Robust algorithms for the identification and control of Android-powered quadcopters

The focus of this thesis is on modeling and control of a non-real time, Android operated quadcopter of type dji F450 Flame Wheel without having a concrete knowledge about the system's dynamics and parameters. The quadcopter is equipped with an onboard non-rooted Android smartphone, which serves as both the controller and the IMU in the system. The reference command signals are generated by another user-held Android smartphone which defines the desired orientation of the quadcopter. Due to the fact that default Android implementation is not real-time, the measurements of both Android phones are subject to significant latencies resulting in asynchronous data. To obtain a model of the system, a comprehensive system identification study of the quadcopter's rotation dynamics using grey box model and Euler's equations of rigid body is introduced in the thesis. It also introduces two novel algorithms for obtaining an initial guess for the inertia matrix using convex optimization despite the presence of large number of local minimizers in the original prediction error problem. It shows how sensitive the process is to the initial guess of the model's parameters. A detailed comparison of the relevant estimates is also shown. The control laws were implemented on the onboard Android device, which reads the asynchronous built-in sensors measurements and generates the control signals required to steer the quadcopter and obtain the desired orientation defined by the user-held device. Two control laws were developed, an advanced model-free PID controller that accounts for the non-uniformly distributed data, the windup effect, and the derivative kick, and a model-based LQI controller. Both control approaches were able to stabilize the quadcopter despite the data asynchronousity and model uncertainty, and were validated and tested empirically and through simulation. The thesis also introduces a novel approach of optimizing the PID controllers gains based on the jacobian matrix. The optimization problem tends to be poorly conditioned for such systems. Hence, the novel scaling technique improves the conditioning of the optimization problem and obtains better minimizers. The efficiency of the proposed algorithm is evaluated through simulation. Furthermore, a detailed study on the effect of the cost function selection and model uncertainty on the optimization process is shown

Molecular and immunological characterisation of proteins from Anisakis pegreffii and their immune stimulatory effect on the human health system

With the fast growth of seafood trading worldwide, the potential health risks of eating contaminated seafood have greatly increased. Biological effects of contaminated seafood are associated and caused by a variety of bacteria, viruses, and parasites; this various groups of pathogens results in an extensive diversity of clinical syndromes, each with its own epidemiological characteristics. According to a World Health Organization investigation, more than 1 billion people worldwide are infected with different species of the Ascaris lumbricoides worm parasite (282), which causes serious conditions ranging from mild to lethal. Anisakis parasites in marine fish have imposed a significant economic burden, reducing productivity and requiring elaborate and expensive control methods. Nematodes of the family Anisakidae is a major group parasitise fish, mammals, birds and reptiles, with the larval stages of some species. Several species of Anisakis have been found to be parasitic in marine mammals such as whales and dolphins in their adult stages, and their larvae are found in a variety of fish species. Anisakid nematodes have complex life cycles that include invertebrate and vertebrate hosts at various developmental stages during their life. Most reports of anisakiasis infections are associated with eating raw or undercooked fish that contain larval Anisakis. Humans can also be accidental hosts for larval Anisakis, however they cannot progress their life cycles, but they can frequently cause hypersensitivity IgE-mediated reactions with or without several gastrointestinal manifestations ranging from urticaria to angioedema, called anisakiasis diseases. The development of an allergic reaction mediated by IgE may be against ES and somatic allergens of larval Anisakis. Nuclear ribosomal DNA (rDNA) provides suitable genetic markers for the identification of larval Anisakis. Therefore, the sequences of internal transcribed spacers (ITS-1 and ITS-2) are a powerful approach to identify and distinguish anisakid nematodes (at any developmental stage) for diagnostic or taxonomic purposes, for exploring the genetic composition of larval anisakid populations and for investigating their ecology. Although several allergens have been identified in Anisakis simplex, little information is available for other parasite species infecting fish. Therefore, this project aims to investigate the allergenicity of tropomyosin (Ani p 3) and a cysteine protease inhibitor (Ani p 4) from the sibling species, Anisakis pegreffii, using biochemical, genetic and immunological approaches. Larvae (L3) were harvested manually from tiger flathead fish and identified morphologically using a light microscope. For molecular characterisation and genetic diversity, total genomic DNA was extracted from individual samples and verified by species-specific PCR amplification using the sequences of the first and/or second internal transcribed spacers (ITS-1 and/or ITS-2) of ribosomal DNA (rDNA) as the species-specific genetic markers. For molecular characterisation of Anisakis allergens, RNA of Anisakis pegreffii was extracted, then cDNA synthesised and amplified using designed primers and used to amplify tropomyosin and cysteine protease inhibitor genes from Anisakis pegreffii. Whole muscle proteins from Anisakis larvae were extracted directly with extraction solution and analyzed using sodium dodecyl sulfate-polyacrylamide gel electrophoresis (SDS-PAGE) and confirmed by immunoblotting assays. Tropomyosin protein was detected using anti-tropomyosin and anti-crustacean polyclonal antibodies raised in rabbits while a cysteine protease inhibitor was detected using anti-cysteine protease inhibitor polyclonal antibodies raised in rabbit. The allergenicity of the nematode tropomyosin and cysteine protease inhibitor was evaluated using human serum of atopic patient with a shellfish allergy. The result of SDS-PAGE and immunoblotting assays of Anisakis pegreffii extracts indicates the presence of tropomyosin and cysteine protease inhibitor proteins of 44 and 12.8 kDa molecular weight, respectively. These results are similar to the allergenic tropomyosin and cysteine protease inhibitor of Anisakis simplex. Also, strong reactivity with human serum designated these proteins as allergens in Anisakis pegreffii spp. The molecular sequencing was successful for tropomyosin and cysteine protease inhibitor genes from Anisakis pegreffii, and demonstrated that they are closely related to the Anisakis simplex proteins previously sequenced and submitted in the GenBank database. Our results indicated that, the cDNA sequence similarity searches using the BLAST program and phylogenetic analysis (Clustal W programme) revealed that tropomyosin of A. pegreffii L3 has the highest homology to α tropomyosins isoform from A. simplex L3 (98%) and A. lumbricoides (84%), respectively. In addition, cysteine-protease inhibitor of A. pegreffii L3 has the highest identity to cysteine-protease inhibitor isoform from A. simplex L3 (98%) using the BLAST program and 100% using phylogenetic analysis (Clustal W programme). This analysis highlights that this nematode tropomyosin and cysteine protease inhibitor share high sequence identity with other parasitic nematodes, house dust and crustacean tropomyosin, respectively

