Optimizing IT Infrastructure by Virtualization Approach

Nanomaterials

In this study, iron oxide (Fe3O4) was coated with ZrO2, and doped with three rare earth elements((Y/La/Ce), and a multi-staged rare earth doped zirconia adsorbent was prepared by using uniform design U14, Response Surface methodology, and orthogonal design, to remove As3+ and As5+ from the aqueous solution. Based on the results of TEM, EDS, XRD, FTIR, and N2-adsorption desorption test, the best molar ratio of Fe3O4:TMAOH:Zirconium butoxide:Y:La:Ce was selected as 1:12:11:1:0.02:0.08. The specific surface area and porosity was 263 m2/g, and 0.156 cm3/g, respectively. The isothermal curves and fitting equation parameters show that Langmuir model, and Redlich Peterson model fitted well. As per calculations of the Langmuir model, the highest adsorption capacities for As3+ and As5+ ions were recorded as 68.33 mg/g, 84.23 mg/g, respectively. The fitting curves and equations of the kinetic models favors the quasi second order kinetic model. Material regeneration was very effective, and eve...

Atmospheric Measurement Techniques

In the future, it is planned that performance of the system may be determined under real environmental conditions, involving characterization of fluorescent and nonfluorescent particles.

Vaccines

Globally, parasites are increasingly being recognized as catastrophic agents in both aquaculture sector and in the wild aquatic habitats leading to an estimated annual loss between 1.05 billion and 9.58 billion USD. The currently available therapeutic and control measures are accompanied by many limitations. Hence, vaccines are recommended as the “only green and effective solution” to address these concerns and protect fish from pathogens. However, vaccine development warrants a better understanding of host–parasite interaction and parasite biology. Currently, only one commercial parasite vaccine is available against the ectoparasite sea lice. Additionally, only a few trials have reported potential vaccine candidates against endoparasites. Transcriptome, genome, and proteomic data at present are available only for a limited number of aquatic parasites. Omics-based interventions can be significant in the identification of suitable vaccine candidates, finally leading to the developmen...

Metals

In this study, the deposition of martensitic stainless-steel (Metco 42C) powder on 42CrMo4 structural steel by direct laser deposition (DLD) was investigated. Clads were produced by varying the laser power, scanning speed, feed rate, and preheating. The effect of these processing variables on the microstructure and microhardness of the clads was analyzed, as well as their soundness, yield (measured by dilution), and geometric characteristics (height, width, and depth). The complex interaction of the evaluated processing variables forced the application of complex parameters to systematize their effect on the clads. A genetic optimization algorithm was performed to determine the processing conditions warranting high-quality clads, that is, sound clads, metallurgically bonded to the substrate with required deposition yield.

Materials, 2020

Chitosan/silver nanofluids were prepared using Phoenix dactylifera (DPLE) or Rumex vesicarius (HEL) extracts as the reducing agent, characterized using Fourier-transform infrared spectroscopy (FTIR), ultraviolet-visible (UV-vis), X-ray diffraction (XRD), and transmission electron microscope (TEM). The antimicrobial effect of the nanofluids against Gram positive, Bacillus licheniformis, Staphylococcus haemolyticus, Bacillus cereus, and Micrococcus luteus, and Gram-negative Pseudomonas aeruginosa, Pseudomonas citronellolis, and Escherichia coli bacteria has been studied. The nanoparticles were polydispersed in the chitosan matrix and are highly stable. The zeta potential of the silver nanoparticles in DPLE-and HEL-mediated composites is +46 mV and +56 mV, respectively. The FTIR results reveal that the free carboxylate groups in the plant biomaterial took part in stabilization process. HEL is a stronger reducing agent than DPLE and nanoparticles generated with HEL are smaller (8.0-36 nm) than those produced with DPLE (10-43 nm). DPLE-and HEL-mediated composites effectively inhibit the growth of the studied bacteria but HEL-mediated composite exhibited higher effect. The higher antimicrobial activity of HEL-mediated composite is linked to the smaller nanoparticles. The foregoing results indicate that HEL extract can be used in the green production of potential antimicrobial chitosan/silver nanofluids for biomedical and packaging applications.

