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I am using TeXmacs-1.0.5.1 + Maxima-5.9.1. There is no maxima help icon ( a ? 
icon) on the menu bar when starting maxima session.  However, if maxima 5.9.0 
was installed, then the help icon did show on the menu bar. 
So I just symbolic link /usr/share/maxima/5.9.1 to /usr/share/maxima/5.9.0. 
Then I Open texmacs and click maxima session, and the help icon shows up. 
I am wondering if 1.0.5.1 has some bug about maxima version detection. 
P.S. There is a variable $TM_MAXIMA_HOME inside 
/usr/share/TeXmacs/plugins/maxima/progs/init-maxima.scm, but I don't know 
where it is defind. I beleve the content of that variable is 5.9.0 rather 
than 5.9.1. That is odd. Because I have maxima-5.9.1 not 5.9.0!