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Nabih Pico,Hong-ryul Jung,Juan Medrano,Meseret Abayebas,Dong Yeop Kim,황정훈,Hyungpil Moon 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.2
The objective of this work is to control a delivery robot equipped with a passive bogie that can successfully climb up steps of various sizes and move on uneven terrain in outdoor environments. The kinematic model of a six-wheel mobile robot is described in detail. Jacobian matrices and inverse kinematics are obtained to get the velocity of each wheel based on the desired velocity of the robot center of mass in conjunction with the terrain information obtained by the onboard sensors according to the contact angle estimation between the wheel and ground. A slip control is implemented based on slip ratio to adjust the wheel velocity when the slip is detected. Simulation and experimental results verify the effectiveness of the approach that enables the robot autonomously climbing up on different steps and uneven terrain.
Nabih Pico,Eui-Chan Kim,Sang-Hyeon Park,Meseret Abayebas Tadese,Huy Nguyen Tran,Beomjoon Lee,Hyungpil Moon 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Wheeled robots are involved in different applications due to their adaptability to different terrains. The stability of the robot is related to the permanent contact of the wheels with the ground. This paper presents the method to recognize the geometry terrains in real-time when the wheel has contact at one or multiple contact points with the soil by using laser scanning sensors and measuring the contact angle between the wheel-ground. Furthermore, the robot can recognize when its wheel loses contact with the terrain. Thus, we can create a proper robot control by obtaining the Jacobian matrix and its inverse related to the terrain information. In consequence, the robot can overcome diverse terrains and move safely. The method is validated in experimental results when the six-wheeled robot recognizes a rocky terrain and a slope with a step.
Epidemiology and risk factors of voluntary pesticide poisoning in Morocco (2008-2014)
Zineb Nabih,Latifa Amiar,Zakaria Abidli,Maria Windy,Abdelmajid Soulaymani,Abdelrhani Mokhtari,Rachida Soulaymani-Bencheikh 한국역학회 2017 Epidemiology and Health Vol.39 No.-
OBJECTIVES: To determine the epidemiological profile and risk factors of voluntary poisoning by pesticides. METHODS: A retrospective analysis was conducted of all cases of voluntary poisoning by pesticides registered at the Anti-Poison and Pharmacovigilance Center of Morocco between January 2008 and December 2014. RESULTS: During the study period, 2,690 cases of acute pesticide poisoning were registered. The region of Rabat-Salé-Zemmour-Zaer accounted for the largest proportion, with 598 cases. The average age of the patients was 24.63±10.29 years. The sex ratio (female-to-male) was 0.45. Adults and teenagers were most affected by this type of poisoning, with 1,667 cases (62.0%) and 806 cases (30.0%), respectively. Suicide attempts accounted for 98.4% of the cases (2,469 cases). Pesticide poisoning occurred more often in urban zones (64.8%). Insecticides were incriminated in 14.0% of cases, with a mortality rate of 4.2%. Among the 1,635 patients for whom the outcomes were known, 154 died, corresponding to a mortality rate of 5.7%. CONCLUSIONS: Voluntary intoxication by pesticides presents a real scourge that affects public health, and in this study, we developed an epidemiological profile of this phenomenon. Nevertheless, this study has limitations in that it did not evaluate the impact of the socioeconomic and psychological factors that are important contributors to this type of poisoning.
Mohamad S. Gad,Nabih I. El Khouly,Enrique Soto,Michael Brodman,Linus Chuang,Farr R. Nezhat,Herbert F. Gretz 대한부인종양학회 2011 Journal of Gynecologic Oncology Vol.22 No.1
Objective: To compare the feasibility and safety of the laparoscopic management of adnexal masses appearing preoperatively benign with those suspicious for malignancy. Methods: Retrospective study of 694 women that underwent laparoscopic management of an adnexal mass. Results: Laparoscopic management of an adnexal mass was completed in 678 patients. Six hundred and thirty five patients had benign pathology (91.5%) and 53 (7.6%) had primary ovarian cancers. Sixteen patients (2.3%) were converted to laparotomy; there were 13 intraoperative (1.9%) and 16 postoperative complications (2.3%). Patients divided in 2 groups: benign and borderline/malignant tumors. Patients in the benign group had a higher incidence of ovarian cyst rupture (26% vs. 8.7%, p<0.05). Patients in the borderline/malignant group had a statistically significant higher conversion rate to laparotomy (0.9% vs. 16.9%, p<0.001), postoperative complications (1.9% vs. 12.2%, p<0.05), blood loss, operative time, and duration of hospital stay. The incidence of intraoperative complications was similar between the 2 groups. Conclusion: Laparoscopic management of masses that are suspicious for malignancy or borderline pathology is associated with an increased risk in specific intra-operative and post-operative morbidities in comparison to benign masses. Surgeons should tailor the operative risks with their patients according to the preoperative likelihood of the mass being carcinoma or borderline malignancy. Objective: To compare the feasibility and safety of the laparoscopic management of adnexal masses appearing preoperatively benign with those suspicious for malignancy. Methods: Retrospective study of 694 women that underwent laparoscopic management of an adnexal mass. Results: Laparoscopic management of an adnexal mass was completed in 678 patients. Six hundred and thirty five patients had benign pathology (91.5%) and 53 (7.6%) had primary ovarian cancers. Sixteen patients (2.3%) were converted to laparotomy; there were 13 intraoperative (1.9%) and 16 postoperative complications (2.3%). Patients divided in 2 groups: benign and borderline/malignant tumors. Patients in the benign group had a higher incidence of ovarian cyst rupture (26% vs. 8.7%, p<0.05). Patients in the borderline/malignant group had a statistically significant higher conversion rate to laparotomy (0.9% vs. 16.9%, p<0.001), postoperative complications (1.9% vs. 12.2%, p<0.05), blood loss, operative time, and duration of hospital stay. The incidence of intraoperative complications was similar between the 2 groups. Conclusion: Laparoscopic management of masses that are suspicious for malignancy or borderline pathology is associated with an increased risk in specific intra-operative and post-operative morbidities in comparison to benign masses. Surgeons should tailor the operative risks with their patients according to the preoperative likelihood of the mass being carcinoma or borderline malignancy.
Youssif, Shaker,EI-Bahaie, Said,Nabih, Esam Korean Chemical Society 2003 Bulletin of the Korean Chemical Society Vol.24 No.10
A novel fused thiouracil containing a heterocyclic ring system, dipyrimidinopyridine (3), has been prepared through the cyclization of compound 2. Compound 2 was formed by the formylation of 6-amino-2-thiouracil 1, pyrazolopyrimidines 8-10 via the heating of 6-arylhydrazono-2-thiouracils 5-7, compound 11, using Vilsmeier reagent with compound 4, pyrazolylpyrimidine 12, indolodiazinopyrimidine 14 and pyridazinopyrimidine 15. Pyridazino-pyrimidine 15 was formed by the condensation of compound 4 with acetylacetone, isatin and benzyl, respectively.