A semi-autonomous mobile robot for education and research

AbstractThis paper presents the development, implementation, and testing of a semi-autonomous robotic platform, which may potentially be used for educational and research purposes. Educational purposes include: teaching the student how to design a stable electromechanical platform, exploring different types of sensors to navigate around any obstacles, interfacing different electronic components to a microcontroller, and demonstrating how to program the microcontroller chip in order to control a robotic platform. Research purposes include: developing and investigating the performance of different control algorithms to achieve behaviour analysis and obstacles avoidance. A modular hardware design is implemented using I2C bus to interface different sensors and motor drivers to the ATMEL microcontroller chip (AVR ATmega32). The hardware is integrated in one application board as embedded system design. The software is developed using C-compiler (ImageCraft) and a top-down approach is adopted to design different software modules. Experimental results are given to demonstrate the potential of the developed hardware and software modules

Incorporating Local Data and KL Membership Divergence into Hard C-Means Clustering for Fuzzy and Noise-Robust Data Segmentation

Hard C-means (HCM) and fuzzy C-means (FCM) algorithms are among the most popular ones for data clustering including image data. The HCM algorithm offers each data entity with a cluster membership of 0 or 1. This implies that the entity will be assigned to only one cluster. On the contrary, the FCM algorithm provides an entity with a membership value between 0 and 1, which means that the entity may belong to all clusters but with different membership values. The main disadvantage of both HCM and FCM algorithms is that they cluster an entity based on only its self-features and do not incorporate the influence of the entity’s neighborhoods, which makes clustering prone to additive noise. In this chapter, Kullback-Leibler (KL) membership divergence is incorporated into the HCM for image data clustering. This HCM-KL-based clustering algorithm provides twofold advantage. The first one is that it offers a fuzzification approach to the HCM clustering algorithm. The second one is that by incorporating a local spatial membership function into the HCM objective function, additive noise can be tolerated. Also spatial data is incorporated for more noise-robust clustering

Photoacoustic Imaging for Cancer Diagnosis: A Breast Tumor Example

Photoacoustic (PA) imaging utilizes laser pulses to deliver energy to an examined object for the generation of ultrasonic waves. Thus, it provides a noninvasive and nonionizing imaging modality. Therefore, it has found clinical use for cancer diagnosis in different organs, e.g., breast, prostate, and thyroid nodules. It offers morphological, functional, and molecular imaging. Moreover, the oxygen saturation in a body can be computed by calculating the wavelength-dependent light absorption coefficients at two different wavelengths. In this chapter, the principle of the PA imaging is introduced for the present book

Improving Abiotic Stress Resistance In Cauliflower (Brassica oleracea var. botrytis L.) By Mutagenesis And Agrobacterium Mediated Transformation

Merged with duplicate record 10026.1/2333 on 14.02.2017 by CS (TIS)Abiotic environmental stress such as drought, salinity and low temperature are common conditions that adversely affect plant growth and crop production. Breeding for crop resistance to abiotic stress is difficult due to its multigenic nature. An alternative approach is through DNA mutation and DNA transfer. These approaches were employed and tested in this research and comparison between them was carried out. NEU and NMU induced mutant lines and control plants were sub-cultured many times on maintenance medium and stored at 5°c for 2 years and then tested for salt and hydroxyproline resistance as in-vitro and in-vivo plants and proline content was measured. Non-acclimated and acclimated in-vivo plants were also assessed for resistance to freezing. Control plants had little or no NaCI or hydroxyproline resistance whilst selected plants showed varying degrees of resistance. In-vitro and in-vivo responses of selected lines were correlated. Leaf proline content was increased markedly in the mutant lines and the greatest proline contents occurred following NaCI stress with the most respondent line having 100 fold levels compared to the controls. Both non-acclimated and acclimated selected lines showed improved frost resistance over controls. The results clearly demonstrated that NaCI, frost and hydroxyproline resistance were stable traits over repeated in-vitro subcultures and prolonged low temperature storage. A complete range of mutants with single, double or triple resistance traits were produced. The level of resistance however was not necessarily correlated with the level of proline and some lines showed resistance without elevated proline. It is concluded that elevated proline is not essential for improved resistance to abiotic stress in cauliflower, but where it does occur it does improve resistance. Integration of APX and SOD stress genes into cauliflower (Brassica oleracea var. botrytis L.) plants was achieved by using Agrobacterium tumefaciens – mediated transformation method. The procedure utilized polymerase chain reaction (PCR) amplification of insert DNA directly after isolation of individual colonies without the necessity of separate procedures for DNA isolation and purification. Preliminary selection of transgenic plants was performed on different combinations of kanamycin, gentamycin and tetracycline containing medium. Integration of the introduced stress gene (APX and SOD) in the plants was confirmed by using β-glucuronidase gene (GUS) and leaf disc assays as a gene fusion and diagnostic marker, respectively. The stable integration of the APX and SOD gene at 478 bp was detected by using polymerase chain reaction (PCR) of the putative transgenic plants. Analysis of APX and SOD gene expression under salt treatment showed that putative transgenic cauliflower survived the salinity stress comparing with the control plants

