Multi fingered robot hand in industrial robot application using tele-operation

This research focuses on the working and development of wireless robotic hand system. In this research previously developed models have been studied. After analysis of those models, a better approach has been presented in this research. The objective of this research is to design and develop a tele-operated robotic hand system. The robotic hand is intended for providing solutions to industrial problems like robot reprogramming, industrial automation and safety of the workers working in hostile environments. The robotic hand system works in the master slave configuration where Bluetooth is being used as the communication channel for the tele-operation. The master is a glove, embedded with sensors to detect the movement of every joint present in the hand, which a human operator can wear. This joint movement is transferred to the slave robotic hand which will mimic the movement of human operator. The robotic hand is a multi fingered dexterous and anthropomorphic hand. All the fingers are capable of performing flexion, extension, abduction, adduction and hence circumduction. A new combination of pneumatic muscles and springs has been used for the actuation purpose. As a result, this combination reduces the size of the robotic hand by decreasing the number of pneumatic muscles used. The pneumatic muscles are controlled by the opening and closing of solenoid valves. A novel technique has been used in the robotic hand for tendon routing, which gives the ability of independence to all finger joints. The heart of all the control mechanism of the system is mbed microcontroller. The designed system was tested at different module levels. The results show the successful establishment of communication between master and slave at a rate of 10 packets per second, which was sufficient for smooth motion of the system. The amount of torque produced at all the joints in the robotic hand has been presented in this research. The posture tests have been performed in which two fingers were actuated which followed the master. This system has achieved motion of fingers without any tendon coupling problem. The system is able to replace the human industrial workers performing dexterous tasks

Contextual challenges in the implementation of the alliance for maternal and newborn health improvement, prospective cohort study, an experience from rural Pakistan

Introduction: Improving maternal and newborn survival needs robust data on patterns of morbidity and mortality from well-characterized cohorts. It is equally important for researchers to document and understand the contextual challenges of data collection and how they are addressed. Methods: This was a prospective cohort study implemented from December 2012 to August 2014 in Matiari, Pakistan. A total of 11,315 pregnancies were enrolled. Participants were approached at home for sequential data collection through the standard pretested structured questionnaires. Some indicators were sourced through health facility records. Information on field challenges gathered through field diaries and minutes of meetings with field staff. Results: Inaccurate reporting of last menstrual period (LMP) dates caused difficulties in the planning and completion of antenatal data collection visits at scheduled gestational weeks. We documented ultrasound reports wherever available, relied on quickening technique, and implemented a seasonal event calendar to help mothers’ recall their LMP. Health system coordinators of public sector and private healthcare providers were individually approached for maximum data collection. But an unregulated private health system with poor record maintenance and health care providers’ reluctance for cooperation posed a greater challenge in data collection. Conclusions: Within a broader understanding of the health systems and socio-cultural environment, temporal and spatial feasibility of data collection should be considered thoroughly at the early stages of study designing, planning, resource allocation, and implementation. Pre-defined regular and need-based meetings with each tier of data collection teams and study managers help to reinvigorate field execution plans and optimize both quantity and quality of study data

Exploration of Two Cucurbitaceae Fruit (Muskmelon and Watermelon) Seeds for Presence of Phytochemicals, and Antioxidant and Antimicrobial Activities

Cucurbitaceae family fruits, especially melons, offers significant quantities of minerals carotenoids and phenolic compounds, contributing to their antioxidant activity. However, seeds of these fruits are usually discarded as waste by products. In current study, seeds of watermelon (Citrullus lanatus) and muskmelon (Cucumis melo) were separated, dried, grounded and extracted, with 70% ethanol, to investigate total phenolic content (TPC), flavonoid content (TFC), carotenoid content (TC) content, and total antioxidant activity (TAA). Further, antimicrobial activities of these extracts were tested against selected bacterial and fungus strains. Results showed that extracts of both cucurbits presented significant amounts of phytochemicals, with higher quantities presented by watermelon seeds. In watermelon seeds, TPC were found 156.50 mg/GAE 100 g, TFC 56.78 mg CE/100 g, TC 36.65 mg/100 g, and TAA 71%, and these amounts were significantly higher than those found in muskmelon seeds. Antimicrobial study results showed that extracts of both seeds exhibited significant zone of inhibitions against three bacterial and three fungal species, and these values were very comparable to the reference antimicrobial drug used, Ciprofloxacin. Findings of current research work provided significant grounds for presence of phytochemical bioactives in two melon fruits seeds, providing the basis for extraction and utilization of these bioactives, through processing and fortification different pharma foods

