Independent Process Research Articles

Adsorption of methylene blue dye onto modified activated carbon produced from groundnut shells

In this research work, groundnut shells agricultural byproducts were utilized for the production of modified groundnut shell based activated carbon (MGSAC) through the use of phosphoric acid and ethylene-diamine tetraacetic acid disodium salt (Na2EDTA) as an activating agent and a modifier, respectively. A three factor, two-level full factorial design (FFD) was employed for the exploratory design of experiments (DoE). The independent process variables are temperature, activation time, and activating agent concentration for the production of MGSAC in a muffle furnace. The product yield and methylene blue (MB) dye adsorption were considered as the performance indicators for the process. Regression analysis was conducted to examine the influence of process variables on the responses of the process parameters. From the analysis, it was found that the activation temperature has the most significant effects on the MGSAC product yield and the activation time for the adsorption of MB dye. The results obtained showed that the best operating conditions for production of MGSAC were carbonization temperature of 450°C, activation time of 30 min and activating agent concentration of (35 mmol Na2EDTA; 50% H3PO4) which resulted in the product yield of 55.5% MGSAC, and 99.6% MB dye adsorption. It was also observed that experimental values obtained were in good agreement with the values predicted by the model. Hence, the two-level FFD DoE technique demonstrated worthwhile features in disclosing the dominant factors that affect the production of modified groundnut shell based activated carbon. The products appear to be promising adsorbents for the adsorption of cationic MB dye from wastewaters.

Chase–escape in dynamic device-to-device networks

AbstractWe feature results on global survival and extinction of an infection in a multi-layer network of mobile agents. Expanding on a model first presented in Cali et al. (2022), we consider an urban environment, represented by line segments in the plane, in which agents move according to a random waypoint model based on a Poisson point process. Whenever two agents are at sufficiently close proximity for a sufficiently long time the infection can be transmitted and then propagates into the system according to the same rule starting from a typical device. Inspired by wireless network architectures, the network is additionally equipped with a second class of agents able to transmit a patch to neighboring infected agents that in turn can further distribute the patch, leading to chase–escape dynamics. We give conditions for parameter configurations that guarantee existence and absence of global survival as well as an in-and-out of the survival regime, depending on the speed of the devices. We also provide complementary results for the setting in which the chase–escape dynamics is defined as an independent process on the connectivity graph. The proofs mainly rest on percolation arguments via discretization and multiscale analysis.

Stochastic and corpuscular theory of (polarized) light

Both the corpuscular theory of light and the theory of stochastic processes are well known in the literature. However, they are not systematically used together for description of optical phenomena. There are optical phenomena, such as the well-known three-polarizer experiment or other phenomena related to polarization of light, which have never been quantitatively and qualitatively explained using the concept of quantum of light (photon). The situation changed in 2022 when stochastic memoryless and independent (IM) process formulated within the framework of the theory of stochastic processes was introduced. It is suitable for determination of probability (density) functions characterizing interaction (transmission or reflection) of individual photons with optical elements on the basis of experimental data. The process has memoryless (Markov) property, and it is assumed that the interactions of individual photons with an optical system are independent. Formulae needed for analysis of data in the context of polarization of light are derived. An example analysis of the three-polarizer experiment is performed and numerical result of the probability (density) functions are determined. These original results were missing in the literature. The results imply that the possibilities of the corpuscular theory of light to describe optical phenomena can be significantly extended with the help of stochastic IM process and the theory of stochastic processes in general.

Innovative Research on the Application of the OBE Concept Cheerleading Teaching in the Smart Campus Environment

With the continuous development of information technology, a smart campus environment has become an important direction of modern education development. Based on OBE (Outcome-Based Education), this study discusses how to apply a smart campus environment to cheerleading teaching. By designing an intelligent teaching system and combining the characteristics of cheerleading teaching, the personalized and independent teaching process is realized. The results show that the application of the OBE concept in cheerleading teaching in a smart campus environment can improve students' learning interest and motivation and promote their all-around development.

