Online 3D path planning for Tri-copter drone using GWO-IBA algorithm

Robots at present are involved in many parts of life, especially mobile robots, which are two parts, ground robots and flying robots, and the best example of a flying robot is the drone. Path planning is a fundamental part of UAVs because the drone follows the path that leads it to goal with obstacle avoidance. Therefore, this paper proposes a hybrid algorithm (grey wolf optimization - intelligent bug algorithm GWO-IBA) to determine the best, shortest and without obstacles path. The hybrid algorithm was implemented and tested in the MATLAB program on the Tri-copter model, and it gave different paths in different environments. The paths obtained were characterized by being free of obstacles and the shortest paths available to reach the target

Fuzzy Simulated Evolution Algorithm for Topology Design on Campus Networks

The topology design of campus networks is a hard contrained combinatorial optimization problem. It consists of deciding the number, type, and location of the active network elements (nodes) and links. This choice is dictated by physical and technological constraints and must optimize several objectives. Example of objectives are monetary cost, network delay, and hop count between communicating pairs. Furthermore, due to the nondeterministic nature of network traffic and other design parameters, the objectives criteria are imprecise. Fuzzy logic provides a suitable mathematical framework in such a situation. In this paper, we present an approach based on Simulated Evolution algorithm for the design of campus network topology. The two main phases of the algorithm, namely evaluation and allocation, have been fuzzified. To diversify the search, we have also incorporated Tabu Search-based characteristics in the allocation phase of the SE algorithm. This approach is then compared with Simulated Anealing algorithm, which is another well-known heuristic. Results show that on all test cases, Simulated Evolution algorithm more intelligent search of the solutions subspace and was able to find better solutions than Simulated Anealing

Desain Produk Jemuran Anti Hujan Menggunakan Metode Quality Function Deployment (Qfd)

Penelitian ini dilakukan untuk perancangan produk jemuran otomatis anti hujan dengan berfokus pada keinginan konsumen. Masalah yang terjadi pada masyarakat seperti anak kost seringnya pakaian yang dijemur terkena air hujan ketika ditinggalkan dari tempat tinggal karena tidak ada yang mengangkatnya, padahal ketika menjemur cuaca terang dan ketika ditinggalkan cuaca berubah menjadi hujan. Berdasarkan permasalahan tersebut akan dilakukan perancangan dan pengembangan produk jemuran otomatis dengan menggunakan metode QFD (Quality Function Deployment). Pengambilan data menggunakan sampel yang terdiri dari 68 responden yang terdiri anak kost di daerah Yogyakarta yang sering menjemur pakaian sendiri. Hasil analisa diketahui pengembangan produk yang perlu dilakukan adalah customer need ke 2 yaitu menutup otomatis yang masuk pada kategori A, sehingga sangat perlu dibutuhkan inovasi atau pengembangan agar sesuai keinginan konsumen dan tidak tertinggal dari produk kompetitor. Relasi antara customer requirement dan technical requirement dapat dilihat bahwa kepentingan terbesar terdapat pada kebutuhan teknis jenis bahan dengan nilai kepentingan 124,2, artinya untuk mendukung pengembangan pemenuhan customer needs yang ke 2, maka Perusahaan harus fokus pada kebutuhan teknis tersebut

Treatment with methanol root extract of Mirabilis jalapa suppresses postprandial hyperglycemia and dyslipidemia in diabetic rats

The present study demonstrates the postprandial hypoglycemic effects of methanol root extract of Mirabilis jalapa. Alloxan induced diabetic rats were treated with 200 mg/kg body weight of the extract for 9 days at 12 hourly intervals. The experiment was designed to assess both fasting and 2 hour postprandial blood glucose levels. Lipid profile and liver function biochemical analyses were conducted using serum obtained from the experimental animals sacrificed after 10 days. The results showed a marked difference in blood glucose levels postprandial in the diabetic group treated with the extract (DTM) (11.02 ± 1.42 mmol/L) when compared with the diabetic untreated group (DU) (19.80 ± 5.37 mmol/L). Similar trends were observed for the fasting blood glucose which remained elevated in the DU group throughout the experiment but was maintained at comparable levels (4.70 – 6.82 mmol/L) between healthy control group (HU) and all other groups treated both with extract and standard drug metformin. Triglyceride levels of diabetic groups treated with the extract were also observed to fall within comparable limits with the HU group (30.79 ±4.76 – 65.95 ± 2.42 mg/L). In conclusion, treatment with methanol root extract of Mirabilis jalapa suppresses hyperglycemia postprandial and probably promotes slow progression to dyslipidemia in experimentally induced diabetes in rats.Keywords: Mirabilis jalapa, Diabetes mellitus, Hypoglycemia, metformi

