Night vision obstacle detection and avoidance based on Bio-Inspired Vision Sensors

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). However, the detection of obstacles especially during night-time is still a challenging task since the lighting conditions are not sufficient for traditional cameras to function properly. Therefore, we exploit the powerful attributes of event-based cameras to perform obstacle detection in low lighting conditions. Event cameras trigger events asynchronously at high output temporal rate with high dynamic range of up to 120 $dB$. The algorithm filters background activity noise and extracts objects using robust Hough transform technique. The depth of each detected object is computed by triangulating 2D features extracted utilising LC-Harris. Finally, asynchronous adaptive collision avoidance (AACA) algorithm is applied for effective avoidance. Qualitative evaluation is compared using event-camera and traditional camera.Comment: Accepted to IEEE SENSORS 202

Thermodynamic Investigation and Mixed Ligand Complex Formation of 1,4-Bis-(3-aminopropyl)-piperazine and Biorelevant Ligands

Thermodynamic parameters for protonation of 1,4-bis(3-aminopropyl)-piperazine (BAPP) and its metal complexation with some divalent metal ions were determined in aqueous solution at constant ionic strength (0.1 M NaNO3) using a potentiometric technique. The order of –ΔG0 and –ΔH0 was found to obey , in accordance with the Irving-Williams order. The formation equilibria of zinc (II) complexes and the ternary complexes Zn(BAPP)L, where L = amino acid, amides, or DNA constituents), have been investigated. Ternary complexes are formed by a simultaneous mechanism. The concentration distribution of the complexes in solution was evaluated as a function of pH. Stoichiometry and stability constants for the complexes formed are reported and discussed. The stability of ternary complexes was quantitatively compared with their corresponding binary complexes in terms of the parameter Δlog K

Protonation Equilibria of Biologically Active Ligands in Mixed Aqueous Organic Solvents

The review is mainly concerned with the protonation equilibria of biologically active ligands like amino acids, peptides, DNA constituents, and amino acid esters in nonaqueous media. Equilibrium concentrations of proton-ligand formation as a function of pH were investigated. Also, thermodynamics associated with protonation equilibria were also discussed

A Survey on Odometry for Autonomous Navigation Systems

The development of a navigation system is one of the major challenges in building a fully autonomous platform. Full autonomy requires a dependable navigation capability not only in a perfect situation with clear GPS signals but also in situations, where the GPS is unreliable. Therefore, self-contained odometry systems have attracted much attention recently. This paper provides a general and comprehensive overview of the state of the art in the field of self-contained, i.e., GPS denied odometry systems, and identifies the out-coming challenges that demand further research in future. Self-contained odometry methods are categorized into five main types, i.e., wheel, inertial, laser, radar, and visual, where such categorization is based on the type of the sensor data being used for the odometry. Most of the research in the field is focused on analyzing the sensor data exhaustively or partially to extract the vehicle pose. Different combinations and fusions of sensor data in a tightly/loosely coupled manner and with filtering or optimizing fusion method have been investigated. We analyze the advantages and weaknesses of each approach in terms of different evaluation metrics, such as performance, response time, energy efficiency, and accuracy, which can be a useful guideline for researchers and engineers in the field. In the end, some future research challenges in the field are discussed

Rituximab efficacy in pediatric patients with refractory nephrotic syndrome

Background: Nephrotic syndrome (NS) in children is a disease of glomerular filtration barrier failure, manifesting with severe proteinuria leading to hypoalbuminemia, hypercholesterolemia, and generalized edema. it could be primary or secondary. In primary NS, also known as idiopathic NS, the histological findings of Primary NS include minimal change disease which mainly respond to steroids (steroid sensitive NS), focal segmental glomerulosclerosis which are usually steroid resistant or membranous nephropathy. Rituximab has been shown to be effective for patients with complicated FRNS/SDNS and refractory SRNS. While the incidence of nephrotic syndrome (NS) is increasing, the morbidity of difficult-to-treat NS is significant.Methods: This is a retrospective cohort study that took place in King Abdulaziz University Hospital from 2012 to 2016. Patients included: Any patient under 18 years, and diagnosed with steroid resistant and dependent nephrotic syndrome. Patients excluded: Any patient above 18 years, and known to have secondary Nephrotic Syndrome.Results: Present study consists of 24 children with nephrotic syndrome (NS) were recruited in the study. In the population 8 patients (33.33 %) were diagnosed with SDNS, while the other 16 patients (66.67%) were diagnosed SRNS. Also, patients who were treated with Rituximab we found that (the mean) number of relapses per year before rituximab was about 2.67±1.49 (standard deviation 1.49), while patient who relapsed after rituximab was about 1.09±1.38 (standard deviation 1.38).Conclusions: Rituximab is a biological agent that started to be widely used in difficult nephrotic syndrome cases. The effectiveness of rituximab is most observed in steroid depended nephrotic syndrome patients since it decreases the frequency of relapses and steroid dependency. However, it has been shown that it is less effective in steroid resistant nephrotic syndrome cases and was associated with significant numbers of relapses

