冗長性を活かしたへビ型ロボットの物体操りと関節故障リカバリー制御

京都大学新制・課程博士博士(工学)甲第24322号工博第5071号新制||工||1972(附属図書館)京都大学大学院工学研究科機械理工学専攻(主査)教授 松野 文俊, 教授 藤本 健治, 教授 東 俊一学位規則第4条第1項該当Doctor of Philosophy (Engineering)Kyoto UniversityDGA

Valorization of Household Waste via Biogas Production in Algeria since 1938%253A Inventory and Perspectives

Energy is an important factor in Algerians economy, the recent Algerian%252339%253Bs economy crisis is due to the fall of the oil incomes of 70%25 in less than two years, which made the country lose half of its external receipts and causing an important deficit of its trade balance. The fossil fuel reserves will not last eternally (some 40 to 50 years) and the human activity causes a significant change of the climate, which has actually important repercussions. The need to find an alternative and renewable source of energy is becoming increasingly important for the sustainable development. However, Algeria is a country rich in solar and biomass layer%253B according to the National Waste Agency, more than 28,219 tones of municipal solid waste are generated per day. Energetic valorization of municipal solid waste (MSW) seems to be an alternative solution for sustainable development of Algeria, which the biogas constitutes a considerable source of renewable energy. This paper presents an overview for the status of this technology in Algeria including the increasing of the interest in methanization since 1938. Also in this study, is referred the first experience of Tamanrasset (southern of Algeria) in the field of biogas production

Photocatalytic degradation of methylene blue and antibacterial activity of mesoporous TiO2-SBA-15 nanocomposite based on rice husk

Concerns have been increased regarding the existence of pollutants in environmental water resources and their risks to the ecosystem and human society. TiO2 photocatalyst is considered as an effective photocatalyst to remove the pollutants. Herein, the mesoporous TiO2-SBA-15 was prepared using the rice husk extract as the silica source. The fabricated nanocomposites were characterized using FTIR, small and wide angle XRD, Raman spectroscopy, UV-vis, BET surface area analysis, and HRTEM. The photocatalytic efficiency of the composites for the degradation of methylene blue (MB) has been evaluated under UV irradiation. Interestingly, due to the excellent dispersion of TiO2 on the wall of SBA-15 and good hydrophilicity, the nanocomposites displayed a good catalytic activity. The higher photodegradation performance was achieved by the composite containing 10 wt% TiO2 by which the MB was fully degraded within 15-20 min of irradiation. Besides, TiO2-SBA-15 could effectively inhibit the growth of Gram-positive and Gram-negative bacteria. These results offer a practical and economic approach in the environmental management industries

Nurses` Perception Regarding Diabetic Wound Care at Primary Health Care Level

One of the challenges regarding quality of care at primary care level is diabetic wound services; where the nurses are the pillar in wound care. The study objective was to determine the perception of nurses regarding the diabetic wound services in the health centers.  A descriptive qualitative study carried in Khartoum State Sudan targeted nurses at the health centers. Focus Group Discussion (FGD) was carried out using semi-structured open ended questions. Saturation of information was obtained after four FGD sessions resulted in 26 nurses. Informed consent was signed and obtained from each nurse. Two independent qualified researchers carried out content analysis of the recorded information. The results show that female to male ratio was 2:1. Most of nurses were holders of Technical Nursing Certificate. Almost all nurses have not received in-service training about diabetes and diabetic wound care. Factors affecting diabetic wound services were lack of guidelines for services and follow-up registry, insufficient consumables and dressing materials and negative patients` attitudes. In-service training on diabetic wound care was absent. Guidelines and follow up registry for diabetic wound care were not available at the health centers.  Health centers were lacking sufficient dressing and surgical materials. Strengthening the capacity of nurses and availing adequate resources and services` guidelines are recommended.

