Energy efficient path planning: the effectiveness of Q-learning algorithm in saving energy

Includes bibliographical references.In this thesis the author investigated the use of a Q-learning based path planning algorithm to investigate how effective it is in saving energy. It is important to pursue any means to save energy in this day and age, due to the excessive exploitation of natural resources and in order to prevent drops in production in industrial environments where less downtime is necessary or other applications where a mobile robot running out of energy can be costly or even disastrous, such as search and rescue operations or dangerous environment navigation. The study was undertaken by implementing a Q-learning based path planning algorithm in several unstructured and unknown environments. A cell decomposition method was used to generate the search space representation of the environments, within which the algorithm operated. The results show that the Q-learning path planner paths on average consumed 3.04% less energy than the A* path planning algorithm, in a square 20% obstacle density environment. The Q-learning path planner consumed on average 5.79% more energy than the least energy paths for the same environment. In the case of rectangular environments, the Q-learning path planning algorithm uses 1.68% less energy, than the A* path algorithm and 3.26 % more energy than the least energy paths. The implication of this study is to highlight the need for the use of learning algorithm in attempting to solve problems whose existing solutions are not learning based, in order to obtain better solutions

Assessments of Dual Degree Programs at University of Kentucky College of Pharmacy

Information about dual degree programs offered by colleges and schools of pharmacy is scarce. Factors that motivate a pharmacy student to pursue a dual degree have not been formally assessed. Furthermore, whether dual degree graduates pursue non-traditional career paths more often than single degree graduates (i.e. PharmD degree alone) is unknown. The research questions are: 1.) Why do PharmD students pursue dual degree programs at the University of Kentucky College of Pharmacy? and 2.) Does obtaining a dual degree increase the likelihood of a “non-traditional” pharmacy jobs upon graduation? There are three main parts of this capstone project. The first part of this project is composed of descriptive analyses of reasons that motivate first year pharmacy students (PY1) at the University of Kentucky College of Pharmacy (UKCOP) to pursue a dual degree. The second part of this project is to assess current second through fourth year dual degree pharmacy students (PY2-PY4) opinions of dual degree programs offered at the University of Kentucky College of Pharmacy. The first and second parts of this project will be assessed using survey questions. The third part of the project examines the career paths of existing University of Kentucky College of Pharmacy graduates, using logistic regression. There was an 81.8% response rate for first year pharmacy students (PY1) and a 73.7% response rate for dual degree students (PY2-PY4) surveyed. Approximately 66% of PY1 students did not want to pursue a dual degree. More than 66% of PY1 students believed obtaining a dual degree will lead to a higher chance of advancing in their career. The majority of dual degree students (40%) stated that they chose their respective dual degree program to differentiate themselves from pharmacy peers and become more marketable .The next reason for pursuing a dual degree was that students could obtain a second degree and not pay extra tuition, in essence a “free degree” (20%). Approximately 16% of PY1 students want to pursue “non-traditional” pharmacy career verses 36% of dual degree students who want to pursue a “non-traditional” pharmacy career. The odds ratio between 2010 vs. 2009 University of Kentucky College of Pharmacy graduates was significant. Student who graduate in 2010 are 2.269 times more likely to have a “non-traditional” job than those who graduate in 2009. The likelihood of obtaining a non-traditional pharmacy career if you had a “dual degree” was very close to significant. Faculty and professors to pharmacy students throughout their education should heavily emphasize career advice. Information about possible non-traditional pharmacy careers can influence graduates to be open-minded to alternative career paths

Hexamethylene-N, N' bis (tert-butyl peroxycarbamate) as a crosslinking agent for elastomers

The synthesis of a new bisperoxycarbamate based on a reaction between hexamethylene-1,6 diisocyanate and tertiary butyl hydroperoxide was undertaken. In addition, studies were carried out on an earlier research bisperoxycarbamate based on methylene bis(4-cyclohexylisocyanate) and tertiary butyl hydroperoxide. The equation showing the preparation of the new material is shown below: [Equation not shown] The new material - hexamethylene-N,N' bis (tertiary butyl peroxycarbamate) is shown to be able to crosslink a wide range of elastomers, namely -BIIR, NR, SBR, NR/BR, CR, FKM, NBR, Q, ECO, GPO. However, it has been found to give best results in fluorocarbon rubber which was examined in further detail. The material is shown to be versatile by using it to cure different grades of fluorocarbon rubber (mainly copolymers of vinylidene fluoride and hexafluoropropylene). The physical properties obtained with the new material as curing agent are comparable with those obtained using standard crosslinking agents for fluoroelastomers. Since carbon dioxide is evolved when bisperoxycarbamates are heated, calcium hydroxide was included in most formulations to act as an absorber system. Calcium oxide and magnesium oxide were found to be suitable metallic oxides to react with any acidic gases (such as hydrogen fluoride) evolved during curing of fluoroelastomer compounds. It was ii observed that the state of cure was- poorer when lead oxides were used (e.g. litharge PbO); also, the use of dibasic lead phosphite as acid acceptor appeared to interfere with HBTBP cure. Compounding studies, solvent extraction methods and nitrogen tests, and crosslink density measurements were used to postulate possible routes of crosslink formation. These routes of crosslink formation were based on homolytic decomposition of the bisperoxycarbamate, radical abstraction, interaction of a reactive intermediate, and radical­radical interaction. Additional information was obtained from stress relaxation measurements which indicated that new crosslinks were formed during postcuring of fluorocarbon vulcanizates and that this process continued in the initial stages of heat-ageing of postcured FKM vulcanizates