Assessment of green and chemically synthesized copper oxide nanoparticles against hepatocellular carcinoma

Copper oxide nanoparticle (CuO-NPs) attracts the attentions of human beings due to unique physicochemical and biological properties. The chemical and green synthesis approaches were used to synthesis of CuO-NPs and plant leaves extract Azadirachta indica (A. indica) was preferred in green synthesis approach. The XRD analysis was used to analyze the monoclinic crystal structure and calculate the average crystallite size in the range of 15 ti 16 nm. While, the information about different rotational and vibrational modes attached on the spectrum of CuO-NPs was identified by FTIR. After that the UV-VIS analysis provided the information about the absorbance spectrums in the range of 235 and 220 nm. The MTT assay was perfomed to investigate liver carcinoma (HepG2 cells) interaction and absorbance of CuO-NPs towards mentioned cell lines were recorded and loss in HepG2 cells viability. In an overall assessment, anticancer response of comparative study of CuO-NPs towards liver carcinoma treatment contributes significantly after successful demonstration of essential steps of suggested experimental study. Finally, comparative study of experimental and mathematical modeling of anticancer activity towards normal and liver cancer cell lines were conducted and investigated. (c) 2021 The Author(s). Published by Elsevier B.V. on behalf of King Saud University. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)

Assessment of power spectral density of microvascular hemodynamics in skeletal muscles at very low and low-frequency via near-infrared diffuse optical spectroscopies

In this work, we used a hybrid time domain near-infrared spectroscopy (TD-NIRS) and diffuse correlation spectroscopy (DCS) device to retrieve hemoglobin and blood flow oscillations of skeletal muscle microvasculature. We focused on very low (VLF) and low-frequency (LF) oscillations (i.e., frequency lower than 0.145 Hz), that are related to myogenic, neurogenic and endothelial activities. We measured power spectral density (PSD) of blood flow and hemoglobin concentration in four muscles (thenar eminence, plantar fascia, sternocleidomastoid and forearm) of 14 healthy volunteers to highlight possible differences in microvascular hemodynamic oscillations. We observed larger PSDs for blood flow compared to hemoglobin concentration, in particular in case of distal muscles (i.e., thenar eminence and plantar fascia). Finally, we compared the PSDs measured on the thenar eminence of healthy subjects with the ones measured on a septic patient in the intensive care unit: lower power in the endothelial-dependent frequency band, and larger power in the myogenic ones were observed in the septic patient, in accordance with previous works based on laser doppler flowmetry

Survey of human-leopard (Panthera Pardus) conflict in Ayubia National Park, Pakistan

Wildlife populations are at a risk of extinction mainly because of human-wildlife conflict (HWC). The present study was designed to evaluate the ongoing HWC with special reference to Common Leopard (Panthera pardus) in Ayubia National park through field study as well as a literature-based approach. Questionnaire interview surveys were designed for wildlife officials working in the park and the locals who bear the cost for leopard conflict through livestock depredation and crop damage. The study showed that human-leopard conflict in the study area has been increasing. More than 60% of people considered livestock depredation as the major reason for their negative perception towards the common leopard. Among livestock, goats were more vulnerable which showed that leopards mostly preferred smaller prey. A number of reported human injuries and deaths on account of Human-Leopard conflict in the study area helped conclude that human-wildlife conflict is a significant issue. Mitigation measures may hence be recommended, such as livestock compensation schemes and community-based conservation approaches, etc. It is critical to avoid human-Leopard conflict not only to keep the public and their property safe but also to help conserve this important species of common leopard (Panthera pardus)

