Trajectory Convergence From Coordinate-Wise Decrease of Quadratic Energy Functions, and Applications to Platoons

We consider trajectories where the sign of the derivative of each entry is opposite to that of the corresponding entry in the gradient of an energy function. We show that this condition guarantees convergence when the energy function is quadratic and positive definite and partly extend that result to some classes of positive semi-definite quadratic functions including those defined using a graph Laplacian. We show how this condition allows establishing the convergence of a platoon application in which it naturally appears, due to deadzones in the control laws designed to avoid instabilities caused by inconsistent measurements of the same distance by different agents

Multipath Separation-Direction of Arrival (MS-DOA) with Genetic Search Algorithm for HF channels

Cataloged from PDF version of article.Direction-of-Arrival (DOA) defines the estimation of arrival angles of an electromagnetic wave impinging on a set of sensors. For dispersive and time-varying HF channels, where the propagating wave also suffers from the multipath phenomena, estimation of DOA is a very challenging problem. Multipath Separation-Direction of Arrival (MS-DOA), that is developed to estimate both the arrival angles in elevation and azimuth and the incoming signals at the output of the reference antenna with very high accuracy, proves itself as a strong alternative in DOA estimation for HF channels. In MS-DOA, a linear system of equations is formed using the coefficients of the basis vector for the array output vector, the incoming signal vector and the array manifold. The angles of arrival in elevation and azimuth are obtained as the maximizers of the sum of the magnitude squares of the projection of the signal coefficients on the column space of the array manifold. In this study, alternative Genetic Search Algorithms (GA) for the maximizers of the projection sum are investigated using simulated and experimental ionospheric channel data. It is observed that GA combined with MS-DOA is a powerful alternative in online DOA estimation and can be further developed according to the channel characteristics of a specific HF link. (C) 2009 COSPAR. Published by Elsevier Ltd. All rights reserve

Multi-Stage Neural Networks with Application to Motion Planning of a Mechanical Snake

An efficient approach to nonlinear control problems in which the plant is to be driven to a desired state using a neural network controller in a number of steps is by representing the whole process as a multi - stage neural network. In this paper, an explicit formulation of the back propagation algorithm is developed for such networks. Later, this approach is used to build up a path planner for a mechanical snake (a robot composed of a sequence of articulated links). This path planner, together with a tracking algorithm, is shown to get the mechanical snake out of a collision-free closed region

An Evaluation of Periodontal Status and Cytokine Levels in Saliva and Gingival Crevicular Fluid of Patients with Inflammatory Bowel Diseases.

AIMS Periodontal diseases and inflammatory bowel diseases (IBD, ulcerative colitis [UC] and Crohn's disease [CD]) have been reported to present with increased salivary and gingival crevicular fluid (GCF) concentrations of cytokines. The aim of this study was to evaluate the salivary and GCF levels of TNF-α, IL-1β, IL-10, and IL-17A and their associations with the periodontal statuses of UC, CD and non-IBD patients, and to analyze the interrelationships among these cytokines, IBD conditions, and periodontal diseases. MATERIALS AND METHODS This cross-sectional study was performed with a total of 131 patients (62 women and 69 men, mean age 42.96±13.02 years). Patients were divided into three groups: UC, CD, and non-IBD. Periodontal status was defined according to the 2017 World Workshop Disease Classification. Salivary and GCF cytokine levels were analyzed using ELISA. RESULTS UC and CD patients diagnosed as having periodontitis and gingivitis presented with significantly higher levels of TNF-α and lower levels of IL-10 as compared with non-IBD patients (p<0.05). UC patients diagnosed with periodontitis exhibited significantly higher scores of bleeding on probing (p = 0.011) and increased salivary and GCF IL-1β levels as compared with CD patients (p = 0.005, and 0.012 respectively). Considering the active and remission status of IBD, salivary IL-1β was found to be correlated with the parameters representing the severity of periodontal diseases in active UC and CD patients. CONCLUSION(S) In the presence of periodontal diseases, UC and CD patients showed different expression levels of TNF-α, IL-1β, and IL-10 in oral secretions as compared with non-IBD patients. This article is protected by copyright. All rights reserved

Low-Dose CT Image Enhancement Using Deep Learning

The application of ionizing radiation for diagnostic imaging is common around the globe. However, the process of imaging, itself, remains to be a relatively hazardous operation. Therefore, it is preferable to use as low a dose of ionizing radiation as possible, particularly in computed tomography (CT) imaging systems, where multiple x-ray operations are performed for the reconstruction of slices of body tissues. A popular method for radiation dose reduction in CT imaging is known as the quarter-dose technique, which reduces the x-ray dose but can cause a loss of image sharpness. Since CT image reconstruction from directional x-rays is a nonlinear process, it is analytically difficult to correct the effect of dose reduction on image quality. Recent and popular deep-learning approaches provide an intriguing possibility of image enhancement for low-dose artifacts. Some recent works propose combinations of multiple deep-learning and classical methods for this purpose, which over-complicate the process. However, it is observed here that the straight utilization of the well-known U-NET provides very successful results for the correction of low-dose artifacts. Blind tests with actual radiologists reveal that the U-NET enhanced quarter-dose CT images not only provide an immense visual improvement over the low-dose versions, but also become diagnostically preferable images, even when compared to their full-dose CT versions

How do ecological perspectives help understand schools as sites for teacher learning?