Designing and implementing effective campus sustainability in Saudi Arabian universities: an assessment of drivers and barriers in a rational choice theoretical context

Saudi Arabia is a developing country that is experiencing a rapid growth in its population and level of urbanisation. Higher education (HE) in the country has developed rapidly over the last ten years, and it is still moving through numerous major reforms. Largely, the concept of sustainability has not yet been formally adopted in public institutions in a way that could sufficiently remedy the range of activities that currently impact negatively on the environment. The central aim of this paper is to examine the extent to which planning and action for sustainability is currently being taken on university campuses in Saudi Arabia, and to review the opportunities and challenges for encouraging and enabling further progress to this end. The research that the paper draws on specifically investigated the influence of decision makers’ personal knowledge and perceptions within Facilities and Project Management (FPM) departments at selected Saudi universities, and the constraints faced by FPM decision makers with regard to the promotion of sustainability on campus. This exploration was supported by the development of a theoretical framework that draws on rational choice theory (RCT). The research revealed mixed levels of prevailing knowledge and awareness towards sustainability among FPM decision makers within the case study university campuses. Cost notably came across as a dominant influence on FPM decision makers’ choices and decisions, and it undoubtedly plays an important role in shaping the decision-making process alongside other key organisational factors. A number of barriers facing the incorporation of sustainability emerged with clarity, such as the lack of supportive leadership, the lack of sustainability knowledge and awareness among senior management and an absence of sustainability-related legislation policy or strategic direction in the HEIs concerned

Variation in morphology and branching pattern of superior mesenteric artery

The anatomical variations of superior mesenteric artery branches are common. In this study we reported an extraordinary morphology and branching of superior mesenteric artery, during our routine dissection of a 38-year-old Sudanese male cadaver, where the superior mesenteric artery forms an arch over the confluence of inferior vena cava and left renal vein. Other variations observed were: 1) The superior mesenteric artery shares the same origin of coeliac trunk; 2) The unusual origin of right hepatic artery. We think that the knowledge of these variations plays an important role in conducting and planning of radiological and surgical procedures especially in hepatobiliary and pancreatic surgery. Morphology and branching patterns of this artery is anecdotic, which makes this case the most unique

COVID-19 knowledge and perception among healthcare professionals in two Arabian Gulf countries

