Modular Relative Jacobian for Dual-Arms and the Wrench Transformation Matrix

A modular relative Jacobian is recently derived and is expressed in terms of the individual Jacobians of stand-alone manipulators. It includes a wrench transformation matrix, which was not shown in earlier expressions. This paper is an experimental extension of that recent work, which showed that at higher angular end-effector velocities the contribution of the wrench transformation matrix cannot be ignored. In this work, we investigate the dual-arm force control performance, without necessarily driving the end-effectors at higher angular velocities. We compare experimental results for two cases: modular relative Jacobian with and without the wrench transformation matrix. The experimental setup is a dual-arm system consisting of two KUKA LWR robots. Two experimental tasks are used: relative end-effector motion and coordinated independent tasks, where a force controller is implemented in both tasks. Furthermore, we show in an experimental design that the use of a relative Jacobian affords less accurate task specifications for a highly complicated task requirement for both end-effectors of the dual-arm. Experimental results on the force control performance are compared and analyzed

Evaluation of the Nutritive Importance of Fresh and Dry Cyperus esculentus (Tiger nut) Available in Ogbomoso, Oyo State, Nigeria

Fresh and dried Cyperus esculentus nuts were obtained from a local market (Sabo market) in Ogbomoso, Oyo State, Nigeria. These nuts are chew, serve as snacks and used as sources of food and medicine in Nigeria. In this study; proximate, mineral content (using AAS), vitamins and sugar compositions were determined using standard methods [1] The results of the proximate composition revealed that the dry nuts contained higher amount of the nutrients present (fat 35.43 %, protein 9.70 % and ash 4.25 %) than the fresh nuts (32.13 %, 7.15 % and 3.97 %). The result of the mineral content shows that, calcium, iron and manganese were higher in the dry nut than the fresh nut.Sugar composition result shows that sucrose and glucose were the prominent sugar present and were higher in the dried nut than in the fresh nut.The result of the vitamin compositions revealed that vitamin A was equally present in both fresh and dried nut, while fresh nut contained higher amount of vitamin B1(2.25 mg/100g) and B3(3.47 mg/100g) other vitamins were in traces in both nuts.The result of this study showed that both fresh and dried nuts of C. esculentus are of high nutritional value based on their proximate, mineral, vitamin and sugar contents. Keywords: Proximate, mineral, vitamin, sugar, nuts DOI: 10.7176/JBAH/11-16-05 Publication date:August 31st 202

The UEFA model in identification of types, severity and mechanism of injuries among professional footballers in the Nigerian Premier League

Background. Association football, otherwise known as soccer, is the most popular sport in the world. The increase in the popularity of the game and the expectations from players make injury risk in football high.Objective. To describe the types, severity, prevalence and mechanism of injuries among professional footballers in the Nigeria Premier League (NPL).Methods. The Union of European Football Association (UEFA) Injury Study Questionnaire was used for data collection. A total of 240 footballers from 11 clubs, who participated in the 2011/2012 NPL premiership season, was selected through proportionate stratified random sampling technique, and the participants were studied using a prospective cohort study design for 6 months. Descriptive statistics of means, percentages and frequency distributions were used to answer the research questions.Results. The mean (standard deviation) age, height and weight of the injured footballers was 22.9 (3.4) years, 1.69 (0.05) m and 71.3 (3.9) kg, respectively. There was a high injury prevalence (78%) associated with actual league games, whereas the incidence rate per 1 000-hour exposure was 300.2 exposure-hours from 19 games within 6 months. Sprain (32%) was the predominant type of injury recorded. The tackle event (34%) was the predominant mechanism of injury recorded, and 63% of the injuries led to 1 - 3 days of player absence from football activities. Most of the injuries were recurrent injuries (63%).Conclusion. This study showed a high occurrence of injuries in the NPL, in particular associated with league (competitive) games. The findings of this study will serve to guide the development and implementation of injury prevention strategies in the NPL

Characterization of lignocellulose biomass based on proximate, ultimate,structural composition, and thermal analysis

This research deals with the determination of physicochemical and thermal properties of biomass samples to enhance pyrolysis yields. Proximate, ultimate, structural composition, trace elements, and thermal analyses were conducted using fifteen lignocellulose biomass samples obtained in Ajase market, Ajasse Ipo, Kwara State, Nigeria, and Omu-Aran, Kwara State, Nigeria respectively. Results obtained from the ultimate analysis showed that Oxygen, carbon, and sulfur show minimum, medium, and peak effects on the HHV and LHV of biomass, while Nitrogen and Hydrogen do not positively influence the HHV and LHV. Also, Also, for the proximate and structural composition analysis, it was observed that fixed carbon, volatile lignin, ether extracts, cellulose, and hemicellulose positively enhanced the desirability of the biomass by increasing its heating value, while moisture, ash, and corrosiveness reduced pyrolysis yield because they reduced the HHV and LHV of lignocellulose biomass

Mitochondrial genetic diversity, selection and recombination in a canine transmissible cancer.

