Autonomous navigation of a wheeled mobile robot in farm settings

This research is mainly about autonomously navigation of an agricultural wheeled mobile robot in an unstructured outdoor setting. This project has four distinct phases defined as: (i) Navigation and control of a wheeled mobile robot for a point-to-point motion. (ii) Navigation and control of a wheeled mobile robot in following a given path (path following problem). (iii) Navigation and control of a mobile robot, keeping a constant proximity distance with the given paths or plant rows (proximity-following). (iv) Navigation of the mobile robot in rut following in farm fields. A rut is a long deep track formed by the repeated passage of wheeled vehicles in soft terrains such as mud, sand, and snow. To develop reliable navigation approaches to fulfill each part of this project, three main steps are accomplished: literature review, modeling and computer simulation of wheeled mobile robots, and actual experimental tests in outdoor settings. First, point-to-point motion planning of a mobile robot is studied; a fuzzy-logic based (FLB) approach is proposed for real-time autonomous path planning of the robot in unstructured environment. Simulation and experimental evaluations shows that FLB approach is able to cope with different dynamic and unforeseen situations by tuning a safety margin. Comparison of FLB results with vector field histogram (VFH) and preference-based fuzzy (PBF) approaches, reveals that FLB approach produces shorter and smoother paths toward the goal in almost all of the test cases examined. Then, a novel human-inspired method (HIM) is introduced. HIM is inspired by human behavior in navigation from one point to a specified goal point. A human-like reasoning ability about the situations to reach a predefined goal point while avoiding any static, moving and unforeseen obstacles are given to the robot by HIM. Comparison of HIM results with FLB suggests that HIM is more efficient and effective than FLB. Afterward, navigation strategies are built up for path following, rut following, and proximity-following control of a wheeled mobile robot in outdoor (farm) settings and off-road terrains. The proposed system is composed of different modules which are: sensor data analysis, obstacle detection, obstacle avoidance, goal seeking, and path tracking. The capabilities of the proposed navigation strategies are evaluated in variety of field experiments; the results show that the proposed approach is able to detect and follow rows of bushes robustly. This action is used for spraying plant rows in farm field. Finally, obstacle detection and obstacle avoidance modules are developed in navigation system. These modules enables the robot to detect holes or ground depressions (negative obstacles), that are inherent parts of farm settings, and also over ground level obstacles (positive obstacles) in real-time at a safe distance from the robot. Experimental tests are carried out on two mobile robots (PowerBot and Grizzly) in outdoor and real farm fields. Grizzly utilizes a 3D-laser range-finder to detect objects and perceive the environment, and a RTK-DGPS unit for localization. PowerBot uses sonar sensors and a laser range-finder for obstacle detection. The experiments demonstrate the capability of the proposed technique in successfully detecting and avoiding different types of obstacles both positive and negative in variety of scenarios

Explaining the Views of Ibn Sina and Al-Ghazali on Games and Physical Exercises and their Relation to the Relationship Between Body and Soul

The purpose of this article is to describe Ibn Sina and Ghazali's philosophical views on soul and body on the one hand and to express their views on physical movements on the other hand in order to explain the relationship between their philosophical views on games and physical exercises related to body and soul. The research method was descriptive-analytical. The research findings showed that despite the differences in the philosophical thought of Ibn Sina and Ghazali, in the field of proofs of the soul and the body, there is a similarity between these two thinkers and the relationship between the soul and the body is two-ways. With physical activity in the game, there is an effect on the soul and vice versa. In fact, whenever playing and exercising are done in proportion and the body is active, then the soul will also have fun, and this is based on the effect that the body has on the soul. According to the theory of two thinkers, such a conclusion is that games and physical exercises recreate energy and rejuvenates the body and soul

Sleep disorders in patients with congestive heart failure hospitalized in Hajar hospital, Shahrekord, 2003

