Movement Optimization of Robotic Arms for Energy and Time Reduction using Evolutionary Algorithms

Trajectory optimization of a robot manipulator consists of both optimization of the robot movement as well as optimization of the robot end-effector path. This paper aims to find optimum movement parameters including movement type, speed, and acceleration to minimize robot energy. Trajectory optimization by minimizing the energy would increase the longevity of robotic manipulators. We utilized the particle swarm optimization method to find the movement parameters leading to minimum energy consumption. The effectiveness of the proposed method is demonstrated on different trajectories. Experimental results show that 49% efficiency was obtained using a UR5 robotic arm

A Novel Model for Driver Lane Change Prediction in Cooperative Adaptive Cruise Control Systems

Accurate lane change prediction can reduce potential accidents and contribute to higher road safety. Adaptive cruise control (ACC), lane departure avoidance (LDA), and lane keeping assistance (LKA) are some conventional modules in advanced driver assistance systems (ADAS). Thanks to vehicle-to-vehicle communication (V2V), vehicles can share traffic information with surrounding vehicles, enabling cooperative adaptive cruise control (CACC). While ACC relies on the vehicle's sensors to obtain the position and velocity of the leading vehicle, CACC also has access to the acceleration of multiple vehicles through V2V communication. This paper compares the type of information (position, velocity, acceleration) and the number of surrounding vehicles for driver lane change prediction. We trained an LSTM (Long Short-Term Memory) on the HighD dataset to predict lane change intention. Results indicate a significant improvement in accuracy with an increase in the number of surrounding vehicles and the information received from them. Specifically, the proposed model can predict the ego vehicle lane change with 59.15% and 92.43% accuracy in ACC and CACC scenarios, respectively

Pheochromocytoma-induced reverse tako-tsubo with rapid recovery of left ventricular function

Pheochromocytoma is a rare, catecholamine-secreting tumor of neuroendocrine cells. It has been documented to present atypically as myocardial ischemia, arrhythmias, or congestive heart failure. We present the case of a patient who had transient cardiomyopathy with hypokinesia of the basal portions of the left ventricle and hyperkinesia of the apex triggered by a pheochromocytoma crisis similar to that of tako-tsubo cardiomyopathy, but with an inverse left ventricular contractile pattern (‘inverted tako-tsubo’). (Cardiol J 2012; 19, 5: 527-531

Usability and security of gaze-based graphical grid passwords

We present and analyze several gaze-based graphical password schemes based on recall and cued-recall of grid points; eye-trackers are used to record user's gazes, which can prevent shoulder-surfing and may be suitable for users with disabilities. Our 22-subject study observes that success rate and entry time for the grid-based schemes we consider are comparable to other gaze-based graphical password schemes. We propose the first password security metrics suitable for analysis of graphical grid passwords and provide an in-depth security analysis of user-generated passwords from our study, observing that, on several metrics, user-generated graphical grid passwords are substantially weaker than uniformly random passwords, despite our attempts at designing schemes to improve quality of user-generated passwords

Prevalence of Asthma in Children of Chemical Warfare Victims

Objective: Exposure of DNA to sulfur mustard gas may increase the inheritance of asthma in chemical warfare victims' (CWV) offspring. The objective of this study was to determine the prevalence of asthma in children of CWV and compare it to asthmatic children in the general population. Methods: Four hundred and nine children from 130 CWV fathers and 440 children from 145 asthmatic parents from two cities in Iran participated in this study. The prevalence of asthma was determined by standard questionnaire released for epidemiological survey of asthma in children and compared between two groups. Findings: The prevalence of asthma in the CWV group was 15%; this was not significantly different from the control group (12.5%). The children of the CWV group reported a significantly greater incidence of wheezing (1.2±3.1 attacks) per year, but the control group reported more severe attacks leading to speech difficulties (3%) and coughing (7%). Regression analysis showed that with increasing family size in the control group, the number of subjects suffering from asthmatic symptoms decreases significantly (r=0.86, P=0.001). Conclusion: Chemical agents may increase the prevalence of asthma in the offspring of CWV

The effects of whole milk compared to skim milk and apple juice consumption in breakfast on appetite and energy intake in obese children: a three-way randomized crossover clinical trial

Abstract Background A limited number of studies have examined the effect of dairy on satiety and short-term energy intake among children; furthermore we are not aware of any study comparing high and low-fat dairy products regarding their effect on appetite and short-term energy intake. Our objective was to assess the effect skim milk (SM) compared to whole milk (WM) and apple juice (AJ) on satiety and energy intake at lunch among 10–12 y children with obesity. Methods Fifty children with obesity who aged 10–12 y were randomized to consume a fixed content breakfast with 240 ml of SM, AJ, or WM for two consecutive days. The study was a three-way randomized crossover study; therefore each participant served as his/her own control. The total appetite, hunger, fullness, desire to eat and prospective consumption were measured using a visual analogue scale (VAS) before breakfast and every one hour after breakfast until a freely consumed lunch. VAS scores and energy intakes were compared using repeated measures procedure. Results Forty-eight participants (24 girls and 24 boys) completed the study. The energy intake was not different between SM, AJ and WM periods (adjusted mean ± standard error (SE) of energy intake: SM = 831.27 ± 30.64 Kcal, AJ = 794.92 ± 28.72 Kcal, WM = 798.87 ± 24.09 Kcal; P = 0.56). The effect was the same for either gender. Children reported higher satiety score 4 h after drinking WM with breakfast compared with SM (P < 0.05). The same association was found only in girls. Furthermore, SM significantly reduced appetite compared to AJ, 2 h after preloads in girls (P < 0.05). Conclusions Full-fat milk may have favorable effects on satiety but not energy intake in subsequent meal compared to skim milk among the children with obesity. Future studies with longer follow-up periods are needed to confirm these results. Trial registration The study protocol was registered with the Iranian registry of clinical trials on 9th October 2016 (registration ID: IRCT2016072012571N5)