Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines.

This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SDA). BFA provides a good exploration strategy due to the chemotaxis approach. However, it endures an oscillation problem near the end of the search process when using a large step size. Conversely; for a small step size, it affords better exploitation and accuracy with slower convergence. SDA provides better stability when approaching an optimum point and has faster convergence speed. This may cause the search agents to get trapped into local optima which results in low accurate solution. HSDBC exploits the chemotactic strategy of BFA and fitness accuracy and convergence speed of SDA so as to overcome the problems associated with both the SDA and BFA algorithms alone. The HSDBC thus developed is evaluated in optimizing the performance and energy consumption of two highly nonlinear platforms, namely single and double inverted pendulum-like vehicles with an extended rod. Comparative results with BFA and SDA show that the proposed algorithm is able to result in better performance of the highly nonlinear systems.

A new bats echolocation-based algorithm for single objective optimisation.

Bats sonar algorithm (BSA) as a swarm intelligence approach utilises the concept of echolocation of bats to find prey. However, the algorithm is unable to achieve good precision and fast convergence rate to the optimum solution. With this in mind, an adaptive bats sonar algorithm is introduced with new paradigms of real bats echolocation behaviour. The performance of the algorithm is validated through rigorous tests with several single objective optimisation benchmark test functions. The obtained results show that the proposed scheme outperforms the BSA in terms of accuracy and convergence speed and can be efficiently employed to solve engineering problems.

Integrated modeling and design for realizing a two-wheeled wheelchair for disabled.

Two-wheeled wheelchairs are considered highly nonlinear and complex systems. The systems mimic a double-inverted pendulum scenario and will provide better maneuverability in confined spaces and also to reach higher level of height for pick and place tasks. The challenge resides in modeling and control of the two-wheeled wheelchair to perform comparably to a normal four-wheeled wheelchair. Most common modeling techniques have been accomplished by researchers utilizing the basic Newton's Laws of motion and some have used 3D tools to model the system where the models are much more theoretical and quite far from the practical implementation. This article is aimed at closing the gap between the conventional mathematical modeling approaches where the integrated 3D modeling approach with validation on the actual hardware implementation was conducted. To achieve this, both nonlinear and a linearized model in terms of state space model were obtained from the mathematical model of the system for analysis and, thereafter, a 3D virtual prototype of the wheelchair was developed, simulated, and analyzed. This has increased the confidence level for the proposed platform and facilitated the actual hardware implementation of the two-wheeled wheelchair. Results show that the prototype developed and tested has successfully worked within the specific requirements established.

Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair.

This paper presents a mechanism for standing and sitting transformation of a wheelchair using a two-wheeled inverted pendulum concept with reduced torque requirement, in simulation studies. The motivation of this work is to design a compact standing mechanism to help an elderly/disabled person with functional limitation in lower extremities to maneuver in small and confined spaces and enable them to perform standard daily life routines independently. The wheelchair system at the upright standing position is tested with different travel distances, and the challenge is to control both sit-to-stand and stand-to-sit operations in a stable manner using flexible-joint humanoid. An additional spring/damping element is incorporated at each wheel to provide a comfortable ride for the user especially during stand-to-sit transformation task. A PD-fuzzy control with modular structure is implemented, and the performance of the system is observed through visual nastran 4d (vn4d) visualization software and simulation in matlab. The stand-to-sit performance tests have shown more than 38% reduction in tilt and back seat angles fluctuation in linear travel motion using a suspension system, while the initial tilt torque needed is 50% less than the amount required in previous designs.

Use of clinical guidelines: perspectives from clinicians in paediatric and maternity hospitals in Kabul, Afghanistan.

This study explored the perceived value, role and reported use of clinical guidelines by clinicians in urban paediatric and maternity hospital settings, and the effect of current implementation strategies on clinician attitudes, knowledge and behaviour. A total of 63 clinicians from 7 paediatric and maternity hospitals in Kabul, Afghanistan participated in structured focus groups; content analysis methodology was used for identification and analysis of key themes. Seven sets of guidelines, protocols or standards were identified (including 5 WHO-endorsed guidelines). However, most are failing to achieve high levels of use. Factors associated with guideline use included: clinician involvement in guideline development; multidisciplinary training; demonstrable results; and positive clinician perceptions regarding guideline quality and contextual appropriateness. Implementation activities should fulfil 3 major objectives: promote guideline awareness and access; stimulate motivation among clinical guideline users; and actively facilitate adherence to guidelines.

A fuzzy clustering neural network architecture for multifunction upper-limb prosthesis.