Mobile Learning Effectiveness in Higher Education

This research investigates mobile learning effectiveness in higher education. Mobile learning is composition of two words Mobile and Learning. In simple words mobile learning is mobility of learners by using mobile technologies in learning environment. Many researches addressed mobile learning but few of them covered mobile learning effectiveness. This study explores mobile learning effectiveness with the help of learning theories and models. Behaviorist, cognitive, humanistic, situational, and mobile learning theories are discussed that elaborate social, psychological, and philosophical aspects of learning.  Detailed evolution of learning is also part of this report that covers the literature of distance learning, electronic learning as well as formal and informal learning. Three effective learning models are taken in consideration: the Garrison’s Community of Inquiry, the Swan’s Interactivity and Online Learning, and the Danaher and his colleagues’ model of mobile learning and teaching evaluation model. Danaher’s model is selected as a conceptual framework of the study that is composed of three elements that are engagement, presence and flexibility. Engagement is the active participation of the learner in learning activities. Presence means being there, physically or mentally, in learning activity or place. Flexibility is how easy and facilitative the system is for teachers and students. These three elements are used to determine mobile learning effectiveness.  Survey method was used as our research approach. Empirical data was collected from Linnaeus University (prev. Växjö University) Sweden, by using two separate questionnaires for students and teachers. Collected data was analyzed with respect to learning theories and the theoretical model. The result reveals the potential of mobile learning as an effective mode of learning in terms of engagement and presence but flexibilty approved to be weaker in mobile learning

UTHM HAND: Performance of Complete System of Dexterous Anthropomorphic Robotic Hand

AbstractThis paper describes a new robotic hand system working under master slave configuration. The slave robotic hand is tele-operated by a master glove that a human operator can wear. The wireless tele-operation is being done by using Bluetooth as the communication channel between master and slave. The angle information of the operator's hand is transferred via this Bluetooth channel by embedding BendSensors in the glove. BendSensors act like a potentiometer strip and detects the movement of every joint present in the hand. The slave robotic hand, on reception of this angle information mimics the movement of human operator. The UTHM robotic hand is a multi fingered dexterous anthropomorphic hand. The hand comprises of five fingers (four fingers and one thumb), each having four degrees of freedom (DOF), which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose, pneumatic muscles and springs are used. The paper exemplifies the design for the robotic hand and provides the torque modelling and torque produced at each finger joint of the robotic hand. It also discusses different robotic hands that have been developed before date

Identification and Phylogenetic Analysis of Channa Species from Riverine System of Pakistan Using COI Gene as a DNA Barcoding Marker

Channa are the freshwater and important food fish species in Pakistan belonging to family Channidae. However, identification and phylogenetic analysis based on molecular tools of these species in Pakistan was not well known. Herein, the current investigation was conceptualized, which dealt with mitochondrial DNA sequences from three geographically distinct populations of this species from Pakistan’s water system. DNA from fin tissues was extracted. COI region of mtDNA was amplified using universal primers for fish. PCR products were sequenced. Phylogenetic analysis conducted in the present study, i.e. neighbor-joining (NJ) cladogram, maximum likelihood, K2P genetic divergence and histogram suggests that the studied species of family Channidae are genetically different. The K2P intraspecific divergences were lower than interspecific divergences. The clades in the evolutionary tree for three species were clearly separated

Poly-L-arginine Coated Silver Nanoprisms and Their Anti-Bacterial Properties

The aim of this study was to test the effect of two different morphologies of silver nanoparticles, spheres, and prisms, on their antibacterial properties when coated with poly-L-arginine (poly-Arg) to enhance the interactions with cells. Silver nanoparticle solutions were characterized by UV–visible spectroscopy, transmission electron microscopy, dynamic light scattering, zeta potential, as well as antimicrobial tests. These ultimately showed that a prismatic morphology exhibited stronger antimicrobial effects against Escherichia coli, Pseudomonas aeruginosa and Salmonella enterica. The minimum bactericidal concentration was found to be 0.65 μg/mL in the case of a prismatic AgNP-poly-Arg-PVP (silver nanoparticle-poly-L-arginine-polyvinylpyrrolidone) nanocomposite. The anticancer cell activity of the silver nanoparticles was also studied, where the maximum effect against a HeLa cell line was 80% mortality with a prismatic AgNP-poly-Arg-PVP nanocomposite at a concentration of 11 μg/mL. The antimicrobial activity of these silver nanocomposites demonstrates the potential of such coated silver nanoparticles in the area of nano-medicine