2020

Acoustic event classification (AEC) and acoustic event detection (AED) refer to the task of detecting whether specific target events occur in audios. As long short-term memory (LSTM) leads to stateof-the-art results in various speech related tasks, it is employed as a popular solution for AEC as well. This paper focuses on investigating the dynamics of LSTM model on AEC tasks. It includes a detailed analysis on LSTM memory retaining, and a benchmarking of nine different pooling methods on LSTM models using 1.7M generated mixture clips of multiple events with different signal-tonoise ratios. This paper focuses on understanding: 1) utterance-level classification accuracy; 2) sensitivity to event position within an utterance. The analysis is done on the dataset for the detection of rare sound events from DCASE 2017 Challenge. We find max pooling on the prediction level to perform the best among the nine pooling approaches in terms of classification accuracy and insensitivity to event position within an utterance. To authors' best knowledge, this is the first kind of such work focused on LSTM dynamics for AEC tasks.

The Scientific World Journal

The efficacy of a water quality management strategy highly depends on the analysis of water quality data, which must be intensively analyzed from both spatial and temporal perspectives. This study aims to analyze spatial and temporal trends in water quality in Code River in Indonesia and correlate these with land use and land cover changes over a particular period. Water quality data consisting of 15 parameters and Landsat image data taken from 2011 to 2017 were collected and analyzed. We found that the concentrations of total dissolved solid, nitrite, nitrate, and zinc had increasing trends from upstream to downstream over time, whereas concentrations of parameter biological oxygen demand, cuprum, and fecal coliform consistently undermined water quality standards. This study also found that the proportion of natural vegetation land cover had a positive correlation with the quality of Code River’s water, whereas agricultural land and built-up areas were the most sensitive to water p...

Arabian Journal for Science and Engineering, 2021

Bu çalışmada, pankromatik bandın çok bantlı uydu görüntülerinin piksel tabanlı sınıflandırma doğruluğuna etkisi deneysel olarak araştırılmıştır. Çok yüksek uzamsal çözünürlüklü multispektral uydu görüntüleri multispektral bantlar yanında daha yüksek uzamsal çözünürlükte bir pankromatik bant içermektedir. Bu nedenle sınıflandırma aşamasında çeşitli seçenekler oluşmaktadır.Örneğin, sınıflandırma yapıldığında bu bant kullanılmalı mı? Kullanılacaksa nasıl kullanılmalı? Sınıflandırma doğrulukları arasında ne kadar fark olur? Pankromatik bandın sınıflandırma sonuçlarına etkisini incelemek amacıyla 4 adet senaryo oluşturulmuştur. İlk senaryoda pankromatik bant görüntü kaynaştırma yapılarak sınıflandırmada kullanılmıştır. İkinci senaryoda sadece multispektral bantlar üzerinden sınıflandırma yapılmıştır. Üçüncü senaryoda, multispektral bantların boyutu en yakın komşuluk algoritması kullanılarak pankromatik bant boyutuna getirilmiştir. Daha sonra tüm bantların arkasına pankromatik bant eklenerek sınıflandırma yapılmıştır. Son senaryoda ise sadece pankromatik bant sınıflandırılmıştır. En yüksek sınıflandırma doğruluğu pan-keskinleştirme yapılan görüntülerde elde edilmiştir. WorldView-2 görüntüsünün kendi pankromatik bandı ile kaynaştırılması sonucu elde edilen görüntünün destek vektör makineleri ve rastgele orman ile sınıflandırma sonuçları sırasıyla %78 ve %75 olarak bulunmuştur. IKONOS görüntüsü için pan-keskinleştirme yapılmış görüntüde sınıflandırma doğrulukları ise aynı sırada %70 ve %66 olarak bulunmuştur.

Teorìâ ta Metodika Fìzičnogo Vihovannâ, 2022

The study purpose. This study aims to evaluate the effect of the Tabata aquatic training method program in increasing the muscle power of beginner level athletes. Materials and methods. The researcher used a mixed method in this study. There were twenty swimming athletes (n = 20, age: 14.40 ± 1.18 years, height: 169.20 ± 3.18 cm, weight: 62.20 ± 2.26 kg) who agreed to participate in this study and were divided into two groups. The treatment group (n = 10) received the Tabata aquatic program and the control group (n = 10) swam every day without participating in any physical activity. The Tabata aquatic program was carried out for 9 weeks with a frequency of 3 times a week. After implementing the Tabata aquatic program, 10 athletes were interviewed. This study applied a quantitative research instrument, including squat jumps, and a qualitative research instrument, including individual in-depth interviews lasting for 30 minutes each. Analysis of quantitative data using IBM SPSS version...

