Haptic Effects of Surgical Teleoperator Flexibility

Minimally invasive surgery systems typically involve thin and cable-driven surgical instruments. This introduces link and joint flexibility in the slave robot of a master-slave teleoperation system, reducing the effective stiffness of the slave and the transparency of teleoperation. In this paper, we analyze transparency under slave link and joint flexibility (tool flexibility). We also evaluate the added benefits of using extra sensors at the tip of the flexible robot. It is shown that tip velocity (or position) feedback improves free-space position tracking performance in the presence of robot flexibility. Also, when the interaction forces with an environment are measured by a force sensor and fed back to the user’s hand, tip velocity feedback improves hard-contact force tracking performance. During a hard contact task, tip velocity feedback can also eliminate the transmission of robot flexibility to the user’s hand. Parts of this research have previously been published as M. Tavakoli, R.D. Howe, The Effect of Joint Elasticity on Bilateral Teleoperation, In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots & Systems, pp. 1618-1623, San Diego, CA, 2007, and as M. Tavakoli, R.D. Howe, Haptic Implications of Tool Flexibility in Surgical Teleoperation, In Proceedings of the 16th Symposium on Haptic Interfaces for Virtual Environments & Teleoperator Systems, pp. 377-378, Reno, NV, March 2008.Engineering and Applied Science

Identifying Significant Variables Influencing Overtaking Maneuvers on Two-lane, Two-way Rural Roads in Iran

The main purpose of this study is examining effective and significant variables on overtaking maneuvers on two-lane, two-way rural roads in Iran. In this study, overtaking maneuver type as the response variable was considered in four levels: “normal overtaking (accelerative overtaking)”, “aborted overtaking” maneuver, “lane sharing” and “cutting in (precipitous return to the driving lane)”. The data were gathered using field data collection method, that is, an expert –a transportation engineer- accompanied by patrolling police interviewed 514 drivers on two-lane, two-way rural roads in two provinces of Zanjan and East Azerbaijan in the northwest of Iran. To identify the influence of each variable on the overtaking type, Pearson’s chi-square test with the significance level of 0.05 was used and then to consider the influence of each significant variable on each level of the response variable, a multivariate logistic regression model was employed

Evaluation of the Effects of High-Rise Building Components in Residential Complexes of Shiraz by Radar Chart

Urgent population growth as well as the avoidance of horizontal expansion of cites have made the high–rise building phenomenon necessary as a solution to the problem of land scarcity. On the other hand, paying attention to the human and environmental factors influencing planning and design can improve the quality of life in these high-rise building. In this regard, the purpose of this study is to identify effective factors of high-rise building on the living culture of Shiraz and to examine the status of each of these components on the residential culture. This is an applied research study, enjoying a descriptive-survey method. The data collection tool in the research is a questionnaire given to the residents of the Derak residential complex and the residential complex of oil company staffs. Data were analyzed by using SPSS software and the results of the surveys were presented in the form of diagrams. The results indicate that there is a significant relationship between the factors affecting the creation of high-rise and residential culture. By providing solutions, it is also possible to promote a culture of dwelling in such settings

University entrepreneurship model based on public service motivation

Background: Entrepreneurship is vital in today's modern societies. The purpose of this study was to develop a university entrepreneurship model based on public service motivation. Methods: The statistical population of this study in qualitative phase was 27 experts. The opinions of 315 employees were used to measure the variables in the studied Azad Universities of District 6. The present study was a descriptive-correlational research conducted by a survey method. It was also a developmental-applied research in terms of aim. Data collection method was a combination of library and field studies.  Data collection tool was a questionnaire. Data analysis was performed using SPSS software version 25 and AMOS version 25. To examine the research questions, statistical methods of one-sample t-test and structural equations were used. Results: Also, there is a direct relationship between university entrepreneurship and its components including organizational competencies, continuous interaction, university goals and policies, culture and entrepreneurial marketing and good character and temper of administrators. The results also showed that there is a direct relationship between good character and temper of administrators and its components, including courage, patience, honesty, humility, optimism, responsibility of administrators and public service motivation. Conclusion: Given the importance and positive impact of university entrepreneurship on regional development and the new nature of international competition of universities in the economic development of countries, the results of the present study can be used by administrators and planners

