Static and Dynamic Path Planning Using Incremental Heuristic Search

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the layout of the environment is changing as the agent acquires new information. Attention is then given to the problem of path planning in dynamic environments where there are moving obstacles in addition to the static ones. Specifically, a 2D car-like agent traversing in a 2D environment was considered. It was found that the traditional configuration-time space approach is unsuitable for producing trajectories consistent with the dynamic constraints of a car. A novel scheme is then suggested where the state space is 4D consisting of position, speed and time but the search is done in the 3D space composed by position and speed. Simulation tests shows that the new scheme is capable of efficiently producing trajectories respecting the dynamic constraint of a car-like agent with a bound on their optimality.Comment: Internship Repor

Adaptive beamforming of steerable array monopole antenna for WLAN application

The modern communication systems are using smart portable devices that operate on WLAN frequency of 2.45 GHz. One of the serious limitations of handled devices is difficult to achieve a direct connection between the transmitter and receiver. Therefore, a smart steerable patter array antenna is highly recommended for new generation communication. Using low-cost steerable passive monopole array antenna can achieve a beam steering and high gain. Loading an additional reactance to the passive elements of the array are changed the mutual coupling between the arrays, which leads to steering the pattern to the desired direction. However, this needs fast process accurate optimised parameters. In this study, four passives one active monopole array antenna is proposed and simulated by using CST Microwave Studio software. The adaptive beamforming is proposed by using downhill simplex algorithm. The results show that the optimum reactance values are suggested after 0.074 second with 94 iterations to achieve a direction of arrival of 180° and 0°. The simulated radiation is successfully steered to the direction of 180 ° by adding the suggested reactance into the passive elements. Furthermore, the antenna gain is improved by 1.3 dBi that achieved a value of 5.3 dBi.The envelope-cross-correlation (ECC) shows magnitudes less than 0.5 among the elements. This algorithm successfully is provided with the optimum reactance values. The proposed approach can be considered a fast and significant candidate for new generation of smart communication WLAN applications

The Horcrux Protocol: A Method for Decentralized Biometric-based Self-sovereign Identity

Most user authentication methods and identity proving systems rely on a centralized database. Such information storage presents a single point of compromise from a security perspective. If this system is compromised it poses a direct threat to users' digital identities. This paper proposes a decentralized authentication method, called the Horcrux protocol, in which there is no such single point of compromise. The protocol relies on decentralized identifiers (DIDs) under development by the W3C Verifiable Claims Community Group and the concept of self-sovereign identity. To accomplish this, we propose specification and implementation of a decentralized biometric credential storage option via blockchains using DIDs and DID documents within the IEEE 2410-2017 Biometric Open Protocol Standard (BOPS)

Image-charge detection of the Rydberg states of surface electrons on liquid helium

We propose and experimentally demonstrate a new spectroscopic method, image-charge detection, for the Rydberg states of surface electrons on liquid helium. The excitation of the Rydberg states of the electrons induces an image current in the circuit to which the electrons are capacitively coupled. In contrast to the conventional microwave absorption measurement, this method makes it possible to resolve the transitions to high-lying Rydberg states of the surface electrons. We also show that this method can potentially be used to detect quantum states of a single electron, which paves a way to utilize the quantum states of the surface electrons on liquid helium for quantum computing

The Effect Of Propolis Extract From Trigona Spp. On Vascular Inflammatory Mediators And Its Molecular Mechanism In TNF-Alpha-Stimulated Endothelial Cells

Propolis is one of the bee products which contained multiple chemical compounds, namely polyphenols, waxes, steroids and terpenoids. Its contents may be influenced by the plant sources, geographical area as well as the bee species. A wide array of natural products have been used as anti-inflammatory and healing agents, with propolis being a remarkable option. Therefore, the objective of this study is to examine the phytochemical properties of the selected propolis extracts and its effects on the expression of adhesion molecules, as well as the molecular mechanisms involved, particularly the investigations on the nuclear factor-kappa B (NF-ĸB) signalling pathways in cultured endothelial cell. In the present study, the phytochemical screening of ethanolic extract of propolis (EEP) from local stingless bee species namely Tetrigona apicalis, Geniotrigona thoracica and Heterotrigona itama were investigated using high performance liquid chromatography (HPLC) and gas chromatography-mass spectrometry (GC-MS) analysis. The total phenolic and flavonoid contents, and antioxidant activities which include 1,1-diphenyl-2-picrylhydrazyl (DPPH), 2,2′-azinobis-(3-ethylbenzothiazoline-6-sulfonic acid) (ABTS), and ferric reducing antioxidant power (FRAP) assay were explored

