Activaton energies for backbiting and β-scission reactions for the polymerization of n-BA were determined by fitting experimental data to a mathematical model. The activation energy for backbiting was higher and that for β-scission lower than those accepted in the literature.
In this study, a semantic segmentation network is presented to develop an indoor navigation system for a mobile robot. Semantic segmentation can be applied by adopting different techniques, such as a convolutional neural network (CNN). However, in the present work, a residual neural network is implemented by engaging in ResNet-18 transfer learning to distinguish between the floor, which is the navigation free space, and the walls, which are the obstacles. After the learning process, the semantic segmentation floor mask is used to implement indoor navigation and motion calculations for the autonomous mobile robot. This motion calculations are based on how much the estimated path differs from the center vertical line. The highest point is used to move the motors toward that direction. In this way, the robot can move in a real scenario by avoiding different obstacles. Finally, the results are collected by analyzing the motor duty cycle and the neural network execution time to review the robot’s performance. Moreover, a different net comparison is made to determine other architectures’ reaction times and accuracy values.
Summary: This work considers the homogeneous aqueous phase polymerization of n-vinyl formamide(NVF). Thus, the effect of temperature, initiator and monomer concentration in the kinetics and molar mass distribution (MMD) of the polyNVF produced was experimentally assessed. SEC-MALS analysis was misleading because anomalous elution was found due to interaction of the polyNVF chains with the column. This was solved by analyzing the polyNVF by asymmetric-flow field flow fractionation chromatography coupled with multi-angle light scattering and differential refractive index, AF4/MALS/RI. The second part of this work considered the synthesis of nanoparticles based on polyNVF. Two routes were explored. In the first one the inverse microemulsion photopolymerization of NVF was attempted and polyNVF dispersions in isopar M with solids content of 18 wt% and particle sizes in the range 50-70 nm with average molar masses of several millions were obtained. In the second route PolyNVF produced in homogeneous aqueous phase was hydrolyzed to yield polyvinyl amine, PVAm. The resulting water soluble polymers were used to produce polymethyl methacrylate, PMMA, nanoparticles by surfactant free emulsion polymerization initiated by tert-butyl hydroperoxide TBHP. Stable pH responsive PMMA cationic nanoparticles with amino functionalities in the surface were easily produced.
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