Polymers

Wood-based products are traditionally bonded with synthetic adhesives. Resources availability and ecological concerns have drawn attention to bio-based sources. The use of tannin-based adhesives for engineered wood products has been known for decades, however, these formulations were hardly used for the gluing of solid wood because their rigidity involved low performance. In this work, a completely bio-based formulation consisting of Quebracho (Schinopsis balancae) extract and furfural is characterized in terms of viscosity, gel time, and FT-IR spectroscopy. Further, the usability as an adhesive for beech (Fagus sylvatica) plywood with regard to press parameters (time and temperature) and its influence on physical (density and thickness) and mechanical properties (modulus of elasticity, modulus of rupture and tensile shear strength) were determined. These polyphenolic adhesives presented non-Newtonian behavior but still good spreading at room temperature as well as evident signs of ...

Coatings, 2020

Owing to their high hardness, fracture toughness and oxidation resistance, tungsten carbide (WC) coatings are extensively deposited on parts that operate in demanding applications, necessitating wear, erosion, and corrosion resistance. The application of thick and hard WC coatings has an inevitable effect on the original dimensions of the parts, affecting the geometrical tolerances and surface roughness. The capability of achieving a sub-micron surface finish and adhere to tight geometrical tolerances accurately and repeatably is an important requirement, particularly with components that operate in high-precision sliding motion. Meeting such requirements through conventional surface finishing methods, however, can be challenging due to the superior mechanical and tribological properties of WC coatings. A brief review into the synthesis techniques of cemented and binderless WC coatings is presented together with a comprehensive review into the available techniques which are used to ...

Physical Review A, 2019

Remote Sensing, 2020

The increased development of computer vision technology combined with the increased availability of innovative platforms with ultra-high-resolution sensors, has generated new opportunities and fields for investigation in the engineering geology domain in general and landslide identification and characterization in particular. During the last decade, the so-called Unmanned Aerial Vehicles (UAVs) have been evaluated for diverse applications such as 3D terrain analysis, slope stability, mass movement hazard and risk management. Their advantages of detailed data acquisition at a low cost and effective performance identifies them as leading platforms for site-specific 3D modelling. In this study, the proposed methodology has been developed based on Object-Based Image Analysis (OBIA) and fusion of multivariate data resulted from UAV photogrammetry processing in order to take full advantage of the produced data. Two landslide case studies within the territory of Greece, with different geol...

Catalysts, 2021

This study presents core/shell Ag/SnO2 nanowires (Ag/SnO2NWs) as a new photocatalyst for the rapid degradation of organic compounds by the light from the visible range. AgNWs after coating with a SnO2 shell change optical properties and, due to red shift of the absorbance maxima of the longitudinal and transverse surface plasmon resonance (SPR), modes can be excited by the light from the visible light region. Rhodamine B and malachite green were respectively selected as a model organic dye and toxic one that are present in the environment to study the photodegradation process with a novel one-dimensional metal/semiconductor Ag/SnO2NWs photocatalyst. The degradation was investigated by studying time-dependent UV/Vis absorption of the dye solution, which showed a fast degradation process due to the presence of Ag/SnO2NWs photocatalyst. The rhodamine B and malachite green degraded after 90 and 40 min, respectively, under irradiation at the wavelength of 450 nm. The efficient photocatal...

AIP Advances, 2018

Recent progress on the electronic structure, defect, and doping properties of Ga 2 O 3

Scientific Reports

This present study demonstrated the preparation of a highly crystalline anatase (ana) form of titanium oxide (TiO2) doped silk nanocrystal (SNC) nanohybrid (ana-TCS) of diameter (7.5 ± 1.4 nm) by the sol–gel method using titanium (IV) butoxide as the hydrolysis material. This prepared nanohybrid with surface hydroxyl groups acted as a co-initiator for the synthesis of poly(L-lactic acid) (PLLA)-g-ana-TSC nanocomposite with grafted PLLA chains via the in situ polymerization technique, using tin-octoate as a catalyst. The fabricated nanocomposite had a high number average molecular weight of 83 kDa with good processibility. This prepared nanocomposite was hydrophobic in nature, with a contact angle of 105°, which was further enhanced to 122 ± 1° when processed via electrospinning technique into a non-woven fabric. The prepared nanocomposite could degrade up to 43% methylene blue dye in 15 days. This nanocomposite showed no significant molecular weight reduction after 1 h of aqeous tre...

