Motion Planning for Autonomous Ground Vehicles Using Artificial Potential Fields: A Review

Autonomous ground vehicle systems have found extensive potential and practical applications in the modern world. The development of an autonomous ground vehicle poses a significant challenge, particularly in identifying the best path plan, based on defined performance metrics such as safety margin, shortest time, and energy consumption. Various techniques for motion planning have been proposed by researchers, one of which is the use of artificial potential fields. Several authors in the past two decades have proposed various modified versions of the artificial potential field algorithms. The variations of the traditional APF approach have given an answer to prior shortcomings. This gives potential rise to a strategic survey on the improved versions of this algorithm. This study presents a review of motion planning for autonomous ground vehicles using artificial potential fields. Each article is evaluated based on criteria that involve the environment type, which may be either static or dynamic, the evaluation scenario, which may be real-time or simulated, and the method used for improving the search performance of the algorithm. All the customized designs of planning models are analyzed and evaluated. At the end, the results of the review are discussed, and future works are proposed

Prevalence and Evaluation of Multidrug Resistance Pattern of Pseudomonas Aeruginosa among Critical and Non-Critical Areas at a Tertiary Care hospital of Multan

Pseudomonas aeruginosa is an extremely wide spread microorganism linked to nosocomial illnesses. Effective inspection of variations in antimicrobial resistance patterns of P. aeruginosa is vital for selecting suitable antimicrobial drugs for pragmatic treatment. The current research has been performed for assessing antimicrobial sensitivity profile of P. aeruginosa isolated as of a variety of medical specimens collected from critical and non-critical admitted patients of Nishtar Hospital, Multan. The isolates were detected utilizing standard lab practices, as well as the sensitivity was examined employing Kirby-Bauer disk diffusion method corresponding to Clinical and Laboratory Standard Institute (CLSI) recommendations 2019. Out of 373 samples, 110 (29.49 %) P. aeruginosa isolates were from admitted patients in different wards. 82 (74.5 %) came from non-critical units along with 28 (25.4 %) belonged to critical units. Prevalence of P. aeruginosafrom the non-critical units was detected from surgical ward 35 (42.6 %) followed by medical ward 25 (30.48 %), gynecology 15 (18.29 %) and orthopedics 7 (8.5 %). The highest prevalence of P. aeruginosa among critical areas were from Medicine Intensive Care Unit 14 (50 %) followed by Surgery Intensive Care Unit 9 (32.14 %) and Respiratory Intensive Care Unit 5 (17.85 %). All were observed as multidrug-resistant against different antibiotics. The current research facilitates estimating the occurrence of MDR strains in intensive care units. Therefore, routine investigation of antibiotic sensitivity patterns is crucial for lowering the healthcare-linked infection levels as well as antimicrobial resistance

Future Time Perspective and Frustration Intolerance in Medical students

Background: The future perception of students is affected by a series of events happening throughout their course of studies. The objective of this study is to measure the Future time perspective (FTP) and Future intolerance (FI) among medical students during the COVID-19 lockdown.Materials and Methods: It was a descriptive cross-sectional study done from January 15, 2020 to July 20, 2020 among MBBS students of Rawalpindi Medical University. The questionnaire consisted of 1) Socio-demographic details, 2) Future Time Perspective scale, and 3) Frustration Discomfort scale. An online survey was done using Google Forms. An ANOVA was run to check for differences in FTP and FI between the classes. Bivariate analysis for continuous variables was applied. The data were analysed using the Statistical Package for Social Sciences (SPSS) v.23.0 (IBM, Armonk, US). Results: Mean age of participants was 21.8 (SD=1.66) with majority females 331(58.4%). The mean FTP score and mean FI scores were 50.8(SD=19.43) and 91.46(SD=17.65) respectively. Final-year students had the highest mean score (Mean=57.94(SD=7.72)) for FI. On the other hand, mean scores for FDS were highest in first-year students (Mean=102.89 (SD=13.52)) while lowest in fourth-year students (Mean=81.73(SD=17.49)) with P=.005. There was a significant difference in the dimensions of Emotional Intolerance and achievement among females and males. Bivariate analysis showed a significant negative correlation was found between FTP and the dimension of discomfort intolerance (r = -0.158, p < 0.001), while a significant positive correlation was found between FTP and the dimension of achievement (r = 0.225, p < 0.001). Conclusion: Our study concludes that final-year students have a much higher tolerance level for adversities. Furthermore, they also have a much more positive perspective and a clearer vision regarding their future

Distal radius fractures: a prospective study of the clinical and radiological outcomes in surgically managed patients

