Navigation of a high velocity tele-operated ground vehicle through an obstacle rich environment

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1999.Includes bibliographical references (leaf 41).An experiment was designed and conducted to investigate the use of a priori overhead images in navigating an unmanned tele-operated ground vehicle through an obstacle rich environment. The obstacle courses contained many of the same types of elements that would exist in an urban setting. The corresponding a priori images depicted these obstacle courses but included some drawbacks that could be expected in an overhead image of an urban environment. For instance there were objects on the course that were not depicted on the overhead image and vice versa. The overhead images were prepared in low, medium, and high resolutions. These resolutions, one meter, half meter, and centimeter scale, were selected to be representative of what might be available in real situations. Subjects controlled the vehicle using a joystick, with reference to the a priori image and a real-time video image from the vehicle. The subjects' times to navigate the courses and their paths were recorded during the experiment. From this information, post analysis showed what types of decision errors they made on each course. Statistical analysis showed that there was no significant performance difference between the three different obstacle courses. Subjects took the longest time to navigate the courses using the low resolution overhead images, and took the shortest time with the high resolution images. There was a statistically significant difference between the average course completion time with the medium resolution map and the high resolution map. Medium and high resolution lead subjects to rely less on the video image from the vehicle. This caused them to occasionally make incorrect navigation choices. With low resolution subjects tended to use clearly discernible paths and avoid shortcuts which could have saved time. This nuance in the behavior with different resolutions underscores the importance of experimentation and suggests that further study is necessary.by Atif Iqbal Chaudhry.S.M

STAT3 Genotypic Variant rs744166 and Increased Tyrosine Phosphorylation of STAT3 in IL-23 Responsive Innate Lymphoid Cells during Pathogenesis of Crohn\u27s Disease

Crohn\u27s disease (CD) results from dysregulated immune responses to gut microbiota in genetically susceptible individuals, affecting multiple areas of the gastrointestinal tract. Innate lymphoid cells (ILCs) are tissue-resident innate effector lymphocytes which play crucial roles in mucosal immune defense, tissue repair, and maintenance of homeostasis. The accumulation of IFN-γ-producing ILC1s and increased level of proinflammatory cytokines produced by ILCs has been observed in the inflamed terminal ileum of CD patients. To date, the precise mechanisms of ILC plasticity and gene regulatory pathways in ILCs remain unclear. Signal transducer and activator of transcription 3 (STAT3) regulates gene expression in a cell-specific, cytokine-dependent manner, involving multiple immune responses. This study proposes the positive correlation between the prevalence of STAT3 rs744166 risky allele A with the severity of disease in a cohort of 94 CD patients. In addition, the results suggest an increased STAT3 activity in the inflamed ileum of CD patients, compared to unaffected ileum sections. Notably, IL-23 triggers the differentiation of CD117+NKp44- ILC3s and induces the activation of STAT3 in both CD117+NKp44- and CD117-NKp44- ILC subsets, implying the involvement of STAT3 in the initiation of ILC plasticity. Moreover, carriage of STAT3 A risk allele exhibited a higher basal level of STAT3 tyrosine phosphorylation, and an increased IL-23 triggered the pSTAT3 level. We also demonstrated that there was no delayed dephosphorylation of STAT3 in ILCs of both A/A and G/G donors. Overall, the results of this study suggest that IL-23-induced activation of STAT3 in the CD117-NKp44- ILC1s involves in ILC1-to-ILC3 plasticity and a potential regulatory role of ILC1 function. Those genetically susceptible individuals carried STAT3 rs744166 risky allele appear to have higher basal and cytokine-stimulated activation of STAT3 signal, leading to prolonged inflammation and chronic relapse

Re-Visioning Personal Myths In Executive Coaching

The purpose of this capstone is to study how executive coaches use stories to help their clients author a more empowering personal myth, in support of the client’s long- term vision that accounts for diverse personal and professional stakeholders. Through a multidisciplinary review of literature, the study enunciates how people create personal myths to make sense of their lives and why those invisible myths need to be continuously updated to account for life changes. The review of organizational research emphasizes the importance of choosing an archetype that supports a desired social identity at work. Following interviews with experienced coach practitioners, the study outlines a process by which coaches can ask for stories that not only help clients change but also lay the foundation of the deeper work clients need to do to articulate and realize their future vision. At the core of the long-term personal transformation is the need to evoke a way of being that allows clients to “be their best self.