Penerapan Model COBIT 5 dalam Audit Sistem Informasi Penerimaan Negara Bukan Pajak Online Pada Lembaga Penyiaran Publik Radio Republik Indonesia

Audit is an independent and standardized systematic process that completes evidence and compares it objectively to determine the extent to which audit interpretations have been complied with. One of the standards used in the implementation of the information systems audit process is COBIT (Control Objectives for Information and Related Technology). Online PNBP still has identified problems, including that the Online PNBP application does not accommodate all Types and Tariffs for PNBP types. This study aims to conduct an online PNBP information system audit at LPP RRI Gorontalo. This study uses the APO04 (Manage Innovation) domain at COBIT 5 with the research stages using Assessment Process Activities. The data used in this study are secondary data and primary data obtained through the observation phase of interviews and questionnaires. Based on the research results, the average value in the APO04 sub-domain in the current condition (As Is) is 0.24 and the expected condition (To Be) is 0.20 or still at level 0. With the largest gap or gap value is in the APO04.02 sub domain, which is 0.54. With these results it is found that LPP RRI Gorontalo has not carried out IT processes that should have existed, or been added and have not succeeded in achieving the objectives of the IT process and have not been optimal in maintaining understanding of the company's environment, so the suggestion that can be given is to maximize understanding of the environment companies so that they can understand the interests of both consumers and companies so that opportunities enabled by new technologies can be identified

Secure and Efficient Communication in Smart Grids

This Special Issue on “Secure and Efficient Communication in Smart Grids” received a total of 11 submitted articles, of which 5 were accepted and published after each passing an independent peer-review process [...]

Role of the State Administrative Court in Realizing Good Governance

Indonesia is a state of Law based on Pancasila and the 1945 Constitution aimed at realizing a prosperous, safe, peaceful and peaceful life for the State and nation and ensuring the equal position of citizens in Law, providing the maintenance of harmonious, balanced, and cooperative relations between State bodies or officials and citizens, in an effort by the Government to organize people's lives to achieve the State's goal of protecting the entire Indonesian nation. All to promote the general welfare, educate the nation's life and all Indonesian bloodshed, promote the general welfare, educate the nation's energy, and participate in implementing world order based on independence, lasting peace, and social justice. The administration of Government should create a condition that leads to the goal that citizens can feel and enjoy the atmosphere and climate of order and legal certainty that is just. In its implementation, there are often conflicts of interest, disputes, and disputes between the State Administration Agency or Officer and citizens that harm or hinder the performance of the Government. The argument is resolved through the State Administrative Court, which must be able to uphold justice, truth, order, and legal certainty so as to provide protection to the community, especially in the relationship between the State Administrative Agency or Officer and the community because the position of the Government is stronger than the people, legal protection of the people must be carried out by a free and independent judicial process. The State Administrative Court resolves the dispute by Law Number 9 of 2004. The State Administrative Court is one of the independent free state judiciary bodies without the influence of other powers, adhering to Pancasila and the 1945 Constitution of the Republic of Indonesia and applicable laws and regulations to juridically control government actions that violate administrative provisions.

Apparent and true mineralization during combined electro‐oxidation and electro‐coagulation on stainless steel anode

AbstractPresent study is a novel attempt to experimentally verify that electrochemical treatment of organic pollutants on stainless steel (SS) anode is a combination of electro‐oxidation (EO) and electro‐coagulation (EC) with quantitative estimation of individual contributions of the two mechanisms. Target organic pollutants, metformin HCl (MET‐HCl) and lamotrigine (LAM), were electrochemically treated with SS anode for this purpose. Experiments were designed using central composite rotatable design (CCRD) to assess the effect of current density (CD) and supporting electrolyte concentration (SEC) as independent process parameters. Under all conditions, the process was experimentally verified to be a combination of EO and EC. For MET‐HCl, true mineralization (TM) as a result of EO contribution varied between 50.13% and 66.64%. EO contribution and resulting TM for LAM ranged from 37.5% to 61.83%. EC contributed 30.6%–31.84% towards MET‐HCl remediation causing the TOC to be transferred from the liquid to the sludge produced (SP). EC contribution was 23.68%–35.89% for LAM remediation. Thus, apparent mineralization (AM), the sum of EO and EC contributions, ranged from 80.63% to 97.79% for MET‐HCl and 61.18% to 96.82% for LAM.Process parameters were statistically optimized using response surface methodology (RSM) to simultaneously maximize TM and AM with minimal energy consumption and maximal current efficiency. The optimized conditions were 0.83 mA/cm2 CD and 86.66 ppm SEC for MET‐HCl. The corresponding values were 1.31 mA/cm2 CD and 79.51 ppm SEC for LAM.