Background: Objective of the research was to evaluate radiological and functional outcome in fractures of the distal radius treated by various surgical methods.Methods: 89 patients with distal radius fractures were randomly divided into three groups according to a computer-generated table of randomization. 40 patients were managed by K wire fixation. 22 patients were managed by external fixator. 27 patients were managed by volar plating technique. Anatomical restoration was evaluated by posterior-anterior and lateral radiographs obtained preoperatively and at 09 months of follow up to evaluate radial height (RH), radial inclination (RI) and volar tilt (VT). Functional outcome was evaluated using Mayo scoring system.Results: According to Mayo score, in K-wire group 72.5% (n=29) patients had excellent to good outcome, 17.5% (n=7) had fair outcome while as 10% (n=4) patients had poor outcome. In external fixator group 72.7% (n=16) patients had excellent to good outcome while as 27.3% (n=6) had fair outcome. In volar plating group 81.5% (n=22) patients had excellent to good outcome while as 18.5% (n=5) had fair outcome.Conclusions: In our study we found that volar locked plating provides advantage in dorsally or volarly displaced intra-articular fractures with excellent to good radiological outcome. However, in type B (partial intra-articular fractures) fractures, volar locking compression plate (LCP) and external fixator provide almost equivocal results. Percutaneous pinning can be recommended for extra-articular or simple intra-articular fracture patterns, with a loss of volar and/or RI but without significant radial shortening

Application Potentials of Plant Growth Promoting Rhizobacteria and Fungi as an Alternative to Conventional Weed Control Methods

Weeds are the plants usually grown on unwanted places and are notorious for causing interruptions in agricultural settings. Remarkable yield losses have been reported in fields infested with weeds worldwide. So far, these weeds cause about 34% of losses to yields of major agricultural crops and pose threats to economic condition of the farmers. Conventionally, weed control was achieved by the use of chemical herbicides and traditional agronomic practices. But these methods are no more sustainable as the magnitude of threats imposed by these conventionally outdated methods such as chemical herbicides is greater than the benefits achieved and their continuous use has disturbed biodiversity and weed ecology along with herbicide resistance in some weeds. Herbicide residues are held responsible for human health hazards as well. Therefore the future of weed control is to rely on alternative approaches which may be biological agents such as bacteria and fungi. This chapter highlights the potentials of using bacterial and fungal biocontrol agents against weeds in farmer fields. Moreover, detailed review on merits and demerits of conventional weed control methods is discussed in this chapter

Molekularna filogenija i karakterizacija mundri ovce (Ovis aries) u Pakistanu sekvenciranjem mitohondrijskog citokroma b i podjedinice I citokrom oksidaze

The main focus of this research is to determine the molecular phylogeny and characterization of Mundri Sheep (Ovis aries) through sequencing of mitochondrial Cytochrome b and Cytochrome Oxidase Subunit I (COI). This sheep breed appears morphologically different from other local sheep breeds of Pakistan. The current research is carried out to appraise the status of Mundri sheep whether it is aa different breed from other breeds or not. Blood samples of Mundri sheep were collected from Livestock Experiment Station, (LES) Fazilpur in district Rajanpur (Punjab). DNA was isolated and subjected to Polymerase Chain Reaction (PCR) for amplification of Cytochrome b and COI genes using appropriate primers. PCR products were sequenced and analyzed by MEGA X software. The phylogeny analysis categorized Ovis aries including Mundri sheep into three and two groups for Cytochrome b and COI genes respectively. It showed Mundri sheep as a separate group and thus as a separate breed from all other local sheep breeds. Hence the study validates based on Cytochrome b and COI that Mundri sheep is a distinctive breed from the rest of the local sheep breed.Glavni je cilj ovog istraživanja bio odrediti molekularnu filogeniju i karakterizaciju mundri ovce (Ovis aries) sekvenciranjem mitohondrijskog citokroma b i podjedinice I citokrom oksidaze (COI). Ova se pasmina ovaca morfološki čini drugačijom od ostalih lokalnih pasmina ovaca u Pakistanu. Ovo je istraživanje provedeno da bi se procijenio status mundri ovce, da bismo mogli odrediti radi li se o pasmini drugačijoj od ostalih pasmina. Uzorci krvi mundri ovce prikupljeni su iz Stanice za eksperimente na stoci (engl. Livestock Experiment Station – LES) Fazilpur u okrugu Rajanpur (Punjab). DNK je izolirana i podvrgnuta lančanoj reakciji polimerazom (PCR) zbog pojačanja citokrom B i COI gena uporabom prikladnih primera. PCR proizvodi su sekvencirani i analizirani pomoću MEGA X softvera. Filogenetska analiza kategorizirala je Ovis aries uključujući mundri ovcu, u tri i dvije skupine za citokrom b, odnosno COI gene. Istraživanje je pokazalo da je mundri ovca posebna skupina i time zasebna pasmina ovaca u odnosu na ostale lokalne pasmine. Na temelju citokroma b i COI, naša je studija potvrdila da je mundri ovca zasebna pasmina i da se razlikuje od ostalih lokalne pasmine ovaca

Drought induced changes in growth, osmolyte accumulation and antioxidant metabolism of three maize hybrids

