Dynamic modelling of a single-link flexible manipulator: Parametric and non-parametric approaches

This paper presents an investigation into the development of parametric and non-parametric approaches for dynamic modelling of a flexible manipulator system. The least mean squares, recursive least squares and genetic algorithms are used to obtain linear parametric models of the system. Moreover, non-parametric models of the system are developed using a non-linear AutoRegressive process with eXogeneous input model structure with multi-layered perceptron and radial basis function neural networks. The system is in each case modelled from the input torque to hub-angle, hub-velocity and end-point acceleration outputs. The models are validated using several validation tests. Finally, a comparative assessment of the approaches used is presented and discussed in terms of accuracy, efficiency and estimation of the vibration modes of the system

Modeling the dispersal effect to reduce the infection of COVID-19 in Bangladesh.

In this paper, we propose a four compartmental model to understand the dynamics of infectious disease COVID-19. We show the boundedness and non-negativity of solutions of the model. We analytically calculate the basic reproduction number of the model and perform the stability analysis at the equilibrium points to understand the epidemic and endemic cases based on the basic reproduction number. Our analytical results show that disease free equilibrium point is asymptotically stable (unstable) and endemic equilibrium point is unstable (asymptotically stable) if the basic reproduction number is less than (greater than) unity. The dispersal rate of the infected population and the social awareness control parameter are the main focus of this study. In our model, these parameters play a vital role to control the spread of COVID-19. Our results reveal that regional lockdown and social awareness (e.g., wearing a face mask, washing hands, social distancing) can reduce the pandemic of the current outbreak of novel coronavirus in a most densely populated country like Bangladesh

Misidentification of methicillinresistant Staphylococcus aureus (MRSA) in hospitals in Tripoli, Libya

Background: Methicillin-resistant Staphylococcus aureus (MRSA) is a nosocomial (hospital-acquired) pathogen of exceptional concern. It is responsible for life-threatening infections in both the hospital and the community. Aims: To determine the frequency of MRSA misidentification in hospitals in Tripoli, Libya using current testing methods. Methods: One hundred and seventy S. aureus isolates previously identified as MRSA were obtained from three hospitals in Tripoli. All isolates were reidentified by culturing on mannitol salt agar, API 20 Staph System and retested for resistance to methicillin using the cefoxitin disk diffusion susceptibility test and PBP2a. D-tests and vancomycin E-tests (Van-E-tests) were also performed for vancomycin-resistant isolates. Results: Of the 170 isolates examined, 86 (51%) were confirmed as MRSA (i.e. 49% were misidentified as MRSA). Fifteen (17%) of the confirmed MRSA strains exhibited inducible clindamycin resistance. Of the 86 confirmed MRSA isolates, 13 (15%) were resistant to mupirocin, 53 (62%) were resistant to ciprofloxacin, 41 (48%) were resistant to trimethoprim-sulfamethoxazole, and none were resistant to linezolid. Although discdiffusion testing indicated that 23 (27%) of the isolates were resistant to vancomycin, none of the isolates were vancomycin-resistant by Van-E-test. Conclusions: Misidentification of nosocomial S. aureus as MRSA is a serious problem in Libyan hospitals. There is an urgent need for the proper training of microbiology laboratory technicians in standard antimicrobial susceptibility procedures and the implementation of quality control programs in microbiology laboratories of Libyan hospitals.Keywords: MRSA misidentification; clindamycin resistance; E-test; vancomycin resistanc

Decentralized intelligent PID based controller tuned by evolutionary algorithm for double link flexible robotic manipulator with experimental validation

In this paper, a development of decentralized intelligent proportional–integral–derivative (PID) controller for multi input multi output (MIMO) controller of double link flexible robotics manipulator is presented. Simultaneous optimization method is implemented in optimizing the parameters The controllers are incorporated with optimization algorithm that is PSO to find out the parameters of the PID controllers. Numerical simulation was carried out in MATLAB/Simulink to evaluate the system in term of tracking capability and vibration suppression for both links. The optimal values of PID controller parameters that were achieved via off-line tuning using PSO were tested experimentally on the DLFRM experimental test rig. Experimental results show that the proposed control algorithm managed to control the system to reach desired angle for both hub at lower overshoot. Meanwhile, the vibration reduction shows improvement for both link 1 and 2. This signifies that, the PSO algorithm is very effective in optimizing the PID parameters for double link flexible robotics manipulator