چکیده: زمینه و هدف:خواب یکی از دوره های بیولوژیک مهم انسان بصورت تکرار شونده و منظم است که با بازسازی قوای جسمی و روانی همراه می باشد. یک سوم از زندگی انسان در خواب می گذرد و محرومیت از آن سبب به خطر افتادن سلامت فرد خواهد شد. خواب افراد همواره تحت تأثیر عوامل خارجی و داخلی همچون سن، جنس، داروها، بیماریها و جراحی قرار می گیرد. لذا این مطالعه با هدف تعیین اختلالات خواب در بیماران مبتلا به نارسائی قلب طراحی و انجام شده است. روش بررسی:این مطالعه از نوع توصیفی – تحلیلی می باشد و جامعه مورد مطالعه کلیه بیماران بستری در بخش قلب بیمارستان هاجر شهرکرد بود که دارای اکو کاردیوگرافی با کسر تخلیه ای کمتر از40 (40 E

Gestión del conocimiento en la era de los mensajes poco confiables. ¿Los estudiantes universitarios confían en los mensajes en línea? (Una encuesta de Oriente Medio)

We are exposed to a constant stream of messages many of which originate from unreliable or untrustworthy sources. Moreover, it is not possible to control the messages before they are published and allow the dissemination of the verified ones only. Growing a critical mind can be a practical way to prevent the accumulation of incorrect or inaccurate information in our brains. The current study tried to see whether or not university students hold a critical view of social media messages. First, in a qualitative study, hundreds of messages shared on social media were observed, 12 of which were chosen based on the popularity of their central themes. Many of the messages contained an extraordinary claim such as the existence of mermaids, human-like complex emotions in animals, etc. Then, in a survey, the chosen messages were shown to 379 university students. The respondents were asked to express their opinions about the messages. For each of the 12 messages, between 36 to 94 percent of the respondents just assumed the messages to be true. The analysis of the responses revealed weak critical thinking among the students.    Estamos expuestos a un flujo constante de mensajes, muchos de los cuales se originan en fuentes no confiables o fidedignas. Además, no es posible controlar los mensajes antes de su publicación y permitir la difusión únicamente de los verificados. Desarrollar una mente crítica puede ser una forma práctica de prevenir la acumulación de información incorrecta o inexacta en nuestro cerebro. Este estudio trató de ver si los estudiantes universitarios tienen una visión crítica de los mensajes de las redes sociales. Primero, en un estudio cualitativo, se observaron cientos de mensajes compartidos en las redes sociales, 12 de los cuales fueron elegidos en función de la popularidad de sus temas centrales. Muchos de los mensajes contenían una afirmación extraordinaria, como la existencia de sirenas, emociones complejas similares a las humanas en los animales, etc. Luego, en una encuesta, se mostraron los mensajes escogidos a 379 estudiantes universitarios. Se pidió a los encuestados que expresaran sus opiniones sobre los mensajes. Para cada uno de los 12 mensajes, entre el 36 y el 94 por ciento de los encuestados simplemente asumieron que los mensajes eran verdaderos. El análisis de las respuestas reveló un débil pensamiento crítico entre los estudiantes

Drug-drug interactions and potentially inappropriate medications among elderly outpatients

The high prevalence of concomitant chronic illnesses and the resulting higher number of medications in the elderly population increase the risk of adverse drug reactions due to drug-drug interactions (DDIs) and potentially inappropriate medications (PIMs). Therefore, the aim of this study was to investigate the prevalence and factors associated with DDIs and PIMs in outpatient geriatrics. In this cross-sectional study, 1512 prescriptions belonging to patients aged ≥65 years from five public pharmacies in Tehran were evaluated. Clinically relevant (C, D, and X) and significant DDIs (D and X) were documented according to the Lexicomp®. Additionally, Zhan criteria were used to detect PIMs. At least one clinically relevant DDI was detected in 61.7% of the prescriptions containing ≥2 medications. The largest percentage of prescriptions with DDIs was prescribed by cardiologists (74.3%). The number of medications in prescriptions and the specialty of the prescriber significantly affected both clinically relevant and significant DDIs in a logistic regression model. At least one PIM was identified in 16.3% of the prescriptions. General practitioners (GPs) were the largest prescribers of PIMs. The mean number of medications was significantly higher in prescriptions with PIMs. In conclusion, clinically relevant DDIs are frequent in the elderly. In terms of PIMs, more attention should be paid to the education of GPs

