng muhammad Usman Shahid Chaudhary Department of Mathematics Shanghai University and Newtouch Center for Mathematics of Shanghai UniversityShanghai200444China Department of Natural Sciences and Humanities University of Engineering and Technology LahoreNew CampusPakistan

The thermodynamics of black holes(BHs)has had a profound impact on theoretical physics,providing insight into the nature of gravity,the quantum structure of spacetime and the fundamental laws governing the *** this study,we investigate thermal geometries and Hawking evaporation of the recently proposed topological dyonic dilaton BH in anti-de Sitter(Ad S)*** consider Rényi entropy and obtain the relations for pressure,heat capacity and Gibbs free energy and observe that the Rényi parameter and dilaton field play a vital role in the phase transition and stability of the ***,we use Weinhold,Ruppeiner and Hendi Panahiyah Eslam Momennia models to evaluate the scalar curvature of the BH and find out that the divergence points of the scalar curvature coincides with the zero of specific ***,using Stefan–Boltzmann law,we determine that the BH without a dilaton field evaporates far more quickly compared to the dilaton BH in Ad S space.

关键词： topological dyonic dilaton black hole phase transition thermal geometry Hawking evaporation

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Underground communication:Long non-coding RNA signaling in the plant rhizosphere

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Plant Communications 2024年第7期5卷 28-51页

作者： muhammad Fahad Leeza Tariq Sajid muhammad Liang Wu Hainan Institute Zhejiang UniversitySanyaHainan 572000China Zhejiang Provincial Key Laboratory of Crop Genetic Resources College of Agriculture and BiotechnologyZhejiang UniversityHangzhouZhejiang 310058China National Key Laboratory for Rice Biology Institute of BiotechnologyZhejiang UniversityHangzhou 310058China

Long non-coding RNAs(lncRNAs)have emerged as integral gene-expression regulators underlying plant growth,development,and *** adapt to the heterogeneous and dynamic rhizosphere,plants use interconnected regulatory mechanisms to optimally fine-tune gene-expression-governing interactions with soil biota,as well as nutrient acquisition and heavy metal ***,high-throughput sequencing has enabled the identification of plant lncRNAs responsive to rhizosphere biotic and abiotic ***,we examine lncRNA biogenesis,classification,and mode of action,highlighting the functions of lncRNAs in mediating plant adaptation to diverse rhizosphere *** then discuss studies that reveal the significance and target genes of lncRNAs during developmental plasticity and stress responses at the rhizobium interface.A comprehensive understanding of specific lncRNAs,their regulatory targets,and the intricacies of their functional interaction networks will provide crucial insights into how these transcriptomic switches fine-tune responses to shifting rhizosphere *** ahead,we foresee that single-cell dissection of cell-type-specific lncRNA regulatory dynamics will enhance our understanding of the precise developmental modulation mechanisms that enable plant rhizosphere *** future challenges through multi-omics and genetic approaches will more fully reveal the integral roles of lncRNAs in governing plant adaptation to the belowground environment.

关键词： biotic and abiotic cues heavy metals long non-coding RNAs nutrients phytoremediation rhizosphere microbiome

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Photochemical reactions as synthetic tool for pharmaceutical industries

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Chinese Chemical Letters 2024年第9期35卷 9-31页

作者： Shehla Khalid muhammad Bilal Nasir Rasool muhammad Imran Department of Chemistry Government College UniversityFaisalabad 38000Pakistan School of Chemistry and Chemical Engineering Shandong UniversityJi’nan 250100China Department of Chemistry Faculty of ScienceKing Khalid UniversityAbha 61413Saudi Arabia

In the quest for new agrochemicals and pharmaceuticals,chemists seek access to reliable and mild synthetic techniques to allow for the systematic modification of chemical structures,exploration of unexplored chemical space,and facilitation of practical synthesis in their search for novel agrochemicals and *** this regard,photocatalytic reactions enabled the synthesis of intricate and more functionalized *** review overviews the developed synthetic methodologies and their utility in the chemical synthesis of *** review also offers in-depth insights into contemporary photoredox reactions such as allylic additions,cyclization,reductive cross-coupling,C–H activation,ring opening,oxidative cross-coupling,dehydrogenation,desulphonation,and *** provides a positive outlook for the promising future of this field.

关键词： Photocatalyst Photochemical reactions Drugs Natural products Late-stage functionalization

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Unique Azolyl Acylhydrazonyl Hybridization of Aloe Emodins to Access Potential Antibacterial Agents

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Chinese Journal of Chemistry 2024年第15期42卷 1741-1758页

作者： Yi-Xin Wang Zhao Deng aisha Bibi Bo Fang Cheng-He Zhou Institute of Bioorganic&Medicinal Chemistry Key Laboratory of Applied Chemistry of Chongqing MunicipalitySchool of Chemistry and Chemical EngineeringSouthwest UniversityChongqing 400715China College of Pharmacy National&Local Joint Engineering Research Center of Targeted and Innovative TherapeuticsChongqing Key Laboratory of Kinase Modulators as Innovative MedicineChongqing University of Arts and SciencesChongqing 402160China

A type of unique azole-hybridized acylhydrazonyl aloe emodins(AAEs)were developed as new antibacterial agents for combating bacterial *** target AAEs showed strong antibacterial activities,especially,tetrazolylthioether AAE 27a exhibited broad antibacterial spectrum with 16-256 folds and 8-64 folds more active antibacterial efficacy than the reference drugs aloe emodin and norfloxacin,*** AAE 27a also gave low hemolysis and cytotoxicity,as well as favorable *** mechanism explorations revealed that tetrazolylthioether AAE 27a could cause bacterial membrane depolarization and damage the cell membrane,resulting in nucleic acid ***,compound 27a could intercalate into DNA to impede its replication and form supramolecular 27a-DNA gyrase complex to disturb the function of DNA *** findings would provide valuable insights for the further exploration of azolyl acylhydrazonyl aloe emodins as new potential antibacterial candidates.

关键词： Aloe emodin Hydrazone Heterocycle Antibacterial Membrane damage

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