Dynamic stability of the mobile robot is main concern for the safety of the system and the operator during the task. Due to the sudden dynamic changes during the operation, the system may tip-over or roll-over. This may cause unexpected injuries and damage of the system. This paper presents the dynamic coupling model of a manipulator and onmidirectional platform equipped with mecanum wheels and its effect on the stability of the system. The dynamic model of the omnidirectional mobile robot has been developed to determine the torque developed at each link of the manipulator which causes resultant force on each wheel of the platform responsible for instability of the system. Finally the dimensions of the mobile platform is determined by Zero Moment Point (ZMP) approach to avoid the tip-over of the system.

Rhizosphere bioremediation is known as phytostimulation or plant assisted bioremediation, which has a multiple effect in the bioremediation process due to symbiotic association of mycorrhizal fungi, bacteria along the root zone in the ecology of rhizosphere. The hazardous wastes continue complex organic compounds including heavy metals, pesticides can be remediated by rhizosphere unit system. In rhizosphere environment, the microbial diversity has been observed which include the bacteria such as Pseudomonas, Bacillus, Arthrobacter, Rhizobium, Azobacter, Azospirillium, fungi: Aspergillus & Pencillum and Actinomycetes. Besides, the uncultivable microorganisms are also responsible for bioremediation of pollutants in the ecology of mycorrhizosphere. The study of metagenomic has emerged as a powerful tool to analyze the uncultivable microbial communities. Metagenomics is based on the genomic analysis of environmental DNA that is extracted directly from a particular environment. The review paper will demonstrate the concept of extraction of environmental DNA, construction of metagenomic DNA library, functional based analysis as well as sequence based analysis to identify novel enzymes and compounds that are required for rhizosphere remediation of pesticides. Metagenomics provide the tools to balance the abundance of knowledge attained from culturing with an understanding of the uncultured majority of microbial life. Metagenomics will continue to enrich our knowledge and understanding for uncultured microbial world for the remediation of hazardous compounds to clean up the environment.

The Adomian decomposition method (ADM) is a powerful method which considers the approximate solution of a non-linear equation as an infinite series which usually converges to the exact solution. In this paper, this method is proposed to solve some first-order differential equations. It is shown that the series solutions converges to the exact solution for each problem. It is observed that the method is particularly suited for initial value problems with oscillatory and exponential solutions

Drought stress in the most stages of crops growth in arid and semiarid regions causes growth restriction and failure to achieve optimal performance. In the field research, in order to evaluate the effect of irrigation-cutback which was achieved because of lack of water in the study area and spraying the CYTOKININ hormone (CK) at different stages of crop growth on performance and components of HAMOON wheat performance, a test was conducted in 2013-2014, and design format was done as split plot in a randomized complete block with four replications. In this study, irrigation-cutback is done in two levels, irrigation in heading stage (Z59) to harvesting and irrigation-cutback at the flowering stage (Z69) to harvesting. The effect of irrigation-cutback treatments on plant height, peduncle height, seed yield and seed weight was significant at the 5: level. Effect\nof CYTOKININ spraying (CK), and full irrigation on grain yield and grain weight was significant. Irrigation-cutback at each stage was impressive, and full irrigation in all growth stages of wheat and spraying CK, simultaneously and without interrupting any of the two, increases grain yield significantly and grain weight in wheat in comparison other treatments. Therefore, the use of full irrigation at different growth stages of wheat and spraying CK, in later stages of the growth of HAMOON wheat to produce more in SISTAN region is good advice, if water is provided for farmers with timely or with low latency water is provided for agricultural fields, therefore acceptable performance with spraying CK is seen in their field.

Nowadays, agglomerated citrus fruit flavored tasty saline powder drink represents a very appealing functional beverage for adult customers. It is produced by mixing basic ingredients (refined sucrose, refined common salt, encapsulated lemon flavor, dextrose anhydrous and potassium chloride) which are followed by agglomeration. Agglomeration is necessary, because non-agglomerated refined sucrose exhibit very poor flow and reconstitution properties. This research showed the influence of process conditions and composition of the different powder mixtures on the physical properties of the agglomerated final product. Agglomeration was conducted using batch fluid bed agglomerator at a constant air temperature (60°C), with a constant addition of citric acid with acid regulators with varying duration of the process and varying amount of added water. Bulk density and particle size were conducted prior to and post agglomeration, while agglomerate hardness was estimated by conducting a compression test with a 30 mm probe on Texture Analyzer. Percentage of added water had a significant effect on bulk density and the duration of the agglomeration process. This effect was more significant with mixtures made with salt. As for mixtures with 0.45 % to 0.55% encapsulated flavor, a significant influence of water addition on agglomerate median diameter was found. Agglomeration time and the percentage of added water showed dependence towards the composition of the mixture. This research showed that, in order to agglomerate powder mixtures successfully, parameters such as mixture composition, particle size, percentage of added water and acidulates, drying temperature, process duration and ambient conditions should be well coordinated and controlled to get agglomerates with optimal quality.

Gone are the days that transmission media are physically established to transmit the data from one location to another location. As of now, the transmission by air has been an indispensable step to conserve the\nresources and also to make the investments cost effective. The ad hoc network has come up as a solution\nprovider to set up the communication process. The supportive mechanism like clustering will increase the\nefficiency of the network functionality which has been known very well. These clusters need to be fine-tuned\non the process of maintaining an efficient network. Thus, this work proposes S-PAC as a validation technique\nto measure the cluster stability. This stability of clusters are measured in terms of their strength of inter and\nintra cluster communication. This strength factor decides the proper time to make the re-cluster event to occur\nin the ad hoc network. This work has been experimentally shown using OMNET++ simulator.