Indoor Navigation Algorithm For Mobile Robot

Recently there has been increasing research on the development of localization and navigation systems. Whereas most of the proposed approaches are suitable for outdoor operation, only a few techniques have been designed for indoor environments. This paper details the development of an indoor navigation system. It presents a general system consisting of sensors and algorithms for localization and navigation which enables to operate indoors. This is done by using trilateration method which has been successfully applied on complex nature of indoor environments. Set of experiments presented to validate our system using MATLAB program. Testing verified that good accuracy, sufficient for navigation, was achieved. This technique shows promise for future handheld indoor navigation systems that can be used in malls, museums, hospitals, and college campuses

Lawsonia inermis seeds cotyledon and coat extracts as a potential antimicrobial agent

Background: The plant Lawsonia inermis, which is a member of the Lythraceae family, has long been used to cure a number of diseases. Previous studies have demonstrated the antibacterial capabilities of the plant's components. However, neither the efficiency of these extracts on bacterial strains that are antibiotic-resistant nor a systematic analysis of the extracts from the various seed components have been conducted. Methods: The coat part was separated from the cotyledon. Each part was pulverized and extracted with ethanol, acetone, and hexane. The inhibitory effects of the resulting extracts were tested on three pathogenic bacterial strains and a fungus. The effect of the extracts on antibiotic-resistant bacteria was also evaluated.Results: When tested against pathogenic bacteria (Bacillus subtilis, Staphylococcus aureus, Klebsiella pneumonia, and Candida albicans), L. inermis seed parts (cotyledon and coat) showed varying levels of antibacterial and antifungal activity. In which the ethanolic extract outperformed the acetonic extract in effectiveness. The minimal inhibitory concentration (MIC) for each pathogenic microorganism was established. Utilizing the extract yield, total antibacterial activity (TAA) was calculated. Lawsonia inermis seed components inhibited antibiotic-resistant strains of S. aureus and P. aeruginosa, with strong antibacterial activity seen in aqueous extracts of their cotyledons and coats.Conclusion: We summarize that Lawsonia inermis seed extracts, which have historically been used as secure antimicrobials for human healthcare and cosmetics have the potential to replace current antimicrobial agents that are no longer effective. Moreover, may be a promising source for the isolation of potent drugs for the treatment of bacterial diseases.Keywords: Lawsonia inermis; Henna; Extract; Seeds; Bacterial Infection; Antibiotics Resistance   

Effect of Supplementation Followed by Processing on Nutritional Quality of Protein, Ca, P and Fe of Millet Flour

The effect of processing methods on millet flour supplemented with different levels (5, 10 and 15%) of defatted seed flour of Moringa (DSFM) and fenugreek (DSFF) on antinutritional factors, protein content and digestibility and total and extractable Ca, P and Fe was investigated. The antinutritional factors were increased (P≤0.05) with an increase in supplementation levels. However, processing of both raw and supplemented flour decreased (P≤0.05) the antinutritional factors. The reduction in antinutrients was accompanied by an increase (P≤0.05) in protein content, IVPD, total and extractable Ca, P, and Fe of supplemented flour compared to that of raw samples. Fermentation increased (P≤0.05) the protein content, IVPD, total and extractable Ca, P and Fe contents of the samples with supplementation level. Cooking of fermented dough slightly increased the protein content and IVPD of the samples but lowered both total and extractable Ca, Fe and P. Higher antinutritional factors, protein and IVPD were observed in millet dough supplemented with DSFM compared to that of DSFF while the total and extractable minerals of the supplemented flours are varied. Results obtained revealed that addition of DSFM and DSFF followed by the cooking of the fermented dough is a useful method to improve the nutritional value of millet flour

Different Without Disagreement: Understanding Polarization in the United States

A prevailing belief is that Americans hold a shared set of values that finds expression in and is informed by our nation’s founding documents. It is puzzling, then, to acknowledge that the United States is more polarized now than at any time since Reconstruction. Our research examined possible explanations for the tension between Americans holding a shared set of values and their being highly polarized, especially concerning the following issues: abortion, capital punishment, gun control, and same-sex marriage. We found evidence that suggests there could be two types of polarization: substantive and superficial. Based on a metric we term ‘scattering,’ a measure of consensus regarding the most pertinent value for a given issue, we argue that polarization on capital punishment and gun control is substantive, while polarization on abortion and same-sex marriage is merely superficial. We argue that substantive polarization is to be preferred to superficial polarization

Gordonia sputi related multiple brain abscesses, an AIDS-presenting illness: Thinking outside the box

