Adaptive Controller Algorithm for 2-DOF Humanoid Robot Arm

AbstractA computational model of human motor control for a nonlinear 2 degrees-of-freedom (DOF) robot arm to mimic humanlike behavior is developed and presented in this paper. The model is based on a simple mathematical model of a 2-segment compound pendulum which mimics the human upper arm and forearm. Using the Lagrangian and Euler-Lagrange equations, the 2-DOF dynamic equations were successfully derived and solved using Euler's method. Two types of controllers; a feedback Proportional-Derivative (PD) controller and a feedforward controller, were combined into the model. The algorithm exhibited learning of the necessary torque required in performing the desired Position Control via Specific Trajectory (PCST) rehabilitative task via feedback control and using it as the feedforward torque in subsequent trial motions. After 30 trials, the mean absolute error with respect to the desired motion of the upper arm, showed a decrease from 0.09533 to 0.005859, and the forearm motion from 0.3526 to 0.006138. This decrement trend in mean absolute errorwith increase in number of trials is consistent with the adaptive control strategy of the human arm known as the Feedback Error Learning (FEL) strategy

Energy Management in Public Higher Education Institutions in Ghana

This paper investigates the implementation of energy management key practices in six public higher education institutions in Ghana in order to identify the existence of potential to save energy. Data for this research was obtained through questionnaire based on an energy management assessment measurement tool involving heads of estates/property and maintenance departments of the studied institutions. Total of 45 key practices adapted from previous studies has been used to assess the implementation of energy management in the respective institutions in Ghana. The study revealed that implementation of energy management key practices was generally low across all the phases. Six key practices - informing of the reasons/need for energy management, motivation, conducting economic analyses, tracking and targeting energy usage and key energy use groups, and reviewing building drawings and equipment specification - were not implementad by any institution. The key practices that were implemented quite well in the planning, implementation and monitoring phase respectively were: ‘gaining top management commitment’ and ‘providing sufficient tools’; improving sufficiency of electrical appliances’; and ‘advising on energy matters’. The findings from the study has shown that energy management is an untapped potential to reduce electricity cost in higher education institutions (HEIs) in Ghana. Keywords: Energy, energy management; energy management key practices; higher education institutions, Ghana

Siam-weeb based gelatin electrospun scaffolds

Siam weed (Chromolaena odorata) is a traditional herb used to soothe burns and scars and potentially improve dressing and tissue-engineered construct healing ability. The use of Siam weed is mainly in the form of extract. The state of liquid extract limits the use of Siam weed compared to the state of gels and membrane. However, the development of the hybrid of Siam weed in gel and membrane form is lacking. In this study, Siam weed was harvested and made into aqua extracts. The biocompatibility of the aqua extract with various concentrations was tested using Cell Proliferation Assay. The aqua extract was then incorporated into the gelatin solution and spun into nanofibers using an electrospinning technique. The cell proliferation study shows maximum cell proliferation at the 25 μg/ml concentration. The scanning electron microscope images of the electrospun scaffolds show fibrous networks’ microstructures without beads. The concentration of the hybrid solution was found to affect the morphology of the nanofibers by having diameters in the range of 160 ± 90 to 250 ± 150 nm. The Siam-weed-based gelatin electrospun scaffolds provide a native-like microenvironment and potentially improve wound healing ability for biomedical application

Bridging Modern Medicine with Islamic Complementary Medicine: A Preliminary Attempt in Malaysian Context

Modern medicine has a long historical account. It is established through continuous series of contributions by many other disciplines. However, modern medicine does not provide answers and solutions to cure all diseases; otherwise it will not introduce the term idiopathic. When allopathy medicine failed to provide solutions to complicated disease that is related to jinn’ influence on the patients, then alternative medicine, complementary medicine, traditional healing, and Islamic complementary medicine (ICM) may be referred to. This paper discusses the bridging of modern medicine and ICM in dealing with six cases of patients who received treatments from both practices in Malaysia. These preliminary attempts have brought in positive results to the patients’ well-being and wellness

Experimental analysis on the transduction coefficient of a non-linear electromagnetic energy harvesting device with softening stiffness

Non-linear energy harvesting devices in the form of stiffness non-linearity have emerged as among the effective solutions to overcome the performance limit of linear energy harvesting devices. However, up to now, researches on the non-linear devices are only focusing on the ability to widen the bandwidth while the limit of employing linear transduction coefficient in a non-linear system has yet to be heavily discussed. This paper investigates on the transduction coefficient for both linear and non-linear systems of an electromagnetic energy harvesting device as a function of the excitation frequency. It is proven that the transduction coefficient of the nonlinear device is larger than its equivalent linear device, especially in the multi-stable solutions region. In common practice, the non-linearity in the non-linear system is considered weak, and its transduction coefficient is assumed to converge to the one produced by the linear system. The limits to which the transduction coefficient of a linear system can be employed on the non-linear system were drawn based on the experimental analysis conducted on the proposed device. The device was designed to perform as a linear or non-linear system, where the degree of non-linearity was changed by varying the gap between the magnets. The limit of the transduction coefficient was determined from the analysis of the harmonic ratio. The results show that the linear transduction coefficient is valid to be employed to the non-linear system when the harmonic ratio is less than five per cent at the multi-stable solutions regio

Coping strategies for sexual problems and sexual dysfunction amongst Malay women with breast cancer : a qualitative study

