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3. Real-Time Simulation for Controlling the Mobility of an Unmanned Ground Vehicle Based on Robot Operating System

Author

Badi, Abubaker Ahmed H., Buyamin, Salinda, Abidin, Mohamad Shukri Zainal, Hassan, Fazilah, Filipe, Joaquim, Editorial Board Member, Ghosh, Ashish, Editorial Board Member, Prates, Raquel Oliveira, Editorial Board Member, Zhou, Lizhu, Editorial Board Member, Hassan, Fazilah, editor, Sunar, Noorhazirah, editor, Mohd Basri, Mohd Ariffanan, editor, Mahmud, Mohd Saiful Azimi, editor, Ishak, Mohamad Hafis Izran, editor, and Mohamed Ali, Mohamed Sultan, editor

Published
2024
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4. Mitochondrial division inhibitor (Mdivi-1) and CaMKII inhibitor (KN-93) attenuate ipratropium bromide mediated myocardial injury in in vitro models of myocardial ischaemia/reperfusion

Author

Khalefah, Fatmah Abubaker Ahmed, Harvey, Kate, and Burke, Bernard

Abstract

Introduction: A common background links ischaemic heart disease (IHD) with chronic obstructive pulmonary disease (COPD) with regards to systemic inflammation and underlying morbidity and mortality due to myocardial infarction (MI). The symptoms and clinical manifestations of both COPD and IHD are similar, however, compounds that are designed to target both diseases are yet to be fully evaluated. For patients with COPD and IHD who are treated, there is much evidence that muscarinic antagonists, such as ipratropium, whilst acting as effective bronchodilators also pose the risk of adverse cardiovascular events, such as myocardial infarction and stroke, due to underlying cardiotoxic effects of these bronchodilatory drugs. According to the World Health Organization (WHO) 2019 statistics, COPD is considered to be a disease which highly contributes to mortality as well as morbidity across a wide-range of socioeconomic economies with a considerable increase in the burden and impact on global health. Previous work in our laboratory has shown that Ipratropium Bromide (Ip), a non-selective muscarinic receptor antagonist prescribed for the treatment of COPD, exacerbates myocardial injury. After administration during reperfusion in clinically relevant in vitro models of ischaemia/reperfusion (I/R) for the heart muscular (left ventricular) and hypoxia/reoxygenation (H/R) for isolated cardiac myocytes. The injury was via triggering both apoptosis, necrosis and increase the infarction of the heart tissue significantly, in a dose dependent mechanism. Ip's mechanism of action in I/R and H/R was measured by determining the effect of the drug treatment during these conditions and to further gain an insight of its action. Despite evidence to suggest that the cytotoxic effect of administrating Ip during reperfusion might involve mitochondrial fission and the opening of mitochondrial permeability transition pore (mPTP) as well as altered calcium signalling, the mechanism of this drug-induced toxicity is yet to be fully elucidated. Aims: The aim of this work was to try to further elucidate the mechanisms which lead to Ip induced myocardial injury, with a specific focus on the role of Ca2+ signalling and mitochondrial involvement. By investigating the cytotoxic effects of Ip in in vitro models, such as Langendorff perfused hearts as well as the cytotoxic effects in adult cardiac myocytes in stressed conditions which were clinically relevant to myocardial I/R. Methods: Multiple methods were employed in order to identify of the mechanisms of toxicity for Ip and associated signalling pathways. Langendorff, Western Blotting, flow cytometry and PCR were all carried out under simulated conditions of I/R and H/R for the isolated rat hearts and cardiac myocytes in order to identify if there was a mitochondrial role in Ip induced cardiotoxicity. This was primarily by using mitochondrial division inhibitor (Mdivi-1), which has inhibition properties for cell death as well as providing protection against heart failure progression, the protective effects of mdivi-1 is thought to be by preventing mitochondrial fragmentation and blocking pro-apoptotic BAX-dependent cytochrome c release. And using KN-93 which can be defined as an inhibitor with a selectivity and a high potency against CaM kinase II, KN-93 works in the cardiomyocytes via maintaining the homeostasis of calcium, to confirm the involvement of calcium overload as a calcium signalling indicator. As well as trying to identify whether Ip increases the expression of Dnm1l, which is Dynamin-1-like protein the gene encoded GTPase for Drp1. Drp1 is a member of the conserved dynamin large GTPase superfamily which regulates mitochondrial fission functions. As Ip significantly increases infarction, apoptosis, caspase-3 activity, the expression of Akt these have been preciously shown to be correlated with a reduction in the cell viability following I/R injury. Results: One of the main findings in this study is that the administration of Mdivi-1 provides cardio-protection when co-administered with Ip at both 15 and 30 minutes after reperfusion by the reduction in Dynamin related protein 1 (Drp-1), Akt and Erk1/2 when compared with the untreated control. Moreover, this study also showed it can reduce myocardial injury exacerbated by Ip via reduction in the infarct size significantly by (82.7 ± 2.9% vs. 158.5 ± 6.2%) (p <0.001) and total apoptosis as shown through the flow cytometry caspase-3 activity and it also significantly increased cardiac myocyte viability. The effect that occurred on Akt and Erk1/2 might be a result due to the action of Mdivi-1 on the mitochondria, indicating protection, although by a mechanism which has not previously been described and remains to be fully characterised. Similar results were found in the KN-93 studies with protective properties to cardiac myocytes in all cellular models used. KN-93 mainly reduced the infarction size by (74 ± 4.4% vs. 100 ± 0) (p < 0.001). as well as caspase-3 activity, significantly. This is assumed to be mainly by inhibiting CaMKII which also inhibits calcium overload. Since calcium overload resulted in the cell death as found by the study, confirming the involvement of calcium signaling and, again, indicating involvement of the mitochondria which is linked to calcium overload. Combining the obtained results, the injury exacerbated by Ip was attenuated by both Mdivi-1 and KN-93 when co-administered with Ip, both agents have shown significant reduction in the injury when co-administered with Ip in infarction via the measurement of AAR% using Langendorff, TTC staining technique data were normalized to I/R control. caspase-3 activity usig flow cytometry for isolated cardiac myocyrtes stimulated H/R and addition of treatment stain to measure caspase-3 activity, data were normalized to H/R control. Mdivi-1 provided a higher level of protection since it decreased apoptosis and increased cell viability which, while there was attenuation, was not seen in KN-93 results. In conclusion: The injury caused by Ip is potentially due to both calcium overload and phosphorylation of Drp1, although further studies are required to fully understand the mechanism of action and the full pathway. This work provides further elucidation into the mechanism by which ipratropium elicits its cardio-toxic effects and this holds promise for the development for future treatments for both COPD and IHD.

