Design and Real Time Control of a Versatile Scansorial Robot

This thesis presents investigations into the development of a versatile scansorial mobile robot and real-time realisation of a control system for different configurations of the robot namely climbing mode, walking mode and steering mode. The mobile robot comprises of a hybrid leg and wheel mechanism with innovative design that enables it to interchange its configuration to perform the specific tasks of pole climbing in climbing mode, walking and step climbing in walking mode, and skid steering and inclined slope climbing in steering mode. The motivation of this research is due to the surrounding environment which is not always structured for exploration or navigation missions, and thus poses significant difficulty for the robot to manoeuvre and accomplish the intended task. Hence, the development of versatile scansorial robot with a flexible and interchangeable configuration can provide a broad range of applications and locomotion system and to achieve the mission objective successfully. The robot design consists of four arms/legs with wheel attached at each end-effector and has two link manipulation capability. In climbing mode, the arms are configured as grippers to grip the pole and wheels accelerate to ascend or descend. The climbing angle is monitored to retain the level of the robot while climbing. However, in walking mode, the arms are configured as legs and the wheels are disabled. By implementing a periodic walking gait, the robot is capable of performing stable walking and step climbing. In steering mode, the arms are configured as suspension and the wheels are used for manoeuvring. In this mode, the skid steering system is used to enable the robot perform the turn. The versatile scansorial robot’s configurations and locomotion capabilities are assessed experimentally in real time implementation using the physical prototype. The experiments provided demonstrate the versatility of the robot and successfully fulfill the aims and objectives of the research

Penyelenggaraan bangunan sekolah

Penyelenggaraan bangunan adalah satu proses pemuliharaan dan penjagaan struktur bangunan dan komponen.Penyelenggaraan juga boleh didefinisikan sebagai aktiviti-aktiviti yang dilaksanakan bagi tujuan memulihara, mengawal selia bangunan, kemudahan serta persekitarannya bagi memenuhi piawaian yang ditetapkan supaya ianya selamat untuk digunakan.Penyelenggaraan bangunan sekolah merupakan suatu aspek yang perlu diberi perhatian serius kerana ianya penting bagi mengekalkan fungsi asal bangunan tersebut di samping menyediakan persekitaran yang kondusif bagi tujuan pengajaran dan pembelajaran. Matlamat kajian ini adalah untuk mengenal pasti amalan-amalan pengurusan penyelenggaraan yang dilakukan di kawasan sekolah serta permasalahan yanga sering dihadapi.Masalah-masalah yang dihadapi ini bakal memberi kesan terhadap prestasi sesebuah sekolah itu. Diharapkan, hasil daripada kajian ini bakal menyelesaikan setiap permasalahan yang dihadapi di samping perbincangan mengenai cadangan-cadangan untuk memulihara dan melindungi aset tersebut

A numerical study on MM-NEMO scheme: impact of rising number of mobile routers and cell residence time

Signaling overhead is a significant issue for mobile network due to increase traffic load with packet loss and delay during frequent movement of Mobile Router (MR) from one subnet to another in Network Mobility Basic Support protocol (NEMO BSP). Accordingly, advance preparation mechanism (i.e. Fast Hierarchical Mobile IPv6) works very well as a node mobility solution in order to solve these matters. Yet, combining this host-based protocol for macro mobility handoff in NEMO environment is a challenging issue as both MR and its Mobile Network Nodes (MNNs) must be taken into consideration. In this paper, a numerical framework is developed to study the total handoff cost of Macro Mobility scheme in NEMO (MM-NEMO). The numerical results confirms that MM-NEMO scheme outperforms the standard NEMO BSP relat-ed to total handoff delay cost (51% less than that of NEMO-BSP) regardless of increasing the number of MRs as well as cell residence time. Keywords: NEMO BSP; MM-NEMO; MR; MNN; total handoff delay cost