The Role of Islamic State in Determination of the Bank Deposit and Loan Interest Rates

One of the main issues in monetary and banking section is determining the deposit and loan interest rates. In today world, determining the deposit and loan interest rates and their notifications has a great significance for a financial system; it can also have many juridical, legal and economic effects. So, any change in this important issue can question the economic stabilization of our country. But the question here is that who should specify the deposit and loan interest rates? Is this the duty of the Islamic governor or there is no need to his intervention, and the market itself can reach the equilibrium price based on the principle of freedom?  To answer this question, we need to investigate it from the Islamic jurisprudence viewpoint; then after proving that determining the deposit and loan interest rates is a kind of pricing, the results of inspecting the issue of pricing can be used for deposit and loan interest rates determination. This article, firstly, explains the Islamic jurisconsults' views on pricing, then it introduces deposit and loan interest rates determination as kinds of pricing, and uses the results of inspecting the issue of pricing which can be used for deposit and loan interest rates determination

The POLG Polyglutamine Tract Variants in Iranian Patients with Multiple Sclerosis

How to Cite This Article: Khatami M, Heidari MM, Mansouri R, Mousavi F. The POLG Polyglutamine Tract Variants in Iranian Patients with Multiple Sclerosis. Iran J Child Neurol. 2015 Winter; 9(1):37-41.AbstractObjectiveMultiple Sclerosis (MS) is a common disease of the central nervous system. The interaction between inflammatory and neurodegenerative processes typically results in irregular neurological disturbances followed by progressive disability.Mitochondrial dysfunction has been implicated in neurodegenerative disorders. The DNA polymerase-gamma (POLG) gene, which encodes the catalytic subunit of enzyme responsible for directing mtDNA replication, contains a poly glutamine tract (poly-Q) in the N-terminal, encoded by a CAG sequence in exon 2.Materials & MethodsWe analyzed the POLG trinucleotide repeats in 40 Iranian patients with MS (27 females and 13 males with an age range of 18–55); and 47 healthy age, gender, and ethnic matched controls were chosen by PCR-SSCP analysis. ResultsOur results indicated that the most common allele in patients had 10 consecutive CAG repeats (10Q). Other alleles of 11and 12 trinucleotide repeats were detected.We did not find any difference between the CAG repeat length distribution in controls and MS patients.ConclusionNo correlation was observed in the POLG gene CAG repeat with pathogenesis of MS, but it looks that other point mutations in POLG gene may have an important role in the disease’s pathogenesis and produced more significant results.ReferencesBaranzini SE. Revealing the genetic basis of multiple sclerosis: are we there yet? Curr Opin Genet Dev. 2011 Jun; 21(3):317-24.Hoffjan S, Akkad DA. The genetics of multiple sclerosis: an update 2010. Mol Cell Probes. 2010 Oct; 24(5):237-43.Disanto G, Berlanga AJ, Handel AE, Para AE, Burrell AM, Fries A, et al. Heterogeneity in multiple sclerosis: scratching the surface of a complex disease. Autoimmune Dis. 2010; 2011:932351.International Multiple Sclerosis Genetics C, Wellcome Trust Case Control C, Sawcer S, Hellenthal G, Pirinen M, Spencer CC, et al. Genetic risk and a primary role for cell-mediated immune mechanisms in multiple sclerosis. Nature. 2011 Aug 11; 476(7359):214-9.Mao P, Reddy PH. Is multiple sclerosis a mitochondrial disease? Biochimica et biophysica acta. 2010 Jan; 1802(1):66-79.Inarrea P, Alarcia R, Alava MA, Capablo JL, Casanova A, Iniguez C, et al. Mitochondrial complex enzyme activities and cytochrome C expression changes in multiple sclerosis. Mol Neurobiol. 