Extending The Lossy Spring-Loaded Inverted Pendulum Model with a Slider-Crank Mechanism

Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical systems resulted in newer models which are extended versions of original SLIP with viscous damping in the leg. However, such lossy models require an additional mechanism for pumping energy to the system to control the locomotion and to reach a limit-cycle. Some studies solved this problem by adding an actively controllable torque actuation at the hip joint and this actuation has been successively used in many robotic platforms, such as the popular RHex robot. However, hip torque actuation produces forces on the COM dominantly at forward direction with respect to ground, making height control challenging especially at slow speeds. The situation becomes more severe when the horizontal speed of the robot reaches zero, i.e. steady hoping without moving in horizontal direction, and the system reaches to singularity in which vertical degrees of freedom is completely lost. To this end, we propose an extension of the lossy SLIP model with a slider-crank mechanism, SLIP- SCM, that can generate a stable limit-cycle when the body is constrained to vertical direction. We propose an approximate analytical solution to the nonlinear system dynamics of SLIP- SCM model to characterize its behavior during the locomotion. Finally, we perform a fixed-point stability analysis on SLIP-SCM model using our approximate analytical solution and show that proposed model exhibits stable behavior in our range of interest.Comment: To appear in The 17th International Conference on Advanced Robotic

Managing Time: A Study Among Arab Open University Tutors In Kuwait Branch

The purpose of this paper was to investigate how tutors at the Arab Open University (AOU) in Kuwait Branch manage their time given workloads they are assigned. Group interviews were conducted with a sample that was selected from AOU tutors in Kuwait branch.  The findings showed that tutors do not ask for more time or cut down workloads; instead, they ask for a better organized and healthy work environment where they can make use of the available time and be more productive and creative

Educational Innovation in the Sultanate of Oman and its Research Requirements: a research Map for the Department of Educational Foundations and Administration

This study intended to provide a research map that shows the most important research issues and educational challenges facing education in the Sultanate of Oman in the light of contemporary educational innovations. A descriptive research method was used. The procedures followed in the study included a review of educational research maps in the colleges of education, conducted a theoretical analysis of the relationship between global changes and their impact on the areas of educational innovation, identify areas of educational innovation in Oman, and Meta analysis of research conducted at the Department of Educational Foundations and Administration. Based on the analysis and interpretation of data collected from 120 research participants, consisting of 10 faculty members, 15 Master students, 20 experts from the Ministry of Education and Ministry of Higher Education, and 75 school principals representing different provinces, a research map, with its objectives, scopes, and mechanics of implementation, was developed

Isolated Hepatic Tuberculosis Presenting as Cystic-Like and Tumour-Like Mass Lesions

Hepatic tuberculosis is a rare manifestation of extra-pulmonary tuberculosis. Hepatic tuberculous lesions are especially mimicking tumour-like mass or cystic lesions in the liver and so can be misdiagnosed with several diseases. Histopathological examination of the specimen is essential in the diagnosis for hepatic tuberculosis. In this report, two cases with hepatic tuberculosis having cystic solid mass and abscess liver lesions are described

Factors Affecting the Reluctance to Pursue Teaching as a Career from the Perspective of Students in the Sultanate of Oman: A mixed-approach Investigation

هدفت الدراسة الحالية إلى الكشف عن العوامل المؤثرة في عزوف الطلبة عن مهنة التدريس بسلطنة عمان. استخدمت الدراسة المنهج المختلط، حيث تم جمع البيانات الكمية من خلال مقياس العوامل المؤثرة على اختيار مهنة التدريس بعد تعريبه وتكييفه لمجتمع الدراسة المكون من طلبة الصفوف 10-12 (ن= 3455)، أما البيانات النوعية فقد تم جمعها من خلال مجموعات النقاش البؤرية مع طلبة هذه الصفوف (ن= 253). أشارت النتائج إلى أن العوامل المؤثرة في عزوف الطلبة عن مهنة التدريس تمحورت حول: صعوبة المهنة، وقلة حوافزها المادية، وتدني المكانة الاجتماعية لها مقارنة بالمهن الأخرى، بينما بينت نتائج مجموعات النقاش البؤرية وجود آراء إيجابية وسلبية للمهنة، ووجود تحديات أبرزها: صعوبة التعامل مع عدد كبير من الطلبة، وتوقف ترقيات المعلمين، وتعيين المعلمين بعيدا عن أماكن إقامتهم. كما بين أغلبية طلبة المدارس من الجنسين بأنه ليس لديهم الرغبة والاتجاه الإيجابي لاختيار التدريس كمهنة المستقبل. كما أشارت نتائج الدراسة المتعلقة بالفروق بين الجنسين إلى وجود فروق دالة إحصائيا لصالح الذكور في العزوف عن مهنة التدريس

