Information system for remote control of the robot manipulator

Ця бакалаврська робота присвячена створенню системи дистанційного керування роботом-маніпулятором за допомогою управління смартфоном. Дипломна робота складається із вступу, чотирьох розділів та висновку. Перший розділ присвячений аналітиці Arduino та її корисності в цьому проекті. Другий розділ стосується вибору різних відповідних технологій для робота-маніпулятора. Третій розділ присвячений проектуванню роботів-маніпуляторів, програмуванню, запуску та налаштуванню маніпулятора. Програмні засоби для розробки та планування системи дистанційного управління: Arduino, C / C ++, інформаційна панель Mqtt для транспортування повідомлень між пристроями.This bachelor’s thesis, is devoted to the creation of a remote-control system for a robot manipulator, through smartphone control. The thesis consists of introduction, four sections and conclusion. The first section is devoted to analytics of Arduino and its usefulness in this project. The second section is about selection of various appropriate technologies for the robot manipulator. The third section concentrates on designing of robot manipulator, programming, launch and configuring the manipulator. Software tools for development and planning of remote-control system: Arduino, C/C++, Mqtt dashboard for transport of messages between devices.INTRODUCTION 7 1. ANALYTICAL PART 8 1.1 Arduino hardware computing platform 8 1.2.1 What is the advantage of Arduino? 9 1.1.3 Hardware part 11 1.2 Arduino Shields – expansion boards for Arduino 12 1.2.1 Why do I need expansion cards? 13 1.2.2 Connecting and programming Arduino Shields 13 1.2.3 Varieties of expansion boards 14 1.3 Mosquitto message broker 18 1.4 CoAP, AMQP, MQTT network exchange protocols 18 2. TECHNOLOGICAL PART 23 2.1 Selection of the servo model 23 2.1.1 The concept of servo and its structure 23 2.1.2 Internal interface of control signals. Servo control 24 Characteristics of servo drives 27 2.1.3 Servo selection 29 2.2 Selecting the layout of the robot manipulator 33 3. DESIGN PART 38 3.1 Robot manipulator on Arduino 38 3.1.1 General description of the project 38 3.1.2 The main nodes for the project are the work of the manipulator 38 3.2 Collecting the layout of the robot manipulator 39 3.3 Manipulator operation algorithm 46 3.4 Data transmission via MQTT protocol 47 3.5 Algorithm of mqtt protocol operation 49 3.6 Launch, configure and send messages via Mosquitto broker on the WINDOWS OPERATING SYSTEM 49 3.11 Description of the client application on the Android operating SYSTEM 51 3.7 ESP8266 microcontroller 53 3.7.1 Technical characteristics of the ESP8266 NodeMCU module: 54 3.7.2 Advantages and disadvantages of the NodeMcu v3 module 55 3.9 Control system programming 57 3.9.1 Description of the Arduino IDE programming environment 57 3.9.2 Development of a hand-manipulator control program 59 4. LIFE SAFETY 66 4.1 Safety rules when working with the manipulator 66 4.2 Workplace requirements 67 4.3 General safety requirements when working with the manipulator 69 GENERAL CONCLUSIONS FOR THE THESIS 71 REFERENCES 7