Biodiversity study of endophytic fungi associated with two Quercus species in Iran

Aim of study: In this study, frequency and diversity of fungal endophyte communities inhabiting twigs and branches of apparently healthy Q. macranthera and Q. brantii in East Azerbaijan and Lorestan provinces of Iran is presented.Area of study: East Azerbaijan and Lorestan provinces in Iran.Materials and methods: Culturable fungal endophytes were recovered from wood tissues using routine technique for isolation of fungal endophytes. The identity of fungal isolates were determined based on morphological characteristics and sequences data of ITS-rDNA region and Beta-tubulin gene. Frequency and diversity among fungal communities were analyzed using chi-square test and biodiversity indices.Main results: The highest frequency and diversity was detected for fungal endophyte community recovered from Q. macranthera and East Azerbaijan province. The assemblage of endophytic fungi characterized in this study in healthy tissues of oak trees indicates that some of the fungi are possible latent pathogens such as Biscogniauxia mediterranea with 18.28% frequency followed by Alternaria alternata and Trichothecium roseum respectively. Two fungal taxa of Pyronema domesticum and Valsa persoonii are reported for the first time in Iran. Overall, the results of this study show that the plant species and growth location influence frequency and diversity of culturable fungal endophytic communities of Quercus in Iran.Keywords: Quercus macranthera, Quercus brantii, Fungal endophytes, Molecular identification.Abbreviations used: CBS (Centraal Bureau voor Schimmelcultures); CCTU (Culture Collection of University of Tabriz); GTR (General Time Reversible); HKY (Hasegawa Kishino Yano); ITS-rDNA (Internal Transcribed Space); km (kilometer) ; PDA (Potato Dextrose Agar); TUB (Tubulin)

Performance prediction based on employees' job engagement mediated by ethical leadership

Background: Education has a great impact on the social, economic and cultural progress of society. This study's goal was to develop a thorough model for performance prediction that was based on employee job engagement and was mediated by moral leadership. Methods: This study was applied and a descriptive-correlational. The statistical population was included 341 people from employees and managers of the education department in Kerman province. They were chosen at random by a stratified sample. Information was gathered using questionnaires created by the researcher, including a work performance questionnaire with 28 questions, a job engagement questionnaire with 34 questions, and a questionnaire on ethical leadership with 46 questions. Assessing the validity of the components by the Delphi method by surveying 30 experts and the results of fit of the components obtained with AMOS software were determined. The Cronbach's alpha coefficient of the variables was more than 0.7, suggesting that the items were internally coordinated and that the reliability was confirmed. Results: With the increase of behavioral involvement such as commitment to time, intensity and seriousness of work, cognitive involvement such as concentration, work attraction and emotional involvement such as enthusiasm and mental flexibility, along with the rise in ethical leadership, the degree of ethical leadership in education grew, the level of performance, the employment of employees increased. Conclusion: The importance of mediating role of ethical leadership in education department employees in predicting performance based on job engagement can be used by managers in the area of learning and education in the country

Effects of low level laser therapy on mucositis in patients under chemotherapy and bone marrow transplantation

Background: Oral mucositis is among the most important adverse effects of chemotherapy and bone marrow transplantation and prevention from this side effect is important to improve the situations in patients. Hence, in this study the main aim was to determine the effects of low-level laser therapy on mucositis in patients under chemotherapy and bone marrow transplantation. Materials and Methods: In this randomized controlled clinical trial, 60 consecutive patients under chemotherapy and bone marrow transplantation in a training hospital in 2018 were enrolled and randomly assigned to receive either low-level laser therapy (630 and 780 nm) or off-laser. Finally, the frequency rate and severity of mucositis (grades 0 to 4 according to WHO severity index) were determined and compared across the groups. Results: Mucositis was present in 30% and 56.7% in laser and control groups, respectively with statistically significant difference (p=0.037). The severity of mucositis was same across the laser and control groups (p=0.785). Conclusion: Low-level laser therapy is an effective modality for preventing from mucositis in patients treated by chemotherapy and bone marrow transplantation. Accordingly, utilization of this safe and effective therapeutic method is recommended