Published
2022

5. Outcomes after surgery for children in Africa (ASOS-Paeds): a 14-day prospective observational cohort study

Author

Torborg, Alexandra, Meyer, Heidi, El Fiky, Mahmoud, Fawzy, Maher, Elhadi, Muhammed, Ademuyiwa, Adesoji O, Osinaike, Babatunde Babasola, Hewitt-Smith, Adam, Nabukenya, Mary T, Bisegerwa, Ronald, Bouaoud, Souad, Abdoun, Meriem, El Adib, Ahmed Rhassane, Kifle Belachew, Fitsum, Gebre, Meseret, Taye, Desalegn Bekele, Kechiche, Nahla, Fadalla, Tarig, Abdallah, Bareeq, Chaibou, Maman Sani, Nyarko, Mame Yaa Adobea, Ki, Kélan Bertille, Shalongo, Sarah, Mulwafu, Wakisa, Thomson, Emma, Traore, Mamadou Mour, Ndonga, Andrew, Bittaye, Mustapha, Samateh, Ahmadou Lamin, Munlemvo, Dolly M., Kalongo, Jean Jacques, Coulibaly, Yacaria, Coulibaly, Youssouf, Ravelojaona, Vaonandianina, ANDRIAMANARIVO, Lalatiana, RAHERISON, Arsitide Romain, RANDRIAMIZAO, Harifetra Mamy Richard, RAMKALAWAN, Kushal, Omar, Mohamed Abdinor, Ndikontar, Raymond, Joseph, Donamou, Dahir, Shukri, Mohamed, Mubarak, Ali Daoud, Hassan, Ndarukwa, Pisirai, OTIOBANDA, Gilbert Fabrice, Banguti, Paulin, Neil, Kara, Derbew, Miliard, Fanny, Marvin, Smalle, Isaac, Taylor, Elliott H, Duvenage, Hanel, Hardy, Anneli, Kluyts, Hyla, Pearse, Rupert, Biccard, Bruce, AARON, Olurotimi Idowu, Abd Elazeem Mohammed, Hossam Aldein Samir, Abdalkarim, Batool, Abdalla, Abubaker, Abdallah, Mohamed Abubaker Ahmed, Abdeewi, Saedah, Abdel Ghafar, Taqwa, Abdelaleem, Ali, Abdelaleem, Ibrahim Abdelmonaem, Abdelgader, Khansaa, Abdelgadir, Waffa, Abdelhafez, Mohammed, Abdelhalim, Ahmed, Abdelkabir, Mohammed, Abdelkader Osman, Mohamed, Abdelkarim, Maha, Abdelkarim, Mohamed, Abdelmohsen, Sarah Magdy, Abdelnassir, Mazin, Abdelrahman, Ahmed Saber Mohamed, Abdelwahed, Aya Elsayed, Abdelzaher, Mohamed, Abderrahim, Baba Ahmed, Abdoulaye, Touré, Abdulai, Samira, Abdulghaffar, Yunus A., Abdullah, Fatimaalzahraa, Abdullahi, Lawal Barau, Abdullahi, Muzammil, Abdulrazik, Sarah, Abdulsalam, Khalifa Ibrahim, Abdulwahed, Eman, Abdus-Salam, Rukiyat, ABE, TOLUSHE, Abera Mulugeta, Gersam, Aboelghait, Aml Ali, Abol Oyoun, Nariman, Aboubekr, Boumediene, Abraham, Meera, Abu, Mohammed, Abuagila, Ahlam ali, Abubakar, Maimuna, Abugilah, Mohammed, Abuzeid, Issa A, Achouri, Djelloul, Acquah, Serwah Akua, Adam, Nusiba Bushra Ahmed, ADAMU, AUWAL, Adamu, Kabir Musa, ADAMU, MUHAMMAD, ADAMU, Sani, Adane, Samuel Gashu, Adeaga, Mojolaoluwa, Adebayo, Sikiru, Adedire, Adejare, Adegoke, Paul Aderemi, Adeniyi, Adebayo Augustine, Adeoye, Ibukunoluwa, Aderibigbe, Gbenga, ADEROUNMU, Azeezat, ADEYEMI, WILLIAMS, ADEYEMO, Adekunle, Adigun, Tinuola, Adika, Enoch Delad, ADISA, Adewale O, Adjei, Esther, Adjepong-Tandoh, Ernest Kwame, Ads, Alaa Mohamed, ADUMAH, Dr Collins Chijioke, ADUMAH, Lilian ogechi, Adzamli, Innocent, Afari, Jonas, Afedo, Wisdom, Affan, Abubaker, AFOLAYAN, Ayodeji Olawale, Agaba, Stuart, Agbeno, Evans, Agbonrofo, Peter, Aghadi, Ifeanyi, AGU, EDITH, Agyen, Thomas, Agyen-Mensah, Kwasi, Ahensan, Daasebre, Ahmad, Misbahu Haruna, AHMED, Awrayit, Ahmed, Linda, Ahmed, Nidal Youseef Altaher Aboh, Ahmed, Rubaa, Ahmed Jroush, Mohamed, ahmed maghur, Hasan, AHOGNI, G.N. Geofroid, Ait Yahia, Smain, Aji, Narjiss, Aji, Sani Ali, Akerele, William, Akhideno, Irene, Akinmokun, Israel, AKINNIYI, Akin Taofeek, Akinniyi, Ayodeji, AKINYEMI, Samuel, Akitoye, Olumide Adeleke, AKPAETTE, Iniofon Clement, Akuma, Terungwa Jacob, Akuokor, Daniel, Akwei, Clement Nii-Akwei, Al Bashir, Rayan Badran Hamed, Al Gharyani, Mohamed Fathi, al Islam ben Jouira, Rayet, Aladelusi, Timothy, Alakaloko, Felix, Alameen, Hind, Alameen Moheyaldeen, Mohammed, Alaogaly, Mona, Alarabi, Rehab, Alawami, Milud, Alazabi, Basma Masaud, Alazabi, Mona, Albakosh, Bashir Abobaker, ALBDULRRAZIQ, HUSAYN MOHAMMED ElFEETOURI, Aldieb, Asmma, Aldressi, Wafa, Alegbeleye, Godwin E., Alfa, Yakubu, Alhadad, Qamrah, Alhaddad, Arwa R, Alhaddad, Hayfa Faraj, Alhadi, Aliya, Alhamali, Aya, Alharam, Abtisam, Alhlafi, Majduldeen, Alhouwasi, Basmah, Alhudhairy, Sara, Ali, Abdallah Motasim Ahmed, Ali, Ahmed Jama, Ali, Almuaz, Ali, Asma, Ali, Enas, Ali, Mutwakil, Ali, Salem, Ali, Yunusa Y., Ali Ahmed, Abdelbaset, Aliozor, Sampson, Aljamal, Sarah, Alkaseek, Akram, Alkhalifa, Elmustafa, Alkoni, Samah, Allie, Abbaas, Almelyan, Khawla, Almugaddami, Ayman, Almujreesi, Asmaa, Alqady, Eithar, Alragheai, Alaa Ahmed, Alshareea, Entisar, Alshareef, Abulnasir, Alsori, Mohamed, Altomy, Seham Ahmed, Al-Touny, Aiman, Al-Touny, Shimaa A., Alum Aguma, Rachel, Alwaer, Nuha Miftah, Al-zletni, Hadeel, Alzwai, Marwa, Amaambo, Nelago, Amah, Christopher C, Amary, Marwa, Amengle, Ludovic Albert, Amesho, Shiwana Lineekela Omwene, Ametepe, Mawuli, Amkhatirah, Emad, Amnaina, Mohamed Gamal, Amoah, Benjamin, Amoah, Joseph Kofi, Amo-Aidoo, Nana Adjoa Simitsewa, Amoako-Boateng, Mabel, Ampong, Jude, Anane-Fenin, Betty, Anarfi, Samuel, Andriamanarivo, Mamy Lalatiana, Aniakwo, Luke, Aniteye, Ernest, Ankrah, Levi Nii-Ayi, Anno, Audrey, Anyanwu, Lofty-John Chukwuemeka, Anyigba, Edem, Appeadu-Mensah, William, Appiah-Thompson, Peter, Apraku-Peprah, Ewuarabena Lydia, Aremu, Shuaib Kayode, Arinaitwe, Moses, Armah, Ralph, Arthur, Augustine, Arthur, Douglas, Asah-Opoku, Kwaku, Asante, Mabel, Asante-Asamani, Alvin, Asare, Angbo, Asasira, Lausa, Ashfersh, Mohamed, ASHINDOITIANG, John A., Ashong, Joycelyn, Ashraf Salah, Mohamed, Asiedu, Charles, Asiedu, Isaac, Asiyanbi, Kolawole, Asla, Amir, Asman, Wilfred, Asoegwu, Emeka J., Assalhi, Mohamed, Assim, Claudia, Asudo, Felicia Dele, Atai, Alice Gertrude, Ateeqa, Sara Bin, Atim, Terkaa, Atindama, Solomon, ATIQUI, IJLAL, Atrih, Zoubir, Attah, Raphael Avidime, Awad, Ahmed K, Awedew, Atalel Fentahun, Aween, Husayn, Awere-Kyere, Lawrence, Awindaogo, Joseph, Awori Achani, Margaret, Ayad, Kusay, Azab, Ahmed, Azas, Alberta, Aziza, Bochra, Azize, Diallo Abdoul, AZOUI, Abdelkrim, Azouz, Jomana, Baba, Suleiman, Babalola, Olakunle Fatai, Babiker, Mona, Baddoo, Daniel, Badi, Aml, BADMUS, Sarat Abolore, Badr, Helmy, Bah, Abdoulie, Bah, Fatoumata Yakhie, Bah, Kajali, Bah, Marma Tumaneh, Bahroun, Sumayyah, Baidoo, Ebikela, Baidoo, Kenneth, Baidoo, Richard, Bakare, Adewumi, Bakeer, Hiba