Information system for remote control of the robot manipulator

Ця бакалаврська робота присвячена створенню системи дистанційного керування роботом-маніпулятором за допомогою управління смартфоном. Дипломна робота складається із вступу, чотирьох розділів та висновку. Перший розділ присвячений аналітиці Arduino та її корисності в цьому проекті. Другий розділ стосується вибору різних відповідних технологій для робота-маніпулятора. Третій розділ присвячений проектуванню роботів-маніпуляторів, програмуванню, запуску та налаштуванню маніпулятора. Програмні засоби для розробки та планування системи дистанційного управління: Arduino, C / C ++, інформаційна панель Mqtt для транспортування повідомлень між пристроями.This bachelor’s thesis, is devoted to the creation of a remote-control system for a robot manipulator, through smartphone control. The thesis consists of introduction, four sections and conclusion. The first section is devoted to analytics of Arduino and its usefulness in this project. The second section is about selection of various appropriate technologies for the robot manipulator. The third section concentrates on designing of robot manipulator, programming, launch and configuring the manipulator. Software tools for development and planning of remote-control system: Arduino, C/C++, Mqtt dashboard for transport of messages between devices.INTRODUCTION 7 1. ANALYTICAL PART 8 1.1 Arduino hardware computing platform 8 1.2.1 What is the advantage of Arduino? 9 1.1.3 Hardware part 11 1.2 Arduino Shields – expansion boards for Arduino 12 1.2.1 Why do I need expansion cards? 13 1.2.2 Connecting and programming Arduino Shields 13 1.2.3 Varieties of expansion boards 14 1.3 Mosquitto message broker 18 1.4 CoAP, AMQP, MQTT network exchange protocols 18 2. TECHNOLOGICAL PART 23 2.1 Selection of the servo model 23 2.1.1 The concept of servo and its structure 23 2.1.2 Internal interface of control signals. Servo control 24 Characteristics of servo drives 27 2.1.3 Servo selection 29 2.2 Selecting the layout of the robot manipulator 33 3. DESIGN PART 38 3.1 Robot manipulator on Arduino 38 3.1.1 General description of the project 38 3.1.2 The main nodes for the project are the work of the manipulator 38 3.2 Collecting the layout of the robot manipulator 39 3.3 Manipulator operation algorithm 46 3.4 Data transmission via MQTT protocol 47 3.5 Algorithm of mqtt protocol operation 49 3.6 Launch, configure and send messages via Mosquitto broker on the WINDOWS OPERATING SYSTEM 49 3.11 Description of the client application on the Android operating SYSTEM 51 3.7 ESP8266 microcontroller 53 3.7.1 Technical characteristics of the ESP8266 NodeMCU module: 54 3.7.2 Advantages and disadvantages of the NodeMcu v3 module 55 3.9 Control system programming 57 3.9.1 Description of the Arduino IDE programming environment 57 3.9.2 Development of a hand-manipulator control program 59 4. LIFE SAFETY 66 4.1 Safety rules when working with the manipulator 66 4.2 Workplace requirements 67 4.3 General safety requirements when working with the manipulator 69 GENERAL CONCLUSIONS FOR THE THESIS 71 REFERENCES 7

Analyzing Gender Differences in Misconception in Linear Momentum Using Two-tier Diagnostic Test Instrument

Misconceptions that occur can vary between male and female students, therefore, the study analyzed gender difference in misconceptions in linear momentum. The diagnostic- descriptive research method was used in this study. A total of 70 (35 males and 35 females) first-year Senior High School students in the La-Nkwantanan Municipality were used for this study. Identification of misconceptions was conducted using the Two-tier multiple-choice diagnostic test instrument that was equipped with the Certainty of the Response Index method. The study showed both males' level of understanding and misconception (56.88%; 42.88%) and females (28.51%; 50.24%), respectively. Three research questions were raised and two research hypotheses were formulated and tested in this study. The data were analyzed using an independent sample t-test and the hypothesis were tested at 0.05 level of significance. The findings of the study revealed that male’s students understanding of concept was statistically more [(18) = 0.003, p < .05] than females and misconception was found not be statistically significantly different [(18) = 0.285, p > .05]. The researchers recommend that physics teachers use cutting-edge pedagogical instructional techniques such as the use of two-tier diagnostic test instrument to maximize students' prior knowledge and uncover misconceptions. Keywords: linear momentum, misconception, gender, tier-two, test, instrument DOI: 10.7176/JEP/14-1-10 Publication date: January 31st 202

Increasing household toilet investments through CLUES: lessons from Ashaiman Municipal Assembly, Ghana

Community-Led Urban Environmental Sanitation (CLUES) is a planning approach piloted in Ghana as a sanitation demand creation and triggering method to increase household investment in toilet facilities. It is implemented by the Government of Ghana in Ashaiman Municipal Assembly with technical support from People’s Dialogue on Human Settlements and funding from UNICEF-Ghana. This paper provides results from the implementation process. Within a year of actual implementation, over 800 households in Ashaiman’s largely informal settlements expressed interest in sanitation investment with over 300 already with complete functional toilets