AIP Advances

In this inspection, the structural, microstructural, electrical, and magnetic properties of Cr-doped Cu0.5Mg0.5CrxFe2−xO4 (x = 0.0, 0.04, 0.08, 0.12, and 0.16) composites were examined, which were prepared using the sol–gel technique. The x-ray diffraction patterns of the samples sintered at 700 °C for 5 h demonstrate the production of single-phase spinel ferrite. FESEM images indicate a nearly homogeneous surface morphology with non-spherical particles. The average grain size was found to decrease with the Cr concentration. The EDS spectroscopy study of the parent composition and a representative sample of doping composition (x = 0.08) revealed the existence of doped Cr, as well as Fe, Mg, Cu, and O, in the sample. The fluctuation of Cr doping has a significant impact on the magnetic characteristics. The saturation magnetization (Ms) declines as the Cr level grows up to x = 0.08 and then again increases with the increasing Cr content, which may be due to antiferromagnetic Cr not re...

Materials

Surface coatings that operate effectively at elevated temperatures provide compatibility with critical service conditions as well as improved tribological performance of the components. High-entropy coatings (HECs), including metallic, ceramics, and composites, have gained attention all over the world and developed rapidly over the past 18 years, due to their excellent mechanical and tribological properties. High-entropy alloys (HEAs) are defined as alloys containing five or more principal elements in equal or close to equal atomic percentage. Owing to the high configurational entropy compared to conventional alloys, HEAs are usually composed of a simple solid solution phase, such as the BCC and FCC phases, instead of complex, brittle intermetallic phases. Several researchers have investigated the mechanical, oxidation, corrosion and wear properties of high-entropy oxides, carbides, borides, and silicates using various coating and testing techniques. More recently, the friction and ...

Education and Human Development Journal

This research is motivated by the use of fractional materials in everyday life, as evidenced by the frequent application of fractional, materials in various fields, including architecture and science. The purpose of this study was to anlyze the relevance of fractions material to the creativity of grade elementary school students and to identify the creativity that can be generated by learning simple fractions material in grade 3 elementary school. The type of research used is a descriptive qualitative approach. This study uses data collection techniques used are data collection, data reduction, data presentation (display), verification and conclusions (conclusions drawing/verify). The validity test of the data used in this research is the data credibility test, dependability test, and confirmability test. The result showed (1) that there was a relevance of fractions material to the creativity of 3rd grade student, it could be seen from the material on problem solving related to frac...

Polymers

Essential oils (EOs) are volatile natural organic compounds, which possess pesticidal properties. However, they are vulnerable to heat and light, limiting their range of applications. Encapsulation of EOs is a useful approach to overcome some of these limitations. In this study, a novel emulsification technique is utilized for encapsulation of thymol (TY) and eugenol (EU) (EOs) within microcapsules with an unmodified cellulose shell. Use of low cost materials and processes can be beneficial in agricultural applications. In the encapsulation process, unmodified cellulose was dissolved in 7% aqueous NaOH at low temperature, regenerated to form a dispersion of cellulose hydrogels, which was rigorously mixed with the EOs by mechanical mixing followed by high-pressure homogenization (HPH). Cellulose:EO ratios of 1:1 and 1:8 utilizing homogenization pressures of 5000, 10,000 and 20,000 psi applied in a microfluidizer were studied. Light microscopy, high-resolution cryogenic scanning elect...

F1000Research

Background: Mandai cempedak vinegar (MCV) is a fermented vinegar produced from the inner skin of cempedak (Artocarpus champeden), which contains antioxidants classified as flavonoids, phenols, and tannins. These bioactive compounds are sensitive to heat and prone to oxidative damage. Therefore, an encapsulation process is proposed to protect the bioactive compounds. This study aimed to design a potential scaling-up formulation of spray-dried encapsulated MCV based on Total Soluble Solid (TSS) with the addition of maltodextrin and chitosan, followed by determining the nutrition and phytochemical values of the formulation. Methods: The formulation employed maltodextrin to achieve TSS of 15, 20, and 25 ºBrix as the primary wall material treatment factor. The second factor was chitosan as auxiliary wall material at 1, 2, and 3% (w/w of maltodextrin). Products were spray-dried at 100 ºC inlet temperature and 80 ºC outlet temperature. Analyses of nutrition, flavonoid, phenol, and tannin w...