Baliad, Baky Fahmy, Mohamed A, Balogun, James, Bamigboye, Babatunde, Bankah, Patrick, Banson, Mabel, Barhouma, Yehia Emad, Barongo, Mugisha, BASHIR RABIU, MOHAMMED, Bassem, Adham, Bedair, Mohamed Adel Ali, Beeharry, Hemanshu Rambojan, Beeharry, Shanjugsing, Bekele, Sintayehu, Belie, Orimisan, Belkhair, Abdulmunem, Ben Ahmed, Yosra, Ben Ashur, Abir, Ben Hamida, Bahaeddin, Benade, Christia, BENMANSEUR, Sawsen, Bensebti, Amina Amel, BERDAI, Mohamed Adnane, Beyuo, Vera, Biala, Marwa, Bilson-Amoah, Estella, Bin wali, Salema Subhi, Binnawara, Muhannud, Birlie Chekol, Wubie, Birqeeq, Ghada, Biyase, Thuli, Blankson, Paa Kwesi, Boakye, Benedict, Boakye-Acheampong, Kwame, Boakye-Yiadom, Kwaku, Boateng, Joseph, Bobaker, Salem, Bode, Christopher, Bogoslovskiy, Alexander, Bolarinwa, Eniola Sefiu, Boretti, Lorenzo, Botchway, Maame Tekyiwa, Botha, Christo, BOUDA, B. David, BOURENANE, Haithem, BOUZBID, Sabiha, Boye, Jeffrey, Branny, Mthelebofu, Brown, George Darko, Brown, Warren, Bua, Emmanuel, BWALA, KEFAS JOHN, Camara, Bakary, Camara, M'mah Lamine, Carol, Tisana, Ceesay, Winston, Chafee, Karim, Chaklie Agegnehu, Bewuketu, Chamir, Congo, Chaziya, Peter YC, Chellan, Chantal, Cheniki, Narimane, Chennouf, Sarra, Chepkoech, Eglah, Chilango, Creamy, Chinda, John Yola, Chokwe, Thomas M., Choutri, Hichem, Christian, Nana Ama, Chukwu, Isaac, Chummun, Girish, Cilliers, Celeste, Cloete, Estie, Collison, Carol, Cronje, Larissa, Daary, Dennis, DAD, Bouzid, Daddy, Hadjara, Dahilo, Enoch Auta, Dairam, Jenitha, Dalaf, Manar Salim, Damson, Pempho, Daneji, Sulaiman Muhammad, Daniel, Adekunle, Daoud, Asmaa, Daoud, Hassan, Darat, Tarik Darat, Darko, Kwadwo Opoku, Darko, Kwame, Davidson, Kerryn, Davies, Abigail, Dawang, Yusuf Davou, Dayal, Kishan, Dayie, Makafui, de Goede, Adele, Deelawar, Bibi Waardanaaz, Derwish, Khawla, Desalu, Ibironke, Dessalegn Beza, Andinet, Dhege, Celestino, Dhilraj, Deepika, Diallo, Thierno Sadou, Diaw, Mbaye, Diaw Diop, Amadou, DIENE, Mansour, Dieng, Mactar, Dippenaar, Tinus, Djagbletey, Robert, Djedid, Nihel Klouche, Djouonang, Kamga Telly, Dominique, Shep, Drammeh, Basiru, Drissi, Hajer, du Bruyn, Aritha, Dube, Thandeka, Dufe, Rebecca, Dung, Dido, Earl, Ettiene, Ebrahem, Osama Khalifa Ali, Ebrahim, Zahier, Edena, Morrison E., Effa Ngono, Rosa, Egbuchulem, Kelvin, Egdeer, Amin, Eguma, Stella A., Ehimhantie, Martins, EJIOFOR, Ogochukwu Chidi, Ejuma, Lucy O., Ekenze, Sebastian, Ekhmaj, Reyad Almokhtar, Ekor, Oluwayemisi, EKPA, Sifonobong, Ekpemo, Chidi Samuel, Ekudo, Joseph, Ekwunife, Okechukwu Hyginus, El Koraichi, Alae, El Magrahi, Hamida, El Mejrab, Mohsen, El Sadek, Rania, El YOUBI, Haitam, Eladani, Oman, Elamesh, Sara Abdel Hamid, Elamien, Mohanad, Elamin Elnour, Moheyaldien Ahmed, Elbadawy, Merihan A, Elbaseet, Hesham, Elderwy, Ahmad A., Elebute, Olumide, Elgamal, Mostafa, Elgenidy, Anas, Elghareeb, Ahmed, Elgherwi, Laila, Elhadad, Rasha, Elhadi, Ahmed, Elhassan, Mohamed, Elkhouly, Abdallah Mohamed, Ellebedy, Mohamed, ELMAJRI, MOHAMED FUAD, Elmandouh, Omar, Elmandouh, Reem, Elmorsi, Rami, ELOMBILA, Marie, Elsadek, Menan, Elsalhawy, Shady, Elsayem, Karam, Elshafiey, Mahmoud, El-Sharkawi, Mohammad, Elshazly, Mohamed, Eltaub, Darine, Eltayeb, Almoutaz A, Eltayeb, Mohammed Eltayeb Zainelabdean, Eltegani Abdalla, Abeer, ElWakeel, Mai, Embu, Henry, Emoru, Arthur, Enicker, Basil, Enti, Donald, Entsua-Mensah, Kow, Eseile, Samuel Ideyonbe, Essuman, Vera Adobea, Et-taghy, Hiba, Etwire, Victor, Eyaman, Kuba Daniel, Ezbeida, Mabroukah, EZEKIEL, ANTHONY SABO, Ezidiegwu, Stanley Ugochukwu, Ezomike, Uchechukwu Obiora, FABOYA, Omolara, Fadlalmola, Hammad.A., FAGBAYIMU, Oluwatobiloba Micheal, Faida, Hamza, FALL, Khady, Farahat, Sherif, Faraj, Ali, Faraj, Noora, Farghaly, Amal, Farhat, Karima Omar Ahmed, Farinyaro, Aliyu Umar, Fathi Bani, Ghada, Fattah, Ahmed, Fening, Nana, Fentahun Emrie, Assefa, Fidieley, Melody, Fikadu Keneni, Dame, Fischer, Monique, Flint, Margot, Fodo, Naledi, Fofana, Naby, Fokeerah, Nitish, Folami, Emmanuel, Folokwe, Siyasanga, Fonternel, Doors, Fosi Kamga, Gacelle, Fotso, Luc Kamga, Fourtounas, Maria, Frankish, Leanne, Gabier, Ilhaam, Gacii, Vernon M., Gaffoor, M Sheik, Gagara, Moussa, GALADIMA, Hajara Aminu, Gamubaka, Richard, Ganey, Mike, Ganiyu, Oseni Oyediran, Gasa, Nompumelelo, Gatheru, Antony P., Gawu, Victoria Sena, Gaya, Subha Shita Devi, GAYE, Ibrahima, Gebremichael Ganta, Ashagre, Gelaw, Kassahun Girma, Geldenhuys, Lieze, Getachew Tegegn, Ayenachew, Ghemmied, Malak, Ghmagh, Reem, GILES, AHEREZA, Ginsburg, Ricky Ginsburg, Girma, Kassahun, Gjam, Fatima, Glover-Addy, Hope, Gobin, Veekash, Gomeh, Patricia, Gomez, Dimingo, Gorelyk, Alexandro, Gossaye, Abay, Govender, Veneshree, Grant, Jenny, Grayson, Britney L., Grobbelaar, Mariette, Gueye, Khadim Rassoul, GUIRO, Habibou, Gumede, Simphiwe, Gurure, Desire, Gusibat, Anwar, Gyeke-Boafo, Nana Kwame, HACHEMI, Sihem, Haddis, Kullehe, Haidar, Arwa, Haif, Assia, Hameed-Ikram, Sarwat, Hamid, Haytham, Hamukwaya, Dilona, Hanson, Nana Andoh, Hanzi, Joseph, Hardcastle, Timothy, Harissou, Adamou, Hasan, Ameerah, Hasan, Hayat Ben, Hasan, Najat Ben, Hashi, Abdullahi Said, Hashish, Amel A, Hassaan, Ibrahim, Hassan, Sadiq, Hassan, Sakariye Abdullaahi, Hassan, Tasneem, Hassan, Zeinab, Hassane, Maman Lawal, Hassanein, Mohamed, Hawu, Yoli, Haywood, David, Heelan, Halima, Hendricks, Natalie, Hillah, Ayayi, Hlela, Qinisile, HMAMOUCHI, Badreddine, Hoko, Zanele, Honny, Dorothy, Honore, Samba, Houidi, Senda, Human, Thys, Hussain, Eiman, Hussain Kona, Moataz Hashim, Hussein, Yara, Ibekwe, Titus Sunday, Ibiyemi, Akeem, IBIYEYE, TAIBAT, Ibrahim, Ibrahim Ali, Ibrahim, Lawal Ibrahim, Ibrahim, Soaleh, Ibrahim Abubakar, Amina, Ibrahim Alain, Traore, Idipo, Frieda, Idoko, Godwin, Idowu, Olusola, Idris, Mohammad El-Amin, Igaga, Elizabeth Namugaya, Iindongo, Etuuva, IITULA, Petrus, IKOTUN, Oluwafunmilayo, ILLE, Gloria, Imposo, Desire Hubert, Invernizzi, Jonathan, Irungu, Eric, Isbayqah, Areej Mohammed, Isbayqah, Eenas Mohammed, Ismael, Guibla, Ismail, Ali M, Itambi, Asoh Maxwell, Jabang, John