The Brazilian Soil Spectral Service (BraSpecS): A User-Friendly System for Global Soil Spectra Communication

Although many Soil Spectral Libraries (SSLs) have been created globally, these libraries still have not been operationalized for end-users. To address this limitation, this study created an online Brazilian Soil Spectral Service (BraSpecS). The system was based on the Brazilian Soil Spectral Library (BSSL) with samples collected in the Visible–Near–Short-wave infrared (vis–NIR–SWIR) and Midinfrared (MIR) ranges. The interactive platform allows users to find spectra, act as custodians of the data, and estimate several soil properties and classification. The system was tested by 500 Brazilian and 65 international users. Users accessed the platform (besbbr.com.br), uploaded their spectra, and received soil organic carbon (SOC) and clay content prediction results via email. The BraSpecS prediction provided good results for Brazilian data, but performed variably for other countries. Prediction for countries outside of Brazil using local spectra (External Country Soil Spectral Libraries, ExCSSL) mostly showed greater performance than BraSpecS. Clay R2 ranged from 0.5 (BraSpecS) to 0.8 (ExCSSL) in vis–NIR–SWIR, but BraSpecS MIR models were more accurate in most situations. The development of external models based on the fusion of local samples with BSSL formed the Global Soil Spectral Library (GSSL). The GSSL models improved soil properties prediction for different countries. Nevertheless, the proposed system needs to be continually updated with new spectra so they can be applied broadly. Accordingly, the online system is dynamic, users can contribute their data and the models will adapt to local information. Our community-driven web platform allows users to predict soil attributes without learning soil spectral modeling, which will invite end-users to utilize this powerful technique

Mortality from gastrointestinal congenital anomalies at 264 hospitals in 74 low-income, middle-income, and high-income countries: a multicentre, international, prospective cohort study

Summary Background Congenital anomalies are the fifth leading cause of mortality in children younger than 5 years globally. Many gastrointestinal congenital anomalies are fatal without timely access to neonatal surgical care, but few studies have been done on these conditions in low-income and middle-income countries (LMICs). We compared outcomes of the seven most common gastrointestinal congenital anomalies in low-income, middle-income, and high-income countries globally, and identified factors associated with mortality. Methods We did a multicentre, international prospective cohort study of patients younger than 16 years, presenting to hospital for the first time with oesophageal atresia, congenital diaphragmatic hernia, intestinal atresia, gastroschisis, exomphalos, anorectal malformation, and Hirschsprung’s disease. Recruitment was of consecutive patients for a minimum of 1 month between October, 2018, and April, 2019. We collected data on patient demographics, clinical status, interventions, and outcomes using the REDCap platform. Patients were followed up for 30 days after primary intervention, or 30 days after admission if they did not receive an intervention. The primary outcome was all-cause, in-hospital mortality for all conditions combined and each condition individually, stratified by country income status. We did a complete case analysis. Findings We included 3849 patients with 3975 study conditions (560 with oesophageal atresia, 448 with congenital diaphragmatic hernia, 681 with intestinal atresia, 453 with gastroschisis, 325 with exomphalos, 991 with anorectal malformation, and 517 with Hirschsprung’s disease) from 264 hospitals (89 in high-income countries, 166 in middleincome countries, and nine in low-income countries) in 74 countries. Of the 3849 patients, 2231 (58·0%) were male. Median gestational age at birth was 38 weeks (IQR 36–39) and median bodyweight at presentation was 2·8 kg (2·3–3·3). Mortality among all patients was 37 (39·8%) of 93 in low-income countries, 583 (20·4%) of 2860 in middle-income countries, and 50 (5·6%) of 896 in high-income countries (p<0·0001 between all country income groups). Gastroschisis had the greatest difference in mortality between country income strata (nine [90·0%] of ten in lowincome countries, 97 [31·9%] of 304 in middle-income countries, and two [1·4%] of 139 in high-income countries; p≤0·0001 between all country income groups). Factors significantly associated with higher mortality for all patients combined included country income status (low-income vs high-income countries, risk ratio 2·78 [95% CI 1·88–4·11], p<0·0001; middle-income vs high-income countries, 2·11 [1·59–2·79], p<0·0001), sepsis at presentation (1·20 [1·04–1·40], p=0·016), higher American Society of Anesthesiologists (ASA) score at primary intervention (ASA 4–5 vs ASA 1–2, 1·82 [1·40–2·35], p<0·0001; ASA 3 vs ASA 1–2, 1·58, [1·30–1·92], p<0·0001]), surgical safety checklist not used (1·39 [1·02–1·90], p=0·035), and ventilation or parenteral nutrition unavailable when needed (ventilation 1·96, [1·41–2·71], p=0·0001; parenteral nutrition 1·35, [1·05–1·74], p=0·018). Administration of parenteral nutrition (0·61, [0·47–0·79], p=0·0002) and use of a peripherally inserted central catheter (0·65 [0·50–0·86], p=0·0024) or percutaneous central line (0·69 [0·48–1·00], p=0·049) were associated with lower mortality. Interpretation Unacceptable differences in mortality exist for gastrointestinal congenital anomalies between lowincome, middle-income, and high-income countries. Improving access to quality neonatal surgical care in LMICs will be vital to achieve Sustainable Development Goal 3.2 of ending preventable deaths in neonates and children younger than 5 years by 2030