Journal of Hazardous Materials, 2021

Pd, Rh, Pt are employed in a wide range of applications, such as catalytic converters, fuel cells and electronic devices. In the last years, an increasing pressure on their market was recorded due to a growing demand and limited resources. Therefore, the recovery of these materials from wastes represents an interesting goal to be achieved. The most widely proposed techniques for recovering the palladium from wastes are leaching and ion exchange. Strong oxidizers, acids and high temperature (343-363 K) are used for leaching, leading problems for the environment and the safety. In this work the attention was focused on a system containing zero-valent palladium nanoparticles in which the leaching is performed in mild acidic conditions, by using chloride solutions containing cupric ions (NaCl/CuCl 2). The process was studied at varying temperature, pH, chloride and cupric ion concentrations. Good results were obtained at pH 5.0 and temperatures between 288 K and 333 K. The process is more acceptable than the traditional ones from a safety point of view being characterized by less severe conditions (pH and temperatures). A shrinking spherical particles model was adopted to analyse the experimental data from which a development under a kinetic control was demonstrated.

Journal of Physics: Conference Series, 2018

Public sentiment from social media like Twitter can be used as one of the indicators to determine the quality of TV Programmes. In this study, we implemented information extraction on Twitter by using sentiment analysis method to assess the quality of TV Programmes. The first stage of this study is pre-processing which consists of cleansing, case folding, tokenizing, stop-word removal, stemming, and redundancy filtering. The next stage is weighting process for every single word by using TF-IDF method. The last step of this study is the sentiment classification process which is divided into three sentiment category which is positive, negative and neutral. We classify the TV programmes into several categories such as news, children, or films/soap operas. We implemented an improved k-nearest neighbor method in classification 4000 twitter status, for four biggest TV stations in Indonesia, with ratio 70% data for training and 30% of data for the testing process. The result obtained from this research generated the highest accuracy with k=10 as big as 90%.

The Scientific World Journal

Palm oil production has increased significantly, specifically in Indonesia and Malaysia. However, this growth has raised environmental concerns due to the high discharge of empty fruit bunches, palm oil mill effluents, and other solid wastes. Therefore, this study aims to examine the treatment of palm oil waste by composting and systematically review insights into its application through a systematic literature review approach. Among the 1155 articles, a total of 135 were selected for a systematic review of palm oil waste management developments and their applications, while 14 were used for determining compost quality according to the criteria and requirements established in the systematic literature review. Moreover, using Egger’s test, JAMOVI 1.6.23 software was used to analyze random effects models with 95% confidence intervals and publication bias. The results showed that palm oil waste was optimally treated by composting, which is considered as a sustainable technology for pro...

Materials

The use of fibre-reinforced plastics (FRPs) in sandwich structures increased for various industrial applications thanks to their strength-to-weight ratio which provides designers with advanced options for modern structures. FRP Sandwich Structures (FRPSS) are often used in aerospace, biomedical, defence, and marine products, where their high structural performance is required to sustain complex in-service loads and withstand varying environmental conditions. Progressive degradation of FRPSS under such circumstances has been a subject of interest for researchers owing to safety requirements for products with FRP. This paper reviews the state-of-the-art of the mechanical behaviour of FRPSS subjected to various loading regimes. It highlights the variation in structural performance, viscoelastic properties, damage resistance, and sequence of environmental degradation of FRPSS. Numerical methods and damage algorithms used to predict failures are also presented to provide sufficient knowl...

Journal of Physics: Conference Series, 2020

This article discusses the gesture of slow learner students in solving the problem of mathematical communication. Gesture aims to understand and deepen the thinking process of students who have difficulty conveying ideas either with oral or written. This research is a qualitative research. Data were collected by giving two items of mathematical communication test to a fourth-grade slow learner student of elementary school, then the student gesture was observed through video recording which was obtained when students did the question. The results of this study reveal the pattern of slow learner gesture, i.e.: Iconic gesture: using the fingers and toes in counting. Representational gesture: the student could not answer a question with a clear rational, student was less able to explain her ideas, but did not feel embarrassed to ask. Writing gesture: student could write her ideas in writing after a given direction, but she still made a mistake in writing the mathematical symbols (like n...

Methane - Synthesis, Conversion and Utilization [Working Title], 2019

Conversion of methane to more reactive compounds such as methanol has drawn attention for many years. Hierarchical ZSM-5 zeolite has been used as support of metal oxide catalyst to facilitate the partial oxidation of methane to methanol. The NaZSM-5 zeolite was synthesized hydrothermally using double-template techniques, in which tetrapropylammonium hydroxide (TPAOH) and polydiallyldiammonium chloride (PDDA) were used as primary and secondary templates, respectively. HZSM-5 was prepared through multiple NH4+ exchange of NaZSM-5 followed by calcination. Co oxide-modified ZSM-5 (Co/NaZSM-5 and Co/HZSM-5) were prepared through impregnation method. Then, the zeolites were extensively characterized using scanning electron microscope (SEM), X-ray diffraction (XRD), AAS, Fourier transform infrared (FTIR), 27Al solid-state NMR, microbalance, and surface area analysis. The catalytic test was performed in batch reactor, and the product was analyzed with GC-FID. Reaction condition and acidity ...