COVID-19 autopsy reports from the Ga-East Municipal and the 37 Military Hospitals in Accra, Ghana

Introduction: Since the declaration of COVID-19 by the World Health Organisation (WHO) as a global pandemic on 11th March 2020, the number of deaths continue to increase worldwide. Reports on its pathologic manifestations have been published with very few from the Sub-Saharan African region. This article reports autopsies on COVID-19 patients from the Ga-East and the 37 Military Hospitals to provide pathological evidence for better understanding of COVID-19 in Ghana.Methods: Under conditions required for carrying out autopsies on bodies infected with category three infectious agents, with few modifications, complete autopsies were performed on twenty patients with ante-mortem and/or postmortem RT -PCR confirmed positive COVID‑19 results, between April and June ,2020.Results: There were equal proportion of males and females. Thirteen (65%) of the patients were 55years or older with the same percentage (65%) having Type II diabetes and/or hypertension. The most significant pathological feature found at autopsy was diffuse alveolar damage. Seventy per cent (14/20) had associated thromboemboli in the lungs, kidneys and the heart. Forty per cent (6/15) of the patients that had negative results for COVID-19 by the nasopharyngeal swab test before death had positive results during postmortem using bronchopulmonary specimen. At autopsy all patients were identified to have pre-existing medical conditions.Conclusion: Diffuse alveolar damage was a key pathological feature of deaths caused by COVID-19 in all cases studied with hypertension and diabetes mellitus being major risk factors. Individuals without co-morbidities were less likely to die or suffer severe disease from SARS-CoV-

Association between C reactive protein and microvascular and macrovascular dysfunction in sub-Saharan Africans with and without diabetes: the RODAM study.

INTRODUCTION: Although inflammation assessed by elevated C reactive protein (CRP) concentration is known to be associated with risk of cardiovascular disease, its association with microvascular and macrovascular dysfunction in diabetes and non-diabetes remains unclear. We examined the association between CRP and diabetes and associated microvascular and macrovascular dysfunction in sub-Saharan Africans with and without diabetes. RESEARCH DESIGN AND METHODS: Cross-sectional analyses of baseline data from the multicenter RODAM study (Research on Obesity and Diabetes among African Migrants) including 5248 Ghanaians (583 with diabetes, 4665 without diabetes) aged 25-70 years were done. Logistic regression analyses were used to examine the associations between CRP Z-scores and diabetes and microvascular (nephropathy) and macrovascular (peripheral artery disease (PAD)) dysfunction, with adjustments for age, sex, site of residence, smoking, body mass index, systolic blood pressure, and low-density lipoprotein cholesterol. RESULTS: In the fully adjusted models, higher CRP concentration was significantly associated with diabetes (adjusted OR 1.13; 95% CI 1.05 to 1.21, p=0.002). In participants with diabetes, higher CRP concentration was associated with PAD (1.19; 1.03 to 1.41, p=0.046) but not nephropathy (1.13; 0.97 to 1.31, p=0.120). Among participants without diabetes, higher CRP concentration was associated with higher odds of PAD (1.10; 1.01 to 1.21, p=0.029) and nephropathy (1.12; 1.04 to 1.22, p=0.004). CONCLUSIONS: In this study, higher CRP concentration was associated with higher odds of diabetes in sub-Saharan Africans. Also, higher CRP concentration was associated with higher odds of nephropathy and PAD in non-diabetes and higher odds of PAD in diabetes. CRP may be an important marker for assessment of risk of diabetes and risk for PAD and nephropathy in sub-Saharan Africans with and without diabetes

Contributions of mean and shape of blood pressure distribution to worldwide trends and variations in raised blood pressure: A pooled analysis of 1018 population-based measurement studies with 88.6 million participants

