Dynamic Adaptive Control of Mobile Robot UsingRBF Networks

In this paper, an adaptive neuro-control systemwith two levels is proposed for the motion control of anonholonomic mobile robot. In the first level, a PD controller is designed to generate linear and angular velocities, necessary to tracka reference trajectory. In the second level, a neural network converts the desired velocities, provided by the first level, intoa torque control. The advantage of the control approach is that, no knowledge about the dynamic model is required, and no synaptic weight changing is needed in presence of robot’s parameter’s variation (mass or inertia).By introducing appropriate Lyapunovfunctions asymptotic stability of state variables and stability of system is guaranteed. The tracking performance of neural controller under disturbances is compared with PD controller. Sinusoidal trajectory and lamniscate trajectories are considered for this comparison

Characteristics of protoplast inter, intra-fusant and regeneration of antagonistic fungi Trichoderma harzianum and Trichoderma viride

A standard method for isolation, fusion and regeneration of protoplasts from Trichoderma harzianum and Trichoderma viride was developed. The protoplasts from T. harzianum and T. viride were isolatedusing Novozym 234 as lytic enzyme and potassium chloride as osmotic stabilizer. The maximum number of protoplasts (9.37 × 105/ml) was obtained from 16 h old mycelium of T. harzianum and 11.1 ×105/ml for T. viride from 14 h old mycelium at pH 5.5, 28ºC for 3 h. The interspecific and intraspecific fusion frequency was determined using 40% polyethylene glycol (PEG) as fusogen. The intrafusantswere selected based on their growth, sporulation, pigmentation on chitin and cellulose amended media, where as the interfusants were selected on fungicide resistance as a marker. The protoplast fusionfrequency was found to be 1.92% for interspecific fusion. In the case of intraspecific fusion it was about 6.2 and 7.2%, respectively, for T. harzianum and T. viride. The protoplast regeneration frequency ofintrafusant was 17% for T. harzianum on chitin medium and 19.2% for T. viride on cellulose medium after two days. The regeneration frequency of 11% for interfusants on fungicide amended medium wasobserved after three days. The regenerated fusants morphology, growth, sporulation and pigmentation were compared with parental strains

Degradation of methyl parathion by <i>Pseudomonas putida</i>

Pseudomonas putida utilized methyl parathion as sole carbon and (or) phosphorus source. The bacterium elaborated the enzyme organophosphorus acid anhydrase, which hydrolyzed methyl parathion to p-nitrophenol. p-Nitrophenol was further degraded to hydroquinone and 1, 2, 4-benzenetriol. The final ring compound, 1, 2, 4-benzenetriol, was cleaved by benzenetriol oxygenase to maleyl acetate.Key words: Pseudomonas putida, organophosphorus pesticides, degradation, methyl parathion. </jats:p