Reservoir Characterisation of Gas Shale through Sedimentary, Mineralogical, Petrophysical and Statistical Rock Types Evaluation

The successful exploration and production of the gas shale reservoirs can help to face the current energy crisis. However, shale is a fine-grained heterogeneous rock, so its exploration and development are challenging. This research has provided an integrated method for analysis, evaluation, and synthesis of potential gas shale formations in the Canning Basin, Western Australia. The results form a valuable case study that is applicable to many other sedimentary basins throughout the world

Fotobiorreactor urbano para el secuestro de CO2 y la producción de biomasa microalgal

The growth system of microalgae photobioreactors (PBRs) has drawn a lot of interest as a viable and sustainable method for generating quality biomass for value-added products and biofuels. The objective of this research work is to cultivate micro-algae species Chlorella vulgaris in a photobioreactor that was designed, fabricated, and powered by solar energy system. Three experimental conditions were compared with 1:4 ratios of microalgae culture (40L) and fresh water (10L) having 100mL of media (nutrients) used in each experiment with control sample (ambient air aeration) experiment # 1, injecting 200 g of CO2 for 15 sec (experiment # 2), and 300g of CO2 for 25 sec (experiment # 3) on alternate days during the cultivation period. All experiments showed the reduction of nutrients concentration (orthophosphate and nitrate) and enhancement of biomass productivity with respect to 10 days of cultivation period. Experiments 1, 2 and 3 showed removal of orthophosphate as 50 %, 41.74 % and 60.78 % respectively, whereas nitrate removal was 22 %, 48 % and 58 %. Biomass productivity from experiments 1, 2 and 3 after 10 days of cultivation period were 196.63 mg/L, 203.43 mg/L, 318.76 mg/L respectively. Statistical analysis revealed that supplying CO2 from external source in experiment # 2 and experiment # 3 have same pattern of statistical significance with co-relationship between two groups of means with p-value of 6.306 × . The maximum microalgal biomass was recovered from experiment # 3, with 7.98 % by weight protein content yield and lipid content yield 37.4 % by weight (1.87/ 5 g of dried biomass). Kinetic study showed volumetric mass transfer capacities of  and  were found to be 1.763× /s and 1.676× /s, with better result of  gas transfer capacity of the system. In the extracted lipids favorable qualities of fatty acids for the production of microalgae biodiesel were found such as myristic (C14:0), palmitic (C16:0), palmitoleic (C16:1), oleic (C18:1), linoleic (C18:1), and linolenic acids (C18:3). The use of urban micro-algae photobioreactors is an environmentally sustainable strategy that can contribute significantly to the bio-based economy and reduce the negative effects of traditional fossil fuel usage on the environment.El sistema de crecimiento de fotobiorreactores (PBRs) de microalgas es de gran interés pues es un método viable y sostenible para generar biomasa de calidad destinada a productos de valor agregado y biocombustibles. En este estudio se cultivó la especie de microalga Chlorella vulgaris en un fotobiorreactor diseñado, fabricado y alimentado por un sistema de energía solar. Se compararon tres condiciones experimentales con proporciones de 1:4 de cultivo de microalgas (40 L) y agua fresca (10 L), utilizando 100 mL de medio (nutrientes) en cada experimento: un experimento control (aireación con aire ambiente, experimento # 1), la inyección de 200 g de CO2 durante 15 segundos (experimento # 2), y la inyección de 300 g de CO2 durante 25 segundos (experimento # 3) en días alternos durante el periodo de cultivo. Todos los experimentos mostraron una reducción en la concentración de nutrientes (ortofosfato y nitrato) y un aumento en la productividad de biomasa tras un periodo de