For mobile robots equipped with incremental encoders and one sonar sensor this paper presents wall-following controllers that achieve global convergence, as well as the fulll-ment of constraints on the orientation of the sonar and the velocities of the wheels. A sensor-fusion approach for the estimation of the robot's coordinates is adopted by designing an Extended Kalman Filter that combines u...

we assessed different systolic cardiac indices to detect left and right ventricular systolic dysfunction in cirrhotic patients before liver transplantation. between 2010-2011, 81 consecutive individuals with confirmed hepatic cirrhosis who were a candidate for liver transplantation were enrolled in this study. a total of 32 age and sex matched healthy volunteers were also selected as the contro...

Nowadays, the importance of the vehicles and its dramatic effects on human life is no secret. The use of trailers with multiple axels for transporting bulky and heavy equipment is essential. Increase in trailers axles which results increment of wheels, needs considerations in order to increase in transporting speed, maneuverability, safety, better control and path following accurately.  Therefo...

the control of car following is essential due to its safety and its operational efficiency. for this purpose, this paper builds a model of car following behavior based on armax structure from a real traffic dataset and design a model predictive control (mpc) system. based on the relative distance and relative acceleration of each instant, the mpc predicts the future behavior of the leader vehic...

subarachnoid hemorrhage (sah) resulting from a ruptured intracranial aneurysm can induce cerebral vasospasm with subsequent reduction in cerebral blood flow (cbf). the present study examines the pathological alterations in the wall of human cerebral arteries at autopsy, especially with regard to intimal pathology, following aneurysmal sah. arterial segments from the circle of willis were fixed ...

In this study, we explored the pathogenic effects of white spot syndrome virus (WSSV) and effects of yeast cell wall in the red claw crayfish, Cherax quadricarinatus, by investigating the activity of enzymes related to innate immune function following artificial infection of immunized and non-immunized crayfish. Our results reveal that the activity of four enzymes, phenoloxidase (PO), peroxidas...

In this study, we explored the pathogenic effects of white spot syndrome virus (WSSV) and effects of yeast cell wall in the red claw crayfish, Cherax quadricarinatus, by investigating the activity of enzymes related to innate immune function following artificial infection of immunized and non-immunized crayfish. Our results reveal that the activity of four enzymes, phenoloxidase (PO), peroxidas...