Algorithm for distributed heterogeneous robot-human teams

This dissertation presents a set of three closely related studies conducted by me during my Doctoral studies. The studies focus on two immensely important aspects of Robotics; control of the cooperative multi-robot system and human-robot interactions. I have taken several attempts to understand these two aspects. In particular, I have investigated the autonomous control of the multi-robot system which uses a distributed algorithm for autonomous decision making and also facilitating human interaction with the robots. I have found that it could provide a lot of insights from the field of robotic perception and control. I have also used these examples to apply them in different heterogeneous multi-robot systems. The result of my research work is an integrated control model for a human and multi-robot team system. My study discovered an important knowledge gap. My research also innovated novel tools with a good theoretical foundation to address the research gap. My study also validated the result with real-world data collected during different thoroughly executed experiments. My research can be carefully organized into three major studies that have been well documented and published in renowned scientific venues. These three studies together cover a multitude of dimensions of control of multi-robot systems and human-robot interactions with multi-robot systems. These studies involve extensive research, application design, engineering, and development of heterogeneous multi-robot systems with a focus on human-robot interaction. In this dissertation, I have comprehensively documented my studies. Therefore, I firmly believe my research has been contributed to the field of Robotics and improved our understanding of multi-robot teams and human interaction

Primary xanthoma of calcaneus bone: Case report

AbstractINTRODUCTIONXanthoma (or xanthofibroma) is a benign proliferative lesion, mostly seen in soft tissue. Xanthoma of bone is very rare benign primary bone tumor, more frequently seen in men and in patients over 20 years of age. Histologically, it is characterized by mononuclear macrophage-like cells, abundant foam cells, and multinucleated giant cells. It is sometimes discovered coincidentally and the most frequent symptom is pain.PRESENTATION OF CASEWe present a 50-year-old healthy male patient with primary xanthoma of the calcaneus, who was treated by curettage and bone cement. He presented with a pathological fracture in a calcaneus bone lesion. Giant cell tumor was suspected on X-ray and MRI. Curettage and bone cementing was done through the posterolateral approach. Lipid profile was normal and histological examination revealed findings consistent with primary xanthoma of calcaneus bone.DISCUSSIONTo avoid an erroneous diagnosis, all material should be examined microscopically, the radiological features of the lesion should be studied properly and lipid profile should be investigated to differentiate between primary and secondary xanthoma. Primary xanthoma may be treated with curettage and bone graft while secondary xanthoma is treated nonsurgically and the skeletal manifestations will disappear with systemic treatment of hyperlipidemia.CONCLUSIONWe present this case to raise the suspicion of this lesion that is rarely described in the literatures. This is the first case of primary xanthoma of calcaneus bone that has been reported in Qatar

Measurement of some heavy metals in tissues infect by intestinal worms of two kind of fishes in Al-Qadisiyah Province

The present study has been conducted in four parts of AL-Qadisiyah (Al-Diwaniyah center, Shamiya, Hamza and Afak). A sample of 945 fish of Barbus grypus and Liza abu has been examined. It was found that 205 of the Barbus grypus fish and 344 of the Liza abu were infected with parasitic intestinal worms. Some parasitic intestinal worms have been detected such as the Neoechinorynchus iraqensis in both fish types. The female paulisentus, Bothriocephalus acheilognathi were found in both Barbus grypus, Liza abu and the larva of Contracaecum spp was seen in the Liza abu and Barbus grypus type. Four heavy metals were measured. They included Cadmium, Lead, Zinc, Nickel, by means of an atomic absorption spectrophotometer issues from the a fore mentioned types of fish were measured for these heavy metals these tissues were from the liver, muscles, gills, from four districts of Al-Diwaniyah throughout the year, Cadmium registered high concentrations in autumn (12.67) Mg/ gm in the liver of the Barbus grypus. Lower concentrations of Cadmium were registered in winter (1.30) Mg/ gm in the liver of Liza abu. The Barbus grypus livers had high concentrations of lead in autumn (21.03) Mg/ gm in Hamza rivers, whereas gills of the Liza abu registered lower concentrations (6.43) Mg/gm in spring. The livers of the Barbus grypus registered high concentrations of zine in autumn which where (32.27)Mg/ gm in Hamza river while Shamiya river they dropped to 21.17 Mg/ gm in spring, It was observed that Nickel had high concentrations in the livers, muscles, gills, of both fish types, The highest of which was in autumn, the Hamza river had the highest concentrations in autumn which were (29.17,28.63,27.67) Mg/g in Barbus grypus , in spring the nickel concentrations were low in the gills of the Liza abu11.10 Mg/ gm in Shamiya river

Is there any advantage to combined trastuzumab and chemotherapy in perioperative setting her 2neu positive localized gastric adenocarcinoma?

We report here a 44-year-old Moroccan man with resectable gastric adenocarcinoma with overexpression of human epidermal growth factor receptor 2 (HER2) by immunohistochemistry who was treated with trastuzumab in combination with chemotherapy in perioperative setting. He received 3 cycles of neoadjuvant chemotherapy consisting of trastuzumab, oxaliplatin, and capecitabine. Afterwards, he received total gastrectomy with extended D2 lymphadenectomy without spleno-pancreatectomy. A pathologic complete response was obtained with a combination of trastuzumab and oxaliplatin and capecitabine. He received 3 more cycles of trastuzumab containing regimen postoperatively