Introduction: The WHO announced on 30 January 2020 the respiratory tract infection outbreak caused by Coronavirus 2019 (COVID-19) that was first recognized in China to be a global public health emergency. Objective: To investigate healthcare professional's knowledge and awareness about COVID-19. Methods: The study was conducted across four hospitals in Saudi Arabia and two hospitals in Kuwait. The questionnaire was completed between 18th May and the end of June 2020. Results: A total of 460 healthcare professionals completed the questionnaire, 37.8%(n=174) were males. The age of the participants ranged from 18 to 64 and 80.4% (n=370) of the participants were aged 34 or below. Official government websites 54.8% (n=252) and social media 43.3% (n=199) were the major reliable information sources related to COVID-19. only 37% (n=170) mentioned that the coronavirus disease could transmit through contact. In addition, only 42% (n=191) of the study participants had the correct knowledge about the incubation period of the disease. Moreover, 43.5% (n=200) of the participants were able to identify the symptoms of COVID-19. Conclusion: The study recommended the need to focus more on educational and awareness programs targeting all healthcare professionals to ensure the best practice and provide the optimal care

Effect of routine pre-operative urethral catheterization of women undergoing minor gynaecological surgeries on urinary symptoms and urinary infections: a randomized control study

Background: The prevalence of urinary tract infection increases in young sexually active women, and women with previous UTI. Routine urethral catheterization performed for bladder evacuation before minor gynecological procedures and it is not clear whether this routine urethral catheterization associated with increased incidence of bacteriuria or UTIs or not. This study designed to detect the effect of routine uretheral catheterization for women undergoing minor gynecological surgeries on urinary symptoms and urinary infections.Methods: Two hundred and forty women infertile women scheduled for uterine assessment by diagnostic hysteroscopy before in-vitro fertilization in assisted reproduction unit of Ahmadi Hospital, Kuwait Oil Company were included in this study. Participants were randomized into; group I (catheterized group) and group II (non-catheterized group). Participants’ urine samples compared pre-operatively and post-operatively and they asked to complete about their pre and post-operative urinary symptoms.Results: Post-operative dysuria, frequency and urgency were significantly higher in catheterized group (22 (18.33%), 26 (21.66%) and 18 (15%); respectively) compared to non- catheterized group [5 (4.16%), 7 (5.83%) and 4 (3.33%); respectively]. Relative risk of dysuria, frequency and urgency after catheterization were 4.4, 3.7 and 4.5; respectively (95% CI; 1.7-11.2, 1.67-8.22 and 1.56-12.9; respectively). Asymptomatic bacteriuria, UTIs and subsequent need for antimicrobial therapy were also significantly high in catheterized group [15 (12.5%), 18 (15%) and 18 (15%); respectively) compared to non-catheterized group (3 (2.5%), 2 (1.96%) and 2 (1.96%); respectively]. Relative risk of asymptomatic bacteriuria and UTIs after catheterization in women undergoing minor gynecological procedures were 5 and 9; respectively (95%CI; 1.48-16.8 and 2.1-37.9).Conclusions: Catheterization in women undergoing minor gynecological surgery was associated with increased risk of dysuria, frequency, urgency, ASB, UTIs and subsequent antimicrobial therapy. Surgeons should revise the practice of routine preoperative catheterization for women undergoing minor gynecological procedures

Characterizing the morbid genome of ciliopathies

Background Ciliopathies are clinically diverse disorders of the primary cilium. Remarkable progress has been made in understanding the molecular basis of these genetically heterogeneous conditions; however, our knowledge of their morbid genome, pleiotropy, and variable expressivity remains incomplete. Results We applied genomic approaches on a large patient cohort of 371 affected individuals from 265 families, with phenotypes that span the entire ciliopathy spectrum. Likely causal mutations in previously described ciliopathy genes were identified in 85% (225/265) of the families, adding 32 novel alleles. Consistent with a fully penetrant model for these genes, we found no significant difference in their “mutation load” beyond the causal variants between our ciliopathy cohort and a control non-ciliopathy cohort. Genomic analysis of our cohort further identified mutations in a novel morbid gene TXNDC15, encoding a thiol isomerase, based on independent loss of function mutations in individuals with a consistent ciliopathy phenotype (Meckel-Gruber syndrome) and a functional effect of its deficiency on ciliary signaling. Our study also highlighted seven novel candidate genes (TRAPPC3, EXOC3L2, FAM98C, C17orf61, LRRCC1, NEK4, and CELSR2) some of which have established links to ciliogenesis. Finally, we show that the morbid genome of ciliopathies encompasses many founder mutations, the combined carrier frequency of which accounts for a high disease burden in the study population. Conclusions Our study increases our understanding of the morbid genome of ciliopathies. We also provide the strongest evidence, to date, in support of the classical Mendelian inheritance of Bardet-Biedl syndrome and other ciliopathies