From Constitutions to Constitutionalism: An Opportunity for Arab States, Not a Paradox

The paradox of modern constitutionalism resides in having two imperatives, apparently irreconcilable, i.e. a governmental power generated from the ‘consent of the people’ and, in order to be sustained and effective, that power must be divided, constrained and exercised through distinctive institutional forms. This paradox reflects the dilemma arising from the dialectical interaction between constituent power and constitutional form. I will argue that constitutionalism, as a limited government, does not contradict with Arab and Islamic legal culture. While modern constitutionalism, as a normative order, requires the adherence to the rule of law and the protection of human rights, it is in the name of national, religious, historic or cultural particularities that modern constitutionalism is discredited, as being essentially ‘Western’, not appropriate for Arab-Islamic culture. This paper challenges this rejection and argues for the possibility, and the necessity thereof, of applying modern constitutionalism in contemporary Arab states

Dosage Calculation for Intravenous Thrombolysis Of Ischemic Stroke : To Weigh or to Estimate?

Background: Estimation is a widely used method of assessing the weight of patients with acute stroke. Because the dosage of tissue plasminogen activator (tPA) is weight-dependent, errors in estimation lead to incorrect dosing. Methods: We installed a ground-level scale in the computed tomography (CT) suite of our hospital and integrated a scale into the CT table of our Mobile Stroke Unit in order to prospectively assess the differences between reported, estimated, and measured weights of acute stroke patients. An independent rater asked patients to report their weight. The patients’ weights were also estimated by the treating physician and measured with a scale. Differences between reported, estimated, and measured weights were analyzed statistically. Results: For 100 consecutive patients, weighing was possible without treatment delays. Weights estimated by the physician diverged from measured weights by 10% or more for 27 patients and by 20% or more for 6 patients. Weights reported by the patient diverged from measured weights by 10% or more for 12 patients. Weights reported by the patients differed significantly less from measured weights (mean, 4.1 ± 3.1 kg) than did weights estimated by the physician (5.7 ± 4.4 kg; p = 0.003). Conclusion: This first prospective study of weight assessment in acute stroke shows that the use of an easily accessible scale makes it feasible to weigh patients with acute stroke without the treatment delay associated with additional patient transfers. Physicians’ estimates of patients’ weights demonstrated substantial aberrations from measured weights. Avoiding these deviations would improve the accuracy of tPA dosage.Hintergrund: Die Schätzung ist eine weit häufig benutzte Methode zur Beurteilung des Gewichts von Patienten mit akutem Schlaganfall. Da die Dosierung von Gewebeplasminogenaktivator (tPA) gewichtsabhängig ist, führen Schätzfehler zu falschen Dosierungen. Methoden: Wir installierten eine Bodenwaage in der Computertomographie-Suite (CT) unseres Krankenhauses und bauten eine Waage in die CT-Tabelle unserer Mobile Stroke Unit ein, um die Unterschiede zwischen den berichteten, geschätzten und gemessenen Gewichten von Patienten mit akutem Schlaganfall prospektiv zu bewerten. Ein unabhängiger Bewerter bat die Patienten, ihr Gewicht anzugeben. Das Gewicht der Patienten wurde ebenfalls vom behandelnden Arzt geschätzt und mit einer Skala gemessen. Die Unterschiede zwischen berichteten, geschätzten und gemessenen Gewichten wurden statistisch analysiert. Ergebnisse: Bei 100 aufeinanderfolgenden Patienten war ein Wiegen ohne Behandlungsverzögerungen möglich. Die vom Arzt geschätzten Gewichte weichen bei 27 Patienten um 10% oder mehr und bei 6 Patienten um 20% oder mehr ab. Die vom Patienten berichteten Gewichte weichen bei 12 Patienten um 10% oder mehr vom gemessenen Gewicht ab. Die von den Patienten angegebenen Gewichte unterschieden sich signifikant weniger von den gemessenen Gewichten (Mittelwert 4,1 ± 3,1 kg) als die vom Arzt geschätzten Gewichte (5,7 ± 4,4 kg; p = 0,003). Schlussfolgerung: Diese erste prospektive Studie zur Gewichtsbewertung bei akutem Schlaganfall zeigt, dass die Verwendung einer leichten zugänglichen Waage das Wiegen von Patienten mit akutem Schlaganfall ohne die mit zusätzlichen Patiententransfers verbundene Behandlungsverzögerung möglich macht. Die Schätzungen der Ärzte zum Gewicht der Patienten zeigten erhebliche Abweichungen von den gemessenen Gewichten. Das Vermeiden dieser Abweichungen würde die Genauigkeit der tPA-Dosierung verbessern