© The Author(s) 2018. Background: Change in the prevalence of raised blood pressure could be due to both shifts in the entire distribution of blood pressure (representing the combined effects of public health interventions and secular trends) and changes in its high-blood-pressure tail (representing successful clinical interventions to control blood pressure in the hypertensive population). Our aim was to quantify the contributions of these two phenomena to the worldwide trends in the prevalence of raised blood pressure. Methods: We pooled 1018 population-based studies with blood pressure measurements on 88.6 million participants from 1985 to 2016. We first calculated mean systolic blood pressure (SBP), mean diastolic blood pressure (DBP) and prevalence of raised blood pressure by sex and 10-year age group from 20-29 years to 70-79 years in each study, taking into account complex survey design and survey sample weights, where relevant. We used a linear mixed effect model to quantify the association between (probittransformed) prevalence of raised blood pressure and age-group- and sex-specific mean blood pressure. We calculated the contributions of change in mean SBP and DBP, and of change in the prevalence-mean association, to the change in prevalence of raised blood pressure. Results: In 2005-16, at the same level of population mean SBP and DBP, men and women in South Asia and in Central Asia, the Middle East and North Africa would have the highest prevalence of raised blood pressure, and men and women in the highincome Asia Pacific and high-income Western regions would have the lowest. In most region-sex-age groups where the prevalence of raised blood pressure declined, one half or more of the decline was due to the decline in mean blood pressure. Where prevalence of raised blood pressure has increased, the change was entirely driven by increasing mean blood pressure, offset partly by the change in the prevalence-mean association. Conclusions: Change in mean blood pressure is the main driver of the worldwide change in the prevalence of raised blood pressure, but change in the high-blood-pressure tail of the distribution has also contributed to the change in prevalence, especially in older age groups

Repositioning of the global epicentre of non-optimal cholesterol

High blood cholesterol is typically considered a feature of wealthy western countries(1,2). However, dietary and behavioural determinants of blood cholesterol are changing rapidly throughout the world(3) and countries are using lipid-lowering medications at varying rates. These changes can have distinct effects on the levels of high-density lipoprotein (HDL) cholesterol and non-HDL cholesterol, which have different effects on human health(4,5). However, the trends of HDL and non-HDL cholesterol levels over time have not been previously reported in a global analysis. Here we pooled 1,127 population-based studies that measured blood lipids in 102.6 million individuals aged 18 years and older to estimate trends from 1980 to 2018 in mean total, non-HDL and HDL cholesterol levels for 200 countries. Globally, there was little change in total or non-HDL cholesterol from 1980 to 2018. This was a net effect of increases in low- and middle-income countries, especially in east and southeast Asia, and decreases in high-income western countries, especially those in northwestern Europe, and in central and eastern Europe. As a result, countries with the highest level of non-HDL cholesterol-which is a marker of cardiovascular riskchanged from those in western Europe such as Belgium, Finland, Greenland, Iceland, Norway, Sweden, Switzerland and Malta in 1980 to those in Asia and the Pacific, such as Tokelau, Malaysia, The Philippines and Thailand. In 2017, high non-HDL cholesterol was responsible for an estimated 3.9 million (95% credible interval 3.7 million-4.2 million) worldwide deaths, half of which occurred in east, southeast and south Asia. The global repositioning of lipid-related risk, with non-optimal cholesterol shifting from a distinct feature of high-income countries in northwestern Europe, north America and Australasia to one that affects countries in east and southeast Asia and Oceania should motivate the use of population-based policies and personal interventions to improve nutrition and enhance access to treatment throughout the world.Peer reviewe

Height and body-mass index trajectories of school-aged children and adolescents from 1985 to 2019 in 200 countries and territories: a pooled analysis of 2181 population-based studies with 65 million participants