Adsorption Study of Symmetrical Schiff Base Ligand 4,4’-[hydrazine-1,2-diylidenebis(methan- 1-yl-1-ylidene) bis (2-methoxyphenol)] on Granulated Initiated Calcined Iraqi Montmorillonite via Columnar Method

The adsorption ability of Iraqi initiated calcined granulated montmorillonite to adsorb Symmetrical Schiff Base Ligand 4,4’-[hydrazine-1, 2-diylidenebis (methan-1-yl-1-ylidene)) bis (2-methoxyphenol)] derived from condensation reaction of hydrazine hydrate and 4-hydroxy-3-methoxybenzaldehyde, from aqueous solutions has been investigated through columnar method.The ligand (H2L) adsorption found to be dependent on adsorbent dosage, initial concentration and contact time.All columnar experiments were carried out at three different pH values (5.5, 7and 8) using buffer solutions at flow rate of (3 drops/ min.),at room temperature (25±2)°C. The experimental isotherm data were analyzed using Langmuir, Freundlich and Temkin equations. The monolayer adsorption capacity is 5.7347 mg ligand (L) per 1g calcined Montmorillonite. The experiments showed that highest removal rate 75.70 % for ligand (L) at pH 7.The kinetic data for the adsorption process obeyed pseudo-second-order rate equations. Key words: Adsorption Study, Schiff base Ligand, Iraqi Montmorillonite,Columnar Method., Calcined

Groundwater depletion in the upper aquifer of the chad formation, Chad basin, North-Eastern Nigeria

This paper examines the present groundwater level changes in the Upper aquifer of Chad Formation in Borno basin measured in the year 2007, 2008, 2009, 2011 and 2012. The study involved collection of topographic maps of scale 1:500,000 on Nigerian sheet 4 covering the study area. Previous published literatures on the basin were also collected. Hand dug wells and their elevation were located and measured with satellite navigator. Findings from the results shows that, the Upper aquifer is a phreatic aquifer separated by thin clay layer into “A” sub-zone with depth ranging from 1 to 10 m, “B” sub-zone with depth ranging from 10 to 60 m and “C” sub-zone with depth ranging from 60 to 100 m. From the study, it can be deduced that, the C sub-zone is not recharging from seasonal infiltration of meteoric water or from the horizontal stream flow, it rather shows a depleting groundwater level. It was proved that rain of wet seasons do not recharge Upper C sub-zone to the previous wet season level, and thus the water table in the Upper C zones will be exhausted if the aquifer is not recharged at the present level of abstraction. Keywords: Groundwater, Chad Basin, Phreatic aquifer, Depletion level and Upper aquifer

Complexes of Some Transition Metal with 2-Benzoyl thiobenzimidazole and 1,10-Phenanthroline and Studying their Antibacterial Activity

Mixed ligands of 2-benzoyl Thiobenzimiazole (L1) with 1,10-phenanthroline (L2) complexes of Cr(III) , Ni(II) and Cu(II) ions were prepared. The ligand and the complexes were isolated and characterized in solid state by using FT-IR, UV-Vis spectroscopy, 1H, 13C-NMR, flame atomic absorption, elemental micro analysis C.H.N.S, magnetic susceptibility , melting points and conductivity measurements. 2-Benzoyl thiobenzimiazole behaves as bidenetate through oxygen atom of carbonyl group and nitrogen atom of imine group. From the analyses Octahedral geometry was suggested for all prepared complexes. A theoretical treatment of ligands and their metal complexes in gas phase were studied using HyperChem-8 program, moreover, ligands in gas phase also has been studied using Gaussian program (GaussView Currently Available Version (5.0.9) along with Gaussian 09 which was the latest in the Gaussian series of programs). The antibacterial activity of the prepared complexes have been determined and compared with that of the ligand and the standard metronidazole

2018 UK national guideline for the management of infection with Neisseria gonorrhoeae

This guideline offers recommendations for the diagnostic tests, treatment regimens and health promotion principles needed for the effective management of gonorrhoea in people aged 16 years and older. For individuals under the age of 16 years please see the British Association for Sexual Health and HIV (BASHH) guideline on STI and Related Conditions in Children and Young People. The guidelines are primarily aimed at level 3 sexual health services within the United Kingdom (UK) although the principles of the recommendations could be adopted at all levels