Rubber Tire Dust-Rice Husk Pyramidal Microwave Absorber

Rubber tire dust-rice husk is an innovation in improving the design of pyramidal microwave absorbers to be used in radio frequency (RF) anechoic chambers. An RF anechoic chamber is a shielded room covered with absorbers to eliminate unwanted refection signals. To design the pyramidal microwave absorber, rice husk will be added to rubber tire dust since the study shows that both have high percentages of carbon. This innovative material combination will be investigated to determine the best reflectivity or reflection loss performance of pyramidal microwave absorbers. Carbon is the most important element that must be in the absorber in order to help the absorption of unwanted microwave signals. In the commercial market, polyurethane and polystyrene are the most popular foam- based material that has been used in pyramidal microwave absorber fabrication. Instead of using chemical material, this study shows that agricultural waste is more environmentally friendly and has much lower cost. In this paper, three combinations of rubber tire dust and rice husk are fabricated to investigate the performance of microwave absorber reflection loss in operating in the frequency range from 7 GHz to 12 GHz

The enhanced naturally occurring radioactivity of negative ion clothing and attendant risk

The study investigates commercially available negative ion clothing, and evaluations are made using gamma-ray spectroscopy and Geant4 Monte Carlo simulations. Observed to contain naturally occurring radioactive material (NORM), evaluations are made of the radiological risk arising from the use of these as items of everyday wear, undergarments in particular. Organ doses from these were simulated using the MIRD5 mathematical female phantom, with the incorporation of dose conversion factors (DCFs). At 175 ± 26, 1732 ± 247, and 207 ± 38 Bq, for238U,232Th, and40K respectively, item code S05 was found to possess the greatest activity, while item code S07 was shown to have the least activity, at 2 ± 0.5 and 15 ± 2 Bq, and again for238U and232Th, respectively. Sample code S11 recorded least activity, at 29 ± 5 Bq, for40K. Among the clothing items, sample item code S05 offered the greatest concentrations of Th, U and Zr, with percentage means of 1.23 ± 0.1, 0.045 ± 0.001, and 1.29 ± 0.1, respectively, giving rise to an annual effective dose of 1.57 mSv/y assuming a nominal wearing period of 24 h per day. Accordingly, the annual public dose limit of 1 mSv can be exceeded by their use

Global burden of 369 diseases and injuries in 204 countries and territories, 1990–2019: a systematic analysis for the Global Burden of Disease Study 2019

Background: In an era of shifting global agendas and expanded emphasis on non-communicable diseases and injuries along with communicable diseases, sound evidence on trends by cause at the national level is essential. The Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) provides a systematic scientific assessment of published, publicly available, and contributed data on incidence, prevalence, and mortality for a mutually exclusive and collectively exhaustive list of diseases and injuries. Methods: GBD estimates incidence, prevalence, mortality, years of life lost (YLLs), years lived with disability (YLDs), and disability-adjusted life-years (DALYs) due to 369 diseases and injuries, for two sexes, and for 204 countries and territories. Input data were extracted from censuses, household surveys, civil registration and vital statistics, disease registries, health service use, air pollution monitors, satellite imaging, disease notifications, and other sources. Cause-specific death rates and cause fractions were calculated using the Cause of Death Ensemble model and spatiotemporal Gaussian process regression. Cause-specific deaths were adjusted to match the total all-cause deaths calculated as part of the GBD population, fertility, and mortality estimates. Deaths were multiplied by standard life expectancy at each age to calculate YLLs. A Bayesian meta-regression modelling tool, DisMod-MR 2.1, was used to ensure consistency between incidence, prevalence, remission, excess mortality, and cause-specific mortality for most causes. Prevalence estimates were multiplied by disability weights for mutually exclusive sequelae of diseases and injuries to calculate YLDs. We considered results in the context of the Socio-demographic Index (SDI), a composite indicator of income per capita, years of schooling, and fertility rate in females younger than 25 years. Uncertainty intervals (UIs) were generated for every metric using the 25th and 975th ordered 1000 draw values of the posterior distribution. Findings: Global health has steadily improved over the past 30 years as measured by age-standardised DALY rates. After taking into account population growth and ageing, the absolute number of DALYs has remained stable. Since 2010, the pace of decline in global age-standardised DALY rates has accelerated in age groups younger than 50 years compared with the 1990–2010 time period, with the greatest annualised rate of decline occurring in the 0–9-year age group. Six infectious diseases were among the top ten causes of DALYs in children younger than 10 years in 2019: lower respiratory infections (ranked second), diarrhoeal diseases (third), malaria (fifth), meningitis (sixth), whooping cough (ninth), and sexually transmitted infections (which, in this age group, is fully accounted for by congenital syphilis; ranked tenth). In adolescents aged 10–24 years, three injury causes were among the top causes of DALYs: road injuries (ranked first), self-harm (third), and interpersonal violence (fifth). Five of the causes that were in the top ten for ages 10–24 years were also in the top ten in the 25–49-year age group: road injuries (ranked first), HIV/AIDS (second), low back pain (fourth), headache disorders (fifth), and depressive disorders (sixth). In 2019, ischaemic heart disease and stroke were the top-ranked causes of DALYs in both the 50–74-year and 75-years-and-older age groups. Since 1990, there has been a marked shift towards a greater proportion of burden due to YLDs from non-communicable diseases and injuries. In 2019, there were 11 countries where non-communicable disease and injury YLDs constituted more than half of all disease burden. Decreases in age-standardised DALY rates have accelerated over the past decade in countries at the lower end of the SDI range, while improvements have started to stagnate or even reverse in countries with higher SDI. Interpretation: As disability becomes an increasingly large component of disease burden and a larger component of health expenditure, greater research and developm nt investment is needed to identify new, more effective intervention strategies. With a rapidly ageing global population, the demands on health services to deal with disabling outcomes, which increase with age, will require policy makers to anticipate these changes. The mix of universal and more geographically specific influences on health reinforces the need for regular reporting on population health in detail and by underlying cause to help decision makers to identify success stories of disease control to emulate, as well as opportunities to improve. Funding: Bill & Melinda Gates Foundation. © 2020 The Author(s). Published by Elsevier Ltd. This is an Open Access article under the CC BY 4.0 licens