Accurate and computationally efficient means of classifying surface myoelectric signals has been the subject of considerable research effort in recent years. The aim of this paper is to classify myoelectric signals using new fuzzy clustering neural network (NN) architectures to control multifunction prostheses. This paper presents a comparative study of the classification accuracy of myoelectric signals using multilayered perceptron NN using back-propagation, conic section function NN, and new fuzzy clustering NNs (FCNNs). The myoelectric signals considered are used in classifying six upper-limb movements: elbow flexion, elbow extension, wrist pronation and wrist supination, grasp, and resting. The results suggest that FCNN can generalize better than other NN algorithms and help the user learn better and faster. This method has the potential of being very efficient in real-time applications.

A new hybrid spring brake orthosis for controlling hip and knee flexion in the swing phase.

In this study it is proposed that active contraction of muscles might be artificially replaced by a spring brake orthosis (SBO) to provide near-natural knee and hip swing phase trajectories for gait in spinal cord injured subjects. The SBO is a new gait restoration system in which stored spring elastic energy and potential energy of limb segments are utilized to aid gait. It is also shown that hip flexion can be produced without the need for withdrawal reflex, hip flexor stimulus or any mechanical actuator at the hip. A hip flexion angle of 21 degrees was achieved by a nonimpaired subject wearing a prototype orthosis.

Low-dose iloprost infusions compared to the standard dose in patients with peripheral arterial occlusive disease Fontaine stage IV. DAWID Study Group.

BACKGROUND: Intravenous iloprost, titrated from 0.5 up to 2.0 ng/kg/min has been shown in patients with PAOD III/IV to significantly improve healing of trophic lesions, relief of rest pain, and reduce the rate of major amputation or death at 6 months as compared to placebo. The effect is considered related to improvement of the microcirculation. The aim of the present trial was to identify an optimum dose regarding treatment response and tolerability, by studying 4 doses of 25, 50, 75 and 100 micrograms iloprost daily. PATIENTS AND METHODS: 302 patients with PAOD IV were randomised via a double-blind fashion to one of the 4 doses. The primary endpoint was the responder rate at end of treatment. Responders were defined as patients with very good or good global efficacy, as judged by lesion healing and pain relief. Side effects were documented and a pre-defined benefit/risk index was calculated. RESULTS: No dose-dependency of iloprost regarding primary or secondary endpoints was observed. The rate of responders ranged between 48.7-53.5%. Side effects, mainly related to vasodilation, increased dose-dependently (p < 0.001, chi 2-test), with a significant decrease of the benefit/risk index from 2.19 +/- 1.19 to 1.64 +/- 0.97 (p = 0.012, ANOVA). Responders had a better outcome at 6 months than non-responders (2.6 fold higher rate of major amputation or death; life table analysis). CONCLUSIONS: It is concluded that iloprost should be titrated to the optimum rather than maximum tolerated dose, since a higher incidence of side effects not associated with an increased treatment response was observed at higher doses.

The specificity of antibody in chickens immunised to reduce intestinal colonisation with Campylobacter jejuni.

Poultry consumption has been identified as a major risk factor for human infection with Campylobacter jejuni in developed countries. C. jejuni is present in the gastrointestinal tract of broiler chickens at the time of slaughter, and faecal contamination of carcases during processing results in significant campylobacter loads on carcases. One approach to reducing the level of carcase contamination with C. jejuni is to control campylobacter infection in broiler chickens. To this end, the study described here investigated the specificity of antibody in serum and intestinal secretions of chickens that had been immunised with campylobacter antigens and then challenged with viable bacteria. The immunodominant antigens in the serum of birds that showed a 2-log reduction in caecal colonisation with C. jejuni included flagellin protein (61-63 Kd) and three additional antigens of 67, 73.5 and 77.5 Kd. Only flagellin and the 67 Kd antigen were recognised by IgG antibody in gastrointestinal secretions of the same birds. Antibody from chickens immunised with purified native flagellin protein recognised flagellin protein and the 67 Kd antigen in Western blots probed with serum, but only the flagellin proteins (61-63 Kd) in Westerns probed with gastrointestinal secretions. Analysis of the specificity of the response to flagellin protein using recombinant clones that expressed regions of the flagellin gene suggests that epitopes in each region of the flagellin protein were immunogenic. Of the immunodominant antigens, only flagellin appeared to be surface-exposed on viable C. jejuni, although conformational epitopes of flagellin appeared to be sensitive to the method of antigen purification. The results of this study suggest that flagellin and possibly the 67 Kd antigen may be valuable for immunological control of intestinal infection with C. jejuni in chickens, but that further work is required to purify these as vaccine candidates by using methods that preserve conformational epitopes.