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Synchronizing a network of robots in consensus is an important task for cooperative work. Detecting faults in a network of robots in consensus is a much more important task. In considering a formation of Wheeled Mobile Robots (WMRs) in a master–slave architecture modeled by graph theory, the main objective of this study was to detect and isolate a fault that appears on a robot of this formation in order to remove it from the formation and continue the execution of the assigned task. In this context, we exploit the extended Kalman filter (EKF) to estimate the state of each robot, generate a residual, and deduce whether a fault exists. The implementation of this technique was proven using a Matlab simulator.

تێكست ب هه‌بوونا خو پێكهاته‌یه‌كێ زمانى و دلاه‌لى یێ ب ته‌ڤن و ئالوزه‌ ، ڤه‌كولینێن ره‌خنه‌یى یێن پێشین سه‌ره‌ده‌رى لگه‌ل ناڤه‌روك و ده‌لاله‌تێن وێ لگه‌ل به‌رچاف وه‌رنه‌گرتنا لایه‌نێ روخسارى ئه‌نجام ددان ، به‌لێ دگه‌ل ڤه‌گوهاستنا تیورا بونیادگه‌رى بۆ ناف بیاڤێن ئه‌ده‌بى و ره‌خنه‌یى ئه‌و تیورێن نوى هزره‌كا وه‌سا لده‌ف وان دروست بوو كو دشێن ڤه‌ده‌ر ژ بیاڤێ مێژوویى و جڤاكى و ره‌هه‌ندێن ده‌روروبه‌ر تێكستى شروڤه‌ بكه‌ن ، دڤى بیاڤى دا (هلمسلیف ) ب رێكا تێگه‌هێ هه‌ڤجهى (المحایپه‌ immanence - ) بزاڤ كر كو ڤێ هزرێ به‌رده‌ست كه‌ت و به‌رى بزاڤا وى ژى (پیرس)ى ب رێكا تێگه‌هێ نیشانبوون (semiosis ) ئه‌ڤ بوچوونه‌ دیاركربوو ، لدویف بوچوونا وى ، نیشان دبیته‌ ئاماژه‌ بو نیشانه‌كا دن و نیشانا دووێ دبیته‌ ئاماژه‌ بۆ نیشانا سیێ و لسه‌ر ڤێ ریتمێ ئاماژه‌یێن تێكستێ ئه‌ده‌بى دروست دبن ، به‌لى رێككه‌فتنا وان لگه‌ل ناڤه‌روكا تێكستێن مه‌ره‌مدار به‌رده‌وام دبن ، ئه‌ڤ ڤه‌كولینه‌ بزاڤه‌كه‌ ژبۆ دیاركرنا تێكه‌لبوونا ڤان هه‌ردوو تێگه‌هان لگه‌ل تێكستێن ئه‌ده‌بى و گونجانا وان لگه‌ل ئاڤاكرنا دیسكورسى ناگونجیت، ژبه‌ركو بزاڤێ دكه‌ن ژ به‌شێن تێكستى به‌ره‌ف پێكهاتا وى بچن سه‌ره‌راى بنبركرن و دویركرنا وى ژ وى ژیوارێ تێكست تێدا به‌رهه‌م هاتى ، بڤێ چه‌ندێ ب هه‌بوونا به‌رامبه‌رى هه‌بوونا راسته‌قینه‌ یا هنده‌ك تێكستێن ده‌ستنیشانكرى دهێته‌ دروستكرن ، چونكى – لدویف ڤى تێگه‌هى - هه‌بوون یا دبه‌شاندا هه‌ى ، دڤى بیاڤى دا ڤه‌كولین دێ بیته‌ بزاڤه‌ك بۆ ڤه‌دیتنا په‌یوه‌ندیا دناڤبه‌را دیسكورسى و بیاڤێن لێڤه‌گه‌رێن وێ كو هنده‌ك تێكستێن ده‌ستنیشانكرى بخوڤه‌ دگریت دئه‌نجامدا دێ بیته‌ ئامرازه‌ك بۆ ده‌ستنیشانكرنا مه‌ره‌مێن وه‌رگرى یێ كو دبنیاتدا دبیته‌ بزوێنه‌رێ پروسا تێگه‌هشتنێ زێده‌بارى دیاركرنا چه‌ند ئه‌نجامێن ڤه‌كولینێ .

This work deals with a physical one- and two-dimensional (1D and 2D) parameters estimation of a filtration process of slurry, the second stage of phosphoric acid manufacture. This study focuses on recursive least square and instrumental variable techniques applied to the (1D) and (2D) models. The model of the rotary drum filter is based on different physical laws involved in the filtration phase in order to get a simulator of the filtration process. Besides, many physical parameters rise in the system model and effect enormously the efficiency which should be modelled with precision such as permeability, porosity and viscosity. We use a constructive realization procedure for (2D) systems which may lead to a Fornasini–Marchesini local state-space model to describe the dynamic of the system states.

The presence of faulty valves has been studied in the literature with various machine learning approaches. The impact of using fault data only to train the system could solve the class imbalance problem in the machine learning approach. The data sets used for fault detection contain many independent variables, where the salient ones were selected using stepwise regression and applied to various machine learning techniques. A significant test for the given regression technique was used to validate the outcome. Machine learning techniques, such as decision trees and deep learning, are applied to the given data and the results reveal that the decision tree was able to obtain more than 95% accuracy and performed better than other algorithms when considering the tradeoff between the processing time and accuracy.

Hydrocele, characterized by fluid accumulation in the tunica vaginalis, is a common benign scrotal condition. While unusual, hydrocele can lead to rare complications such as infection or lithiasis. A 60-year-old man presented with a 2-month history of left-sided scrotal swelling and discomfort. Physical examination and ultrasound revealed a large, nontransilluminant swelling with hyperechoic images. A provisional diagnosis of scrotal hydrocele with secondary lithiasis was made, and surgical exploration was performed. Intraoperatively, a fluid collection with small, hard stones was found. Cholesterol crystals were identified in the stone. Scrotal lithiasis in hydrocele is rare and is believed to result from stagnant fluid creating an ideal environment for cholesterol crystal formation. Ultrasound is crucial for diagnosis, revealing hyperechoic stones within the fluid collection. Surgical exploration, aspiration of fluid, and stone removal are standard treatments, usually conducted through a small scrotal incision, with a high success rate., Competing Interests: None declared., (Published by Oxford University Press and JSCR Publishing Ltd. © The Author(s) 2024.)

In patients with neuromuscular diseases, the use of rocuronium in the general anesthesia rapid sequence induction provides safety intubation conditions, but induces a deep and prolonged neuromuscular blockade. We report dose reduction to 0.8mg/kg for a 47-year-old female with Landouzy-Dejerine myopathy. Therefore, less dose of sugammadex was given to reverse the neuromuscular block., (Copyright © 2014 Société française d’anesthésie et de réanimation (Sfar). Published by Elsevier SAS. All rights reserved.)