Schools are sites of teachers’ professional learning for both new entrants and experienced practitioners. In this paper, schools are conceptualised as complex, multidimensional ecologies that are constituted by the relations that exist between school leaders, teachers, mentors and all members of the school community. As relational environments, the conditions affecting professional learning – both formal and informal – are constantly dynamic, with multiple and simultaneous interactions taking place between these stakeholders. Interactions are also multi-layered – between the school system, individuals, classrooms, the community and the policy environment. School leaders are a major influence on these dynamics and affect how schools act as sites of professional formation, mediating external policy as well as affecting micro-dynamics within individual school systems. The challenge of realising professional learning within these relational contexts can be viewed as a ‘wicked problem’, a feature of complex systems that resists simplified solutions. In conceptualising a complex ecology at work, we illuminate the relational dynamics with a focus, for all stakeholders within schools, including leaders, on the need to recognise and value the importance of ‘emergence’ in professional learning. This means embracing inevitable uncertainty as a feature of schools as complex systems

Within- and between-subject biological variation data for serum zinc, copper and selenium obtained from 68 apparently healthy Turkish subjects

Postponed access: the file will be available after 2022-10-22Objectives: Trace elements (TrEL) are nutritionally essential components in maintaining health and preventing diseases. There is a lack of reliable biological variation (BV) data for TrELs, required for the diagnosis and monitoring of TrEL disturbances. In this study, we aimed to provide updated within- and between-subject BV estimates for zinc (Zn), copper (Cu) and selenium (Se). Methods: Weekly serum samples were drawn from 68 healthy subjects (36 females and 32 males) for 10 weeks and stored at −80 °C prior to analysis. Serum Zn, Cu and Se levels were measured using inductively-coupled plasma mass spectrometry (ICP-MS). Outlier and variance homogeneity analyses were performed followed by CV-ANOVA (Røraas method) to determine BV and analytical variation estimates with 95% CI and the associated reference change values (RCV) for all subjects, males and females. Results: Significant differences in mean concentrations between males and females were observed, with absolute and relative (%) differences for Zn at 0.5 μmol/L (3.5%), Cu 2.0 μmol/L (14.1%) and Se 0.06 μmol/L (6.0%). The within-subject BV (CVI [95% CI]) estimates were 8.8% (8.2–9.3), 7.8% (7.3–8.3) and 7.7% (7.2–8.2) for Zn, Cu and Se, respectively. Within-subject biological variation (CVI) estimates derived for male and female subgroups were similar for all three TrELs. Marked individuality was observed for Cu and Se. Conclusions: The data of this study provides updated BV estimates for serum Zn, Cu and Se derived from a stringent protocol and state of the art methodologies. Furthermore, Cu and Se display marked individuality, highlighting that population based reference limits should not be used in the monitoring of patients.publishedVersio

Evaluation of baseline cleanliness of food contact surfaces in Basrah Governorate restaurants using ATP-bioluminescence to assess the effectiveness of HACCP application in Iraq

The Hazard Analysis and Critical Control Points (HACCP) system prevents and manages physical, chemical and biological risks at places where foods and beverages are processed, packaged, distributed and consumed. The present study (1) assessed the level of microbial contamination of food contact surfaces using adenosine triphosphate (ATP)-bioluminescence in Iraq restaurants; (2) investigated the level of microbial contamination of food contact surfaces; and (3) evaluated the efficiency of sanitizers in removing biological hazards from food contact surfaces. The ATP-bioluminescence discovered the presence of Escherichia coli and Staphylococcus aureus on surfaces and tools. Results also showed that the HACCP application was very effective in the amelioration of food quality

Analysing the Large Decline in Coronary Heart Disease Mortality in the Icelandic Population Aged 25-74 between the Years 1981 and 2006

BACKGROUND: Coronary heart disease (CHD) mortality rates have been decreasing in Iceland since the 1980s. We examined how much of the decrease between 1981 and 2006 could be attributed to medical and surgical treatments and how much to changes in cardiovascular risk factors. METHODOLOGY: The previously validated IMPACT CHD mortality model was applied to the Icelandic population. The data sources were official statistics, national quality registers, published trials and meta-analyses, clinical audits and a series of national population surveys. PRINCIPAL FINDINGS: Between 1981 and 2006, CHD mortality rates in Iceland decreased by 80% in men and women aged 25 to 74 years, which resulted in 295 fewer deaths in 2006 than if the 1981 rates had persisted. Incidence of myocardial infarction (MI) decreased by 66% and resulted in some 500 fewer incident MI cases per year, which is a major determinant of possible deaths from MI. Based on the IMPACT model approximately 73% (lower and upper bound estimates: 54%-93%) of the mortality decrease was attributable to risk factor reductions: cholesterol 32%; smoking 22%; systolic blood pressure 22%, and physical inactivity 5% with adverse trends for diabetes (-5%), and obesity (-4%). Approximately 25% (lower and upper bound estimates: 8%-40%) of the mortality decrease was attributable to treatments in individuals: secondary prevention 8%; heart failure treatments 6%; acute coronary syndrome treatments 5%; revascularisation 3%; hypertension treatments 2%, and statins 0.5%. CONCLUSIONS: Almost three quarters of the large CHD mortality decrease in Iceland between 1981 and 2006 was attributable to reductions in major cardiovascular risk factors in the population. These findings emphasize the value of a comprehensive prevention strategy that promotes tobacco control and a healthier diet to reduce incidence of MI and highlights the potential importance of effective, evidence based medical treatments