Canine transmissible venereal tumour (CTVT) is a clonally transmissible cancer that originated approximately 11,000 years ago and affects dogs worldwide. Despite the clonal origin of the CTVT nuclear genome, CTVT mitochondrial genomes (mtDNAs) have been acquired by periodic capture from transient hosts. We sequenced 449 complete mtDNAs from a global population of CTVTs, and show that mtDNA horizontal transfer has occurred at least five times, delineating five tumour clades whose distributions track two millennia of dog global migration. Negative selection has operated to prevent accumulation of deleterious mutations in captured mtDNA, and recombination has caused occasional mtDNA re-assortment. These findings implicate functional mtDNA as a driver of CTVT global metastatic spread, further highlighting the important role of mtDNA in cancer evolution.Wellcome Trust Investigator Award, 102942/Z/13/A Elizabeth P Murchison Leverhulme Trust Philip Leverhulme Prize Elizabeth P Murchison Royal Society Research Grant, RG130615 Elizabeth P Murchiso

Somatic evolution and global expansion of an ancient transmissible cancer lineage

Made available in DSpace on 2019-10-06T15:53:36Z (GMT). No. of bitstreams: 0 Previous issue date: 2019-08-02GPD Charitable TrustLeverhulme TrustThe canine transmissible venereal tumor (CTVT) is a cancer lineage that arose several millennia ago and survives by “metastasizing” between hosts through cell transfer. The somatic mutations in this cancer record its phylogeography and evolutionary history. We constructed a time-resolved phylogeny from 546 CTVT exomes and describe the lineage's worldwide expansion. Examining variation in mutational exposure, we identify a highly context-specific mutational process that operated early in the cancer's evolution but subsequently vanished, correlate ultraviolet-light mutagenesis with tumor latitude, and describe tumors with heritable hyperactivity of an endogenous mutational process. CTVT displays little evidence of ongoing positive selection, and negative selection is detectable only in essential genes. We illustrate how long-lived clonal organisms capture changing mutagenic environments, and reveal that neutral genetic drift is the dominant feature of long-term cancer evolution.Transmissible Cancer Group Department of Veterinary Medicine University of CambridgeAnimal Management in Rural and Remote Indigenous Communities (AMRRIC)World VetsAnimal Shelter Stichting Dierenbescherming SurinameSikkim Anti-Rabies and Animal Health Programme Department of Animal Husbandry Livestock Fisheries and Veterinary Services Government of SikkimRoyal (Dick) School of Veterinary Studies Roslin Institute University of Edinburgh Easter Bush CampusConserLab Animal Preventive Medicine Department Faculty of Animal and Veterinary Sciences University of ChileCorozal Veterinary Hospital University of PanamáSt. George's UniversityNakuru District Veterinary Scheme LtdAnimal Medical CentreInternational Animal Welfare Training Institute UC Davis School of Veterinary MedicineCentro Universitário de Rio Preto (UNIRP)Department of Clinical and Veterinary Surgery São Paulo State University (UNESP)Ladybrand Animal ClinicVeterinary Clinic Sr. Dog'sWorld Vets Latin America Veterinary Training CenterNational Veterinary Research InstituteAnimal ClinicIntermunicipal Stray Animals Care Centre (DIKEPAZ)Animal Protection Society of SamoaFaculty of Veterinary Science University of ZuliaVeterinary Clinic BIOCONTROLFaculty of Veterinary Medicine School of Health Sciences University of ThessalyVeterinary Clinic El Roble Animal Healthcare Network Faculty of Animal and Veterinary Sciences University of ChileOnevetGroup Hospital Veterinário BernaUniversidade Vila VelhaVeterinary Clinic ZoovetservisÉcole Inter-états des Sciences et Médecine Vétérinaires de DakarDepartment of Small Animal Medicine Faculty of Veterinary Medicine Utrecht UniversityVetexpert Veterinary GroupVeterinary Clinic Lopez QuintanaClinique Veterinaire de Grand Fond Saint Gilles les BainsDepartment of Veterinary Sciences University of MessinaFacultad de Medicina Veterinaria y Zootecnia Universidad Autónoma del Estado de MéxicoSchool of Veterinary Medicine Universidad de las AméricasCancer Development and Innate Immune Evasion Lab Champalimaud Center for the UnknownTouray and Meyer Vet ClinicHillside Animal HospitalKampala Veterinary SurgeryAsavet Veterinary CharitiesVets Beyond BordersFaculty of Veterinary Medicine Autonomous University of YucatanLaboratorio de Patología Veterinaria Universidad de CaldasInterdisciplinary Centre of Research in Animal Health (CIISA) Faculty of Veterinary Medicine University of LisbonFour Paws InternationalHelp in SufferingVeterinary Clinic Dr José RojasDepartment of Biotechnology Balochistan University of Information Technology Engineering and Management SciencesCorozal Veterinary ClinicVeterinary Clinic VetmasterState Hospital of Veterinary MedicineJomo Kenyatta University of Agriculture and TechnologyLaboratory of Biomedicine and Regenerative Medicine Department of Clinical Sciences Faculty of Animal and Veterinary Sciences University of ChileFaculty of Veterinary and Agricultural Sciences University of MelbourneAnimal Anti Cruelty LeagueClinical Sciences Department Faculty of Veterinary Medicine BucharestDepartment of Pathology Faculty of Veterinary Medicine Ankara UniversityFaculty of Veterinary Sciences National University of AsuncionLilongwe Society for Protection and Care of Animals (LSPCA)Wellcome Sanger InstituteDepartment of Cellular and Molecular Medicine University of California San DiegoDepartment of Clinical and Veterinary Surgery São Paulo State University (UNESP)Leverhulme Trust: 102942/Z/13/