2014 Feb; 49(1):1-9.Schaller A, Hahn D, Jackson CB, Kern I, Chardot C, Belli DC, et al. Molecular and biochemical characterization of a novel mutation in POLG associated with Alpers syndrome. BMC Neurology. 2011; 11(1):4.Milone M, Brunetti-Pierri N, Tang LY, Kumar N, Mezei MM, Josephs K, et al. Sensory ataxic neuropathy with ophthalmoparesis caused by POLG mutations. Neuromuscul Disord. 2008 Aug; 18(8):626-32.Azrak S, Ayyasamy V, Zirpoli G, Ambrosone C, Bandera EV, Bovbjerg DH, et al. CAG repeat variants in the POLG1 gene encoding mtDNA polymerase-gamma and risk of breast cancer in African-American women. PLoS One. 2012; 7(1):e29548.Eerola J, Luoma PT, Peuralinna T, Scholz S, Paisan-Ruiz C, Suomalainen A, et al. POLG1 polyglutamine tract variants associated with Parkinson’s disease. Neurosci Lett. 2010 Jun 14; 477(1):1-5.Rovio A, Abel J, Ahola A, Andres A, Bertranpetit J, Blancher A, et al. A prevalent POLG CAG microsatellite length allele in humans and African great apes. Mammalian genome. 2004; 15(6):492-502.Spelbrink JN, Toivonen JM, Hakkaart GA, Kurkela JM, Cooper HM, Lehtinen SK, et al. In vivo functional analysis of the human mitochondrial DNA polymerase POLG expressed in cultured human cells. Journal of Biological Chemistry. 2000; 275(32):24818-28.Williams AJ, Paulson HL. Polyglutamine neurodegeneration: protein misfolding revisited. Trends in neurosciences. 2008; 31(10):521-8.Luoma P, Eerola J, Ahola S, Hakonen A, Hellström O, Kivistö K, et al. Mitochondrial DNA polymerase gamma variants in idiopathic sporadic Parkinson disease. Neurology. 2007; 69(11):1152-9.Heidari MM, Houshmand M, Hosseinkhani S, Nafissi S, Scheiber-Mojdehkar B, Khatami M. Association between trinucleotide CAG repeats of the DNA polymerase gene (POLG) with age of onset of Iranian Friedreich’s ataxia patients. Neurol Sci. 2008 Dec; 29(6):489-93.Heidari MM, Khatami M, Talebi AR. The POLG Gene Polymorphism in Iranian Varicocele-Associated Infertility Patients. Iran J Basic Med Sci. 2012 Mar; 15(2):739-44.Jensen M, Leffers H, Petersen JH, Nyboe Andersen A, Jorgensen N, Carlsen E, et al. Frequent polymorphism of the mitochondrial DNA polymerase gamma gene (POLG) in patients with normal spermiograms and unexplained subfertility. Hum Reprod. 2004 Jan; 19(1):65-70.Taanman JW, Schapira AH. Analysis of the trinucleotide CAG repeat from the DNA polymerase gamma gene (POLG) in patients with Parkinson’s disease. Neurosci Lett. 2005 Mar 7; 376(1):56-9.Wong LJ, Naviaux RK, Brunetti-Pierri N, Zhang Q, Schmitt ES, Truong C, et al. Molecular and clinical genetics of mitochondrial diseases due to POLG mutations. Hum Mutat. 2008 Sep; 29(9):E150-72.Kumleh HH, Riazi GH, Houshmand M, Sanati MH, Gharagozli K, Shafa M. Complex I deficiency in Persian multiple sclerosis patients. Journal of the Neurological Sciences. 2006 4/15/; 243(1–2):65-9.Ebers GC, Sadovnick AD, Dyment DA, Yee IML, Willer CJ, Risch N. Parent-of-origin effect in multiple sclerosis: observations in half-siblings. The Lancet. 2004; 363(9423):1773-4.Harding A, Sweeney M, Miller D, Mumford C, Kellar-Wood H, Menard D, et al. Occurrence of a multiple sclerosis-like illness in women who have a Leber’s hereditary optic neuropathy mitochondrial DNA mutation. Brain: a journal of neurology.1992; 115(4):979-89.Ahari SE, Houshmand M, Panahi MS, Kasraie S, Moin M, Bahar MA. Investigation on mitochondrial tRNA (Leu/Lys), NDI and ATPase 6/8 in Iranian multiple sclerosis patients. Cell Mol Neurobiol. 2007 Sep; 27(6):695-700.Mahad DJ, Ziabreva I, Campbell G, Lax N, White K, Hanson PS, et al. Mitochondrial changes within axons in multiple sclerosis. Brain: a journal of neurology. 2009 May; 132(Pt 5):1161-74