Nute, Jaga, Rudhir, Jaganath, Ushir, Jaiteh, Lamin, Jallow, Cherno S, James, Olutayo, Javed, Sayed, Jithoo, Sandhya, Jlidi, Said, Joel, Lessan, Johnson, Marianne, JONES, TAIWO, Jooma, Zainub, Joomye, Shehzaad, Joosab, Mehboob, JOUINI, Riadh, Jubail, Mohamed J, Juggoo, Chaya, Jumbi, Timothy Mwai, Kaabar, Nejib, Kabirou, Mourtala, Kabiru, Abdulkadir Muhammad, Kabre, B. Yvette, Kache, Stephen, Kacimi, Salah Eddine Oussama, KADAS, ABUBAKAR SAIDU, KAHANSIM, Barminas, Kalipa, Mandisa, Kalongo, Jean Jacques Kabuley, Kalu, Nmesomachi Enyidiya, Kamate, Benoi, Kamwangen, Gracia Mitonga, Kandjimi, Matti, Kanjana-Zondo, Nokuzola, Kankpeyeng, Lawrence, Kapalamula, Tiyamike, Karadji, Souleymane, Kargbo, Mohamed Alieu, Karghul, Mohamed, Kaskar, Razeena, Kasker, Razeena, Kasobya, Faith, Kassem, Ossama, Kateregga, George, Kayima, Peter, Kedwany, Ahmed M., Ken-Amoah, Sebastian, Kenneth, Tomanya Kakura, KERISSE, Amina Nour El-Houd, KERKENI, Yosra, Khairi, Rania, Khaled, Mohamed, Khalifa, Eissa, Khalifa, Marwa Suliman, Khalil, Mohamed Kamal, Khattab, Mohamed S I, Khodary, Ahmed Refaat, Khumalo, Bridget Florence, Khumalo, Phindile, Kigayi, Jean Pierre, Kimutai, Timothy Kiprotich, KINDO, Bassirou, KIRFI, ABDULLAHI MUSA, Koggoh, Patience, Koko, Alshaima A, Kopieniak, Marcin, Kotagiri, Chandra, Kotey, Emily, Kouicem, Aya Tinhinane, Kpangkpari, Richard, Kudoh, Vincent, Kufonya, Norman, Kuhn, Warren, Kutor, Jasper, Kwakye, Akosua, Kynes, J. Matthew, Lambrechts, Lelanie, Lamiri, Rachida, LANRE, OLOKO NASIRUDEEN, Larvie, Prince, Lateef, Azeez Kehinde, LATRECHE, Samir, Lawal, Taiwo, Leballo, Gontse, Lebereki, Simon, Lee, Dorinda, Leeb, Gregory, Leonard, Tristan, LEYONO-MAWANDZA, Peggy Dalliah Gallou, Likongo, Ted Botawaosenge, Limalia, Ziyaad, LIMAN, HARUNA USMAN, Loae, Nada, Lompoli, Beinvenue Nkoy Ena, Lusungu, Dodo, M.Mokhtar, Fatma AL-Zahraa, Madany, Mohie El-Din Mostafa, Maddy, Reginald Jeff, Madombwe, Gladmore, Mafabi, Solomon, Magashi, Mahmoud Kawu, Maharaj, Sanvir, Mahfouz, Shaimaa Mahmoud, Mahlare, Korowe Rose Voncil, Mahmoud, Fathia, Maikassoua, Mamane, Maison, Patrick, Maiwald, Dela, Makhoba, Philisiwe, Makinita, Sewela Grace, Makou epse Tolefac, Myriam, Malau, Thomas Kefas, Mamathuntsha, Tshilidzi Godfrey, Mamo, Tihitena Negussie, Mamuda, Atiku, Mandundzo, Paidamoyo, Mangray, Hansie, Mani, Salma, Manneh, Ebrima K, Mansour, Noureldin Mohamed, Manyere, DV, Mapurisa, Amarylis, Mare, Pieter, Martin, Mogammad Ebrahim, Mashaal, Abdelhafeez, Mashaya, Sonela, Masilela, Patience Busisiwe, Mathebula, Ruth, Mathinya, Tlhapane, Matlala, Tumelo Kwena, Matlou, Mabitsela, Matos-Puig, Roel, Matoug, Salmin, Maudarbocus, Mohammad Jeelani, Mavesere, Haziel Pindukai, Mavila, Jackson, Mayet, Shafeeqa, Maygag, Mohamed, Mbatha, Nonhlanhla, Mbatudde, Rita, Mbiya Kapinga, Anne, Mbuyamba, Jojo, Mbuyi, Ali T, Mdlalose, Nkosinathi, Prowling, Megan, Mejeni, Nathalie, Mekonnen Ejigu, Yayehyirad, Merghani, Safa, Metogo, Junette Epse Njoki, Mhiri, Riadh, Mhone, Lyness, Michael, Afieharo, Miko, Abdullahi Mustapha, Milad, Ahmed, Mishra, Ravi, Mjadu, Londiwe, Mkhontwana, Nokonwaba, Mlambo, Nompilo, Mncwango, Zama, Mngoma, Gcina, Mnguni, Mzamo, Modekwe, Victor Ifeanyichukwu, Mogane, Palesa, Moghazy, Rama, Mogotsi, Kena, Mohalal, Mohamed Salah, Mohamed, Amin Awad Alamin, Mohamed, Maria, Mohamed, Molhema Eltaib Elamin, Mohamed, Suleyman Abdullahi, Mohamedkheir, Mohamed Abdelmoneim, Mohammad, Ahmad Lofty, Mohammad, Alhassan Datti, Mohammad, Aminu Mohammad, Mohammed, Abdulrahman, Mohammed, Muhanned, Mohammed, Rabiu Isah, Mohammed, Rehab, Mohammed, Taha Salah Abdelmaksaod, Mohammedosman, Doaa, Mohsen, Siham Moftah, Molla Getahun, Amsalu, Moloisi, Makwati, Monib, Fatma A, Moodley, Kirushin, Moopanar, Manogran, Morgan, Fatma, Moris, Baluku, Morna, Martin, Moses, Vaughn, Mostafa, Mahmoud Mohamed, Motiang, Mammie, Motseoile, Toni, Motshabi, Palesa, MOUSSAOUI, Nassima, Mpoto, Dany Bolimo, MPOY EMY MONKESSA, Christ Mayick, MRARA, BUSISIWE, Mshelbwala, Philip Mari, Msherghi, Ahmed, Msibi, Trevor, Mubunda, Raphael Kapend, Muhammad, Abubakar Bala, Muhammad, Saminu, Muhanguzi, Joshua, Muhindo, Ruth, Mukenga, Martin Mamba, Mukuna, Patrick Miteo, Mulewa, Deogracias, Munanzvi, Kudzayi Sarah, Mungur, Luckshmanraj, Munubi, Aziz, Munyalo, Francisca Syovata, Muriithi, Julius M., Musa, Abdullahi Aliyu, Musa, Kareem, Musa, Mosaab Abdelhafiz Ebrahim, Musana, Fred, Musewu, Tongo Douglas, Musiitwa, Albino Kiboonwa, Mwangi, Caroline M., Mwepu, Idesbald Mwebe, Mwepu, Michel Ilunga, Mwika, Peter Mwirichia, Mwiti, Timothy M., Myeni, Physician, Mzoneli, Nosisi, Naana, Reyam, Nabukenya, Gladys, Nabunya, Susan, Naidoo, Alishka, Naidoo, Verushka, Naidu, Priyanka, Nakyanzi, Caroline, Nambi, Esther, Nampawu, Mary Juliet, Nampiina, Gorret, Namutebi, Hasifah, Nana, Benedict, Nanda, Joëlle Sandra Youssa, Nanimambi, Juliana, Nantongo, Betty, Napolitano, Luisa, Naser, Alg, Nassar, Ahmad Sammy, Nassar, Muhammad Sammy, Nasser, Nadine, Nawezo, Jacob Gerald, NDIAYE, Alain, NDIAYE, Cheikh Ahmed Tidiane, Ndiaye, Françoise, Ndibarekera, Sarah Harriet, Ndjoko, Sylvie Mishondo, Ndlovu, Msizi, Nduwayezu, Richard, Negash, Samuel, Nehema, Sarah, Neizer, Margaret, NEJMI, Sifeddine, Nezam-Parast, Masoud, Ng How Tseung, Kenny, Ngcelwane, Thandokazi, Ngene, Ikenna, Nghidinwa, Hilka, Ngissah, Reuben, Ngock, George Farrar Fola Ngock, Ngouane, Diane, Ngumi, Zipporah, Nibret, Yonas, NIENGO OUTSOUTA, Gilles, Njie, Masirending, NJOKANMA, Rapheal Azuka, Nkhata, Lister, Nkhuna, Nyajane Thomas, Nkosi, Nobuhle, Nkosi, Sebenzile, Nkwembe, Christophe Mualuka, Nnaji, Chimaobi, Nneji-Akazie, Tochukwu, Nongqo, Nezisa, Nortey, Michael, Noutakdie Tochie, Joel, Nsaful, Josephine, Nsimire, Berthe Barhayiga, Nte, Stanley K., Ntshingila, Cebile, Ntsie, Nthabiseng Precious, Ntsoane, David, Ntumy, Michael Yao, Nuer-Allornuvor, Gloria, Nuhu, Samuel, Nutsuklo, Prudence, Nwachukwu, Callistus Uchenna, NWAFULUME, NNAEMEKA, Nwangwu, Emmanuel, Nwankwo, Elochukwu P, Nyame, Clement Agyekum, Nyamekye, Evelyn, Nyankah, Eunice, Nyoka-Mokgalong, Cecilia, Oase, Divine, Obande, Joseph Orinya, Obbeng, Ambe, Obeng-Adjei, Grace-Imelda, Obianyo, Ijeoma, Obianyo, Nene