IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink

This paper proposes an integrated development framework that enables co-simulation and operation of a Robot Operating System (ROS)-based self-driving system using MATLAB/Simulink (IDF-Autoware). The management of self-driving systems is becoming more complex as the development of self-driving technology progresses. One approach to the development of self-driving systems is the use of ROS; however, the system used in the automotive industry is typically designed using MATLAB/Simulink, which can simulate and evaluate the models used for self-driving. These models are incompatible with ROS-based systems. To allow the two to be used in tandem, it is necessary to rewrite the C++ code and incorporate them into the ROS-based system, which makes development inefficient. Therefore, the proposed framework allows models created using MATLAB/Simulink to be used in a ROS-based self-driving system, thereby improving development efficiency. Furthermore, our evaluations of the proposed framework demonstrated its practical potential

Studies on nitrogen pool of animal tissues. I. Ox ocular tissues. II. Ox nervous tissues

Concentrations of ampholytes in the nitrogen pool of ox ocular tissues and nervous tissues were analyzed systematically by an automatic amino acid analyzer with a special reference to their minor components. DCEC was found in lens and also in nervous tissues. Ophthalmic acid was found in lens (highest), in retina (moderate), and in vitreous humor and spinal cord (trace). Glutathione content was extremely high in lens, and moderate in nervous tissues, retina and cornea. Carnosine content was moderate in cornea and in retina, but hemocarnosine may be rather high in nervous tissues. Anserine-like compound was found only in spinal cord, but free 1- and 3-methylhistidine were detected in most ocular tissues. Ethanolamine and &#947;-aminobutyric acid were high in retina and their concentrations were comparable to those of nervous tissues.</p

Studies on nitrogen pool of animal tissues. 3. Ox liver and bile. IV. Ox kidney and lung

The compositions of nitrogen pools of ox liver, bladder bile, kidney and lung were analyzed with an especial bearing on their minor components, and some distinctive features of these tissues were described. DCEC and CMC were found in ox liver and kidney. Liver was low in free arginine and lysine, but high in ornithine, ethanolamine, and glutathione. Glycine was only a predominant amino acid in ox bile. All amino acids were contained moderately in kidney, but glutathione content was low. The concentrations of arginine and lysine were relatively high in lung.</p

Socio-Economic Development and Insecurity in Nigeria: A Study of Boko Haram

This paper explores the connection between socio-economic development and insecurity in Nigeria. Of particular significance to this paper is the link between economic decline (characterized by high rates of unemployment, low wages and income, corruption and injustice) and the proliferation of conflict particularly in the north-east. The data presented in this study show a relationship between insecurity challenges in the north-east and rates of poverty and unemployment in the zone. Furthermore, the study shows that despite increased spending by the government, the number of attacks and resulting casualties continued to rise between 2009 and 2017. In the final analysis, it is here argued that for proposed long term solutions to the insecurity situation in Nigeria to be effective, they must be predicated on the rule of law, protective of personal and political freedoms and equality, accountable and transparent and more importantly, in service of the common good. Keywords: Insecurity, Socio-Economic Development, Boko Hara

Co-Teaching: Loss of professional space from the perspective of special education and general education teachers

This study investigated the perspectives of special and general education teachers on the loss of their professional space because of the co-teaching program. This was accomplished through the qualitative methods of data collection and analysis, by in-depth semi-structured face-to-face interviews that were recorded using an electronic device and note taking. The interviews were conducted individually with six high school teachers from public schools, of which four were special education teachers and two were general education teachers. These interviews revealed that teachers defined professional space as personal identity and felt that the loss of their professional space emotionally impacted them. The interviews further revealed the lack of acceptance of the program by the teachers, who felt that administrative support was insufficient. Also, the findings revealed that the special education teachers felt marginalized and disrespected by the students in the co-taught classroom. This was largely because of the visual impact of the small space allocated to them in the co-taught general education classroom; while the general education teachers felt inconvenienced and pressurized into making space for the SPED teachers. The study concludes that school leaders, program developers, and policymakers should consider the perspectives of co-teachers and include them in the decision-making process before program implementation, thereby fostering teacher acceptance and program effectiveness, that would ultimately benefit the students. The key suggestions of this study are the need for the school district to hire new teachers, specifically for the co-taught program, and to provide training for both school leaders and the teachers

CSOs Advocacy and the Legislative Process in Nigeria: A Case Study of the National Health Act, 2014

This paper examines the role of Civil Society Organisations (CSOs) in health care delivery through legislative advocacy. It highlights the various efforts of civil society organisations (CSOs) towards the passage of the National Health Bill (2014). The role of CSOs spanned the various stages of the legislative process. Evidence from their engagement and advocacy for the NHB shows that when CSOs are engaged in developing and reviewing national health plans, they can assist in identifying or sharpening national priorities and consequently help improve health outcomes. The paper concludes by highlighting key lessons learnt in the advocacy process and critical success factors which include knowledge of the legislative process, ability to leverage on existing relationships and networks, and partnership with international partners, among others. Keywords: National Health Act, CSOs, Legislative Advocacy, National Assembl