Consequences of drought stress in crop production systems are perhaps more deleterious than other abiotic stresses under changing climatic scenarios. Regulations of physio-biochemical responses of plants under drought stress can be used as markers for drought stress tolerance in selection and breeding. The present study was conducted to appraise the performance of three different maize hybrids (Dong Dan 80, Wan Dan 13, and Run Nong 35) under well-watered, low, moderate and SD conditions maintained at 100, 80, 60, and 40% of field capacity, respectively. Compared with well-watered conditions, drought stress caused oxidative stress by excessive production of reactive oxygen species (ROS) which led to reduced growth and yield formation in all maize hybrids; nevertheless, negative effects of drought stress were more prominent in Run Nong 35. Drought-induced osmolyte accumulation and strong enzymatic and non-enzymatic defense systems prevented the severe damage in Dong Dan 80. Overall performance of all maize hybrids under drought stress was recorded as: Dong Dan 80 > Wan Dan 13 > Run Nong 35 with 6.39, 7.35, and 16.55% yield reductions. Consequently, these biochemical traits and differential physiological responses might be helpful to develop drought tolerance genotypes that can withstand water-deficit conditions with minimum yield losses

Effects of a high-dose 24-h infusion of tranexamic acid on death and thromboembolic events in patients with acute gastrointestinal bleeding (HALT-IT): an international randomised, double-blind, placebo-controlled trial

Background: Tranexamic acid reduces surgical bleeding and reduces death due to bleeding in patients with trauma. Meta-analyses of small trials show that tranexamic acid might decrease deaths from gastrointestinal bleeding. We aimed to assess the effects of tranexamic acid in patients with gastrointestinal bleeding. Methods: We did an international, multicentre, randomised, placebo-controlled trial in 164 hospitals in 15 countries. Patients were enrolled if the responsible clinician was uncertain whether to use tranexamic acid, were aged above the minimum age considered an adult in their country (either aged 16 years and older or aged 18 years and older), and had significant (defined as at risk of bleeding to death) upper or lower gastrointestinal bleeding. Patients were randomly assigned by selection of a numbered treatment pack from a box containing eight packs that were identical apart from the pack number. Patients received either a loading dose of 1 g tranexamic acid, which was added to 100 mL infusion bag of 0·9% sodium chloride and infused by slow intravenous injection over 10 min, followed by a maintenance dose of 3 g tranexamic acid added to 1 L of any isotonic intravenous solution and infused at 125 mg/h for 24 h, or placebo (sodium chloride 0·9%). Patients, caregivers, and those assessing outcomes were masked to allocation. The primary outcome was death due to bleeding within 5 days of randomisation; analysis excluded patients who received neither dose of the allocated treatment and those for whom outcome data on death were unavailable. This trial was registered with Current Controlled Trials, ISRCTN11225767, and ClinicalTrials.gov, NCT01658124. Findings: Between July 4, 2013, and June 21, 2019, we randomly allocated 12 009 patients to receive tranexamic acid (5994, 49·9%) or matching placebo (6015, 50·1%), of whom 11 952 (99·5%) received the first dose of the allocated treatment. Death due to bleeding within 5 days of randomisation occurred in 222 (4%) of 5956 patients in the tranexamic acid group and in 226 (4%) of 5981 patients in the placebo group (risk ratio [RR] 0·99, 95% CI 0·82–1·18). Arterial thromboembolic events (myocardial infarction or stroke) were similar in the tranexamic acid group and placebo group (42 [0·7%] of 5952 vs 46 [0·8%] of 5977; 0·92; 0·60 to 1·39). Venous thromboembolic events (deep vein thrombosis or pulmonary embolism) were higher in tranexamic acid group than in the placebo group (48 [0·8%] of 5952 vs 26 [0·4%] of 5977; RR 1·85; 95% CI 1·15 to 2·98). Interpretation: We found that tranexamic acid did not reduce death from gastrointestinal bleeding. On the basis of our results, tranexamic acid should not be used for the treatment of gastrointestinal bleeding outside the context of a randomised trial

Reducing the environmental impact of surgery on a global scale: systematic review and co-prioritization with healthcare workers in 132 countries

Abstract Background Healthcare cannot achieve net-zero carbon without addressing operating theatres. The aim of this study was to prioritize feasible interventions to reduce the environmental impact of operating theatres. Methods This study adopted a four-phase Delphi consensus co-prioritization methodology. In phase 1, a systematic review of published interventions and global consultation of perioperative healthcare professionals were used to longlist interventions. In phase 2, iterative thematic analysis consolidated comparable interventions into a shortlist. In phase 3, the shortlist was co-prioritized based on patient and clinician views on acceptability, feasibility, and safety. In phase 4, ranked lists of interventions were presented by their relevance to high-income countries and low–middle-income countries. Results In phase 1, 43 interventions were identified, which had low uptake in practice according to 3042 professionals globally. In phase 2, a shortlist of 15 intervention domains was generated. In phase 3, interventions were deemed acceptable for more than 90 per cent of patients except for reducing general anaesthesia (84 per cent) and re-sterilization of ‘single-use’ consumables (86 per cent). In phase 4, the top three shortlisted interventions for high-income countries were: introducing recycling; reducing use of anaesthetic gases; and appropriate clinical waste processing. In phase 4, the top three shortlisted interventions for low–middle-income countries were: introducing reusable surgical devices; reducing use of consumables; and reducing the use of general anaesthesia. Conclusion This is a step toward environmentally sustainable operating environments with actionable interventions applicable to both high– and low–middle–income countries