Understanding the Prospects and Potential for Improved Regional LIS Collaboration in the Developing World: An Empirical Study of LIS Departments in the GCC States

The purpose of the study was to generate information on the extent and types of collaboration occurring between academic LIS departments and faculty in the GCC states, and on the factors influencing this, to help inform policies and strategies designed to improve collaboration. This is a qualitative research study, based on interviews with Heads of LIS Departments in the GCC states. The researchers emailed all Heads of LIS Departments (n=8) in Universities within the GCC States to invite them to participate in an interview about their experiences of and views on collaboration with other LIS departments in the region. Of the (8) Heads of Departments, only 5 responded to the e-mail invitation and subsequently completed the interview. The qualitative research data generated from the interviews were analyzed using content analysis. The data were examined and a preliminary set of themes created, then, the data were re-examined and coded according to the preliminary themes. It was found that very little formal collaboration has taken place to date, but that Heads of Departments are well aware of the many potential benefits of collaboration, and the types of barriers that must be overcome to achieve this. The findings have theoretical significance relating to the potential role of LIS collaboration in developing regions more generally, and practical implications for the development of strategies and initiatives to improve collaboration in the Gulf region. A fourstage strategy development, planning, establishment and implementation model is proposed to underpin the program of work necessary to achieve this, which can also be applied to other developing regions

X-Rays and Computed Tomography Scan Imaging: Instrumentation and Medical Applications

This chapter gives a review for both conventional X-ray and computed tomography (CT) scan imaging modalities and their medical applications. The chapter presents a brief history on the discovery of X-ray, X-ray imaging, and computed tomography scan. The linear projection for the generation of the sinogram (the detector’s signals versus the rotational angle) and the filtered backprojection for image reconstruction are discussed. Computer simulations for linear and fan beams X -ray are also presented. The chapter discusses some medical applications of both the conventional X-ray and CT scan imaging

Physico-mechanical properties of composite cement pastes containing silica fume and fly ash

AbstractThis works aims to study the effect of partial substitution of ordinary Portland cement (OPC) by silica fume (SF) and fly ash (FA) on the physico-mechanical properties of the hardened OPC–FA–SF composite cement pastes. The OPC was partially replaced by 20% and 30% fly ash along with 5% and 10% silica fume. The phase composition of the hydration products was investigated using XRD and DTA techniques. It was found that, the increase of FA content in OPC–FA–SF composite cement decreases the water consistency values and increases the setting times. On the other hand, the increase of SF content leads to increase the water of consistency and decrease the setting times. The partial substitution of OPC by FA and SF leads to higher porosity values with a consequent decrease in the compressive strength values especially during the early ages of hydration. At the later ages of hydration, however, the OPC–FA–SF cement pastes possess total porosity and compressive strength values close to those of the neat OPC paste. The lower of free lime contents were obtained for OPC–FA–SF composite cement pastes with the formation of further additional amounts of CSH as a result of the pozzolanic reaction. The results showed also that, the physico-mechanical properties of composite cement paste [OPC (65%)–FA (30%)–SF (5%)] were improved at later ages