E, Obiechina, Sylvester, OBRI, Abraham I., ODI, TEMITOPE, Odingo, Jonathan, Oelofsen, Siobhan, Ofori, Emmanuel, Ofori-Adjei, Dziffa, Ogaji, Idoko Monday, Ogundoyin, Olakayode Olaolu, OGUNLEYE, OLABISI, OGUNS, Abayomi, Ogunsua, Oluseyi, Ohemeng-Mensah, Elvis, Ojediran, Olubukola, Ojediran, Oluwabukade, Ojewuyi, Abiodun, Ojewuyi, Olufemi, Ojo, Adedoyin, OJO, Olugbenga Olalekan, Ojo, Omotayo, Okedare, Amos, Okenwa, Samuel C., Oko, Adariku Godwin, Okojie, Nkechi, Okonkwo, Leonard Nduka, Okoth, Peter, Okunlola, Abiodun Idowu, Okunlola, Cecilia Kehinde, Okurut, Mathew, Oladimeji, Motunrayo, Oladiran, Ajibola, Olagunju, Ganiyat R., Olajide, Abdul-Rahman Lukman, Olajide, Adewale. Timothy, Olang, Patrick R., Olayinka, Oluwakemi, Olori, Samson, Olulana, Dare, Olulana, Dare Isaac, Olusanya, Bolutife, Omar, Duaa Eisa, Onakpoya, Uvie, ONeil, Matthew, Onen, Hudson, ONYEKA, Chinonso, Oosthuizen, Alexis, Opandoh, Isabella, Opiyo, Sophy, Oppong, Jonathan, Orewole, Tesleem Olayinka, Orji, Mathias, Osagie, Olabisi, Osagie, Osasumwen T., Osaheni, Osayomwanbo, Osama Sleem, Adham, Osawa, Francis Omondi, Osei, Fred, Osei-Nketiah, Samuel, Osei-Poku, Dorcas, Osman, Alaa, Osman Ahmed, Mohammed, Osman Suliman, Sarah Omer, Otchere, Kofi, Othman, Amani Alsayd Abdulsalam, Othman, Eman, Othman, May, Otim, Paul, Otim, Tonny, Otman, Rema Hassan, Otoki, Violet, OUDJHIH, Messa, OUEDRAOGO, Issaka, OUEDRAOGO, P. Justin, Ousmane Hamady, Issa, Ouyahia, Amel, OWOJUYIGBE, Afolabi, Owoo, Christian, Owoo, Precious, Owusu Boamah, Matthew, Oyedele, Abisola, Oyedepo, Olanrewaju, Oyegbola, Christianah, Panday, Juniata, Parker, Ewomazino U. Evi, Parker, Ilyas, Parker, Robert K., Pembe, Julie Ndjondo, Percivale, Beatrice, Pereko, Janet, Pérez, Mariela, Perumal, Neville, Pillay, Leresse, Pretorius, Robyn, Prinsloo, Roz, Pryce, Charles, Puryag, Ashveen, QUADRI, Oladeji Raheem, Quansah, Kofi, Quarcoopome, Cornelia, Quarshie, Amanda, Quartson, Elizabeth, Quashie-Sam, James, Rabiu, Ayuba, Rabiu, Taofeek, Rahma, Manal, Rahman, Ganiyu Adebisi, Rais, Mounira, Rajah, Chantal, Rakotondrainibe, Aurélia, Ramakrishnan, Rema, Ramatou, Sabo, Ramdawon, Brinda, Ramdhani, Kirthi, Ramkaun, Yeswant, RAPHAEL, OSELE, Raslan, Hani Mohammed Ahmed, Redelinghuys, Cara, Riffi, Omar, Rikhotso, Hundzukani, Roberts, Charles AP, Robertson, Caroline, Roland, Nchufor, Roos, John, S. Abdalgadir, Esra, Saad, Alshaimaa, Saad, Mahmoud M., Saad El-Tanekhy, Aalaa, Saadi, Cyrine, Saadu, Tasiu, Saber, Mohamed, Sabir Yassin, Fatima Mohammed, Sabo, Vinishe Yakubu, Sabra, Tarek Abdelazem, Saeid, Dawoud Amhimmid, Safar, Amna, Sagboze, Sandra, Sahnoun, Lassaad, Salahu, Babangida Mohammed, Salami, Kelvin, Salawu, Adedayo Idris, Saleh, Hawazen, Saleh, Ismail Ali, Saleh, Khetam Mohamed, Salele, Aliyu Mohammed, Salem, Fatima, Salem, Osama, Salih, Mohammed Ali Ismael Alamin, Salisu, Ibrahim, Sall, Mouhamedoun, SAMB, Cheikh Fall, Sangak, Isam A, Sanoussi, Nanzir Moctar, Sanya, Douglas, Sanyang, Anaumana B, Sarpong, Pokua, SARR, Joseph Niame, Schnaubelt, Romy, Searyoh, Kafui, SECK, Ndèye Fatou, Secka, Abdoulie Sering, Seif, Mohamed, Seilbea, Yvonne, Semret Hailu, Berhe, Sepenu, Perez, Sewlall, Janice, Seyi-Olajide, Justina, Shai, Shiluva, Shalaby, Abdullah Mohamad Omar, SHAPHAT, IBRAHIM, Shava, Garai, Sheidu Owuda, Abdullahi, Sheshe, Abdurrahman Abba, Shetiwy, Mosab, Shezi, Nomusa, Shihab, Maryam Husam, Shitakumuna, Helena, Shitaye, Nebiyu, Shitta, Andrew H., Sholadoye, Tunde Talib, Shouasha, Princely, Shu'aibu, Naziru Garba, Shuiap, Nouran musbah, Sibeko, Bongekile, Sikhakhane, Sebe, Sikwete, Guigui, Sime Gizaw, Habtamu, Simelane, Nhlanhlenhle, Simon, Edwina, Singh, Usha, SIRAJALDIN, Abdulla, Siriboe, Esme, Siyothula, Thozama, Siyotula, Thozama, Smart-Yeboah, Awo, SMITH, Saidat, Solala, Sivuyisiwe, Soliman, Eman A., Solo, Corinne Eulalie, Sombéwendin Charles, Ilboudo, Sonaike, Monisola, Songden, David Zumnan, Sottie, Daniel, Soualili, Zineddine, Soula, Enas, Souleymane, Sidibe, SOWANDE, Oludayo Adedapo, Spytko, Alex, Srir, Daria Omar M, Ssebuguzi, Lawrence, Stegmann, George Frederik, Strauss, Lindsey, Struwig, Estee, Succi, Marcello, Suleiman, Abdul-Rasheed, Suliman, Mazin, Swartz, Mikhail, Taha, Taha M., Takai, Idris Usman, Takou, Bougoue Horline, Takrouney, Mohammed Hamada, Takure, Augustine, TALABI, Ademola Olusegun, Tall, Mamadou, Taute, Carla, Tawfik, Mohamed, Taylor, Jenna, Tembe, Dias Salomao, Temesgen, Fissha, Tesfaye, Emnet, Theko, Dineo, Thiart, Mari, Thompson, Ruary, Thuer, Linda, Tientcheu Fabrice, Tim, Tilahun, Zekaryas Belete, Tilahun Woldetsadik, Tsion, Timo, Manuella, Timotews, Namene, Tjiyokola, David, Tolani, Musliu Adetola, TOUABTI, Souhem, Traoré, Diakaridia, Tsegha, Livingfaith Jighjigh, Tseli, Mbeki, Tumuhimbise, Christine, Tumukunde, Janat, Tunkara, Salihu F S, Turshan, Laila, Turton, Edwin, Uchendu, Chukwudi Chukwuemeka, UDIE, Gabriel U., UDOSEN, Joseph E., Ugalahi, Mary, Ugwu, Euphemia M., UGWU, Ikechukwu Ethelbert, Ugwu, Jideofor Okechukwu, Ugwunne, Chuka A, Ukpabio, Ukpabio E.I., Umar, Aminu Muhammed, UMEH, Chizoba Linda, Ungen, Rowena, Usang, Usang, Usenbo, T, Usman, Mustapha Ibrahim, UWAYESU, Roda, Van Aswegen, Benjamin, van der Byl, Ashley, van der Linde, Pieter, van der Walt, Stephan, van Schalkwyk, Hendrik Petrus, van Tonder, Charme, van Vuuren, Suleen, van Wyk, Janri, van Zyl, Sudene, Wabule, Agnes, Wacays, Abdirahman, Waheed Mowafy, Ghada, Waisiko, Bethleen, Walawah, David, Walithandia, Eziron, Wamwaki, John, Wataaka, Nicholas, Wessels, Nelia, Williams, Emmanuel, WILLIAMS, Omolara, Woldegiorgis, Abel, Wolfaardt, George, Wondossen, Mekete, Woodun, Ritish, Workineh, Saleamlak Tigabie, Wubetu, Solomon, Yahia, Mohamed, Yakubu, Hamisu, Yakubu, Saidu Yusuf, Yalewu, Dawit Zerihun, YAMEOGO, T. Azer-Clovis, Yeboah, Francis, YENYI AHUKA LONGOMBE, Thérèse, Younes, Eman, Young, Chad, Younis, Nageia, Younus, Tarig Yousuf Ibrahim, YUSUF, STEPHEN, Zaki, Fatima, Zbida, Ibrahim, Zenda, Thubelihle, ZERIZER, Yassine, Zingoni, Kudzai, Zitouni, Hayett, ZONGO, P. Valentin, Zubi, Abdalrahem, Zulu, Nonhlanhla, and Zulu, Nqobile

