Autonomna navigacija za invalidska kolica s detekcijom prepreka u stvarnom vremenu korištenjem 3D senzora

Autonomous wheelchairs operating in dynamic environments need to sense its surrounding environment and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, simple and real-time autonomous navigation module that drives a wheelchair toward a desired target, along with its capability to avoid obstacles in a 3D dynamic environment. To command the mobile robot to the target, we use a Fuzzy Logic Controller (FLC). For obstacle avoidance, we use the Kinect Xbox 360 to provide an actual map of the environment. The generated map is fed to the reactive obstacle avoidance control Deformable Virtual Zone (DVZ). Simulations and real world experiments results are reported to show the feasibility and the performance of the proposed control system.Autonomna invalidska kolica koja se kreću u dinamičkim okruženjima moraju biti sposobna detektirati prepreke u svojoj okolini, te prilagoditi upravljački signal u stvarnom vremenu kako bi se izbjegli sudari i zaštitio korisnik. U ovom radu predlaže se jednostavan, robustan modul za autonomnu navigaciju u stvarnom vremenu koji vodi invalidska kolica prema željenom odredištu, te omogućuje izbjegavanje prepreka u 3D okruženju. Za upravljanje koristi se regulator baziran na neizravnoj logici (FLC). Za izbjegavanje prepreka koristi se Kinect Xbox 360 senzor koji gradi kartu okoline. Generirana karta se predaje reaktivnoj kontroli za izbjegavanje prepreka Deformiranoj Virutalnoj Zoni (DVZ). Prikazani su rezultati simulacija i eksperimenata u stvarnom svijetu kako bi se pokazala izvedivost i kvaliteta izvođenja predloženog sustava upravljanja

Crossed testicular ectopia: What should be specified?

Crossed testicular ectopia, also named transverse testicular ectopia, is a rare but well-known congenital anomaly in which both gonads migrate toward the same hemiscrotum. It is usually associated with other abnormalities such as persistent Mu¨ llerian duct syndrome, inguinal hernia, hypospadias, pseudohermaphrodism, and scrotal anomalies. We report two cases of crossed testicular ectopia; a persistent Mullerian duct syndrome was associated in one case. We also performed a literature search for other reports of crossed testicular ectopia.Keywords: crossed testicular ectopia, ectopic testis, persistent Mullerian duct syndrome, testis, transverse testicular ectopi

Efficient and Sustainable Treatment of Tannery Wastewater by a Sequential Electrocoagulation-UV Photolytic Process

Tannery wastewater contains large amounts of pollutants that, if directly discharged into ecosystems, can generate an environmental hazard. The present investigation has focused the attention to the remediation of wastewater originated from tanned leather in Tunisia. The analysis revealed wastewater with a high level of chemical oxygen demand (COD) of 7376 mgO2/L. The performance in reduction of COD, via electrocoagulation (EC) or UV photolysis or, finally, operating electrocoagulation and photolysis in sequence was examined. The effect of voltage and reaction time on COD reduction, as well as the phytotoxicity were determined. Treated effluents were analysed by UV spectroscopy, extracting the organic components with solvents differing in polarity. A sequential EC and UV treatment of the tannery wastewater has been proven effective in the reduction of COD. These treatments combined afforded 94.1 % of COD reduction, whereas the single EC and UV treatments afforded respectively 85.7 and 55.9 %. The final COD value of 428.7 mg/L was found largely below the limit of 1000 mg/L for admission of wastewater in public sewerage network. Germination tests of Hordeum Vulgare seeds indicated reduced toxicity for the remediated water. Energy consumptions of 33.33 kWh/m3 and 314.28 kWh/m3 were determined for the EC process and for the same followed by UV treatment. Both those technologies are yet available and ready for scale-up