Breather patterns and other soliton dynamics in (2+1)-dimensional conformable Broer-Kaup-Kupershmit system

In this work, the Extended Direct Algebraic Method (EDAM) is utilized to analyze and solve the fractional (2+1)-dimensional Conformable Broer-Kaup-Kupershmit System (CBKKS) and investigate different types of traveling wave solutions and study the soliton like-solutions. Using the suggested method, the fractional nonlinear partial differential equation (FNPDE) is primarily reduced to an integer-order nonlinear ordinary differential equation (NODE) under the traveling wave transformation, yielding an algebraic system of nonlinear equations. The ensuing algebraic systems are then solved to construct some families of soliton-like solutions and many other physical solutions. Some derived solutions are numerically analyzed using suitable values for the related parameters. The discovered soliton solutions grasp vital importance in fluid mechanics as they offer significant insight into the nonlinear behavior of the targeted model, opening the way for a deeper comprehension of complex physical phenomena and offering valuable applications in the associated areas

Spermatozoal Fractalkine Signaling Pathway Is Upregulated in Subclinical Varicocele Patients with Normal Seminogram and Low-Level Leucospermia

Background. Fractalkine is produced in seminal plasma in small amounts and correlates with sperm motility. Purpose. To investigate the possible effect of low-level leucospermia on spermatozoa oxidative stress and sDNA fragmentation in patients with subclinical varicocele and apparently normal seminogram, and also to study the role of spermatozoal fractalkine and its receptor (CX3CR1) gene expression as a marker of spermatozoa inflammatory response. Methods. This study included 80 patients with subclinical varicocele (45 fertile and 35 infertile) and 45 age-matched fertile volunteers. In semen samples, fractalkine and CX3CR1 gene expression were investigated by qRT-PCR. Moreover, seminal plasma malondialdehyde (MDA) and total antioxidant capacity (TAC) were measured. Results. There are significant decrease in semen quality and significant increase in seminal leucocytes count in subclinical varicocele. Our results show a significant increase in MDA and TAC levels, DNA fragmentation, and expression levels of fractalkine and its receptor (CX3CR1) in subclinical varicocele groups. Conclusion. Subclinical varicocele induces seminal and spermatozoal subclinical inflammatory response in the form of low-level leucospermia and increased mRNA expression of the fractalkine signaling pathway, leading to increased spermatozoal ROS production, oxidative stress, and DNA fragmentation. These could cooperate in the pathogenesis of delayed fertility in males with subclinical varicocele

Factors Responsible for the Prolonged Stay of Surgical Neonates in Intensive Care Units

Objectives: The length of hospital stay (HS) for patients is a major concern due to its social, economic and administrative implications; this is particularly important for neonates admitted to intensive care units (ICUs). This study aimed to determine the factors responsible for prolonged HS in surgical neonates. Methods: This retrospective study was conducted at Sultan Qaboos University Hospital, in Muscat, Oman. The medical records of 95 neonates admitted to the neonatal ICU who underwent general surgical procedures between July 2009 and June 2013 were reviewed. Mann-Whitney U and Pearson’s Chi-squared tests were used for non-parametric numerical and categorical variables, respectively. A multiple regression analysis was performed to find a relationship between the variables and to detect the most important factor responsible for prolonged HS. A P value of <0.05 was considered statistically significant. Results: Gestational age, birth weight, number of days on a ventilator and postoperative morbidity were associated with prolonged HS. Furthermore, the age of neonates at first full enteral feed was associated with increased HS using both independent and multiple regression analyses. Conclusion: Prolonged HS can occur as a result of many factors. In this study, a number of factors were identified, including low gestational age, low birth weight, increased number of days on a ventilator and postoperative morbidity. Additionally, neonate age at first full enteral feeds also correlated with increased HS. Further research on this topic is suggested to explore this correlation in more detail and to inform future practices