Different Methods to Decrease Seroma Formation Post Hernioplasty of Ventral Hernias

Background: Wounds can become infected associated with serous collection in the wound dead space in a condition known as seroma. After abdominal wall hernias correction, a variety of treatments have been tried to decrease seroma formation. Objective: To assess the rule of different modalities used in prevention of seroma formation post abdominal wall hernias repair. Patients and Methods: At Zagazig University Faculty of Medicine's General Surgery Department we carried out a clinical trial investigation. Transverse incisions and suction drains have been inserted in all patients undergoing hernioplasty and onlay mesh repair. The patients were divided into 4 groups: Group A: Classic hernioplasty for ventral hernia. Group B: Applying of histoacryl intraoperative after onlay mesh fixation. Group C: Applying of fibrin glue intraoperative after onlay mesh fixation. Group D: block closure of dead space after onlay mesh fixation. The patients were followed up in inpatients wards for 24 hours then discharged to continue their care and follow up in outpatient clinic at 1, 2, and 4 weeks. Results: When it came to the reduction of seroma production or other postoperative outcomes, there was no statistically significant difference between the groups. Conclusion: Fluid buildup can be avoided with the use of sclerotherapy, a minimally-invasive procedure that eliminates empty space. Chemical agents, tetracyclines, and talc were used satisfactorily with minimal complication rates

Detection of subclinical paratuberculosis in dairy cattle in Egypt

Paratuberculosis (PTB) is a chronic disease affecting ruminants caused by mycobacterium avium subspecies paratuberculosis (MAP), characterized by the iceberg phenomena, as many cases are subclinical and underdiagnosed. An early diagnosis is imperative; however, no reliable single test is available, leading to delayed culling. Furthermore, using more than one test increases the rate of positively diagnosed cases. The current study aimed to detect subclinical PTB in dairy cows in El-Minia governorate, Egypt, using ELISA jointly with the detection of MAP by PCR. The positive cases were also subjected to pathological examination to determine whether lesions were present and their severity. A total of 145 cows of different breeds (Baladi, Mixed, and Holestins) and ages were tested by ELISA and PCR. Our results showed that the positive PTB cases detected by ELISA and PCR were 17.24% and 20%, respectively. Holestins have a significantly higher infection rate 31.70% than Baladi and Mixed breeds. In contrast, the native (Baladi) breed has the lowest infection rate 11.47%. Moreover, PTB is more common in cows aging (age ≥ 1.5- <2.5 is 28.2% and age ≥ 2.5- <3.5 is 22.91%). Among PCR-positive cases, 58.62% showed gross lesions, mainly thickening and folding of the intestinal mucosa and swelling of mesenteric lymph nodes. Histopathologically, 86.20% had chronic granulomatous enterocolitis and lymphadenitis. Furthermore, acid-fast bacilli were observed in 82.75%. Thus, subclinical PTB diagnosis could be more accurately confirmed when multiple diagnostic tools are used together

Проблема здоровьесбережения детей в современной России

Pretreatment of mixed softwoods with SO2 impregnation and steam for production of ethanol has been investigated. The optimal conditions, both for sugar yield and ethanol yield, to assess the effect of inhibitors formed in the pretreatment, have been determined. The parameters investigated were: SO2 concentration (1-6% (w/w) dry matter), temperature (190-230 degrees C) and residence time (2-15 min). After pretreatment, the material was separated into a solid residue and a filtrate. The solid residue was enzymatically hydrolysed with 2% dry matter (w/w). To investigate fermentability, the hydrolysed filtrate was fermented using Saccharomyces cerevisiae. The effects of the different parameters are described by response-surface modelling. The highest experimental sugar yield of 42.1 g per 100 g dry matter was obtained at 210 degrees C and 5.5 min residence time. Although the fermentabilities were good for all filtrates with yields greater than 90% of the yield obtained in a pure glucose reference solution, the pretreatment has a clear influence on the ethanol production rate. (C) 1998 SCI