8,410 research outputs found

    Modelling And Experimental Vibration Control Of A Two-link Three-dimensional Manipulator With Flexible Links

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    Current industrial and space manipulators are required to achieve higher speeds in a lighter structure without sacrificing payload capabilities. Consequently, undesirable vibration occurs during the motion. By suitable modelling of the manipulator flexibility, advanced control strategies can be formulated to improve the joint tracking performance and reduce the residual vibration of the end-point in the presence of payload uncertainties.;Toward this goal, an experimental two-link, 3D, anthropomorphic manipulator with flexible links was designed and built to be used as a test bed for the verification and refinement of the proposed modelling and control strategies.;The nonlinear equations of motion for the robot were derived using Lagrangian dynamics. The model was verified using experimental modal analysis techniques. Based on experimental results, a simplified nonlinear model, that contains the relevant modes of the system, was derived and subsequently used in controller designs and state estimation.;A conventional Proportional-plus-Derivative (PD) controller that implements joint angles feedback was designed to be used as a baseline controller due to its wide applicability on industrial manipulators.;By measuring the links tip vibration using accelerometers, several adaptive controllers and state observers were designed and implemented successfully on the manipulator, namely, a gain-scheduling linear quadratic regulator, a model reference adaptive controller, an adaptive inverse dynamics controller, a least-squares nonlinear state estimator and a robust sliding observer. The controllers performance and robustness were tested and experimentally verified against the change of the payload.;The control strategies and identification techniques, developed in this thesis, are applicable to a wide range of robot manipulators including industrial manipulators

    A molecular target for viral killer toxin: TOK1 potassium channels.

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    Killer strains of S. cerevisiae harbor double-stranded RNA viruses and secrete protein toxins that kill virus-free cells. The K1 killer toxin acts on sensitive yeast cells to perturb potassium homeostasis and cause cell death. Here, the toxin is shown to activate the plasma membrane potassium channel of S. cerevisiae, TOK1. Genetic deletion of TOK1 confers toxin resistance; overexpression increases susceptibility. Cells expressing TOK1 exhibit toxin-induced potassium flux; those without the gene do not. K1 toxin acts in the absence of other viral or yeast products: toxin synthesized from a cDNA increases open probability of single TOK1 channels (via reversible destabilization of closed states) whether channels are studied in yeast cells or X. laevis oocytes

    Detection of bla SHV and bla CTX-M genes in ESBL producing Klebsiella pneumoniae isolated from Egyptian patients with suspected nosocomial infections

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    The correct identification of the genes involved in ESBL mediated  resistance is necessary for the surveillance and epidemiological studies of their transmission in hospitals. The aim of the present study was to find the prevalence of ESBL producing Klebsiella pneumoniae among K. pneumoniae isolates separated from Egyptian patients with suspected nosocomial infections, to detect their drug resistance pattern and to look for bla SHV and bla CTX-M genes in such organisms.Subjects and methods: 138 K. pneumoniae isolates from Egyptian patients with suspected nosocomial infections were screened for ESBL production by the pattern of antimicrobial susceptibilities. Phenotypic identification for ESBL production was confirmed by double disc synergy test, phenotypic confirmatory double disc test and by MicroScan panel system. bla SHV and bla CTX-M genes in ESBL producing K. pneumoniae were detected using multiplex PCR. Results: The prevalence of ESBL producing K. pneumoniae was 21% (30/138). Their pattern of antimicrobial susceptibility showed that 90% was resistant to (Sulphamethoxazole/Trimethoprim), 70% was resistant to(Amoxicillin/Clavulanate), 63.3% was resistant to Cefotaxime and Ceftazidime, 60% was resistant to Amikacin, 46.7% was resistant to Doxycycline, Cefoxitin, Ceftriaxone and Levofloxacin, 40% was resistant to Cefepime, 20% was resistant to Ertapenem and  (Sulbactam/Cefoperazone), 13.3% was resistant to (Piperacillin/Tazobactam), 10% was resistant to (Imipenem/Cilastatin) and Gentamycin and 6.7% was resistant to Meropenem and Ciprofloxacin. Among the ESBL producing K. pneumoniae, three out of 30 (10%) and 16 out of 30 (53.3%) were positive for bla SHV and bla CTX-M genes respectively. It could be concluded that ESBL producing isolates of K. pneumoniae have been increasingly recognized in the hospital settings in Egypt and are associated with multiple drug resistance. Thus, molecular identification of the genes encoding beta lactamases would be essential for a reliable epidemiological investigation of their transmission in hospitals and antimicrobial resistance