Decline-curve analysis with decline rate for improving reserves estimation in gas reservoirs

Over decades, the rate decline analysis has been the industry's bedrock for reserve estimation. The Arps method has gained credibility since its introduction in 1945, particularly in oil reservoirs. However, gas reservoirs present challenges due to handling increasingly deeper geologic horizons with higher pressure and low-permeability formations, rock compaction, and overpressured reservoirs, among other challenges. This study shows a novel decline-curve analysis involving the decline rate rather than the flow rate. The proposed methodology applies to production data from a gas reservoir with varying operating conditions during the boundary-dominated flow (BDF) period. The method does not involve any pseudo-functions.The proposed method is independent of the variation of flow rate and pressure. The PVT data (viscosity, compressibility, z-factor) aids the construction of a type-curve involving the viscosity-compressibility ratio with the recovery factor without any reservoir-specific information. The decline rate with adjustment for changing operating conditions leads to a single decline-curve plot involving the viscosity-compressibility ratio (λ) and dimensionless pressure (pD) without any correlating parameter. Two synthetic examples verified the proposed approach, and two field datasets validated it. Overall, the proposed method strengthens the reserve estimation with an independent process for meeting corporate and regulatory requirements in conventional and tight-gas reservoirs.

Stress, glucose metabolism and the HPA axis: Early life adversity-the missing piece of the puzzle?

Physiological stress prompts metabolic reactions aimed at increasing glucose supply, to initiate a fight/flight response in a healthy individual. The quality of the first 1000 days of life is a critical period which impacts the overall metabolic trajectory. Exposure to stress in early life increases the risk of developing cardiometabolic disorders. This may be due to epigenetic programming of cardiometabolic and stress response mechanisms. The objective of this study was to investigate both stress induced and baseline glucose levels in different models of early life adversity, in addition to dissecting mechanisms that drive these changes. We determined baseline and stress mediated blood glucose release in 3 different early life adversity models. Furthermore, we administered an escalating cortisol dose to an adversity negative cohort, to dissect the gluconeogenic driving mechanism and checked glucocorticoid driven gene expression to confirm GC-GR binding. Our study showed an impairment of stress response along with sex dependent differences in basal glucose levels in early life adversity models. The human institutionalisation/adoption and mice infection models showed higher baseline glucose levels in females, while the rat maternal deprivated males showed lower baseline glucose levels compared to the control group. Additionally, we established the stress mediated glucose release as a glucocorticoid independent process. Our study proposes a new outlook on potential mechanisms that may drive stress mediated metabolic changes. Additionally, we emphasise quality of early life as the missing piece of the puzzle to get a better understanding of the adult metabolic profile.

THE INFLUENCE OF THE MARKETING MIX ON THE LENDING STRATEGY OF THE COMMERCIAL & CORPORATE SEGMENT AT PT BANK ABC

This study aims to determine the effect of the Marketing Mix on the Commercial & Corporate Segment Credit Strategy at PT Bank ABC. The results showed that the price, product and process variables partially influenced the decision to take credit at PT Bank ABC. Place, promotion, people and physical environment variables partially have no effect on the decision to take credit at PT Bank ABC. All independent variables Product, Price, Place, Promotion, People, Process and Physical Environment simultaneously influence the decision to take credit at PT Bank ABC. In terms of price variables that affect the debtor's decision to take credit at Bank ABC, Banks can carry out appropriate pricing strategies to be charged to debtors after going through various considerations by the Bank. In terms of product variables that affect the debtor's decision to take credit at Bank ABC, the Bank can develop new credit products according to current market needs and always conduct regular product development and evaluation so that it can stay abreast of business developments in the market. In terms of process variables that affect the debtor's decision to take credit at Bank ABC, the Bank can carry out strategies from the debtor's side and the bank's internal side.

An Investigation of Diversity in Childhood and Adolescent Antidepressant Studies: A Systematic Review.

