Autonomous navigation of a wheeled mobile robot in farm settings

This research is mainly about autonomously navigation of an agricultural wheeled mobile robot in an unstructured outdoor setting. This project has four distinct phases defined as: (i) Navigation and control of a wheeled mobile robot for a point-to-point motion. (ii) Navigation and control of a wheeled mobile robot in following a given path (path following problem). (iii) Navigation and control of a mobile robot, keeping a constant proximity distance with the given paths or plant rows (proximity-following). (iv) Navigation of the mobile robot in rut following in farm fields. A rut is a long deep track formed by the repeated passage of wheeled vehicles in soft terrains such as mud, sand, and snow. To develop reliable navigation approaches to fulfill each part of this project, three main steps are accomplished: literature review, modeling and computer simulation of wheeled mobile robots, and actual experimental tests in outdoor settings. First, point-to-point motion planning of a mobile robot is studied; a fuzzy-logic based (FLB) approach is proposed for real-time autonomous path planning of the robot in unstructured environment. Simulation and experimental evaluations shows that FLB approach is able to cope with different dynamic and unforeseen situations by tuning a safety margin. Comparison of FLB results with vector field histogram (VFH) and preference-based fuzzy (PBF) approaches, reveals that FLB approach produces shorter and smoother paths toward the goal in almost all of the test cases examined. Then, a novel human-inspired method (HIM) is introduced. HIM is inspired by human behavior in navigation from one point to a specified goal point. A human-like reasoning ability about the situations to reach a predefined goal point while avoiding any static, moving and unforeseen obstacles are given to the robot by HIM. Comparison of HIM results with FLB suggests that HIM is more efficient and effective than FLB. Afterward, navigation strategies are built up for path following, rut following, and proximity-following control of a wheeled mobile robot in outdoor (farm) settings and off-road terrains. The proposed system is composed of different modules which are: sensor data analysis, obstacle detection, obstacle avoidance, goal seeking, and path tracking. The capabilities of the proposed navigation strategies are evaluated in variety of field experiments; the results show that the proposed approach is able to detect and follow rows of bushes robustly. This action is used for spraying plant rows in farm field. Finally, obstacle detection and obstacle avoidance modules are developed in navigation system. These modules enables the robot to detect holes or ground depressions (negative obstacles), that are inherent parts of farm settings, and also over ground level obstacles (positive obstacles) in real-time at a safe distance from the robot. Experimental tests are carried out on two mobile robots (PowerBot and Grizzly) in outdoor and real farm fields. Grizzly utilizes a 3D-laser range-finder to detect objects and perceive the environment, and a RTK-DGPS unit for localization. PowerBot uses sonar sensors and a laser range-finder for obstacle detection. The experiments demonstrate the capability of the proposed technique in successfully detecting and avoiding different types of obstacles both positive and negative in variety of scenarios

Explaining the Views of Ibn Sina and Al-Ghazali on Games and Physical Exercises and their Relation to the Relationship Between Body and Soul

The purpose of this article is to describe Ibn Sina and Ghazali's philosophical views on soul and body on the one hand and to express their views on physical movements on the other hand in order to explain the relationship between their philosophical views on games and physical exercises related to body and soul. The research method was descriptive-analytical. The research findings showed that despite the differences in the philosophical thought of Ibn Sina and Ghazali, in the field of proofs of the soul and the body, there is a similarity between these two thinkers and the relationship between the soul and the body is two-ways. With physical activity in the game, there is an effect on the soul and vice versa. In fact, whenever playing and exercising are done in proportion and the body is active, then the soul will also have fun, and this is based on the effect that the body has on the soul. According to the theory of two thinkers, such a conclusion is that games and physical exercises recreate energy and rejuvenates the body and soul

Sleep disorders in patients with congestive heart failure hospitalized in Hajar hospital, Shahrekord, 2003

چکیده: زمینه و هدف:خواب یکی از دوره های بیولوژیک مهم انسان بصورت تکرار شونده و منظم است که با بازسازی قوای جسمی و روانی همراه می باشد. یک سوم از زندگی انسان در خواب می گذرد و محرومیت از آن سبب به خطر افتادن سلامت فرد خواهد شد. خواب افراد همواره تحت تأثیر عوامل خارجی و داخلی همچون سن، جنس، داروها، بیماریها و جراحی قرار می گیرد. لذا این مطالعه با هدف تعیین اختلالات خواب در بیماران مبتلا به نارسائی قلب طراحی و انجام شده است. روش بررسی:این مطالعه از نوع توصیفی – تحلیلی می باشد و جامعه مورد مطالعه کلیه بیماران بستری در بخش قلب بیمارستان هاجر شهرکرد بود که دارای اکو کاردیوگرافی با کسر تخلیه ای کمتر از40 (40 E