Burden of visceral leishmaniasis in villages of eastern gedaref state, Sudan: an exhaustive cross-sectional survey.

Since December 2009, Médecins Sans Frontières has diagnosed and treated patients with visceral leishmaniasis (VL) in Tabarak Allah Hospital, eastern Gedaref State, one of the main endemic foci of VL in Sudan. A survey was conducted to estimate the VL incidence in villages around Tabarak Allah

Antimicrobial resistance among migrants in Europe: a systematic review and meta-analysis

BACKGROUND: Rates of antimicrobial resistance (AMR) are rising globally and there is concern that increased migration is contributing to the burden of antibiotic resistance in Europe. However, the effect of migration on the burden of AMR in Europe has not yet been comprehensively examined. Therefore, we did a systematic review and meta-analysis to identify and synthesise data for AMR carriage or infection in migrants to Europe to examine differences in patterns of AMR across migrant groups and in different settings. METHODS: For this systematic review and meta-analysis, we searched MEDLINE, Embase, PubMed, and Scopus with no language restrictions from Jan 1, 2000, to Jan 18, 2017, for primary data from observational studies reporting antibacterial resistance in common bacterial pathogens among migrants to 21 European Union-15 and European Economic Area countries. To be eligible for inclusion, studies had to report data on carriage or infection with laboratory-confirmed antibiotic-resistant organisms in migrant populations. We extracted data from eligible studies and assessed quality using piloted, standardised forms. We did not examine drug resistance in tuberculosis and excluded articles solely reporting on this parameter. We also excluded articles in which migrant status was determined by ethnicity, country of birth of participants' parents, or was not defined, and articles in which data were not disaggregated by migrant status. Outcomes were carriage of or infection with antibiotic-resistant organisms. We used random-effects models to calculate the pooled prevalence of each outcome. The study protocol is registered with PROSPERO, number CRD42016043681. FINDINGS: We identified 2274 articles, of which 23 observational studies reporting on antibiotic resistance in 2319 migrants were included. The pooled prevalence of any AMR carriage or AMR infection in migrants was 25·4% (95% CI 19·1-31·8; I2 =98%), including meticillin-resistant Staphylococcus aureus (7·8%, 4·8-10·7; I2 =92%) and antibiotic-resistant Gram-negative bacteria (27·2%, 17·6-36·8; I2 =94%). The pooled prevalence of any AMR carriage or infection was higher in refugees and asylum seekers (33·0%, 18·3-47·6; I2 =98%) than in other migrant groups (6·6%, 1·8-11·3; I2 =92%). The pooled prevalence of antibiotic-resistant organisms was slightly higher in high-migrant community settings (33·1%, 11·1-55·1; I2 =96%) than in migrants in hospitals (24·3%, 16·1-32·6; I2 =98%). We did not find evidence of high rates of transmission of AMR from migrant to host populations. INTERPRETATION: Migrants are exposed to conditions favouring the emergence of drug resistance during transit and in host countries in Europe. Increased antibiotic resistance among refugees and asylum seekers and in high-migrant community settings (such as refugee camps and detention facilities) highlights the need for improved living conditions, access to health care, and initiatives to facilitate detection of and appropriate high-quality treatment for antibiotic-resistant infections during transit and in host countries. Protocols for the prevention and control of infection and for antibiotic surveillance need to be integrated in all aspects of health care, which should be accessible for all migrant groups, and should target determinants of AMR before, during, and after migration. FUNDING: UK National Institute for Health Research Imperial Biomedical Research Centre, Imperial College Healthcare Charity, the Wellcome Trust, and UK National Institute for Health Research Health Protection Research Unit in Healthcare-associated Infections and Antimictobial Resistance at Imperial College London