Global age-sex-specific fertility, mortality, healthy life expectancy (HALE), and population estimates in 204 countries and territories, 1950-2019 : a comprehensive demographic analysis for the Global Burden of Disease Study 2019

Background: Accurate and up-to-date assessment of demographic metrics is crucial for understanding a wide range of social, economic, and public health issues that affect populations worldwide. The Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) 2019 produced updated and comprehensive demographic assessments of the key indicators of fertility, mortality, migration, and population for 204 countries and territories and selected subnational locations from 1950 to 2019. Methods: 8078 country-years of vital registration and sample registration data, 938 surveys, 349 censuses, and 238 other sources were identified and used to estimate age-specific fertility. Spatiotemporal Gaussian process regression (ST-GPR) was used to generate age-specific fertility rates for 5-year age groups between ages 15 and 49 years. With extensions to age groups 10–14 and 50–54 years, the total fertility rate (TFR) was then aggregated using the estimated age-specific fertility between ages 10 and 54 years. 7417 sources were used for under-5 mortality estimation and 7355 for adult mortality. ST-GPR was used to synthesise data sources after correction for known biases. Adult mortality was measured as the probability of death between ages 15 and 60 years based on vital registration, sample registration, and sibling histories, and was also estimated using ST-GPR. HIV-free life tables were then estimated using estimates of under-5 and adult mortality rates using a relational model life table system created for GBD, which closely tracks observed age-specific mortality rates from complete vital registration when available. Independent estimates of HIV-specific mortality generated by an epidemiological analysis of HIV prevalence surveys and antenatal clinic serosurveillance and other sources were incorporated into the estimates in countries with large epidemics. Annual and single-year age estimates of net migration and population for each country and territory were generated using a Bayesian hierarchical cohort component model that analysed estimated age-specific fertility and mortality rates along with 1250 censuses and 747 population registry years. We classified location-years into seven categories on the basis of the natural rate of increase in population (calculated by subtracting the crude death rate from the crude birth rate) and the net migration rate. We computed healthy life expectancy (HALE) using years lived with disability (YLDs) per capita, life tables, and standard demographic methods. Uncertainty was propagated throughout the demographic estimation process, including fertility, mortality, and population, with 1000 draw-level estimates produced for each metric. Findings: The global TFR decreased from 2·72 (95% uncertainty interval [UI] 2·66–2·79) in 2000 to 2·31 (2·17–2·46) in 2019. Global annual livebirths increased from 134·5 million (131·5–137·8) in 2000 to a peak of 139·6 million (133·0–146·9) in 2016. Global livebirths then declined to 135·3 million (127·2–144·1) in 2019. Of the 204 countries and territories included in this study, in 2019, 102 had a TFR lower than 2·1, which is considered a good approximation of replacement-level fertility. All countries in sub-Saharan Africa had TFRs above replacement level in 2019 and accounted for 27·1% (95% UI 26·4–27·8) of global livebirths. Global life expectancy at birth increased from 67·2 years (95% UI 66·8–67·6) in 2000 to 73·5 years (72·8–74·3) in 2019. The total number of deaths increased from 50·7 million (49·5–51·9) in 2000 to 56·5 million (53·7–59·2) in 2019. Under-5 deaths declined from 9·6 million (9·1–10·3) in 2000 to 5·0 million (4·3–6·0) in 2019. Global population increased by 25·7%, from 6·2 billion (6·0–6·3) in 2000 to 7·7 billion (7·5–8·0) in 2019. In 2019, 34 countries had negative natural rates of increase; in 17 of these, the population declined because immigration was not sufficient to counteract the negative rate of decline. Globally, HALE increased from 58·6 years (56·1–60·8) in 2000 to 63·5 years (60·8–66·1) in 2019. HALE increased in 202 of 204 countries and territories between 2000 and 2019

