An hybridization of global-local methods for autonomous mobile robot navigation in partially-known environments

This paper deals with the navigation problem of an autonomous non-holonomic mobile robot in partially-known environment. In this proposed method, the entire process of navigation is divided into two phases: an off-line phase on which a distance-optimal reference trajectory enables the mobile robot to move from an initial position to a desired target which is planned using the B-spline method and the Dijkstra algorithm. In the online phase of the navigation process, the mobile robot follows the planned trajectory using a sliding mode controller with the ability of avoiding unexpected obstacles by the use of fuzzy logic controller. Also, the fuzzy logic and fuzzy wall-following controllers are used to accomplish the reactive navigation mission (path tracking and obstacle avoidance) for a comparative purpose. Simulation results prove that the proposed path planning method (B-spline) is simple and effective. Also, they attest that the sliding mode controller track more precisely the reference trajectory than the fuzzy logic controller (in terms of time elapsed to reach the target and stability of two wheels velocity) and this last gives best results than the wall-following controller in the avoidance of unexpected obstacles. Thus, the effectiveness of our proposed approach (B-spline method combined with sliding mode and fuzzy logic controllers) is proved compared to other techniques

Bilateral atrophic squirrhus of breast in neglected breast cancer: case report

The atrophic squirrhus carcinoma is an advanced form of breast cancer, which is most often neglected by patients. These days it has become very rare. The bilaterality of this form is even more exceptional. We present a case of atrophic squirrhus breast cancer of a 58 years old woman, rural origin, which is particular for its bilaterality and rapid evolution causing the death after 22 months from the first abnormal functional sign

[Photograph 2012.201.B1225.0566]

Photograph used for a story in the Daily Oklahoman newspaper. Caption: "Among the guests are, from left, Kyle Swisher, Jill Swisher, Mike Hurley and Thane Swisher.

Polymorphism on Chromosome 9p21.3 Is Associated with Severity and Early-Onset CAD in Type 2 Diabetic Tunisian Population

Multiple association studies found that the human 9p21.3 chromosome locus is a risk factor for atherosclerosis. The purpose of this study was to investigate the association of the severity and early-onset of coronary artery disease with variant rs1333049 on chromosome 9p21.3 polymorphism and the impact of this variant on cardiovascular risk factors in type 2 diabetic patients. The study population consisted of a control CAD group (101 patients) and 273 consecutive type 2 diabetic patients. Severity and extent of coronary atherosclerosis were scored numerically using the Gensini scoring system. The diabetic population was divided into three groups according to Gensini score: Group 1: no stenosis; Group 2: moderate CAD; Group 3, severe CAD. The homozygous CC genotype of rs1333049 was significantly associated with CAD in Group 2 (OR: 1.36; p=0.02) and Group 3 (OR: 5.77, p<0.001) compared to Group 1 (OR: 0.18; p=0.2) and control group (OR: 0.22; p=0.21). Among diabetic patients with early-onset CAD, CC genotype carriers had significantly higher Gensini scores than non-CC genotype carriers (49±21.3 versus 14.87±25.22; p<0.001). The homozygous CC genotype of rs1333049 confers a magnified risk of early-onset and severe CAD in type 2 diabetic Tunisian population