Fuzzy sliding mode control for cart Inverted Pendulum system / Belal Ahmed Abdelaziz Elsayed

Cart Inverted Pendulum (CIP) is a benchmark problem in nonlinear automatic control which has numerous applications, such as two wheeled mobile robot and under actuated robots. The objective of this study is to design a swinging-up controller with a robust sliding mode stabilization controller for CIP, and to apply the proposed controller on a real CIP. Two third-order differential equations were derived to create a combining model for the cart-pendulum with its DC motor dynamics, where the motor voltage is considered as the system input. The friction force between the cart and rail was included in the system equations through a nonlinear friction model. A Fuzzy Swinging-up controller was designed to swing the pendulum toward the upright position, with consideration of the cart rail limits. Once the pendulum reaches the upward position, Sliding Mode Controller (SMC) is activated, to balance the system. For comparison purposes, a Linear Quadratic Regulator Controller (LQRC) was design and compared with proposed SMC. Simulation and experimental results have shown a significant improvement of the proposed SMC over LQRC where, the pendulum angle oscillations were decreased by 80% in the real implementation

Orforglipron different doses effect on body weight : A systematic review and network meta-analysis of randomized clinical trials

safety and efficacy of different doses of orforglipron on body weight: A systematic review and network meta-analysis of randomized clinical trial

Impacts of Human Activities on Urban Sprawl and Land Surface Temperature in Rural Areas, a Case Study of El-Reyad District, Kafrelsheikh Governorate, Egypt

Anthropogenic activities affect the surrounding environment dynamically in different ways. In the arid and hyper arid, agriculture is concentrated in rural communities, which are cooling surfaces that help mitigate surface temperature increases. Recently, rural communities are suffering from increasing urban sprawl. The current work focuses on evaluating the changes in land cover and their impacts on land surface temperature (LST) during (1988–2022) and predicting the changes until 2056 in El-Reyad District, Kafrelsheikh Governorate, Egypt. For achieving this purpose, Landsat images (TM, ETM+, and OLI) were used. The support vector machine (SVM) was applied using Google Earth Engine (GEE) to monitor changes in land use/cover and LST. The prediction of land use until 2056 was achieved using the CA-Markov simulation model. The results showed six land cover classes: agricultural lands, bare lands, urban areas, natural vegetation, Lake Burullus, and fish farms. The results showed the effects of human activity on the conversion of agricultural land to other activities, as agricultural lands have decreased by about 3950.8 acres, while urban areas have expanded by 6283.2 acres, from 1988 to 2022. Fish farms have increased from 3855.6 to 17,612 acres from 1988 to 2022. While the area of bare land decreased from 28.3% to 0.7% of the total area, it was converted to urban, agricultural, and fish farms. The spatiotemporal change in land cover affected the balance of LST in the study area, although the average temperature increased from 32.4 ± 0.5 to 33.6 ± 0.2 °C. In addition, it is expected to reach 36 ± 0.5 °C in 2056, and there are some areas with decreased LST where it is converted from bare areas into fish farms and agricultural uses. The prediction results show that the agricultural area will decrease by −11.38%, the urban area will increase by 4.6%, and the fish farms area will increase by 6.1%. Thus, preserving green spaces and reducing urban sprawl in rural communities are very important objectives