Niosomal Formulation for Co-Administration of Hydrophobic Anticancer Drugs into MCF-7 Cancer Cells

Introduction: Designing and developing drug delivery systems has received tremendous attention during the last decade. The treatment of cancer cells is a complicated process due to the existence of different biological pathways. Therefore, the co-delivery of different drugs could have a synergic effect on the treatment process.Materials and Methods: In this study, different types of span (20, 60, 80) and cholesterol were utilized to formulate tamoxifen/curcumin co-loaded niosomes as a drug carrier system for breast cancer chemotherapy. Niosome characterization was performed through a set of instrument analysis techniques including scanning electron microscopy (SEM) and dynamic light scattering. Release behavior was studied by dialysis method at (pH = 5, 7.4). The stability was monitored during two months storage at two temperatures (4 and 25 °C). Cytotoxicity activity of the best niosomal formulation were assessed on MCF-7 cells, using MTT assay.Results: The optimal niosomal formulation with span 80 and lipid-to-drug molar ratio of 20 was selected, with maximum encapsulation of both drugs and minimum size. Drug release behavior at physiological pH (7.4) (with significant drug release under acidic conditions (pH = 5) and storage stability of up to 2 weeks with little change in drug efficacy and measurement makes it a proper candidate for breast cancer treatment.Conclusion: Finally, the results of this study showed the importance of creating highly biocompatible formulations, allowing the simultaneous transfer of two drugs with controlled release to cancer cells which could improve the chemotherapy process with the synergistic effect of the two drugs

Personal Characteristics and Urinary Stones

BackgroundUrinary stone disease is a common, painful and costly condition that has affected humankind since antiquity, and there is evidence to show that its incidence has continually increased during past decades. Studies have shown that many extrinsic and intrinsic factors are related to this disease in different population groups. The aim of this study was to identify the personal characteristics that are associated with urinary stone formation.MethodsAll subjects were recruited in the same 7-month period: there were 161 patients with idiopathic renal stone disease and 254 age- and gender-matched healthy subjects. Each participant was individually interviewed with regard to their sociodemographic characteristics and family medical history.ResultsOf patients with renal stones, 66.5% were male; the male to female ratio was 1.98 to 1. The prevalence of renal stone was highest in men aged 30–50 years and in women aged 40–60 years. The main differences between stone formers and healthy subjects were that stone formers had higher body mass index (p = 0.007), lower educational (p = 0.001) and economic (p = 0.037) levels, and more positive family history of urinary stones (p < 0.0001), especially in their siblings. The percentage of unemployed subjects and housekeepers were higher in the case group. The type and duration of employment were significantly different in the two groups (p = 0.014 for type and p = 0.003 for duration). With regard to the job environment (i.e. workplace), most of the individuals in the case group worked outdoors (p = 0.025) and in warm places (p < 0.0001).ConclusionThere are many personal characteristics that might be associated with an elevated risk of renal stone formation. People with high-risk characteristics could be more prone to stone formation and should be more carefully evaluated and followed-up