Motion planning and assembly for microassembly workstation

In general, mechatronics systems have no standard operating system that could be used for planning and control when these complex devices are running. The goal of this paper is to formulate a work platform that can be used as a method for obtaining precision in the manipulation of micro-entities using micro-scale manipulation tools for microsystem applications. This paper provide groundwork for motion planning and assembly of the Micro-Assembly Workstation (MAW) manipulation system. To demonstrate the feasibility of the idea, the paper implements some of the motion planning algorithms; it investigates the performance of the conventional Euclidean distance algorithm (EDA), artificial potential fields’ algorithm, and A* algorithm when implemented on a virtual space

A fast algorithm for vision-based hand gesture recognition for robot control

We propose a fast algorithm for automatically recognizing a limited set of gestures from hand images for a robot control application. Hand gesture recognition is a challenging problem in its general form. We consider a fixed set of manual commands and a reasonably structured environment, and develop a simple, yet effective, procedure for gesture recognition. Our approach contains steps for segmenting the hand region, locating the fingers, and finally classifying the gesture. The algorithm is invariant to translation, rotation, and scale of the hand. We demonstrate the effectiveness of the technique on real imagery

Rethinking mission, missions and money: A focus on the Baptist Church in Central Africa

The African church has the most growing figures compared to the west and yet it contributes the least to world missions. This article analyses the issue of disparity in funding mission practices between the African church and its mother church, the Western church. It then explores reasons behind the African church’s struggles to support missions and identifies opportunities for world missions to which the eastern Congolese church is exposed. A critical analysis of different arguments and reports from different authors was used to draw the main conclusions and, therefore, identify the central reason of the disparity and provide recommendations for the two churches. The paper suggests how scholars and the church should rethink mission, missions and money in Eastern Congo

Motion planning and assembly for microassembly workstation

In general, mechatronics systems have no standard operating system that could be used for planning and control when such devices are running. Our goal is to formulate a work platform that can be used as an environment for obtaining precision in the manipulation of micro-entities using micro-scale manipulation tools of our microsystem applications such as our microassembly workstation. The microassembly workstation setup is made up of the manipulation system, vision system, robust control system and manipulation tools. In this thesis we also provide groundwork for motion planning and assembly of the microassembly workstation manipulation system. We implemented the motion planning algorithms which are tested in the virtual workspace environment in order to demonstrate the functionality of the work platform. Firstly, we investigate the performance of the conventional Euclidean distance algorithm, then, artificial potential field algorithm, and finally A* algorithm when implemented on a virtual space. The physical conditions of the microworld hinder the immediate application of the work platform with the motion planning algorithms on the microassembly workstation. We demonstrate our test results of the motion planning algorithms on the virtual workspace and grid window of the work platform. However, due to object oriented programming nature of the work platform, eventually the work platform can be easily interfaced with the microassembly workstation once the problems which limit the micromanipulation and assembly are attended

The Safety of Adult Male Circumcision in HIV-Infected and Uninfected Men in Rakai, Uganda

Ron Gray and colleagues report on complications of circumcision in HIV-infected and HIV-uninfected men from two related trials in Uganda, finding increased risk with intercourse before wound healing

Quantifying HIV transmission flow between high-prevalence hotspots and surrounding communities: a population-based study in Rakai, Uganda

Background International and global organisations advocate targeting interventions to areas of high HIV prevalence (ie, hotspots). To better understand the potential benefits of geo-targeted control, we assessed the extent to which HIV hotspots along Lake Victoria sustain transmission in neighbouring populations in south-central Uganda. Methods We did a population-based survey in Rakai, Uganda, using data from the Rakai Community Cohort Study. The study surveyed all individuals aged 15–49 years in four high-prevalence Lake Victoria fishing communities and 36 neighbouring inland communities. Viral RNA was deep sequenced from participants infected with HIV who were antiretroviral therapy-naive during the observation period. Phylogenetic analysis was used to infer partial HIV transmission networks, including direction of transmission. Reconstructed networks were interpreted through data for current residence and migration history. HIV transmission flows within and between high-prevalence and low-prevalence areas were quantified adjusting for incomplete sampling of the population. Findings Between Aug 10, 2011, and Jan 30, 2015, data were collected for the Rakai Community Cohort Study. 25 882 individuals participated, including an estimated 75·7% of the lakeside population and 16·2% of the inland population in the Rakai region of Uganda. 5142 participants were HIV-positive (2703 [13·7%] in inland and 2439 [40·1%] in fishing communities). 3878 (75·4%) people who were HIV-positive did not report antiretroviral therapy use, of whom 2652 (68·4%) had virus deep-sequenced at sufficient quality for phylogenetic analysis. 446 transmission networks were reconstructed, including 293 linked pairs with inferred direction of transmission. Adjusting for incomplete sampling, an estimated 5·7% (95% credibility interval 4·4–7·3) of transmissions occurred within lakeside areas, 89·2% (86·0–91·8) within inland areas, 1·3% (0·6–2·6) from lakeside to inland areas, and 3·7% (2·3–5·8) from inland to lakeside areas. Interpretation Cross-community HIV transmissions between Lake Victoria hotspots and surrounding inland populations are infrequent and when they occur, virus more commonly flows into rather than out of hotspots. This result suggests that targeted interventions to these hotspots will not alone control the epidemic in inland populations, where most transmissions occur. Thus, geographical targeting of high prevalence areas might not be effective for broader epidemic control depending on underlying epidemic dynamics. Funding The Bill & Melinda Gates Foundation, the National Institute of Allergy and Infectious Diseases, the National Institute of Mental Health, the National Institute of Child Health and Development, the Division of Intramural Research of the National Institute for Allergy and Infectious Diseases, the World Bank, the Doris Duke Charitable Foundation, the Johns Hopkins University Center for AIDS Research, and the President's Emergency Plan for AIDS Relief through the Centers for Disease Control and Prevention