cultivo de 10 días. Los experimentos 1, 2 y 3 mostraron remociones de ortofosfato del 50 %, 41,74 % y 60,78 %, respectivamente, mientras que la remoción de nitrato fue del 22 %, 48 % y 58 %. La productividad de biomasa en los experimentos 1, 2 y 3 tras 10 días de cultivo fue de 196,63 mg/L, 203,43 mg/L y 318,76 mg/L, respectivamente. El análisis estadístico reveló que el suministro de CO2 desde una fuente externa en los experimentos # 2 y # 3 sigue un patrón similar de significancia estadística, con una correlación entre ambos grupos de medias y un valor de p de 6 306 × . La mayor biomasa de microalgas fue recuperada del experimento # 3, con un contenido proteico del 7,98 % en peso y un contenido lipídico del 37,4 % en peso (1,87 g/5 g de biomasa seca). El estudio cinético mostró que las capacidades de transferencia volumétrica de masa de  y  fueron de 1 763× /s y 1 676× /s, respectivamente, siendo más eficiente la capacidad de transferencia de  del sistema. Los lípidos extraídos presentaron ácidos grasos favorables para la producción de biodiésel de microalgas, como ácido mirístico (C14:0), palmítico (C16:0), palmitoleico (C16:1), oleico (C18:1), linoleico (C18:1) y linolénico (C18:3). El uso de fotobiorreactores urbanos de microalgas es una estrategia ambientalmente sostenible que puede contribuir significativamente a la economía basada en recursos biológicos y reducir los efectos negativos del uso tradicional de combustibles fósiles sobre el medio ambiente.El sistema de crecimiento de fotobiorreactores (PBRs) de microalgas es de gran interés pues es un método viable y sostenible para generar biomasa de calidad destinada a productos de valor agregado y biocombustibles. En este estudio se cultivó la especie de microalga Chlorella vulgaris en un fotobiorreactor diseñado, fabricado y alimentado por un sistema de energía solar. Se compararon tres condiciones experimentales con proporciones de 1:4 de cultivo de microalgas (40 L) y agua fresca (10 L), utilizando 100 mL de medio (nutrientes) en cada experimento: un experimento control (aireación con aire ambiente, experimento # 1), la inyección de 200 g de CO2 durante 15 segundos (experimento # 2), y la inyección de 300 g de CO2 durante 25 segundos (experimento # 3) en días alternos durante el periodo de cultivo. Todos los experimentos mostraron una reducción en la concentración de nutrientes (ortofosfato y nitrato) y un aumento en la productividad de biomasa tras un periodo de cultivo de 10 días. Los experimentos 1, 2 y 3 mostraron remociones de ortofosfato del 50 %, 41,74 % y 60,78 %, respectivamente, mientras que la remoción de nitrato fue del 22 %, 48 % y 58 %. La productividad de biomasa en los experimentos 1, 2 y 3 tras 10 días de cultivo fue de 196,63 mg/L, 203,43 mg/L y 318,76 mg/L, respectivamente. El análisis estadístico reveló que el suministro de CO2 desde una fuente externa en los experimentos # 2 y # 3 sigue un patrón similar de significancia estadística, con una correlación entre ambos grupos de medias y un valor de p de 6 306 × . La mayor biomasa de microalgas fue recuperada del experimento # 3, con un contenido proteico del 7,98 % en peso y un contenido lipídico del 37,4 % en peso (1,87 g/5 g de biomasa seca). El estudio cinético mostró que las capacidades de transferencia volumétrica de masa de  y  fueron de 1 763× /s y 1 676× /s, respectivamente, siendo más eficiente la capacidad de transferencia de  del sistema. Los lípidos extraídos presentaron ácidos grasos favorables para la producción de biodiésel de microalgas, como ácido mirístico (C14:0), palmítico (C16:0), palmitoleico (C16:1), oleico (C18:1), linoleico (C18:1) y linolénico (C18:3). El uso de fotobiorreactores urbanos de microalgas es una estrategia ambientalmente sostenible que puede contribuir significativamente a la economía basada en recursos biológicos y reducir los efectos negativos del uso tradicional de combustibles fósiles sobre el medio ambiente