Published
2024
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10. Prevalence of Trichomonas vaginalis infection among Sudanese patients with different genders in Khartoum state, Sudan

Author

Qutoof Taha, Fatima Mohamed, Fatima Mokhtar, Hind Abdalrahim, Sara Alawad, Eslam Wedatallah, Abubaker Ahmed, and Alkhair Idris

Subjects
t. vaginalis, urine samples, sudan, protozoal infection, Infectious and parasitic diseases, RC109-216
Abstract

Background: Trichomonas vaginalis infection is one of the major health problems in the world, Trichomonas vaginalis infection is a common sexually transmitted protozoal infection, with an estimated 180 million prevalent cases worldwide. Objective: This study aims to estimate the prevalence of Trichomonas vaginalis infection among Sudanese patients according to sex and age in Bashaeir Hospital –Khartoum state. Methods: This study was a retrospective descriptive study of pre-collected urine samples, included male and female patients attending the outpatient, requested for urine general examination, samples were selected by systemic random sampling. One hundred-twenty five (125) samples have been taken; wet preparation has been done for all samples in Bashaeir Hospital lab. Result: 125 urine samples was examined. The number of females was 95 and males was 30. All samples were examined for T. vaginalis. Only 15 were positive. We could not collect data for all subjects; because it was not available. There was an available data about sex and age for 23 cases. Conclusion:Femalewas more affected by Trichomonas vaginalis than in males. The most affected age was ranging from (31-40) years.

Published
2022
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11. Employing Recurrent Neural Networks to Forecast the Dollar Exchange Rate in the Parallel Market of Iraq

Author

Azhy Akram Aziz, Balsam Mustafa Shafeeq, Renas Abubaker Ahmed, and Hindreen Abdullah Taher

Subjects
Forecasting, Neural Networks, Activation Function, Exchange Rate, Finance, HG1-9999, Commerce, HF1-6182
Abstract

In this study, neural recurrent neural networks (RNN) have been used to forecast the price of dollars in Iraqi dinars, as it is clear that the government's efforts to control prices in the parallel markets, the commercial markets witnessed a decline in the exchange rate, but it rose again. Which indicates an economic problem that is still present in the country. Despite adjusting the exchange rate of the dinar, the dollar crisis in Iraq has not ended yet. Here we want to forecast the daily price of the dollar against Iraqi dinars for the common next 30 days. According to the results the RNN model have been performed for the data under consideration with different numbers of hidden layer and nodes. The best architecture for the RNN model was [1,10,1,1] using soft plus activation function, which gives the performance of 85% for the training dataset and (92% and 90%) for the testing and validation datasets respectively, with Mse (0.018, 0.000417, and 0.000477) for training, testing, and validation respectively at epoch 4. According to the results of the forecasted values which start from 15 May 2023 to 13 June 2023 the price of dollars will be between 1390 to 1435.

Published
2023
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13. An Improved Unit Quaternion for Attitude Alignment and Inverse Kinematic Solution of the Robot Arm Wrist

Author

Abubaker Ahmed, Hehua Ju, Yang Yang, and Hao Xu

Subjects
attitude alignment, quaternion, Ju-Gibbs quaternion, Robot Arms-wrist, inverse kinematic, Mechanical engineering and machinery, TJ1-1570
Abstract

This paper introduces a new method for kinematic modeling of the robot arm by deriving a new elegant mathematical formula based on the axis vector with the tangent of the rotation angle. For this purpose, an innovative analytical quaternion is introduced through integration between Axis-Invariants and unit quaternion features named Ju-Gibbs quaternion, which expresses the body rotation with non-redundant parameters compared with the quaternions in literature. Two theorems based on the new form of the quaternion are developed and proved for the kinematic modeling of the robot arm. The first is attitude alignment, which is essential in multiaxial rotation systems. The second theorem for the wrist inverse kinematic (IK) solution is utilized to obtain the joint variables for the last joints of the end effector. In order to verify the effectiveness and accuracy of the proposed method, a numerical example and simulation of different structural configurations of robot and human arms are intensively studied. The novel quaternion provides a new tool for kinematic analysis and reduces the computational complexity of the kinematic solutions of the Robot-Arms wrist. Furthermore, the method laid a new foundation for the IKs of multi-axis systems based on Axis-Invariant and tangent quaternion.

Published
2023
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14. Comparative Analysis: Fractional PID vs. PID Controllers for Robotic Arm Using Genetic Algorithm Optimization.