Subsistence accounting and development planning in Africa.

The United Nations Economic Commission for Africa defines subsistence activities as "the production of goods and services which are subsequently found to have, been directly used by their producers and not exchanged for money" (14: p.41). Thus, the concept of subsistence production is essentially an ex-post one. It is possible to know how much of the rice produced, for example, is subsistence after both the total rice produced and the marketed surplus have been established

Duplex ultrasound in upper and lower limb deep venous thrombosis

Duplex ultrasound involves B-mode and Doppler ultrasound. Duplex ultrasonography is a radiological examination requested by clinicians in patients with symptoms of deep venous thrombosis such as upper or lower limb swelling, pain and tenderness. Deep venous thrombosis is a pathology in which clot formation causes obstruction of blood flow. The lower limbs are more affected by DVT than upper limbs. Several radiological investigations may be helpful to make the diagnosis. Ultrasound remains a non-ionic, non-invasive, cheaper, available and accurate investigation for prompt diagnosis of DVT however Duplex USG must be done by a radiologist or an experimented sonographer. The sonographic findings may be of acute or chronic DVT. In acute DVT, the intra luminal blood clot is hypoechoic or anechoic whereas in chronic DVT, it is hyperechoic with peripheral revascularization on color Doppler imaging. The results of Doppler ultrasound are sent to clinicians for good treatment plan and follow-up. The treatment is urgent in acute DVT to prevent pulmonary embolism, a life-threatening complication with high mortality rate.&nbsp;</p

The safety and acceptance of the PrePex device for non-surgical adult male circumcision in Rakai, Uganda. A non-randomized observational study.

To assess the safety and acceptance of the PrePex device for medical male circumcision (MMC) in rural Uganda.In an observational study, HIV-uninfected, uncircumcised men aged 18 and older who requested elective MMC were informed about the PrePex and dorsal slit methods and offered a free choice of their preferred procedure. 100 men received PrePex to assess preliminary safety (aim 1). An additional 329 men, 250 chose PrePex and 79 chose Dorsal slit, were enrolled following approval by the Safety Monitoring Committee (aim 2). Men were followed up at 7 days to assess adverse events (AEs) and to remove the PrePex device. Wound healing was assessed at 4 weeks, with subsequent weekly follow up until completed healing.The PrePex device was contraindicated in 5.7% of men due to a tight prepuce or phimosis/adhesions. Among 429 enrolled men 350 (82.0%) got the PrePex device and 79 (18.0%) the dorsal slit procedure. 250 of 329 men (76.0%) who were invited to choose between the 2 procedures chose Prepex. There were 9 AEs (2.6%) with the PrePex, of which 5 (1.4%) were severe complications, 4 due to patient self-removal of the device leading to edema and urinary obstruction requiring emergency surgical circumcision, and one due to wound dehiscence following device removal. 71.8% of men reported an unpleasant odor prior to PrePex removal. Cumulative rates of completed wound healing with the PrePex were 56.7% at week 4, 84.8% week 5, 97.6% week 6 and 98.6% week 7, compared to 98.7% at week 4 with dorsal slit (p<0.0001).The PrePex device was well accepted, but healing was slower than with dorsal slit surgery. Severe complications, primarily following PrePex self-removal, required rapid access to emergency surgical facilities. The need to return for removal and delayed healing may increase Program cost and client burden