    Detection of occult HBV infection by nested PCR assay among chronic hepatitis C patients with and without hepatocellular carcinoma

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    Occult hepatitis B virus infection (OBI) has been reported among patients with chronic hepatitis C virus (HCV) infection and hepatocellular carcinoma (HCC). This study aimed to evaluate the prevalence of OBI in chronic hepatitis C patients with and without hepatocellular carcinoma. A total of 40 chronic hepatitis C patients who were negative for HBsAg, were enrolled into the study. They were classified into two groups: Group I which included 20 patients with chronic hepatitis C only whereas Group II included 20 patients with chronic hepatitis C and HCC. Detection of HBV DNA was done by nested-PCR using two sets of primers specific for surface and X viral genomes in serum and liver tissue of patients. Genotyping system based on PCR using type-specific primers was done for HBV-DNA positive intrahepatic samples. OBI was detected in the liver tissue in 23/40 (57.5%) of chronic HCV infected patients, 18 (78.3%) of whom belonged to group II, conferring a 90% prevalence of this group. In serum, HBV-DNA was detected in 9/40 patients (22.5%), 7 (77.8%) of whom belonged to group II. Among the 23 positive intrahepatic HBV-DNA samples studied, HBV-genotype D (34.8%) and B (26.1%) were more predominant, whereas HBV-genotype C (13.1%) and A (8.7%) infections were the least observed, respectively; mixed genotypes were detected in 17.4% (n= 4), 3 of them were with HBV-genotype D and B, and 1 was with HBV-genotype C and A. In conclusion OBI is a fact in our community; it was detected in liver tissue of chronic HCVinfected patients, especially in cases of chronic HCC. In addition, OBI might be related to severity of necroinflammatory activity and fibrosis. Large studies are needed to confirm that co-infection could determine a worse progress of chronic liver disease in this population. Also, detection of intrahepatic HBV-DNA is more useful in diagnosis of OBI.Keywords: Occult hepatitis B virus infection (OBI); Chronic hepatitis C virus infection (CHC); Hepatocellular carcinoma (HCC); HBV-DNA; Nested PC

    Effect of low protein diet supplemented with or without amino acids on the production of broiler

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    Experiment was carried out to investigate the effect of low protein diet supplemented with or without amino acids on the performance of broiler. Hubbard 375 day-old broiler were purchased, initially weighed and randomly divided into five groups (75 broilers in each group). Group A was kept as control given commercial feed, group B further divided into two group B1 and B2 were fed low CP (15 and 16%) ratio supplemented with lysine (1.0%) and methionine (0.5%) , while group C also further divided into group C1 and C2 were fed with the same low CP(15 and 16%) ratio without lysine and methionine supplementation. The experimental ratios were start up from fourth week of the experiment. Feed intake of broiler in group A, B1, B2, C1 and C2 was 3.793, 3.781, 3.739, 3.837 and 3.852 kg/b,(P > 0.05) and water intake 11.113, 11.494, 11.850, 11.277 and 11.252 lit/b, (P > 0.05), respectively. Live body weight of broiler was higher in B1 (2.149), than A(2.091), B2(2.069), C1(1.952) and C2(1.929), kg/b (P < 0.05) and their FCR was better for B1(1.75) than B2(1.80), A(1.81), C1(1.85) and C2(1.99), respectively. Carcass weight of broiler for A (1.227), B1 (1.339), B2 (1.210), C1 (1.155) and C2 (1.200) kg/b, (P > 0.05) and their dressing percentage were A(60.46), B1 ( 62.41), B2(60.48), C1 (59.59) and C2(59.22) percent (P > 0.05), respectively. Mortality of broiler in group A (5.3), B1 (2.6), B2 (6.6), C1 (4.0) and C2 (1.3) percent (P > 0.05), respectively. The average weight of liver, heart, gizzard, spleen and intestine for various group of broiler were found non significant (P > 0.05). Net profit was better in group B1 (75.5), followed by B2 (68.3), A (62.5), C1 (51.8) and C2 (49.9) Rs/b, respectively. It was concluded that low protein diet supplemented with lysine plus methionine significantly improved live body weight of broiler.Key words: Protein, amino acid, supplemented, broiler

    In vivo pathogenicity of hydropericardium hepatitis syndrome (Angara disease)