Gestión del conocimiento en la era de los mensajes poco confiables. ¿Los estudiantes universitarios confían en los mensajes en línea? (Una encuesta de Oriente Medio)

We are exposed to a constant stream of messages many of which originate from unreliable or untrustworthy sources. Moreover, it is not possible to control the messages before they are published and allow the dissemination of the verified ones only. Growing a critical mind can be a practical way to prevent the accumulation of incorrect or inaccurate information in our brains. The current study tried to see whether or not university students hold a critical view of social media messages. First, in a qualitative study, hundreds of messages shared on social media were observed, 12 of which were chosen based on the popularity of their central themes. Many of the messages contained an extraordinary claim such as the existence of mermaids, human-like complex emotions in animals, etc. Then, in a survey, the chosen messages were shown to 379 university students. The respondents were asked to express their opinions about the messages. For each of the 12 messages, between 36 to 94 percent of the respondents just assumed the messages to be true. The analysis of the responses revealed weak critical thinking among the students.    Estamos expuestos a un flujo constante de mensajes, muchos de los cuales se originan en fuentes no confiables o fidedignas. Además, no es posible controlar los mensajes antes de su publicación y permitir la difusión únicamente de los verificados. Desarrollar una mente crítica puede ser una forma práctica de prevenir la acumulación de información incorrecta o inexacta en nuestro cerebro. Este estudio trató de ver si los estudiantes universitarios tienen una visión crítica de los mensajes de las redes sociales. Primero, en un estudio cualitativo, se observaron cientos de mensajes compartidos en las redes sociales, 12 de los cuales fueron elegidos en función de la popularidad de sus temas centrales. Muchos de los mensajes contenían una afirmación extraordinaria, como la existencia de sirenas, emociones complejas similares a las humanas en los animales, etc. Luego, en una encuesta, se mostraron los mensajes escogidos a 379 estudiantes universitarios. Se pidió a los encuestados que expresaran sus opiniones sobre los mensajes. Para cada uno de los 12 mensajes, entre el 36 y el 94 por ciento de los encuestados simplemente asumieron que los mensajes eran verdaderos. El análisis de las respuestas reveló un débil pensamiento crítico entre los estudiantes

Drug-drug interactions and potentially inappropriate medications among elderly outpatients

The high prevalence of concomitant chronic illnesses and the resulting higher number of medications in the elderly population increase the risk of adverse drug reactions due to drug-drug interactions (DDIs) and potentially inappropriate medications (PIMs). Therefore, the aim of this study was to investigate the prevalence and factors associated with DDIs and PIMs in outpatient geriatrics. In this cross-sectional study, 1512 prescriptions belonging to patients aged ≥65 years from five public pharmacies in Tehran were evaluated. Clinically relevant (C, D, and X) and significant DDIs (D and X) were documented according to the Lexicomp®. Additionally, Zhan criteria were used to detect PIMs. At least one clinically relevant DDI was detected in 61.7% of the prescriptions containing ≥2 medications. The largest percentage of prescriptions with DDIs was prescribed by cardiologists (74.3%). The number of medications in prescriptions and the specialty of the prescriber significantly affected both clinically relevant and significant DDIs in a logistic regression model. At least one PIM was identified in 16.3% of the prescriptions. General practitioners (GPs) were the largest prescribers of PIMs. The mean number of medications was significantly higher in prescriptions with PIMs. In conclusion, clinically relevant DDIs are frequent in the elderly. In terms of PIMs, more attention should be paid to the education of GPs

The Role of Islamic State in Determination of the Bank Deposit and Loan Interest Rates

One of the main issues in monetary and banking section is determining the deposit and loan interest rates. In today world, determining the deposit and loan interest rates and their notifications has a great significance for a financial system; it can also have many juridical, legal and economic effects. So, any change in this important issue can question the economic stabilization of our country. But the question here is that who should specify the deposit and loan interest rates? Is this the duty of the Islamic governor or there is no need to his intervention, and the market itself can reach the equilibrium price based on the principle of freedom?  To answer this question, we need to investigate it from the Islamic jurisprudence viewpoint; then after proving that determining the deposit and loan interest rates is a kind of pricing, the results of inspecting the issue of pricing can be used for deposit and loan interest rates determination. This article, firstly, explains the Islamic jurisconsults' views on pricing, then it introduces deposit and loan interest rates determination as kinds of pricing, and uses the results of inspecting the issue of pricing which can be used for deposit and loan interest rates determination