Global investments in pandemic preparedness and COVID-19: development assistance and domestic spending on health between 1990 and 2026

Background The COVID-19 pandemic highlighted gaps in health surveillance systems, disease prevention, and treatment globally. Among the many factors that might have led to these gaps is the issue of the financing of national health systems, especially in low-income and middle-income countries (LMICs), as well as a robust global system for pandemic preparedness. We aimed to provide a comparative assessment of global health spending at the onset of the pandemic; characterise the amount of development assistance for pandemic preparedness and response disbursed in the first 2 years of the COVID-19 pandemic; and examine expectations for future health spending and put into context the expected need for investment in pandemic preparedness. Methods In this analysis of global health spending between 1990 and 2021, and prediction from 2021 to 2026, we estimated four sources of health spending: development assistance for health (DAH), government spending, out-of-pocket spending, and prepaid private spending across 204 countries and territories. We used the Organisation for Economic Co-operation and Development (OECD)'s Creditor Reporting System (CRS) and the WHO Global Health Expenditure Database (GHED) to estimate spending. We estimated development assistance for general health, COVID-19 response, and pandemic preparedness and response using a keyword search. Health spending estimates were combined with estimates of resources needed for pandemic prevention and preparedness to analyse future health spending patterns, relative to need. Findings In 2019, at the onset of the COVID-19 pandemic, US$9·2 trillion (95$7·3 trillion (95% UI 7·2–7·4) in 2019; 293·7 times the $24·8 billion (95$43·1 billion in development assistance was provided to maintain or improve health. The pandemic led to an unprecedented increase in development assistance targeted towards health; in 2020 and 2021, $1·8 billion in DAH contributions was provided towards pandemic preparedness in LMICs, and$37·8 billion was provided for the health-related COVID-19 response. Although the support for pandemic preparedness is 12·2% of the recommended target by the High-Level Independent Panel (HLIP), the support provided for the health-related COVID-19 response is 252·2% of the recommended target. Additionally, projected spending estimates suggest that between 2022 and 2026, governments in 17 (95% UI 11–21) of the 137 LMICs will observe an increase in national government health spending equivalent to an addition of 1% of GDP, as recommended by the HLIP. Interpretation There was an unprecedented scale-up in DAH in 2020 and 2021. We have a unique opportunity at this time to sustain funding for crucial global health functions, including pandemic preparedness. However, historical patterns of underfunding of pandemic preparedness suggest that deliberate effort must be made to ensure funding is maintained

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