Pre-service science teachers’ understanding of argumentation

The study is part of a larger project concerned with addressing the problem that Eritrean science teachers face in their attempt to implement a new learner-centred science curriculum. Specifically, the study attempted to determine the effects of the use of an Argumentation-Based Instructional Model (ABIM) on 25 pre-service science teachers’ understanding of argumentation and its role in science teaching. Responses to an open-ended Learner-Centred Argumentation Instruction Questionnaire and interview responses were analysed qualitatively using open coding and the generation of categories. The Contiguity Argumentation Theory categories were also used to describe the type of cognitive shifts made by the group of pre-service teachers. The findings show that as a result of their experience with ABIM, the participants: (a) made noticeable cognitive shifts from seeing argumentation as a debate to win a case to a form of dialogue for reaching consensus; (b) became aware of the difference between everyday and scientific types of argumentation; and (c) came to recognize the important role that argumentation could play in science education.DHE

Historical Perspective and Fundamentals of Clinical Research in Nigeria

Research may be defined as any activity that generates new knowledge and a better understanding of natural phenomena, while ‘scientific research’ uses scientific methods to explore and discover new facts and uses the new knowledge to solve practical problems and explain natural phenomena. Scientific research dates back to many centuries. The earliest reports of research are found in the Egyptian papyrus dating back to 17th century BC. The beginning of documented medical research in the West African sub-region and indeed Nigeria in the 19th century and much of 20th century (pre-independence Nigeria) is traceable to the writings of the Nigerian pioneers of modern medicine. The research process is an iterative cyclical procedure that includes a set of activities undertaken to test a hypothesis - a tentative statement about the relationship between two or more variables. In clinical research, the principles of good research practice are expected to be maintained throughout the research process. These principles include the pursuit of research excellence with integrity, respect for ethics and rigorous maintenance of professional standards, honesty and transparence, openness and accountability, supporting training and acquisition of skills, multidisciplinary collaboration and public engagemen

The Stigma of Epilepsy Among Nigerian Subjects: A Cross-Sectional Study

Epilepsy is one of the least understood and most feared neurological disorders. It is associated with considerable stigma and discrimination, contributing to the immense psychosocial and emotional burden experienced by people living with epilepsy (PWE) particularly in developing countries. In order to fully understand the extent of this relationship, this study sought to assess the actual experience of discrimination, the degree of internalized stigma, and the perception (knowledge & attitude) of the general public towards epilepsy. Data on sociodemographic variables, internalized stigma and discrimination was collected from two groups of 103 eligible participants presenting at the Neurology and General outpatient clinics of the University College Hospital, Ibadan, using two structured interviewer-administered questionnaires. A high proportion of PWE (n=24, 57.1%) reported severe internalized stigma despite majority (76.9%) reporting not being discriminated against. Thirty-two respondents (56.1%) reported that they would not employ or work with someone known to have epilepsy. A considerable number of people (n=41, 82%) reported that they would help PWE away from danger during a seizure and 46 respondents claimed they were going to call for help, while 15 (of 42 respondents) reported that they would run away. While this study revealed quite a number of positives, it is apparent that there still exists a lot of ignorance and misconceptions about epilepsy and significant improvement is still needed with regards to addressing the stigma of epilepsy and the public attitude towards epilepsy and PWE

German Rule in North-East Tanzania, 1885-1914.

This is a study of German conquest, occupation and administration in the Pangani valley region of mainland Tanzania, which was the most important area of German settlement and economic enterprise in the former German East African protectorate. Its emphasis is mainly on the local evolution of German administrative and economic policies and methods. It examines the close connexion between the pre-colonial social and political situation in this region and the immediate reactions of its African peoples to the German intervention. It also studies how these reactions have shaped German policies. It has been established, for example, that the decisive factor in the assumption of direct responsibility by the Imperial Government for the administration of German East Africa in January 1891 was the inability of the German East African Company to govern on account of the opposition of the African peoples to the German intervention. Similarly, it was the shock of German military defeat at the hands of Moshi warriors in June 1892 that compelled the German authorities in Berlin and in Dares Salaam to abandon their experiment in civil administration in Kilimanjaro in favour of vigorous military rule throughout the north-east. The abolition of military rule in Usambara and Southern Pare in 1895 and its continuation in Uchagga and north-Pare section of the Moshi district till 1906, and in its Arusha sub-district until 1912, were also dictated primarily by local political conditions. In like manner, the virtual transformation of the north-east into a region of white settlement by 1912, even in spite of the pro-African policies of Dernburg and Rechenberg between 1907 and 1912, was as a result of the growth of German economic enterprise in this region and the consequent increase in the population and power of its European settler communities

Parkinson's disease in Sub-Saharan Africa: A review of epidemiology, genetics and access to care

A low prevalence of Parkinson's disease (PD) has been reported in the Sub-Saharan Africa (SSA) region. The genetic causes and clinical features of PD in this region have been poorly described. Very few reports have examined the availability and access to evidence-based quality care for people living with PD in this region. We reviewed all publications focusing on idiopathic PD from SSA published up to May 2016 and observed a prevalence of PD ranging from 7/100,000 in Ethiopia to 67/100,000 in Nigeria. The most recent community-based study reported a mean age at onset of 69.4 years. The infrequent occurrence of mutations in established PD genes was also observed in the region. Treatments were non-existent or at best irregular. Additionally, there is a lack of well-trained medical personnel and multidisciplinary teams in most countries in this region. Drugs for treating PD are either not available or unaffordable. Large-scale genetic and epidemiological studies are therefore needed in SSA to provide further insights into the roles of genetics and other etiological factors in the pathogenesis of PD. The quality of care also requires urgent improvement to meet the basic level of care required by PD patients