Locomotion Optimization of Photoresponsive Small-scale Robot: A Deep Reinforcement Learning Approach

Soft robots comprise of elastic and flexible structures, and actuatable soft materials are often used to provide stimuli-responses, remotely controlled with different kinds of external stimuli, which is beneficial for designing small-scale devices. Among different stimuli-responsive materials, liquid crystal networks (LCNs) have gained a significant amount of attention for soft small-scale robots in the past decade being stimulated and actuated by light, which is clean energy, able to transduce energy remotely, easily available and accessible to sophisticated control. One of the persistent challenges in photoresponsive robotics is to produce controllable autonomous locomotion behavior. In this Thesis, different types of photoresponsive soft robots were used to realize light-powered locomotion, and an artificial intelligence-based approach was developed for controlling the movement. A robot tracking system, including an automatic laser steering function, was built for efficient robotic feature detection and steering the laser beam automatically to desired locations. Another robot prototype, a swimmer robot, driven by the automatically steered laser beam, showed directional movements including some degree of uncertainty and randomness in their locomotion behavior. A novel approach is developed to deal with the challenges related to the locomotion of photoresponsive swimmer robots. Machine learning, particularly deep reinforcement learning method, was applied to develop a control policy for autonomous locomotion behavior. This method can learn from its experiences by interacting with the robot and its environment without explicit knowledge of the robot structure, constituent material, and robotic mechanics. Due to the requirement of a large number of experiences to correlate the goodness of behavior control, a simulator was developed, which mimicked the uncertain and random movement behavior of the swimmer robots. This approach effectively adapted the random movement behaviors and developed an optimal control policy to reach different destination points autonomously within a simulated environment. This work has successfully taken a step towards the autonomous locomotion control of soft photoresponsive robots

Role of Pakistan poverty alleviation fund's micro credit in poverty alleviation: a case of Pakistan

Poverty alleviation has been one of the major agenda of all civilized societies throughout the history. Different strategies have been adopted in Pakistan for the purpose, which include special programs and short-term measures targeted towards improving the earning capacity of masses and provision of social safety nets for the really poor. With a view to enhance the access of the low-income communities to socio-economic services, the Government of Pakistan has set up an independent and professionally managed unit, the Pakistan Poverty Alleviation Fund (PPAF). The Fund is working through a network of partner organizations having strong community outreach programs. PPAF continuously monitors and analyzes effectiveness of its programs. This paper attempts to quantify the impact of PPAF micro credit on poverty alleviation.. Data collected in Gallup (2005) has been utilized for the purpose. Counter-factual ‘Combined approach’ has been employed in the analysis. The Paper concludes that Micro credit has reduced poverty by 3.05 percentage points in the period under stud

JOB-RELATED CONSTRAINTS FACED BY WORKING WOMEN IN RURAL AREAS: A CASE STUDY OF AKBAR PURA DISTRICT NOWSHERA, KHYBER PAKHTUNKHWA, PAKISTAN

The study was conducted in Akbar Pura village, located in the Nowshera district of Khyber Pakhtunkhwa, Pakistan, with the objective of examining the job-related constraints faced by working women. The study aimed to identify the types and nature of jobs undertaken by these women and investigate the challenges they encountered both in the workplace and at home due to family responsibilities. A sample of households with working women was selected using simple random sampling, representing twenty-five percent of the total households. The findings of the study indicated that most of the respondents were literate, belonged to the young age group, and were unmarried; the majority of the working women were involved in teaching professions. The practice of pardah (veiling) was common among the respondents, and it was perceived as both a cultural and Islamic practice. The study identified several constraints and difficulties faced by working women, these included problems related to transportation, instances of men staring at women, time constraints, managing household responsibilities, lack of respect for female workers, and the expectation to return home early. The majority of the women shared these problems with their family members. Based on the findings, the study recommended the provision of a conducive and secure environment for working women so that they can perform their jobs effectively and support their families. It also emphasized the importance of prioritizing women's education to enable them to shoulder the economic burdens of their families. In summary, the study conducted in Akbar Pura village highlighted the job-related constraints faced by working women. The findings emphasized the need for a supportive environment and increased education for women to empower them economically and address the challenges they face in both the workplace and their homes.  Article visualizations