Objectives: Childhood mental illness is an ongoing public health crisis which is accompanied by an increase in antidepressant (i.e., serotonin reuptake inhibitors and serotonin-norepinephrine reuptake inhibitors) use in children. Recent evidence highlighting the cultural differences in the utilization, efficacy, and tolerability of antidepressants in children underscores the need for diverse samples in studies examining antidepressant use. Furthermore, the American Psychological Association in recent years has emphasized the importance of including participants from diverse backgrounds in research studies, including investigations of medication efficacy. The present study, therefore, examined the demographic composition of samples used and reported in antidepressant efficacy and tolerability studies with children and adolescents experiencing anxiety and/or depression in the last decade. Methods: A systematic literature review utilizing two databases was conducted in accordance with Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. In line with the extant literature, antidepressants were operationalized as Sertraline, Duloxetine, Escitalopram, Fluoxetine, and Fluvoxamine. Results: Out of the 11 articles included in this review, 71% reported having a primarily adolescent sample (i.e., over 50% of the sample was 12 years or older). In addition, all studies omitted any transgender, genderqueer, or gender-nonconforming demographics, and one study omitted all racial demographic information. While 64% of studies only partially reported racial demographic information, 36% of studies omitted ethnicity demographics altogether. Conclusions: The present study addresses a gap in the literature by supporting a lack of diversity in studies examining antidepressant use in children and adolescents. Furthermore, it underscores the importance of future studies using a more diverse and representative sample. Limitations of the present study included limited generalizability and the lack of independent and blind reviewer process. Possible explanations for the lack of inclusion and suggestions on how to address these disparities are discussed.

Disentangling the genetic overlap and causal relationships between primary open-angle glaucoma, brain morphology and four major neurodegenerative disorders.

Primary open-angle glaucoma (POAG) is an optic neuropathy characterized by progressive degeneration of the optic nerve that leads to irreversible visual impairment. Multiple epidemiological studies suggest an association between POAG and major neurodegenerative disorders (Alzheimer's disease, amyotrophic lateral sclerosis, frontotemporal dementia, and Parkinson's disease). However, the nature of the overlap between neurodegenerative disorders, brain morphology and glaucoma remains inconclusive. In this study, we performed a comprehensive assessment of the genetic and causal relationship between POAG and neurodegenerative disorders, leveraging genome-wide association data from studies of magnetic resonance imaging of the brain, POAG, and four major neurodegenerative disorders. This study found a genetic overlap and causal relationship between POAG and its related phenotypes (i.e., intraocular pressure and optic nerve morphology traits) and brain morphology in 19 regions. We also identified 11 loci with a significant local genetic correlation and a high probability of sharing the same causal variant between neurodegenerative disorders and POAG or its related phenotypes. Of interest, a region on chromosome 17 corresponding to MAPT, a well-known risk locus for Alzheimer's and Parkinson's disease, was shared between POAG, optic nerve degeneration traits, and Alzheimer's and Parkinson's diseases. Despite these local genetic overlaps, we did not identify strong evidence of a causal association between these neurodegenerative disorders and glaucoma. Our findings indicate a distinctive and likely independent neurodegenerative process for POAG involving several brain regions although several POAG or optic nerve degeneration risk loci are shared with neurodegenerative disorders, consistent with a pleiotropic effect rather than a causal relationship between these traits. PG was supported by an NHMRC Investigator Grant (#1173390), SM by an NHMRC Senior Research Fellowship and an NHMRC Program Grant (APP1150144), DM by an NHMRC Fellowship, LP is funded by the NEIEY015473 and EY032559 grants, SS is supported by an NIH-Oxford Cambridge Fellowship and NIH T32 grant (GM136577), APK is supported by a UK Research and Innovation Future Leaders Fellowship, an Alcon Research Institute Young Investigator Award and a Lister Institute for Preventive Medicine Award.

Artificial Intelligence Techniques and Response Surface Methodology for the Optimization of Methyl Ester Sulfonate Synthesis from Used Cooking Oil by Sulfonation.

