In this paper we present some concepts for sound and fast footstep planning. The soundness is achieved with a two-stage trajectory generation process that uses a smoothing homotopy. The fastness is achieved with swept volume approximations precomputed offline.

Silk fabrics were colored by gold nanoparticles (NPs) that were in situ synthesized through the induction of sunlight. Owing to the localized surface plasmon resonance (LSPR) of gold NPs, the treated silk fabrics presented vivid colors. The photo-induced synthesis of gold NPs was also realized on wet silk through adsorbing gold ions out of solution, which provides a water-saving coloration meth...

Previous reports of diarrhea resulting from Cyclospora species have been linked to travelers and immunocompromised patients. We conducted a prospective study of 1,042 formalin-ethyl acetate fecal concentrates collected from patients with diarrhea. Between May and November 1993, we identified three patients for whom studies were positive for nonrefractile spherical organisms measuring 10 microns...

In this research, several series of triarylmethane dyes containing one or more terminal methoxy substituents with a variable tertiary amino groups have been used. These dyes have been applied to different substrates by using various methods including transfer printing and then their fastness properties were measured. These dyes shows exceptionally high light fastness (6-7) on acid modified poly...

Seven reactive dyes judiciously selected based on chemical structures and fixation mechanisms were applied at 2% of of shade on amidoximated acrylic fabrics. Amidoximated acrylic fabric has been obtained by a viable amidoximation process. The dyeability of these fabrics was evaluated with respect to the dye exhaustion, fixation, and colour strength under different conditions of temperature and ...

We investigate the rotational dynamics of disk accretion around a strongly magnetized neutron star with an aligned dipole field. The magnetospheric field is assumed to thread the disk plasma both inside and outside the corotation radius. As a result of disk-star interaction, the magnetic torque on the disk affects the structure of accretion flow to yield the observed spin-up or spin-down rates ...

A series of monoazo disperse dyes based on naphthalimide has been applied on to the nylon fabrics. The build-up values and dyeing properties of these dyes, such as leveling, and wash, light and rub fastnesses on nylon fabrics have been assessed. The dyes N-2-aminomethylpyridine-1,8-naphthalimideazo-4′′-N,N-diethyl meta toluidine (A) and N-2-aminomethylpyridine-1,8-naphthalimide-azo-2′′acetylami...

Newfangled vinylsulfone (VS) based fiberreactive dyes were synthesized and applied to mill desized, bleached and mercerized textile fabric (100% cotton). Padthermosol dyeing method was utilized due to less hazardous environmental affects and high dye fixation to optimize dyeing quality parameters i.e. salt concentration, pH, dyeing time and dyeing temperature. The pretreated and dyed cotton fab...