Pattern of Presentation of Spinal Dysraphism: A Study of 72 Patients in Hayatabad Medical Complex Peshawar, Pakistan

Objective:  To review the pattern of presentation and current understanding of patients with spinal dysraphism in our local population. Material and Methods:  Cases of spinal dysraphism of any gender and age were admitted via OPD, emergency or referred from another department were included in the study. Information on demographics, developmental history, presenting symptoms , presence/absence of back swelling, hairy patches, a nevus, dimple, an appendage/ skin tag, lower limb function, sensory/ motor deficit, bowel and bladder dysfunction were recorded. MRI spine was done in all patients to know the exact diagnosis. Results:  Out of 72 cases, 52 (72.2%) presented with spina bifida Aperta (spina bifida cystica) while 20 (27.7%) with spina bifida occulta. Total 53 (73.6%) patients presented at the age of 0 – 1 years. 41 (56.9%) of the patient presented with visible sac, 35 (48.6%) swelling over the back, in 5 (6.9%) of patient have hairy patch and dermal sinus each, while 28 (38.8%) patients have neurological deficit. Most common type of spinal dysraphism was myelomeningocele 45 (62.5%). Postoperative course of patients with spinal dysraphism was found to be uneventful in 56 (77.7%), wound infection was seen in 11 (15.2%), deterioration of neurological status in 3 (4.16%) of cases. Conclusion:  Spinal dysraphism is not an uncommon condition in our local population its clinical presentation and features are in line with internationally reported literature. Our population is least aware of the adverse neurological outcomes of the condition and face difficulties to access the adequate healthcare for spinal dysraphism

Urease Inhibitor Application Stages and Nitrogen Levels Influenced on Morpo-Phenological Traits of Wheat Cultivars

A field trial was carried out at New Developmental Farm of The University Agriculture, Peshawar, Pakistan during winter 2012-13, in order to study the urease inhibitor application stages and nitrogen levels influenced on morpo-phenological traits of wheat cultivars. Therefore the field experiment was conducted in randomized complete block design with split plot arrangement having four replications.  Nitrogen levels (60, 120 and 150 kg ha-1) and urease inhibitor  stages (100% sowing stage, 50% sowing stage + 50% booting stage and 100% booting stage) were allotted to main plots, while  wheat cultivars (Siran and Atta Habib)  were allotted to sub plots.  Plots treated with 120 kg N ha-1 took maximum days to booting (128), improved plant height (97.9 cm), leaf area tiller-1 (117.8 cm2), spike length (11.3 cm) and biological yield (10382 kg ha-1) but maximum (185) days to maturity  was observed when plots treated with 150 kg N ha-1 as compared with control plots. Application of urease inhibitor 100% at sowing stage took maximum booting (133) days, maturity (186) days, improved plant height (102 cm), leaf area tiller-1 (128 cm2), spike length (11.6 cm) and biological yield (11386 kg ha-1) as compared with urease application 100% at booting stage. Wheat cultivar Siran had significantly took maximum booting (123) days, maturity (178) days, plant height (94.5 cm), leaf area tiller-1 (97.6 cm2), spike length (10.3 cm) and biological yield (9331 kg ha-1) as compared to Atta Habib. Hence cultivar Siran treated with 120 kg N ha-1 and coated urease inhibitor 100% at sowing stage produced the best results in terms of plant height, leaf area tiller-1, physiological maturity and biological yield. Keywords: Wheat (Triticum aestivum L.), urease inhibitor application stages, nitrogen levels, wheat cultivars, phenology, morpholog

Use of home remedies and traditional medicines for the treatment of common Eye ailments in Pakistan: a qualitative study