Percutaneous & Mini Invasive Achilles tendon repair

Rupture of the Achilles tendon is a considerable cause of morbidity with reduced function following injury. Recent studies have shown little difference in outcome between the techniques of open and non-operative treatment using an early active rehabilitation programme. Meta-analyses have shown that non-operative management has increased risk of re-rupture whereas surgical intervention has risks of complications related to the wound and iatrogenic nerve injury. Minimally invasive surgery has been adopted as a way of reducing infections rates and wound breakdown however avoiding iatrogenic nerve injury must be considered. We discuss the techniques and outcomes of percutaneous and minimally invasive repairs of the Achilles tendon

A novel formulation of inhaled sodium cromoglicate (PA101) in idiopathic pulmonary fibrosis and chronic cough: a randomised, double-blind, proof-of-concept, phase 2 trial

Background Cough can be a debilitating symptom of idiopathic pulmonary fibrosis (IPF) and is difficult to treat. PA101 is a novel formulation of sodium cromoglicate delivered via a high-efficiency eFlow nebuliser that achieves significantly higher drug deposition in the lung compared with the existing formulations. We aimed to test the efficacy and safety of inhaled PA101 in patients with IPF and chronic cough and, to explore the antitussive mechanism of PA101, patients with chronic idiopathic cough (CIC) were also studied. Methods This pilot, proof-of-concept study consisted of a randomised, double-blind, placebo-controlled trial in patients with IPF and chronic cough and a parallel study of similar design in patients with CIC. Participants with IPF and chronic cough recruited from seven centres in the UK and the Netherlands were randomly assigned (1:1, using a computer-generated randomisation schedule) by site staff to receive PA101 (40 mg) or matching placebo three times a day via oral inhalation for 2 weeks, followed by a 2 week washout, and then crossed over to the other arm. Study participants, investigators, study staff, and the sponsor were masked to group assignment until all participants had completed the study. The primary efficacy endpoint was change from baseline in objective daytime cough frequency (from 24 h acoustic recording, Leicester Cough Monitor). The primary efficacy analysis included all participants who received at least one dose of study drug and had at least one post-baseline efficacy measurement. Safety analysis included all those who took at least one dose of study drug. In the second cohort, participants with CIC were randomly assigned in a study across four centres with similar design and endpoints. The study was registered with ClinicalTrials.gov (NCT02412020) and the EU Clinical Trials Register (EudraCT Number 2014-004025-40) and both cohorts are closed to new participants. Findings Between Feb 13, 2015, and Feb 2, 2016, 24 participants with IPF were randomly assigned to treatment groups. 28 participants with CIC were enrolled during the same period and 27 received study treatment. In patients with IPF, PA101 reduced daytime cough frequency by 31·1% at day 14 compared with placebo; daytime cough frequency decreased from a mean 55 (SD 55) coughs per h at baseline to 39 (29) coughs per h at day 14 following treatment with PA101, versus 51 (37) coughs per h at baseline to 52 (40) cough per h following placebo treatment (ratio of least-squares [LS] means 0·67, 95% CI 0·48–0·94, p=0·0241). By contrast, no treatment benefit for PA101 was observed in the CIC cohort; mean reduction of daytime cough frequency at day 14 for PA101 adjusted for placebo was 6·2% (ratio of LS means 1·27, 0·78–2·06, p=0·31). PA101 was well tolerated in both cohorts. The incidence of adverse events was similar between PA101 and placebo treatments, most adverse events were mild in severity, and no severe adverse events or serious adverse events were reported. Interpretation This study suggests that the mechanism of cough in IPF might be disease specific. Inhaled PA101 could be a treatment option for chronic cough in patients with IPF and warrants further investigation