Summary Background Comparable global data on health and nutrition of school-aged children and adolescents are scarce. We aimed to estimate age trajectories and time trends in mean height and mean body-mass index (BMI), which measures weight gain beyond what is expected from height gain, for school-aged children and adolescents. Methods For this pooled analysis, we used a database of cardiometabolic risk factors collated by the Non-Communicable Disease Risk Factor Collaboration. We applied a Bayesian hierarchical model to estimate trends from 1985 to 2019 in mean height and mean BMI in 1-year age groups for ages 5–19 years. The model allowed for non-linear changes over time in mean height and mean BMI and for non-linear changes with age of children and adolescents, including periods of rapid growth during adolescence. Findings We pooled data from 2181 population-based studies, with measurements of height and weight in 65 million participants in 200 countries and territories. In 2019, we estimated a difference of 20 cm or higher in mean height of 19-year-old adolescents between countries with the tallest populations (the Netherlands, Montenegro, Estonia, and Bosnia and Herzegovina for boys; and the Netherlands, Montenegro, Denmark, and Iceland for girls) and those with the shortest populations (Timor-Leste, Laos, Solomon Islands, and Papua New Guinea for boys; and Guatemala, Bangladesh, Nepal, and Timor-Leste for girls). In the same year, the difference between the highest mean BMI (in Pacific island countries, Kuwait, Bahrain, The Bahamas, Chile, the USA, and New Zealand for both boys and girls and in South Africa for girls) and lowest mean BMI (in India, Bangladesh, Timor-Leste, Ethiopia, and Chad for boys and girls; and in Japan and Romania for girls) was approximately 9–10 kg/m2. In some countries, children aged 5 years started with healthier height or BMI than the global median and, in some cases, as healthy as the best performing countries, but they became progressively less healthy compared with their comparators as they grew older by not growing as tall (eg, boys in Austria and Barbados, and girls in Belgium and Puerto Rico) or gaining too much weight for their height (eg, girls and boys in Kuwait, Bahrain, Fiji, Jamaica, and Mexico; and girls in South Africa and New Zealand). In other countries, growing children overtook the height of their comparators (eg, Latvia, Czech Republic, Morocco, and Iran) or curbed their weight gain (eg, Italy, France, and Croatia) in late childhood and adolescence. When changes in both height and BMI were considered, girls in South Korea, Vietnam, Saudi Arabia, Turkey, and some central Asian countries (eg, Armenia and Azerbaijan), and boys in central and western Europe (eg, Portugal, Denmark, Poland, and Montenegro) had the healthiest changes in anthropometric status over the past 3·5 decades because, compared with children and adolescents in other countries, they had a much larger gain in height than they did in BMI. The unhealthiest changes—gaining too little height, too much weight for their height compared with children in other countries, or both—occurred in many countries in sub-Saharan Africa, New Zealand, and the USA for boys and girls; in Malaysia and some Pacific island nations for boys; and in Mexico for girls. Interpretation The height and BMI trajectories over age and time of school-aged children and adolescents are highly variable across countries, which indicates heterogeneous nutritional quality and lifelong health advantages and risks

Rising rural body-mass index is the main driver of the global obesity epidemic in adults

Body-mass index (BMI) has increased steadily in most countries in parallel with a rise in the proportion of the population who live in cities(.)(1,2) This has led to a widely reported view that urbanization is one of the most important drivers of the global rise in obesity(3-6). Here we use 2,009 population-based studies, with measurements of height and weight in more than 112 million adults, to report national, regional and global trends in mean BMI segregated by place of residence (a rural or urban area) from 1985 to 2017. We show that, contrary to the dominant paradigm, more than 55% of the global rise in mean BMI from 1985 to 2017-and more than 80% in some low- and middle-income regions-was due to increases in BMI in rural areas. This large contribution stems from the fact that, with the exception of women in sub-Saharan Africa, BMI is increasing at the same rate or faster in rural areas than in cities in low- and middle-income regions. These trends have in turn resulted in a closing-and in some countries reversal-of the gap in BMI between urban and rural areas in low- and middle-income countries, especially for women. In high-income and industrialized countries, we noted a persistently higher rural BMI, especially for women. There is an urgent need for an integrated approach to rural nutrition that enhances financial and physical access to healthy foods, to avoid replacing the rural undernutrition disadvantage in poor countries with a more general malnutrition disadvantage that entails excessive consumption of low-quality calories.Peer reviewe