Purpose: Qualitative studies focusing on the use of home remedies and traditional medicines for eye health are lacking. We explored the use of eye remedies and traditional eye medicines (referred to hereafter as “eye remedies/TEM”) in Pakistan’s Abbottabad district. Material and Methods: We conducted face-to-face key informant interviews with 16 teachers (8 men, 8 women). Participants were asked to list eye remedies/TEM used in their home or in areas where they lived. They were also asked to specify conditions for which each one of them is used. Their responses were noted manually and the interview scripts were translated from Urdu into English. A content analysis of the transcripts was carried out to identify the main themes arising from the interviews. Results: Eye remedies/TEM were popular with the participants and in areas where they lived. 18 eye remedies/TEM were identified, the majority of them being used to treat irritable, red eye. The most frequently mentioned symptom necessitating eye remedies/TEM was burning or itching, followed by redness, watering and pain, and swelling. One participant noted his family uses goat’s milk diluted with water to treat red, dirty and discharging eyes in newborn babies. Other main themes were the use of remedies/TEM particularly surma (kohl) to “sharpen the vision” and to “enhance the appearance of the eyes”. Use of Home Remedies and Traditional Medicines for the Treatment of Common Eye Ailments in Pakistan: A Qualitative Study (PDF Download Available). Available from

Performance Comparison of Particle Filter in Small Satellite Attitude Estimation

The drive towards miniaturization, coupled with the latest advances in onboard processing, has given rise to small satellite missions’ ability to use more complex attitude estimation algorithms to fit their progressive mission requirements. Earth observation missions typically require higher satellite attitude pointing accuracies to precisely control the satellite orientation. Hence, to provide greater confidence in the attitude estimation accuracies, new advanced algorithms are continuously being developed. Satellite attitude estimation must be performed autonomously in real-time whilst optimizing computational resources such as time and memory. Small satellite missions with higher complexities tend to demand more sophisticated requirements, which push the limits of classical attitude estimation methods. The Particle Filter is an advanced Bayesian estimation technique that has shown significant improvements in satellite attitude estimation. This work describes the Particle Filter and its implementation to the attitude and angular rate estimation for a 3U CubeSat in Low Earth Orbit, whilst comparing attitude estimation performance in two different settings: with three-axis magnetometer measurements; and with combined measurements from a three-axis magnetometer and sun sensors. This work further reports that for attitude determination in small satellites, the Particle Filter is a more accurate attitude estimator than the widely used Extended Kalman Filter. The Particle Filter yields attitude estimation accuracy of ±0.01°, while the Extended Kalman Filter attitude estimation accuracy is ±1°. Moreover, the results indicate that the use of an additional sensor improves the attitude estimation accuracy of the Particle Filter by 17%. It is essential to consider different sensor combinations as it helps select the most suitable sensor suite and attitude estimator for an individual small satellite mission

Sleep Fainting: A Neurocardiogenic Entity

Fainting is a common clinical presentation, with vagally mediated (neurocardiogenic) causes being the most common for syncope presentation to the emergency room, and for hospital admissions. Classic teaching is that upright posture is a prerequisite for vagally mediated syncope (VMS) and that syncope in the supine position has more sinister causes. We present five patients, three males and two females, with a mean age of 44.4 (range 29-67) years, who presented with VMS in the supine position (sleep fainting). Four patients also had a history of classic upright syncope. Based on their clinical features and thorough investigations, we excluded other causes of loss of consciousness and diagnosed these patients to be having VMS in the supine position (sleep fainting). We further describe the management and follow-up of these patients. Sleep fainting/syncope is a new entity and has to be recognized for appropriate management. A diagnosis can be established if there is clinical suspicion, preserved left ventricular function without evidence of coronary artery disease, no high-risk electrocardiographic evidence of pre-excitation, long or short QT syndrome, Brugada syndrome or arrhythmogenic right ventricular dysplasia, and normal neurological work-up