Recurrent horizontal transfer identifies mitochondrial positive selection in a transmissible cancer

Abstract: Autonomous replication and segregation of mitochondrial DNA (mtDNA) creates the potential for evolutionary conflict driven by emergence of haplotypes under positive selection for ‘selfish’ traits, such as replicative advantage. However, few cases of this phenomenon arising within natural populations have been described. Here, we survey the frequency of mtDNA horizontal transfer within the canine transmissible venereal tumour (CTVT), a contagious cancer clone that occasionally acquires mtDNA from its hosts. Remarkably, one canine mtDNA haplotype, A1d1a, has repeatedly and recently colonised CTVT cells, recurrently replacing incumbent CTVT haplotypes. An A1d1a control region polymorphism predicted to influence transcription is fixed in the products of an A1d1a recombination event and occurs somatically on other CTVT mtDNA backgrounds. We present a model whereby ‘selfish’ positive selection acting on a regulatory variant drives repeated fixation of A1d1a within CTVT cells

Sex difference and relationship among peak grip strength, grip strength and arthropometric measures in dominant and non-dominant hands of children aged 4-16 in Southeast Nigeria

Objective: Hand dominance is a term that describes a preference to use one hand more than the other for everyday tasks. It could be described as the phenomenon that occurs when one hand is preferred to the other for fine motor skills tasks. Hand grip strength is a physiological variable that is affected by a number of factors including age, gender and body size. The aim of this study was to obtain relationship among Peak grip strength, grip strength and anthropometric measures in the dominant and non-dominant hands of Children in Nnewi, Southeast Nigeria.Method: A total of 575 children, aged 4-16, were studied. Each child’s weight, height, age, and hand length were recorded. Their peak grip strength and grip strength were measured on the dominant and the non-dominant hand with the participants seated on a chair with elbow flexed at 900, and forearm in a semi-prone position using Woliobiao hand-held dynamometer.Result: The results showed that grip strength increased with age except in age 13 in boys and age 15 in girls, where the grip strength in age 12 was higher than at 13 in boys, and the grip strength of 14 years was higher than that of 15years in girls in the dominant hands. In the non-dominant hand, the grip strength increased with age except in age 5 and age 15 in girls where the grip strength at 4 years and 14 years respectively were higher. The anthropometric traits correlated positively with grip strength on both dominant and nondominant hands. Boys also show more strength in their Peak and Grip strength on both dominant and non-dominant hands more than females. Peak grip strength in dominant hands was higher than those of the non-dominant hands across gender. Strong relationshipexisted between grip strength, peak grip strength and the anthropometric measures-weight, height and in particular hand length.Conclusion: Strong relationship exists between grip strength, peak grip strength, and the anthropomrtric measusures (weight, height, and in particular hand length) in children and adolescents of Southeast NigeriaKeywords: Peak grip strength, Grip strength ,Dominant hand, Non-dominance han