This work proposes an attempt to control the navigation of a wall following mobile robot using a hybrid metaheuristic which is a combination of two different population-based heuristics such as Gravitational Search (GS) and Particle Swarm Optimization (PSO). The hybrid metaheuristic is called GSPSO which is used to train a multi-layered Artificial Neural Network (ANN) with the available benchma...

Several cell wall-bound glycosidases present in Avena sativa coleoptiles were assayed by following the hydrolysis of p-nitrophenyl-glycosides. Particular emphasis was placed on characterizing some parameters affecting the activity of beta-galactosidase. The pH optimum of this enzyme is 4.5 to 5.5; it is sensitive to copper ions and p-chloromercuribenzoate treatment and apparently has an excepti...

This paper investigates the effect of span cantilevered RC wall, in-plane stiffness roof, layout friction damper support on both response control walls in gymnasiums with metal spatial roofs and proposed evaluation method. According to history analysis results, method was proved be available various formula column base moment modified following appropriate diagram.