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    This study was conducted on 175 one day old broiler chicks in order to observe in vivo pathogenicity of hydropericardium hepatitis syndrome (Angara disease). Chicks were grouped into A (25 chicks; reared at the Poultry Research institute (PRI), Rawalpindi) and B groups (150 chicks; reared at National Veterinary Laboratories (NVL) Islamabad in poultry rearing units). Feed and water were provided adlibitum to all the birds in both groups. The LD50 (lethal dose 50) of the virus was determined at the age of 26 days of broiler chickens divided into sub-groups a, b, c, d and e (each having 5 birds). The LD50 titre of the viral suspension (10%) was prepared from liver extract and determined as 10-2.5 per ml. During the study, potency of the vaccines was determined by vaccinating 150 chicks of sub-group k, l, m, n and o (each having 30 birds) with a dose of 0.2 ml. The vaccinated and non-vaccinated chicks of sub-groups were challenged with viral dose of 2 ml at day 17 post-vaccination to know the protection potency of the vaccines. No chick showed clinical manifestation of disease up to five days post challenge. On the 6th day post challenge, all the chicks were slaughtered and subjected to postmortem. Some of the chicks showed the lesions of hydropericarium. Histopathological findings of liver of all sub-groups revealed different stages of necrosis, cloudy swelling, liquefactive necrosis, cytoplasmic blabing, fatty degeneration and intranuclear inclusion bodies of virus.Key words: In vivo pathogenicity, hydropericardium hepatitis syndrome, Angara disease

    An inverted virtual faculty development program for remote teaching: pilot for replication

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    Background: Due to the COVID 19 pandemic, all the universities worldwide are experiencing a paradigm shift to online learning. Baby boomers and Generation X need to cope with the challenging transformation, so an emerging need for a faculty development program was needed towards achieving the goal of that transformation. Objectives: To describe and assess an inverted virtual faculty development program (VFDP) that was designed and implemented for the first time in the school to equip educators with the necessary technology competencies for remote online learning. Methods: An interventional prospective study held in a university setting post need analysis conduction to prioritize the required technological skills for faculty members. The program was designed to integrate five essential skills needed to by faculty members to teach remotely. The intervention comprised attending five virtual sessions after watching a pre-distributed material, then evaluated using the Kirkpatrick model.Results: Almost 81% of faculty members completed the program and 80 % of participants were satisfied with the content of the program. There was a statistically significant difference between the perceived ability of the participants to share and record video lectures before and after the VFDP (p value <0.001). The percentage of the departments that applied the program components showed that 96% of them were able to record lectures. In addition, 80% of them were able to develop online quizzes. Conclusion: The inverted virtual faculty development program (VFDP) has supported the participating faculty in developing their needed technological competencies required to bridge the gap of remote teaching/learning

    Is spinopelvic sagittal alignment correlated with pain level, functional disability and frontal plane projection angle in women with patellofemoral pain syndrome? A cross-sectional study

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    There is a growing interest concerning the understanding of measurements of spinal and leg alignment in patients with patellofemoral pain syndrome (PFPS). However, evaluating spinopelvic alignment in the sagittal plane with pain level, functional disability and frontal plane projection angle (FPPA) in PFPS has not been adequately addressed. The aim of the study was to identify the correlation of spinopelvic parameters with pain level, functional disability and frontal plane projection angle in women with PFPS. This was a cross–sectional study involving sixty female patients diagnosed with PEPS, with a mean age of 32±6.47. The measurements used in the study included: radiographic parameters (X-Ray), the numeric pain rating scale (NPRS), the Arabic anterior knee pain scale (AAKP/Kujala) and the 2D-FPPA. Spearman correlation analysis was conducted to evaluate the relationship between these parameters. The results of our study demonstrated a strong positive correlation of lumbar lordosis (LL) with pain level and FPPA (r=0.825, r=0.812, p=0.0001). Also, a strong positive correlation of sacral slope (SS) with pain level (r = 0.0.820) and FPPA (r= 0.783). Pelvic tilt (PT) showed a moderate correlation with pain level (r = 0.0.614) and FPPA (r= 0.605), while a weak negative correlation was found between LL, SS and PT and functional disability score (r=-0.397, r=-0.385 and, r=-0.215 p=0.002). It was concluded that LL, SS and PT were significantly related to the pain level, functional disability and frontal plane projection angle in women with PFPS. These spinal alignments should be considered in clinical evaluation of knee-related disorders associated with PFPS
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