Author

Eltayeb, Ahmed, Ahmed, Gamil, Imran, Imil Hamda, Alyazidi, Nezar M., and Abubaker, Ahmed

Subjects
PID controllers, COST functions, GENETIC algorithms, ROBOTICS, COMPARATIVE studies, MANIPULATORS (Machinery)
Abstract

This paper presents a comparative analysis of a fractional-order proportional–integral–derivative (FO-PID) controller against the standard proportional–integral–derivative (PID) controller, applied to a nonlinear robotic arm manipulator systems. The genetic algorithm (GA) optimization method was implemented to tune the gain parameters of the FO-PID and PID controllers. The performance of the FO-PID and PID controllers were evaluated though different cost functions, including integral of squared error (ISE), integral of absolute error (IAE), integral of time-weighted absolute error (ITAE), and integral of time-weighted squared error (ITSE). The performance of these controllers was examined via extensive simulations by using MATLAB/SIMULINK for different operating scenarios of the robotic arm manipulator system. Based on the obtained results, a comparative performance matrix is proposed, wherein cost functions ISE, IAE, ITAE, and ITSE are represented as columns while characteristic parameters (overshoot, rising time, and settling time) are represented as rows. The proposed performance matrix facilitates the selection between the PID and FO-PID controllers. [ABSTRACT FROM AUTHOR]

Published
2024
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16. Immunohistochemical expression of PAX-8 in Sudanese patients diagnosed with malignant female reproductive tract tumors

Author

Eman T. Ali, Nouh S. Mohamed, Irene R. Shafig, Mohamed S. Muneer, Abubaker Ahmed Yosif, Lamis Ahmed Hassan, Areeg M. Mohamed, Ayman Ahmed, and Emmanuel E. Siddig

Subjects
Female reproductive cancer, Paired box protein-8, Immunohistochemical expression, Medicine, Biology (General), QH301-705.5, Science (General), Q1-390
Abstract

Abstract Objectives Paired box protein-8 (PAX-8) immunohistochemical expression can be used as a diagnostic marker for epithelial cells tumors. This study aimed at investigating the immunohistochemical expression of PAX-8 among Sudanese females diagnosed with cervical, endometrial, and ovarian cancers between December 2017 and May 2019 by studying their Formalin-fixed paraffin embedded blocks. Results Sixty patients diagnosed with female reproductive tract cancers were included who aged 58.7 ± 6.9 years (range, 43—71). Cervix was the most common cancer site in 51/60 (85%) patients. Regarding cancer stage, there was 17 (28%) and 14 (23%) of the study population had stage 3B and 2B, respectively. The histopathological diagnosis included 20 (44%), 13 (29%), and 12 (27%) poorly, moderately, and well differentiated cervical squamous cell carcinoma (SCC) as well as 11 (73%), 2 (13%), 1 (7%), and 1 (7%) endometrial adenocarcinoma, metastatic adenocarcinoma, endocervical adenocarcinoma, and ovarian mucinous cyst adenocarcinoma, respectively. PAX-8 was positively expressed in 9 endometrial adenocarcinoma, 1 endocervical adenocarcinoma and 1 ovarian mucinous cyst adenocarcinoma, 2 poorly, and 1 moderately differentiated SCC. All patients diagnosed with well differentiated SCC and metastatic adenocarcinoma showed no expression of PAX-8. A statistically significant was seen for PAX-8 expression and the different histopathological diagnosis, P value

Published
2020
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17. Maass Cusp Forms on Singly Punctured Two-Torus and Triply Punctured Two-Sphere

Author

Zainuddin, Hishamuddin and Siddig, Abubaker Ahmed M.

Subjects
Mathematical Physics
Abstract

In this paper we study two quantum mechanical systems on punctured surfaces modeled by hyperbolic spaces, namely the cases of the singly punctured two-torus and triply punctured two-sphere. We study the systems using their Maass waveforms in connection with the eigenfunctions of the Laplacian. The energy eigenfunctions on such surfaces are precisely the eigenfunctions of the hyperbolic Laplacian satisfying $\Gamma $($2)$-automorphicity for the triply punctured sphere and $\Gamma ^{\prime}$-automorphicity for singly punctured torus. We introduce the algorithm of numerically computing the Maass cusp forms on these two surfaces and report on the (preliminary) computational results of the lower-lying eigenvalues for each odd and even Maass cusp forms on both surfaces., Comment: This paper has been withdrawn

Published
2009

18. Health and humanitarian toll of Sudan's forgotten war

Author

Saleh, Ezzeldin, Dousa, Khalid M, Babiker, Ahmed, Rahma, Nour Elhouda At Alla, Hadi, Hamad Abdel, Elsayed, Mustafa, Elkhalifa, Suleima Ishag, Momin, Sami Mahmoud Abdelkhair, Abubaker, Ahmed, Nemery, Omer Mergani, Bashir, Luai Mohmmed, Bedri, Shahinaz, Fadul, Nada, Hamad, Yasir, and Babiker, Zahir Osman Eltahir

Published
2024
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22. Dual-Band 2 × 2 MIMO Antenna with Compact Size and High Isolation Based on Half-Mode SIW

Author

Abubaker Ahmed Elobied, Xue-Xia Yang, Ningjie Xie, and Steven Gao

Subjects
Electrical engineering. Electronics. Nuclear engineering, TK1-9971, Cellular telephone services industry. Wireless telephone industry, HE9713-9715
Abstract

This paper presents a close-spaced dual-band 2 × 2 multiple-input multiple-output (MIMO) antenna with high isolation based on half-mode substrate integrated waveguide (HMSIW). The dual-band operation of the antenna element is achieved by loading a rectangular patch outside the radiating aperture of an HMSIW cavity. The HMSIW cavity is excited by a coaxial probe, whereas the rectangular patch is energized through proximity coupling by the radiating aperture of HMSIW. The antenna elements can be closely placed using the rotation and orthogonal arrangement for a 2 × 2 array. Small neutralization lines at the center of the MIMO antenna can increase the isolation among its elements by around 10 dB in the lower band and 5 dB in the higher band. A prototype of the MIMO antenna is fabricated and its performance is measured. The measured results show that the resonant frequencies are centered at 4.43 and 5.39 GHz with bandwidths of 110 and 80 MHz and peak gains of 6 and 6.4 dBi, respectively. The minimum isolation in both bands is greater than 35 dB. The envelope correlation coefficient is lower than 0.005 within two operating bands.

Published
2020
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23. Chronic AI

Author

Adnan Sadiq, Syed Abubaker Ahmed, and Syed Zayn

Subjects
Random Forest, Decision Tree, Machine Learning
Abstract

Chronic Ai is a web-based application developed using Flask, Python, and Machine Learning algorithms to predict multiple chronic diseases based on the health tests taken by the user. The application aims to provide an efficient and user-friendly way for people to monitor their health status and detect chronic diseases at an early stage. The system utilizes various data analysis and Machine Learning algorithms, such as Random Forest and Decision Trees, to predict and analyze health data. The application is designed to enable users to perform health tests online and get immediate results with recommendations for further actions. Moreover, Chronic Ai stores the user's health records and comprehensively analyzes their health history. The application's front end is designed to be user-friendly and easy to navigate, ensuring an excellent user experience. Additionally, the application has the functionality of sending test results to the user's email address, enabling them to keep track of their health records conveniently. Overall, Chronic Ai is an innovative solution to chronic disease prediction and prevention, providing a cost-effective and efficient way to monitor health status and prevent chronic diseases. The application's ability to store health records and send them to the user's email address makes it an excellent tool for people to manage their health proactively. Chronic Ai's user-friendly interface and comprehensive analysis make it an ideal solution for both users and healthcare providers

Published
2023
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26. The disabling consequences of Mycetoma.

Author

Mustafa Abbas, Peter Siordet Scolding, Abubaker Ahmed Yosif, Roa Fath El Rahman, Melka O El-Amin, Mohamed Kamal Elbashir, Nora Groce, and Ahmed Hassan Fahal

Subjects
Arctic medicine. Tropical medicine, RC955-962, Public aspects of medicine, RA1-1270
Abstract

Mycetoma is a neglected tropical disease endemic in tropical and subtropical countries, particularly Sudan. The disease is characterised by the triad of painless subcutaneous mass, multiple sinuses and discharge that contain grains. It is a chronic, debilitating disease most commonly affecting the feet or hands and leads to substantial morbidity, loss of function and even amputation. It predominantly affects poor, rural populations and patients typically present late with advanced disease and complications. In this descriptive cross-sectional study, we characterise the disabling consequences of mycetoma. The study included 300 patients; 228 (76%) male and 72 (24%) female with confirmed mycetoma seen at the Mycetoma Research Centre, University of Khartoum, Sudan in the period May 2016 and January 2017. The study design was based upon the International Classification of Functioning, Disability and Health, examining the impact of mycetoma on eight life domains. Our major finding is that mycetoma is a significantly disabling disease. Over 60% of the study population (181 patients) had moderate impairment or difficulty in at least one domain variable. The important disability was mobility impairment and walking difficulty that was reported in 119 patients (39.7%). There was significant pain associated with mycetoma lesions in 103 patients (34%), challenging the traditional view of mycetoma as a painless disease. The economic burden was also found to be substantial, with 126 patients (46.7%) reporting barriers to their ability to sustain themselves. This is the first study evaluating the disabling consequences of mycetoma and shows clear areas for intervention and further research. Options for mitigating social and economic impacts include routine integration of analgesia and physiotherapy into treatment protocols, and adapting educational provision and working practices based on disability assessment. Our data show that mycetoma is a public health issue with direct implications on quality of life.