Herein, the impacts of sulfonation temperature (100-120 °C), sulfonation time (3-5 h), and NaHSO3/methyl ester (ME) molar ratio (1:1-1.5:1 mol/mol) on methyl ester sulfonate (MES) yield were studied. For the first time, MES synthesis via the sulfonation process was modeled using the adaptive neuro-fuzzy inference system (ANFIS), artificial neural network (ANN), and response surface methodology (RSM). Moreover, particle swarm optimization (PSO) and RSM methods were used to improve the independent process variables that affect the sulfonation process. The RSM model (coefficient of determination (R2) = 0.9695, mean square error (MSE) = 2.7094, and average absolute deviation (AAD) = 2.9508%) was the least efficient in accurately predicting MES yield, whereas the ANFIS model (R2 = 0.9886, MSE = 1.0138, and AAD = 0.9058%) was superior to the ANN model (R2 = 0.9750, MSE = 2.6282, and AAD = 1.7184%). The results of process optimization using the developed models revealed that PSO outperformed RSM. The ANFIS model coupled with PSO (ANFIS-PSO) achieved the best combination of sulfonation process factors (96.84 °C temperature, 2.68 h time, and 0.92:1 mol/mol NaHSO3/ME molar ratio) that resulted in the maximum MES yield of 74.82%. Analysis of MES synthesized under optimum conditions using FTIR, 1H NMR, and surface tension determination showed that MES could be prepared from used cooking oil.

Hereditary keratoderma of Unna-Tost in a patient with atopic dermatitis

Unna-Toast's keratoderma is a disease belonging to the group of genodermatoses with an autosomal dominant type of inheritance and characterized by hyperkeratosis on the palms and soles. This nosology can manifest itself at any age as an independent process, but more often it debuts at 12 years of age, in some cases combined with various congenital malformations of ectodermal origin.
 The prevalence of this disease ranks second among hereditary dyskeratoses, however, it is rare in the practice of a dermatologist and there are no static data on the disease.
 The article presents a clinical observation of Unna-Toast's keratoderma that first appeared against the background of atopic dermatitis. The clinical picture is represented by smooth yellow horny layers located on the palms and soles, with a sharply defined border and an erythematous corolla along the periphery. Other areas of the skin are represented by lichenification foci with small-lamellar peeling, excoriations and serous-hemorrhagic crusts on the surface.
 This clinical case confirms the possibility of manifestation of hereditary hyperkeratosis against the background of aggressive atopic dermatitis. Unna-Tost's keratoderma is of high interest in the practice of a dermatologist and requires a detailed description of the available clinical cases, due to the rare occurrence of this nosology in the population.

Public inquiry into state violence: the epistemic question

ABSTRACT This article examines the problem of recent UK public inquiries into military controversies both in general (the waging of war) and particular (individual killings). It first sets out their potential and actual value as well as the critiques that threaten their legitimacy. Arguing that the benefits of the process make the public inquiry worthy as an apt intra-state device for uncovering unlawful military violence, revealing the ‘truth’ of a matter, apportioning responsibility and changing practices, it then asks whether or how this promise might be better fulfilled by addressing some of its identified conceptual and practical flaws? The article then focuses on the epistemic dimension, arguing that if public inquiry is to serve as a valid truth-seeking mechanism, it will first need to address not only the identification of what and whose knowledge should be sought through inquiry (the general epistemic question), but also the way in which that knowledge is to be found and presented (the zetetic question). Without attending to both matters, reforming the current statutory framework of the Inquiries Act 2005, public inquiry into military wrongs is likely to disappoint as an independent, impartial and inclusive process that fails to satisfy basic accountability norms.

Optimization of batch study parameters for the adsorption of lead(II) ions onto spent tea grains

Abstract The present study aims to investigate the use of response surface methodology (RSM) modelling and experimental investigation for the optimization of lead(II) adsorption onto spent tea grains (STG). Independent process variables were optimized and found to be in the range of 38.75 mg/l (initial concentration), 5.20655 (pH), 119.32 rpm (stirring speed), and 3.25 g/l (STG dose) for a contact time of 135.05 min. The optimum adsorption capacity was found to be 8.9087 mg/g through RSM modelling with a maximum of 18.146 mg/g. The batch study was performed by varying different parameters: pH (2.0–7.0), initial concentration (5–50 mg/l), dose (0.1–1 g/100 ml), contact time (15–180 min), and stirring speed (30–200 rpm). The characterization STG was done by proximate and ultimate analysis, FTIR spectroscopy, XRD analysis, thermogravimetric analysis (TGA), and SEM-EDX. By fitting equilibrium data onto Langmuir isotherm model, the maximum adsorption capacity was found to be 24.272 mg/g. The optimum pH found for lead(II) adsorption onto STG was 5. At optimum conditions, the maximum removal efficiency of STG for lead(II) ions’ adsorption is 94.33%. Based on the findings it is safe to conclude that the STG could be used as a potential adsorbent.