Resonant Leadership: A Catalyst for Job Empowerment Among Palestine Technical University Kadoorie Employees

The study aimed to identify the role of resonant leadership in promoting job empowerment among the employees of Palestine Technical University Kadoorie, with different variables: educational qualification, gender, staff, and experiences. The researcher designed a questionnaire addressed to employees consisting of 32 items distributed on four domains: resonant leadership (mindfulness, hope, empathy) and (career empowerment). The study used descriptive method. The sample consisted of 73 employees from PTUK, Ramallah branch, who were chosen randomly. The results showed that the employees' responses were moderately on all domains. The results showed that there are no differences in the employees' point of view according to the educational qualification variable in all domains, and there are differences in the employees' opinions according to the gender variable in the domains of mindfulness, hope, and job empowerment in favor of male. The existence of differences in the opinions of employees, according to the variable of staff, in the domain of hope, empathy, and job empowerment in favour of academic employees. There are differences in the opinions of employees according to their experiences in the domains of (mindfulness and hope (in favour of employees with mindfulness (less than 5 years). The results also showed that there is a statistically significant positive correlation between resonant leadership and job empowerment. The study suggests that senior leaders and employees at PTUK should prioritize the use of resonant leadership to achieve job empowerment. It suggests ways to implement this approach among senior leaders and employees, which can benefit organizations seeking to enhance employee empowerment through effective leadership practices

Social norms and stock trading

The dissertation consists of two essays. In the first essay we compare the performance of Islamic and conventional stock returns in Saudi Arabia in order to determine whether the Saudi market exhibits characteristics that are consistent with segmented markets and investor recognition effects. We sample the daily stock returns of all Saudi firms from September 2002 to 2015 and calculate important measures, including idiosyncratic volatility (Ang et al, 2006), market integration (Pukthuanthong and Roll, 2009), systematic turnover (Loughran and Schultz, 2005), and stock turnover and liquidity (Amihud, 2002). Integration tests report that Islamic stocks are more sensitive to changes in global and local macroeconomic variables than conventional stocks, supporting the hypothesis that the Islamic and conventional stock markets are segmented in Saudi Arabia. In addition, our results show that Islamic stocks have larger number of investors, lower idiosyncratic risk, higher systematic turnover, and more liquid than conventional stocks, which supports the investor recognition hypothesis. Our results provide new evidence on asset pricing in emerging markets, the evolving Islamic financial markets, and the potential impact of other implicit market barriers on global financial markets. In the second essay we examine the effects of shared beliefs and personal preferences of individual investors on their trading and investment decisions. We anticipate that the process of classifying stocks into Shariah compliant (Islamic) and non-shariah compliant (conventional) has an effect on investibility and acceptance of the stock especially by unsophisticated or individual investors. The wide acceptance of Islamic stocks between individual investors promote and facilitate the circulation of firm-specific information between certain groups of investors. Our results indicate that stock classification has an effect on the stock price comovement through increased stock trading correlation between the groups of Islamic investors. The commonality in preferences between Islamic stocks’ holders generate commonality in trading activity and in stock liquidity. We find that classifying a stock as an Islamic stock increases its price comovement with other Islamic stocks and also increases its commonality in liquidity