Published
2018
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30. L’hermitte–Duclos Disease In An Infant: A Case Report With Review of Literature

Author

UlHasan, UwaisRiaz, primary, Hasan, Khathija, additional, Qureshi, Farooq Ahmed, additional, Khan, Shaima, additional, Obong, Victor Effiong, additional, Ahmed Alkhalaf,, Mohammed Abdullah, additional, Alghadeer, Mohammed AbdulMajeed, additional, Alghadeer, Ali AbdulMajeed, additional, AlShuhayb, Ali Hussain, additional, Bahammam, Manar Abubaker Ahmed, additional, UlHasan, ShehlaRiaz, additional, and AlMasoud, Moath AbdulAziz, additional

Published
2022
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35. Compact 2 × 2 MIMO Antenna With Low Mutual Coupling Based on Half Mode Substrate Integrated Waveguide

Author

Abubaker Ahmed Elobied, Steven Gao, Tian Lou, and Xue-Xia Yang

Subjects
Physics, Waveguide (electromagnetism), business.industry, MIMO, 020206 networking & telecommunications, 02 engineering and technology, Lambda, Coupling (probability), Planar, Optics, Dual-polarization interferometry, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, Antenna (radio), Center frequency, business, Computer Science::Information Theory
Abstract

This communication proposes a novel compact multiple-input multiple-output (MIMO) antenna with low mutual coupling based on a $2 \times 2$ dual-polarized half-mode substrate integrated waveguide (HMSIW). The antenna is printed on a single-layer substrate to provide a low profile and ease of integration with planar circuits. The proposed HMSIW antenna element operates in TE110 mode and can be orthogonally arranged with two slots on the ground between the antenna elements, resulting in low mutual coupling. The edge-to-edge element space is only $0.033\lambda _{0}$ ( $\lambda _{0}$ is the free-space wavelength). A new miniaturized decoupling structure of neutralization lines is proposed to further reduce the mutual coupling by −10 dB in comparison with the ground slot structure. The $2 \times 2$ MIMO antenna was fabricated and implemented to verify the design. The simulated and measured results were in good agreement. The measured impedance bandwidth of $\vert \text {S}_{11} \vert $ less than −10 dB ranges from 5.025 to 5.135 GHz, and the peak gain is 5.6 dBi on the broadside at the center frequency of 5.08 GHz. The mutual coupling levels between the orthogonal and the parallel antenna elements are −45 and −36 dB, respectively. The envelope correlation coefficient is lower than 0.003 across the operating bandwidth. The overall size of the antenna is only $1.08\lambda _{0} \times 1.08\lambda _{0} \times 0.025\lambda _{0}$ , making the antenna a suitable candidate for upcoming fifth-generation MIMO systems.

Published
2021
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38. Structural Equation Modeling for the Effect of Main Factors on Abortion Issue

Author

Aras Jalal Mhamad and Renas Abubaker Ahmed

Subjects
Econometrics, Abortion, Structural equation modeling, Mathematics
Abstract

Based on medical exchange and medical information processing theories with statistical tools, our study proposes and tests a research model that investigates main factors behind abortion issue. Data were collected from the survey of Maternity hospital in Sulaimani, Kurdistan-Iraq. Structural Equation Modelling (SEM) is a powerful technique as it estimates the causal relationship between more than one dependent variable and many independent variables, which is ability to incorporate quantitative and qualitative data, and it shows how all latent variables are related to each other. The dependent latent variable in SEM which have one-way arrows pointing to them is called endogenous variable while others are exogenous variables. The structural equation modeling results reveal is underlying mechanism through which statistical tools, as relationship between factors; previous disease information, food and drug information, patient address, mother’s information, abortion information, which are caused abortion problem. Simply stated, the empirical data support the study hypothesis and the research model we have proposed is viable. The data of the study were obtained from a survey of Maternity hospital in Sulaimani, Kurdistan-Iraq, which is in close contact with patients for long periods, and it is number one area for pregnant women to obtain information about the abortion issue. The results shows arrangement about factors effectiveness as mentioned at section five of the study. This gives the conclusion that abortion problem must be more concern than the other pregnancy problem.

Published
2019
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39. Numerical and experimental simulation of atmospheric boundary layer influence on flow patterns around building structures

Author

Abubaker, Ahmed Ali Irhaim, Kostić, Ivan, Mitrović, Časlav, Bengin, Aleksandar, Simonović, Aleksandar, and Samardžić, Marija

Subjects
atmospheric boundary layer, wind influence on buildings, wind tunnel tests, атмосферски гранични слој, утицај ветра на зграде, аеротунелска испитивања
Abstract

Wind forces can cause huge damage to the building elements due to their inadequate design or material deterioration... Силе генерисане ветром могу изазвати велика оштећења на зградама услед њиховог неадекватног пројектовања, или недовољне чврстоће примењених материјала...

Published
2021

42. Invasive, aggressive mastoid bone eumycetoma: a treatment challenge

Author

Emmanuel Edwar Siddig, Najwa A. Mhmoud, Abubaker Ahmed Yosif, Tagwa Hayder Abdalla, Sahar Mubarak Bakhiet, and Ahmed H. Fahal

Subjects
0301 basic medicine, Mastoid process, medicine.medical_specialty, Antifungal Agents, Madurella, 030231 tropical medicine, 030106 microbiology, Disease, Eumycetoma, Mastoid, 03 medical and health sciences, 0302 clinical medicine, Chronic granulomatous disease, medicine, Humans, Mycetoma, biology, business.industry, Madurella mycetomatis, Public Health, Environmental and Occupational Health, General Medicine, medicine.disease, biology.organism_classification, Dermatology, Actinomycetoma, Infectious Diseases, Parasitology, business
Abstract

Mycetoma is a chronic granulomatous disease that significant affects the subcutaneous tissue and deep structures. Mycetoma is caused by certain fungi (eumycetoma) or higher bacteria (actinomycetoma). The clinical presentation is variable and depends on the causative agent. For proper treatment and patient management, an accurate diagnosis of the species is mandatory. The disease mainly involves the extremities and it is rarely seen in the head and neck or other sites. In this communication, we present an interesting case of both invasive and aggressive mastoid bone eumycetoma caused by Madurella mycetomatis. Such cases are defied by complex challenges in finding effective surgical and medical treatments when the patient does not respond to both prolonged and different antifungal therapies.

Published
2021

43. Positive Solutions of the One-Dimensional p-Laplacian with Nonlinearity Defined on a Finite Interval

Author

Ruyun Ma, Chunjie Xie, and Abubaker Ahmed

Subjects
Mathematics, QA1-939
Abstract

We use the quadrature method to show the existence and multiplicity of positive solutions of the boundary value problems involving one-dimensional p-Laplacian u′t|p−2u′t′+λfut=0, t∈0,1, u(0)=u(1)=0, where p∈(1,2], λ∈(0,∞) is a parameter, f∈C1([0,r),[0,∞)) for some constant r>0, f(s)>0 in (0,r), and lims→r-(r-s)p-1f(s)=+∞.

Published
2013
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44. Numerical and experimental simulation of atmospheric boundary layer influence on flow patterns around building structures

Author

Kostić, Ivan, Mitrović, Časlav, Bengin, Aleksandar, Simonović, Aleksandar, Samardžić, Marija, Abubaker, Ahmed Ali Irhaim, Kostić, Ivan, Mitrović, Časlav, Bengin, Aleksandar, Simonović, Aleksandar, Samardžić, Marija, and Abubaker, Ahmed Ali Irhaim

Abstract

Wind forces can cause huge damage to the building elements due to their inadequate design or material deterioration..., Силе генерисане ветром могу изазвати велика оштећења на зградама услед њиховог неадекватног пројектовања, или недовољне чврстоће примењених материјала...

Published
2021

45. Epidemiology and the Changing Face of HIV Infection in Qatar

Author

Abubaker Ahmed, Muna Al Maslamani, Hussam Al Soub, Khalid M Dousa, A. Latif Al-khal, and Ameera Fabella

Subjects
0301 basic medicine, Microbiology (medical), medicine.medical_specialty, business.industry, Human immunodeficiency virus (HIV), Face (sociological concept), medicine.disease_cause, 03 medical and health sciences, 030104 developmental biology, 0302 clinical medicine, Infectious Diseases, Family medicine, Epidemiology, Medicine, 030212 general & internal medicine, business
Published
2018
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