TWAM: A Certifying Abstract Machine for Logic Programs

Type-preserving (or typed) compilation uses typing derivations to certify correctness properties of compilation. We have designed and implemented a type-preserving compiler for a simply-typed dialect of Prolog we call T-Prolog. The crux of our approach is a new certifying abstract machine which we call the Typed Warren Abstract Machine (TWAM). The TWAM has a dependent type system strong enough to specify the semantics of a logic program in the logical framework LF. We present a soundness metatheorem which constitutes a partial correctness guarantee: well-typed programs implement the logic program specified by their type. This metatheorem justifies our design and implementation of a certifying compiler from T-Prolog to TWAM.Comment: 41 pages, under submission to ACM Transactions on Computational Logi

A pedagogic appraisal of the Priority Heuristic

We have explored how science and mathematics teachers made decisions when confronted with a dilemma in which a fictitious young woman, Deborah, may choose to have an operation that might address a painful spinal condition. We sought to explore the extent to which psychological heuristic models, in particular the Priority Heuristic, might successfully describe the decision-making process of these teachers and how an analysis of the role of personal and emotional factors in shaping the decision-making process might inform pedagogical design. A novel aspect of this study is that the setting in which the decision-making process is examined contrasts sharply with those used in psychological experiments. We found that to some extent, even in this contrasting setting, the Priority Heuristic could describe these teachers' decision-making. Further analysis of the transcripts yielded some insights into limitations on scope as well the richness and complexity in how personal factors were brought to bear. We see these limitations as design opportunities for educational intervention

Deficiency of Sphingosine-1-phosphate Lyase Impairs Lysosomal Metabolism of the Amyloid Precursor Protein

Progressive accumulation of the amyloid β protein in extracellular plaques is a neuropathological hallmark of Alzheimer disease. Amyloid β is generated during sequential cleavage of the amyloid precursor protein (APP) by β- and γ-secretases. In addition to the proteolytic processing by secretases, APP is also metabolized by lysosomal proteases. Here, we show that accumulation of intracellular sphingosine-1-phosphate (S1P) impairs the metabolism of APP. Cells lacking functional S1P-lyase, which degrades intracellular S1P, strongly accumulate full-length APP and its potentially amyloidogenic C-terminal fragments (CTFs) as compared with cells expressing the functional enzyme. By cell biological and biochemical methods, we demonstrate that intracellular inhibition of S1P-lyase impairs the degradation of APP and CTFs in lysosomal compartments and also decreases the activity of γ-secretase. Interestingly, the strong accumulation of APP and CTFs in S1P-lyase-deficient cells was reversed by selective mobilization of Ca(2+) from the endoplasmic reticulum or lysosomes. Intracellular accumulation of S1P also impairs maturation of cathepsin D and degradation of Lamp-2, indicating a general impairment of lysosomal activity. Together, these data demonstrate that S1P-lyase plays a critical role in the regulation of lysosomal activity and the metabolism of APP

Experimental and numerical studies of friction-induced vibration and noise and the effects of groove-textured surfaces

An experimental and numerical study of friction-induced vibration and noise of a system composed of an elastic ball sliding over a groove-textured surface was performed. The experimental results showed that the impact between the ball and the edges of the grooves may significantly suppress the generation of high frequency components of acceleration and reduce the friction noise. Groove-textured surfaces with a specific dimensional parameter showed a good potential in reducing squeal. To model and understand this noise phenomenon, both the complex eigenvalue and dynamic transient analysis were performed. The dynamic transient analysis for the cases of groove-textured surface with/without filleted edges validated the role of the impact between the ball and the groove edges. Furthermore, a self-excited vibration model with three degrees of freedom was proposed to capture the basic features of the friction system. A small contact angle between the ball and the groove edges, corresponding to the relatively small groove width used in this study, would not cause any instability of the system

Improving Coping Skills for Self-management of Treatment Side Effects Can Reduce Antiretroviral Medication Nonadherence among People Living with HIV

BackgroundHuman immunodeficiency virus (HIV) treatment side effects have a deleterious impact on treatment adherence, which is necessary to optimize treatment outcomes including morbidity and mortality.PurposeTo examine the effect of the Balance Project intervention, a five-session, individually delivered HIV treatment side effects coping skills intervention on antiretroviral medication adherence.MethodsHIV+ men and women (N = 249) on antiretroviral therapy (ART) with self-reported high levels of ART side effect distress were randomized to intervention or treatment as usual. The primary outcome was self-reported ART adherence as measured by a combined 3-day and 30-day adherence assessment.ResultsIntent-to-treat analyses revealed a significant difference in rates of nonadherence between intervention and control participants across the follow-up time points such that those in the intervention condition were less likely to report nonadherence. Secondary analyses revealed that intervention participants were more likely to seek information about side effects and social support in efforts to cope with side effects.ConclusionsInterventions focusing on skills related to ART side-effects management show promise for improving ART adherence among persons experiencing high levels of perceived ART side effects