HIV/AIDS has been recognized as a global health issue with significant burden on healthcare services worldwide. Diagnostic and therapeutic challenges include wide range of difficult to identify and treat infections. Gordonia sputi is known to cause multi-system infections in setting of HIV/AIDS. It is often difficult to isolate this organism requiring high suspicion index and special testing techniques. While there is no guidelines-recommended antibacterials regimen for Gordonia sputi infection, extended combined broad spectrum antibacterials have been successfully used. Our patient in this report is a 50-year-old male with no past history who presented with progressive weakness on the right side of the body and urinary incontinence over the duration of one month. MRI scan of the brain showed bilateral ring-enhancing lesions. Gordonia sputi was identified from a tissue biopsy using 16S ribosomal RNA sequencing technique. HIV test for antibodies came to be reactive and a CD4 cell count of 7/μL. The patient was treated with combination of antibacterials and had remarkable radiological interval changes and relatively slower yet apparent clinical improvement. Unfortunately, and despite initial recovery, patient has later developed multi-drug resistant hospital acquired pneumonia leading to his death in ICU during course of hospitalization. Treatment of Gordonia sputi in setting of HIV infection with a combination of antibacterials over extended period appears to be safe and effective. To our knowledge, this is the first report of Gordonia sputi related multiple brain abscesses as AIDS-presenting illness

Double right coronary artery detected on coronary computed tomography angiography: A case report

Double right coronary artery is a relatively rare coronary anomaly. In this case report we aim to increase awareness of the importance of recognizing such anomaly and a brief literature review of similar cases and possible high risk features. Computed Tomography is well recognized modality to detect coronary anomaly and in our case we demonstrated this as well. Keywords: Double right coronary artery, Coronary anomalies, Coronary computed tomography angiograph

Favorable Outcome of COVID-19 Pneumonia in a Kidney Transplant Recipient Treated with Tocilizumab

The presentation of COVID-19 pneumonia in kidney transplant recipients is similar to that of the general population. However, in the former, it may have a worse clinical course. We report a kidney transplant patient affected by COVID-19 pneumonia whose condition worsened 9 days after the initial presentation. As no therapeutic guidelines on the subject are currently available, here we share our approach in the management of the immunosuppressive medications and the antiviral therapy and compare them to the scarce available data. We also expose the use of tocilizumab in our patient with excellent results

Phoenix dactylifera (date palm; Arecaceae) putative lectin homologs: Genome-wide search, architecture analysis, and evolutionary relationship

The date palm, Phoenix dactylifera, is a vital crop in nations in the Middle East and North Africa. The date palm was thought to have outstanding traditional medicinal value because it was abundant in phytochemicals with diverse chemical structures. The date palm's ability to withstand harsh environments could be partly attributed to a class of proteins known as lectins, which are carbohydrate-binding proteins that can bind sugar moieties reversibly and without changing their chemical structures. After scanning the genome of P. dactylifera (GCF 009389715.1), this in silico study discovered 196 possible lectin homologs from 11 different families, some specific to plants. At the same time, others could also be found in other kingdoms of life. Their domain architectures and functional amino acid residues were investigated, and they yielded a 40% true-lectin with known conserved carbohydrate-binding residues. Further, their probable subcellular localization, physiochemical and phylogenetic analyses were also performed. Scanning all putative lectin homologs against the anticancer peptide (ACP) dataset found in the AntiCP2.0 webpage identified 26 genes with protein kinase receptors (Lec-KRs) belonging to 5 lectin families, which are reported to have at least one ACP motif. Our study offers the first account of Phoenix-lectins and their organization that can be used for further structural and functional analysis and investigating their potential as anticancer proteins

Seroprevalence and risk factors of anti-brucella antibodies in cattle in Khartoum State, the Sudan

Objective: This cross-sectional study was conducted from April to July 2012 to estimate the prevalence of brucellosis and investigate the risk factors that enhance its occurrence in cattle in Khartoum state, the Sudan. Material and methods: A total of 300 serum samples were taken from jugular veins of cattle and screened by Rose Bengal Plate Test (RBPT) and Serum Agglutination Test (SAT). The RBPT-positive samples were all tested using c-ELISA. Results: Antibodies were detected with an overall seroprevalence of 25.7% using RBPT and 22.7% using SAT while slightly less than two thirds of the RBPT-positive samples were cELISA-positive. The herd and within-herd seroprevalences were 76.7% (n=23) and from 10.0-80.0%. Moreover, significant statistical dissimilarities were not observed between the seroprevalence of the different categories of the investigated risk factors by RBPT. Only milking method ( and #967;2=3.976; P=0.046) was found to have an influence on the RBPT-positive status for brucella infection in the univariate analysis. Additionally, natural breeding (OR=3.61; 95% CI 1.192 and ndash;10.96; P=0.023) was the only observed risk factor with an increased odd of being RBPT positive. The Kappa analysis showed an almost perfect agreement between the results of the RBPT and the SAT tests. Conclusion: The prevalence of anti-brucella antibodies in Khartoum state was relatively higher; therefore, brucellosis in cattle is, perhaps, a significant public health problem. It is recommended to raise awareness of cattle owners and/or herders on the routes of transmission of brucellosis. [J Adv Vet Anim Res 2016; 3(2.000): 134-144