Niosomal Formulation for Co-Administration of Hydrophobic Anticancer Drugs into MCF-7 Cancer Cells

Introduction: Designing and developing drug delivery systems has received tremendous attention during the last decade. The treatment of cancer cells is a complicated process due to the existence of different biological pathways. Therefore, the co-delivery of different drugs could have a synergic effect on the treatment process.Materials and Methods: In this study, different types of span (20, 60, 80) and cholesterol were utilized to formulate tamoxifen/curcumin co-loaded niosomes as a drug carrier system for breast cancer chemotherapy. Niosome characterization was performed through a set of instrument analysis techniques including scanning electron microscopy (SEM) and dynamic light scattering. Release behavior was studied by dialysis method at (pH = 5, 7.4). The stability was monitored during two months storage at two temperatures (4 and 25 °C). Cytotoxicity activity of the best niosomal formulation were assessed on MCF-7 cells, using MTT assay.Results: The optimal niosomal formulation with span 80 and lipid-to-drug molar ratio of 20 was selected, with maximum encapsulation of both drugs and minimum size. Drug release behavior at physiological pH (7.4) (with significant drug release under acidic conditions (pH = 5) and storage stability of up to 2 weeks with little change in drug efficacy and measurement makes it a proper candidate for breast cancer treatment.Conclusion: Finally, the results of this study showed the importance of creating highly biocompatible formulations, allowing the simultaneous transfer of two drugs with controlled release to cancer cells which could improve the chemotherapy process with the synergistic effect of the two drugs

Effectiveness of Acceptance and Commitment Therapy on Marital Boredom and Self-Compassion in Emotionally Divorced Women: A Quasi-Experimental Study

AbstractIntroduction: Marital boredom and emotional divorce cause a gradual reduction in the emotional attachment of couples which is associated with feelings of alienation, apathy, and indifference between couples and replacement of positive emotions with negative ones. The present study aimed to investigate the effectiveness of acceptance and commitment therapy (ACT) on marital boredom and self-compassion in emotionally divorced women.Methods: This quasi-experimental study was conducted using a pretest-posttest control group design. Forty women were selected using convenience sampling and were randomly divided into intervention (n=20) and control (n=20) groups. The participants filled the Emotional Divorce Questionnaire, the Marital Boredom Scale, and the Self-Compassion Scale in the pre-test and post-test. The intervention group received eight 90-minute sessions of ACT. Data were analyzed using a one-way analysis of covariance.Results: Results suggested that ACT improved marital boredom (F=372.714 and P<0.001) and self-compassion (F=353.178 and P<0.001) in the post-test. The mean ±SD post-test scores of marital boredom and self-compassion in the experimental group were 43.30±4.45 and 42.95±4.75, respectively, which improved compared to the post-test of the control group.Conclusions: Based on the results, holding ACT workshops may exert beneficial effects on reducing marital conflicts

“Comparison of Cochlear Microphonics Magnitude with Broad and Narrow Band Stimuli in Healthy Adult Wistar Rats”

AbstractObjective: Cochlear microphonic (CM) is a cochlear AC electric field, recorded within, around, and remote from its sources. Nowadays it can contribute to the differential diagnosis of different auditory pathologies such as auditory neuropathy spectrum disorder (ANSD). The aim of this study was to compare CM waveforms (CMWs) and amplitudes with broad and narrow band stimuli in 25 healthy male young adult Wistar rats.Methods: Using an extratympanic technique in ECochG (Electrocochleography) recording, CMWs in response to click and tonal stimuli with different octave frequencies were recorded at a high intensity level in subjects. The CMW amplitudes were calculated by a graphical user interface (GUI) designed in MATLAB. The data was analyzed by One-way ANOVA test.Results: The CMW magnitude increased upon an increase in band width stimulation. Across tonal stimuli, the CMW amplitudes at lower frequency tones were larger than those at higher frequency tones. Those findings were statistically significant (P< 0.001).Conclusion: This study found that CMW most likely is a reflection of spatial summation of voltage drops generated by hair cell groups in response to acoustic stimulation. In order to production nature of CM potentials as well as their very small magnitudes especially with tonal stimuli, thus, we recommend using click stimulation for CM potential recording especially in patient with ANSD that CM plays an important role in its differential diagnosis and follow u