Job stress among community health workers: a multi-method study from Pakistan

<p>Abstract</p> <p>Background</p> <p>In low income countries, the task of providing primary health care is often the responsibility of community health workers. In Pakistan, community workers called Lady Health Workers (LHW) deliver basic health care at the doorstep in the rural areas and urban slums. Evaluations show that it is a successful programme but point out inconsistencies in the quality of service provided. In order achieve this, it would be important to obtain the workers' viewpoint on their job-description, the problems they face and the levels of stress they encounter.</p> <p>Methods</p> <p>We conducted a multi-method study to investigate the aforementioned issues. All LHWs from one typical rural sub-district in Rawalpindi were surveyed. Focus group discussions with a sub-set of these workers were also conducted.</p> <p>Results</p> <p>About a quarter of the LHWs were found to have significant occupational stress. Factors associated with stress included having low socio-economic status and having to travel long distances for work. Inconsistent medical supplies, inadequate stipends, lack of career structure and not being equipped to communicate effectively with families were the main factors for job dissatisfaction among these workers.</p> <p>Recommendations</p> <p>Improvement in remuneration, better administration of supplies and a structured career path should be ensured for better performance of community health workers. In addition, communication skills learning should be an essential part of their training programme.</p

FREQUENCY OF CAROTID ATHEROSCLEROSIS IN CEREBRAL INFARCTION

Objective: To know the frequency of carotid atherosclerosis in ischaemic stroke patients in our population using color Doppler ultrasound. Methodology: This is an observational study conducted in the department of Medicine Nishtar Hospital, Multan. All the patients admitted during this duration with CT scan proof of stroke were included in the study. Risk factors in all these patients were stratified. Doppler ultrasound was performed on all patients with ischaemic stroke according to the study protocol. Results: A total of 100 patients were included in this study over a period of five months. 66% of these were having cerebral infarction. Hypertension (72%), diabetes (35%), smoking (29%) and obesity (20%) were the common risk factors. The frequency of significant carotid atherosclerosis in acute ischaemic stroke patients was 21%. Conclusion: Carotid atherosclerosis is one of the most important indicators, predictors as well as an independent risk factor in the development of ischaemic stroke. KEY WORDS: Carotid, Atherosclerosis, Doppler ultrasound

Fetal Anomalies in Ultrasonographically Detected Polyhydramnios

Background: To determine the frequency and types of fetal anomalies in cases of polyhydramnios detected on ultrasonography and to compare maternal age and parity of these subjects with fetal anomalies and those without fetal anomalies. Methods: In this cross sectional study, using colour and power Doppler ultrasound machine, one hundred diagnosed patients with ultrasonographically detected polyhydramnios were included . Sonographic examination was conducted between 12 to 40 weeks of gestation and fetal anomalies were examined. Results: Out of 100 patients, 35 fetal anomalies were found in 30(30%) patients. The age of the patients included in the study ranged from 18 to 40 years. Majority of the anomalies (73%) were found between age group 30 – 40 years and in multigravida (83%). Central Nervous System was the commonest site with fetal anomalies (46%) followed by gastrointestinal tract (20%) Conclusion: Prenatal detection of fetal anomalies has a decisive effect on the outcome of pregnancy and helps the obstetrician in planning the intrapartum management and for post delivery resuscitative measures, if require

EFFICACY OF INTRAVENOUS ACETAMINOPHEN VERSUS KETAMINE FOR POSTOPERATIVE PAIN AFTER ABDOMINAL HYSTERECTOMY

Objective; To determine the efficacy of intravenous acetaminophen versus ketamine for postoperative pain after abdominal hysterectomy. Material and Methods; A total of 114 women undergoing abdominal hysterectomy were taken in this study. The study was conducted from June 2017 to May 2018 at department of Anesthesiology, Nishtar Hospital, Multan. Results; Our study comprised of 114 ladies undergoing abdominal hysterectomy, mean age of the study cases was 54.13 ± 6.89 years (with minimum age of the patients was 39 years while maximum age was 68 years). Majority of our study cases i.e. 92 (80.7 %) had parity more than 3 and American Society of Anesthesiology (ASA) score level 1 in 93 (81.6%). Sixty one (53.1%) belonged to rural areas, while mean duration of surgery was 72.80 ± 11.32 minutes. Mean BMI level in our study cases was noted to be 23.98 ±4.17 Kg/m2 and obesity was present in 34 (29.8%) of our study cases. Efficacy was noted in 60 (52.6 %) of our study cases. Efficacy was 73.7% study cases in group A while 18 (31.6%) in group B (p=0.000). Conclusion; Our study results support the use of intravenous acetaminophen (IVA) for pain management in patients undergoing abdominal hysterectomy compared with ketamine. Intravenous acetaminophen is safe, reliable and effective for the pain management in postoperative abdominal hysterectomy patients which was associated with shorter hospital stay and cost effective for the suffering families. No adverse reactions were noted in this study with the use of intravenous acetaminophen. Keywords; Intravenous acetaminophen, Ketamine, Abdominal Hysterectomy.