Introduction: Women’ sexuality becomes complex after breast cancer diagnosis and sexual health is highly neglected in the management of the illness. Aims: To explore the coping and strategies to overcome sexuality problems and sexual dysfunction among women with breast cancer. Material and Methods: Using the in-depth and photo-elicitation interview methods, this qualitative study following phenomenological analysis was conducted on fourteen married female respondents with breast cancer and had the positive result for female sexual dysfunction (FSD) screened by Female Sexual Function Index (FSFI-6 items) from Kelantan, Malaysia. The interviews data were audio-recorded, transcribed verbatim and managed in analytic computer software NVivo11 Pro. The transcriptions were analyzed using thematic analysis by referring to the meaning-making theory. Main Outcome Measures: We identified overlapping themes of coping and strategies among women with breast cancer to overcome sexual problems and sexual dysfunction which correspond with meaning-making theory. Results: Three themes have emerged. Women with breast cancer that developed sexuality problem and sexual dysfunction strived to accept the illness using religious belief and conform by altering sexual practices. These individuals positively look for a solution by seeking formal healthcare advice, modify their physical appearance, active discussion with the husband and support from other survivors. A few of them passively struggle with the subject by averting the intimacy and receptive toward polygamy. Conclusion: This study highlighted the various mechanisms that emphasized the pivotal role of religious belief and relationship context as key factors in the coping strategies among women with breast cancer in Malaysia. The finding may not be generalized to other countries

Syntaxin 16 is a master recruitment factor for cytokinesis

Recently it was shown that both recycling endosome and endosomal sorting complex required for transport (ESCRT) components are required for cytokinesis, in which they are believed to act in a sequential manner to bring about secondary ingression and abscission, respectively. However, it is not clear how either of these complexes is targeted to the midbody and whether their delivery is coordinated. The trafficking of membrane vesicles between different intracellular organelles involves the formation of soluble N-ethylmalei­mide–sensitive factor attachment protein receptor (SNARE) complexes. Although membrane traffic is known to play an important role in cytokinesis, the contribution and identity of intracellular SNAREs to cytokinesis remain unclear. Here we demonstrate that syntaxin 16 is a key regulator of cytokinesis, as it is required for recruitment of both recycling endosome–associated Exocyst and ESCRT machinery during late telophase, and therefore that these two distinct facets of cytokinesis are inextricably linked

Patterns of medication use and factors associated with antibiotic use among adult fever patients at Singapore primary care clinics.

BACKGROUND: Antimicrobial resistance is a public health problem of global importance. In Singapore, much focus has been given to antibiotic usage patterns in hospital settings. Data on antibiotic use in primary care is lacking. We describe antibiotic usage patterns and assess factors contributing to antibiotic usage among adults presenting with acute febrile illness (AFI) in primary care settings in Singapore. METHODS: We analyzed data from the Early Dengue infection and outcome study. Adults with AFI presenting at 5 Singapore polyclinics were included. We used multivariable logistic regression to assess demographic, clinical and laboratory factors associated with antibiotic usage among adults with AFI. RESULTS: Between December 2007 and February 2013, 1884 adult AFI patients were enrolled. Overall, 16% of adult AFI patients reported antibiotic use. We observed a rise in the use of over-the-counter medications in late 2009 and a decrease in antibiotic use during 2010, possibly related to the outbreak of pandemic influenza A H1N1 virus. After adjusting for age, gender, polyclinic and year of enrolment, the following factors were associated with higher odds of antibiotic use: living in landed property (compared to public housing) (OR = 1.73; 95% CI: 1.06-2.80); body mass index (BMI) <18.5 (OR = 1.87; 95% CI: 1.19-2.93); elevated white blood cell (WBC) count (OR = 1.98; 95% CI: 1.42-2.78); and persistence of initial symptoms at 2-3 days follow-up with OR (95% CI) for categories of 1, 2, 3, and ≥4 persisting symptoms being 2.00 (1.38-2.92), 2.67 (1.80-3.97), 4.26 (2.73-6.64), and 2.79 (1.84-4.24) respectively. CONCLUSIONS: Our study provides insights on antibiotic usage among adult patients presenting to primary care clinics with febrile illness, and suggests that high socio-economic status, and risk factors of a severe illness, that is, low BMI and persistence of initial symptoms, are associated with higher antibiotic use. Further work to understand trends of antibiotic usage in both private and public primary care clinics, and factors that influence patient expectation and physician prescribing of antibiotics is important

High-throughput, quantitative analyses of genetic interactions in E. coli.

Large-scale genetic interaction studies provide the basis for defining gene function and pathway architecture. Recent advances in the ability to generate double mutants en masse in Saccharomyces cerevisiae have dramatically accelerated the acquisition of genetic interaction information and the biological inferences that follow. Here we describe a method based on F factor-driven conjugation, which allows for high-throughput generation of double mutants in Escherichia coli. This method, termed genetic interaction analysis technology for E. coli (GIANT-coli), permits us to systematically generate and array double-mutant cells on solid media in high-density arrays. We show that colony size provides a robust and quantitative output of cellular fitness and that GIANT-coli can recapitulate known synthetic interactions and identify previously unidentified negative (synthetic sickness or lethality) and positive (suppressive or epistatic) relationships. Finally, we describe a complementary strategy for genome-wide suppressor-mutant identification. Together, these methods permit rapid, large-scale genetic interaction studies in E. coli