Signature Split Method for a PQC-DSA Compliant with V2V Communication Standards

The development of quantum computing systems poses a great threat to the security of existing public key-based systems. As a result, the National Institute of Standards and Technology (NIST) started a Post-Quantum Cryptography (PQC) standardization project in 2015, and currently active research is being conducted to apply PQC to various cryptographic protocols. Unlike elliptic curve cryptography (ECC)-based schemes, PQC requires a large memory footprint and key/signature size. Therefore, when migrating PQC to a protocol, depending on the PQC and protocol specifications, it can be hard to migrate PQC. In the case of the WAVE protocol, it is difficult to satisfy the accuracy of a specific PQC algorithm because segmentation of the signature occurs during transmission due to the limitation of the maximum packet size. Therefore, in this paper, we present two methodologies that can apply PQC while complying with IEEE 1609.2 standards to the WAVE protocol in the V2V environment. Whereas previous migration studies have focused on designing a hybrid mode of protocols, this paper explores solutions more intuitively at the application layer of protocols. We analyzed two postquantum digital signature algorithms (Crystals-Dilithium and Falcon) and the structure of basic-safety messages (BSMs) of the V2V protocol on the size side. Through this, we propose methods that can perform an independent signature verification process without waiting for all divided signatures in the WAVE protocol. Our methodology overcomes the limitation that schemes with large signature sizes cannot be mounted into the WAVE protocol. We also note that the architecture used as an on-board unit (OBU) in an autonomous driving environment is mainly a microprocessor. We investigated an optimized PQC implementation in the OBU environment and simulated our methodology with the V2Verifier. Finally, we measured the accurate latency through simulation in Jetson Xavier, which is mainly used as an OBU in the V2V communication network.

Shear wave transmissivity and wave-induced vorticity diffusion through conversion scattering to slow-shear diffusion wave

In the poroelasticity theory of de la Cruz and Spanos, fluid shearing within the viscous boundary layer, i.e. fluid vorticity, manifests as an independent process, namely the diffusive slow shear wave. Quantifying its impact on elastic wave propagation remains a research challenge. We analyse the transmissivity of a horizontally polarized shear wave travelling across a stack of porous fluid-saturated layers. The fluid shearing developed at each contact is captured, in a macroscopic sense, through conversion scattering into this diffusive slow shear wave. Generalizing the reflectivity method for elastic waves to the poroelastic case, we develop semi-analytical results for an arbitrary number of layers. We find that the conversion scattering into this diffusion wave reduces the shear wave amplitude, and this reduction accumulates with the number of layers. In the limit when the layer thickness corresponds to the pore diameter, the resulting wave quality factor is close to the predictions of previously reported attempts to capture the fluid vorticity. However, our approach is distinctively different since it is purely based on a wave-theoretic analysis of interacting waves, acknowledging vorticity diffusion as an independent process, thereby avoiding the problems arising when incorporating a pore-scale phenomenon in a macroscopic wave propagation theory.

A Heuristic-Guided Dynamical Multi-Rover Motion Planning Framework for Planetary Surface Missions

We present a heuristic-guided multi-robot motion planning framework that solves the problem of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">n</i> dynamical agents visiting <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">m</i> unlabeled targets in a partially known environment for planetary surface missions without solving the two-point boundary value problem (BVP). The framework design is motivated by typical planetary surface mission constraints of limited power, limited computation, and limited communication. The framework maintains a centralized, dynamically updated probabilistic roadmap (PRM) that incorporates new obstacle updates as the agents move in the environment. The dynamic roadmap captures the changing obstacle topology and provides updated cost-to-go heuristics to accelerate each agent's independent single-query motion-planning process. The agents use a feasible sampling-based motion planner without computing the BVP while leveraging the roadmap heuristics to quickly plan and visit their assigned target. The agents handle robot-robot and robot-obstacle collision avoidance in a decentralized fashion. We conduct multiple simulation experiments using robots with non-linear dynamics to show our planner performs better in overall planning time and mission time than approaches not using the roadmap heuristic. We also field our algorithm on prototype rovers and demonstrate the viability of implementing our algorithm on real-world hardware platforms.