A multiple regression model approach was developed to estimate buffering indices, as well as biogas and methane productions in an upflow anaerobic sludge blanket (UASB) reactor treating coffee wet wastewater. Five input variables measured (pH, alkalinity, outlet VFA concentration, and total and soluble COD removal) were selected to develop the best models to identify their importance on methanation. Optimal regression models were selected based on four statistical performance criteria, viz. Mallow’s Cp statistic (Cp), Akaike information criterion ( AIC), Hannan– Quinn criterion ( HQC), and Schwarz–Bayesian information criterion ( SBIC). The performance of the models selected were assessed through several descriptive statistics such as measure of goodness-of-fit test (coefficient of multiple determination, R2; adjusted coefficient of multiple determination, Adj-R2; standard error of estimation, SEE; and Durbin–Watson statistic, DWS), and statistics on the prediction errors (mean squared error, MSE; mean absolute error, MAE; mean absolute percentage error, MAPE; mean error, ME and mean percentage error, MPE). The estimated model reveals that buffering indices are strongly influenced by three variables (volatile fatty acids (VFA) concentration, soluble COD removal, and alkalinity); while, pH, VFA concentration and total COD removal were the most significant independent variables in biogas and methane production. The developed equation models obtained in this study, could be a powerful tool to predict the functionability and stability for the UASB system.

Erosion and sedimentation have a very big influence on flooding. Floods are strongly influenced by land use and population activities that change the river’s physical condition, including erosion and sedimentation. The river upstream was very steep, and the downstream was narrowing and meandering with high rainfall recorded. This study analyses erosion, sedimentation, and its handling using the eco-hydraulic base. The method involves input rainfall data, river hydraulics, land use, watershed area, and land cover. The analysis of hydrology, hydraulics, land use, flood discharge, and eco-hydraulic, inundation height, vegetation diameter, velocity reduced, and riverbank width measured in five bridges cross-sections along the river. The eco-hydraulic compares the width of existing riverbanks and design, high inundation, and the vegetation diameter to minimise flood discharge. Erosion in the right cliff is 22.73% and the left cliff is 37.04%, land erosion was 225.83 Mg∙ha ^–1∙year ^–1. The river’s bottom is formed by rocks of 0.18–1.30 mm. The plantation land used around the Lae Kombih River grows mainly an oil palm with a diameter of 0.5–0.7 m. The riverbank design on 100 m for vegetation diameter of 0.1–1.0 m can retain flood discharge for five years return period up to 72.3%, resulting in discharge of 112.04209.43 m ³∙s ^–1. The largest erosion and sedimentation on the river border is Dusun Silak, so it is recommended to plant Vetiveria zizanioides, Ipomoea carnea and Bambusoideae. An inundation height of 0.9 m can be recommended to design an embankment to be used as flood mitigation.

The interface characteristics, bending and impact behavior, as well as fracture characteristics of stainless steel clad plates fabricated by vacuum hot rolling at different rolling temperatures of 1100°C, 1200°C and 1300°C are investigated in detail. The interface bonding strength is gradually increased with the increasing rolling temperature due to the sufficient diffusion behavior of alloy element. The bending toughness and impact toughness are gradually decreased, while the bending strength increase with the increase of the rolling temperature, which is attributed to mechanisms of matrix softening and interface strengthening at high rolling temperature. Due to the weak interface at 1100°C, the bending and impact crack propagation path was displaced by delamination cracks, which in turn lead to reduction in stress intensity of the main crack, playing an effective role in toughening the stainless steel clad plates. Moreover, the impact fracture morphologies of clad plates show a typical ductile-brittle transition phenomenon, which is attributed to the matrix softening behavior with the increasing rolling temperature.

Robots that can comprehend and navigate their surroundings independently on their own are considered intelligent mobile robots (MR). Using a sophisticated set of controllers, artificial intelligence (AI), deep learning (DL), machine learning (ML), sensors, and computation for navigation, MR's can understand and navigate around their environments without even being connected to a cabled source of power. Mobility and intelligence are fundamental drivers of autonomous robots that are intended for their planned operations. They are becoming popular in a variety of fields, including business, industry, healthcare, education, government, agriculture, military operations, and even domestic settings, to optimize everyday activities. We describe different controllers, including proportional integral derivative (PID) controllers, model predictive controllers (MPCs), fuzzy logic controllers (FLCs), and reinforcement learning controllers used in robotics science. The main objective of this article is to demonstrate a comprehensive idea and basic working principle of controllers utilized by mobile robots (MR) for navigation. This work thoroughly investigates several available books and literature to provide a better understanding of the navigation strategies taken by MR. Future research trends and possible challenges to optimizing the MR navigation system are also discussed.

The aim of the work was to study the feeding deterrent activity ofprecocenes, their synthetic analogues, and some related compunds to storage pests: Sitophi/us granarius L., Tribolium con/usum Duv., Trogoderma granarium Ev., and aphids: Myzuspersicae (Sulz.). Among all tested compounds precocenes I and 11 exhibited the best feeding deterrent activity against all tested insects. 4-Chromanols ( 16, 17 and I 8), alcohols 19, 20 and 3-chromanone (15) showed high deterrence towards the larvae of T con/usum. The best antifeedant activity towards the adults of both T confusum and S granarius was observed for substituted phenols with methoxy group at benzene ring. The biological tests carried out on aphids showed that the presence ofmethoxy group in the molecule was a crucial structural factor for the appearance of antifeedant activity against these insects.

Electroencephalogram (EEG) is one of biomedical signals measured during all-night polysomnography to diagnose sleep disorders, including sleep apnoea. Usually two central EEG channels (C3-A2 and C4- A1) are recorded, but typically only one of them are used. The purpose of this work was to compare discriminative features characterizing normal breathing, as well as obstructive and central sleep apnoeas derived from these central EEG channels. The same methodology of feature extraction and selection was applied separately for the both synchronous signals. The features were extracted by combined discrete wavelet and Hilbert transforms. Afterwards, the statistical indexes were calculated and the features were selected using the analysis of variance and multivariate regression. According to the obtained results, there is a partial difference in information contained in the EEG signals carried by C3-A2 and C4-A1 EEG channels, so data from the both channels should be preferably used together for automatic sleep apnoea detection and differentiation.