15 research outputs found
Motion design for high speed machines.
The dynamic performance of a programmable manipulator depends on both the motion profile to be followed and the feedback control method used. To improve this performance the manipulator trajectory requires planning at an advanced level and an efficient control method has to be used. The purpose of this study is to investigate high-level trajectory planning and trajectory tracing problems. It is shown that conventional trajectory planning methods where the motion curves are generated using standard mathematical functions are ineffective for general application especially when velocity and acceleration conditions are included. Polynomial functions are shown to be the most versatile for these applications but these can give curves with unexpected oscillations, commonly called meandering. In this study, a new method using polynomials is developed to overcome this disadvantage. A general motion design computer program (MOTDES) is developed which enables the user to produce motion curves for general body motion in a plane. The program is fully interactive and operates within a graphics environment. A planar manipulator is designed and 'constructed to investigate the practical problems of trajectory control particularly when operating at high speeds. Different trajectories are planned using MOTDES and implemented to the manipulator. The precise tracing of a trajectory requires the use of advanced control methods such as adaptive control or learning. In learning control, the inputs of the current cycle are calculated using the experience of the previous circle. The main advantage of learning control over adaptive control is its simplicity. It can be applied more easily in real time for high-speed systems. However, learning algorithms may cause saturation of the driving servo motors after a few learning cycles due to discontinuities being introduced into the command curve. To prevent this saturation problem a new approach involving the filtering of the input command is developed and tested
A Research of nasal methicillin resistant/sensitive Staphylococcus aureus and pharyngeal beta-haemolytic Streptococcus carriage in midwifery students in Kahramanmaras, Eastern Mediterranean Region of Turkey
Background: In the hospitals where hygienic conditions are not provided, nasal methicillin resistant/sensitive Staphylococcus aureus (MRSA/MSSA) colonization is seen in the hospital personnel and patients. Both the individuals’ themselves being MRSA/MSSA carriers and also other people around them are under risk and this bacterium leads to nasal colonization and then can propagate through contaminated hands and hospital materials.Objective: In this study, it was aimed to research MRSA/MSSA and beta-haemolytic streptococcus (BHS) carriage in the nose and throat flora of students of, School of Health.Methods: In the study, total of 160 midwifery students taking midwifery education was included in the research but 135 (84.4 %) out of 160 students were able to be reached. The nose and throat swab samples taken from students were examined through microbiological methods.Results: 14.1 % of students were nasal MSSA carrier. While there wasn't the nasal MRSA carrier among students attending the study in the 1st and 2nd class, 3.3 % (1 person) of the 3rd class students and 10.0 % (3 people) of the 4th class students were the nasal MRSA carrier. In addition, BHS carriage was determined in 1.5 % of students and there wasn't any difference between classes.Conclusions: These results indicate that midwifery students might have been contaminated with MSSA/MRSA during clinical practice. That MSSA/MRSA being an important pathogen is seen in midwifery students taking education in the birth units threatens the mother-child health. [Ethiop. J. Health Dev. 2010;24(1):57-60
Incisional Light-Guided Intervention (Ilgi) Technique for Urethral Stricture Treatment
A male urethral stricture is common problems of the low urinary tract secondary to the transurethral procedure etc.. In this paper, we define a technique is the composition of the using flexible cystoscopy and internal urethrotomy simultaneously with two different surgeons. This method is an acceptable in patients who have multiple comorbidities, high risks and follow up with indwelling urethral catheterization
First Case of Right Malrotated Kidney Transplantation
Vascular anatomy may widely vary in malrotated kidneys, depending on the degree of rotation. Polar arteries and venules are often accompanied by structural and positional anomalies of the kidney that can make donor nephrectomy more complicated. Detailed evaluation of the donor before surgery is very important for both surgeon and patient. In particular, vascular anatomy should be evaluated in detail by modern imaging methods in donor nephrectomy. Herein we share our experience with right malrotated kidney open donor nephrectomy