Waste and Biomass Valorization, 2018

Synthesis of metallic nanoparticles by an eco-friendly and sustainable process is an important target to be developed in nanotechnology area. In the present work, two different commercial brands of yerba mate from Argentina and their wastes (PYM and TYM samples) were used for the preparation of aqueous extracts, in order to synthesize silver nanoparticles at room temperature (25 °C). The silver nanoparticles obtained were spherical, hexagonal and, triangular in shape with the average particle size of 50 nm and, shows a surface plasmon peak around 460 nm. The antimicrobial activity of the silver nanoparticles obtained with the extracts from yerba mate wastes was evaluated against E. coli and S. aureus. The minimum inhibitory concentrations required for E. coli were 7.66 and 17.66 µg ml −1 using the treatment T2YE and P2YE, respectively and, for S. aureus were 23.25 and 50.60 µg ml −1 for the treatment T2YE and P2YE, respectively. The study suggests that polyphenols present in I. paraguariensis leaf extract act as reducing agent and stabilizer of the nanoparticles.

Energies

Bio-char has the ability to isolate carbon in soils and concurrently improve plant growth and soil quality, high energy density and also it can be used as an adsorbent for water treatment. In the current work, the characteristics of four different types of bio-chars, obtained from slow pyrolysis at 375 °C, produced from hard-, medium-, thin- and paper-shelled walnut residues have been studied. Bio-char properties such as proximate, ultimate analysis, heating values, surface area, pH values, thermal degradation behavior, morphological and crystalline nature and functional characterization using FTIR were determined. The pyrolytic behavior of bio-char is studied using thermogravimetric analysis (TGA) in an oxidizing atmosphere. SEM analysis confirmed morphological change and showed heterogeneous and rough texture structure. Crystalline nature of the bio-chars is established by X-ray powder diffraction (XRD) analysis. The maximum higher heating values (HHV), high fixed carbon content a...

Contributions To Plasma Physics, 2018

The Scientific World Journal, 2022

co-doped TiO 2 photocatalyst was prepared by interacting the chicken egg white having various weights (1, 2, and 4 g) with 1 g of TiO 2 in an autoclave through the hydrothermal process at 150°C. e C,N co-doped TiO 2 photocatalysts were characterized using Fourier transform infrared (FTIR), X-ray diffraction (XRD), specular reflectance UV/visible (SRUV/Vis), and transmission electron microscope (TEM) instruments. e photocatalytic activity of the co-doped TiO 2 was evaluated by monitoring the photodecolorization of Congo red dye under visible light through a batch experiment. e characterization results assigned that the C and N atoms from the chicken egg white have been successfully co-doped into TiO 2 through interstitial and substitutional combination, which could notably narrow their band gap energy entering into the visible region. In line with the gap narrowing, the co-doping C,N into TiO 2 could remarkably improve the photocatalytic activity under visible light in the dye photo-decolorization. e enhancement of the photocatalyst activity of TiO 2-C,N was controlled by the weight of the egg white introduced, and 2 g of the egg white resulted in the highest activity. Further, the best dye photo-decolorization, which was about 98%, of 10 mg/ L Congo red dye in 100 mL of the solution under visible irradiation could be reached by applying TiO 2-C,N prepared from 2 g of the egg white, within 45 min, at pH 7, and 50 mg of the photocatalyst mass.

Mathematics

Obtaining mathematical equations to model the kinematics of a hyper-redundant robot is not intuitive and of greater difficulty than for traditional robots. Depending on the characteristics of the robot, the most appropriate methodology to approach the modelling may be one or another. This article provides a general overview of the different approaches there are when modelling a hyper-redundant cable-driven robot, while proposing a guide to help the novel researcher that approaches this field decide which methodology to apply when modelling a robot. After providing some definitions, a simple framework to understand all the underlying models is presented. Afterwards, the mathematical equations for the most important methods of modelling are developed. Finally, the proposal for a step-by-step tutorial is included, and it is exemplified by applying it to three real robots.