The global burden of cancer 2013 global burden of disease cancer collaboration

Importance Cancer is among the leading causes of death worldwide. Current estimates of cancer burden in individual countries and regions are necessary to inform local cancer control strategies. Objective To estimate mortality, incidence, years lived with disability (YLDs), years of life lost (YLLs), and disability-adjusted life-years (DALYs) for 28 cancers in 188 countries by sex from 1990 to 2013. Evidence Review The general methodology of the Global Burden of Disease (GBD) 2013 study was used. Cancer registries were the source for cancer incidence data as well as mortality incidence (MI) ratios. Sources for cause of death data include vital registration system data, verbal autopsy studies, and other sources. The MI ratios were used to transform incidence data to mortality estimates and cause of death estimates to incidence estimates. Cancer prevalence was estimated using MI ratios as surrogates for survival data; YLDs were calculated by multiplying prevalence estimates with disability weights, which were derived from population-based surveys; YLLs were computed by multiplying the number of estimated cancer deaths at each age with a reference life expectancy; and DALYs were calculated as the sum of YLDs and YLLs. Findings In 2013 there were 14.9 million incident cancer cases, 8.2 million deaths, and 196.3 million DALYs. Prostate cancer was the leading cause for cancer incidence (1.4 million) for men and breast cancer for women (1.8 million). Tracheal, bronchus, and lung (TBL) cancer was the leading cause for cancer death in men and women, with 1.6 million deaths. For men, TBL cancer was the leading cause of DALYs (24.9 million). For women, breast cancer was the leading cause of DALYs (13.1 million). Age-standardized incidence rates (ASIRs) per 100 000 and age-standardized death rates (ASDRs) per 100 000 for both sexes in 2013 were higher in developing vs developed countries for stomach cancer (ASIR, 17 vs 14; ASDR, 15 vs 11), liver cancer (ASIR, 15 vs 7; ASDR, 16 vs 7), esophageal cancer (ASIR, 9 vs 4; ASDR, 9 vs 4), cervical cancer (ASIR, 8 vs 5; ASDR, 4 vs 2), lip and oral cavity cancer (ASIR, 7 vs 6; ASDR, 2 vs 2), and nasopharyngeal cancer (ASIR, 1.5 vs 0.4; ASDR, 1.2 vs 0.3). Between 1990 and 2013, ASIRs for all cancers combined (except nonmelanoma skin cancer and Kaposi sarcoma) increased by more than 10% in 113 countries and decreased by more than 10% in 12 of 188 countries. Conclusions and Relevance Cancer poses a major threat to public health worldwide, and incidence rates have increased in most countries since 1990. The trend is a particular threat to developing nations with health systems that are ill-equipped to deal with complex and expensive cancer treatments. The annual update on the Global Burden of Cancer will provide all stakeholders with timely estimates to guide policy efforts in cancer prevention, screening, treatment, and palliation

Classification of Pomegranate Fruit using Texture Analysis of MR Images

Images obtained by Magnetic Resonance Imaging (MRI) of Iranian important export cultivar of pomegranate Malase-e-Torsh were analyzed by texture analysis to determine Gray Level Co-occurrence Matrix (GLCM) and Pixel Run-Length Matrix (PRLM) parameters. The T2 slices measured at 1.5 T for 4 quality classes of pomegranate semi-ripe, ripe, over-ripe and internal defects classes were analyzed numerically using the software MaZda. To classify pomegranate into different classes, discriminant analysis was conducted using cross-validation method and texture features. Ten GLCM and 5 PRLM features were used in 2 different classifiers. Mean classification accuracy was 95.75 % and 91.28 % for GLCM and PRLM features respectively. By using GLCM and RPLM features, classification accuracy for semi-ripe, over-ripe and internal defects classes was higher when GLCM features were used. Ripe class had higher classification accuracy while PRLM features were used. To improve classification accuracy, combination of GLCM and PRLM features were used. For achieving best classification accuracy, optimum numbers of features were selected based on their contribution to the model. Combination of 7 GLCM and 4 PRLM features resulted in mean accuracy of 98.33 % and the lowest type I and II errors. Especially, type I error in ripe and over-ripe classes were significantly decreased. The classification accuracies were 100, 98.47, 100 and 95 % for semi-ripe, ripe, over-ripe and internal defects classes