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Novel Algorithm for Mobile Robot Path Planning in Constrained Environment

Computers, Materials & Continua 2022年第5期71卷 2697-2719页

作者： Aisha Muhammad Mohammed A.H.Ali Sherzod Turaev ibrahim haruna shanono Fadhl Hujainah Mohd Nashrul Mohd Zubir Muhammad Khairi Faiz Erma Rahayu Mohd Faizal Rawad Abdulghafor Faculty of Manufacturing Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechanical Engineering Faculty of EngineeringUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science and Software Engineering College of Information TechnologyUnited Arab Emirates UniversityAl AinUnited Arab Emirates Faculty of Electrical and Electronics Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechatronics Engineering Faculty of TechnologyBayero UniversityKano(BUK)700241Nigeria Computer Science and Engineering Department Chalmers and University of Gothenburg41296GothenburgSweden Department of Artificial Intelligence Faculty of Computer Science and Information TechnologyUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science Faculty of Information and Communication TechnologyInternational Islamic University Malaysia53100Kuala LumpurMalaysia

This paper presents a development of a novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobilerobot path planning problem in a two-dimensional map with the presence ofconstraints. This approach gives the possibility to find the path for a wheelmobile robot considering some constraints during the robot movement inboth known and unknown environments. The feasible path is determinedbetween the start and goal positions by generating wave of points in alldirection towards the goal point with adhering to constraints. In simulation,the proposed method has been tested in several working environments withdifferent degrees of complexity. The results demonstrated that the proposedmethod is able to generate efficiently an optimal collision-free path. Moreover,the performance of the proposed method was compared with the A-star andlaser simulator (LS) algorithms in terms of path length, computational timeand path smoothness. The results revealed that the proposed method hasshortest path length, less computational time and the best smooth path. Asan average, GLS is faster than A∗ and LS by 7.8 and 5.5 times, respectivelyand presents a path shorter than A∗ and LS by 1.2 and 1.5 times. In orderto verify the performance of the developed method in dealing with constraints, an experimental study was carried out using a Wheeled Mobile Robot(WMR) platform in labs and roads. The experimental work investigates acomplete autonomous WMR path planning in the lab and road environmentsusing a live video streaming. Local maps were built using data from a live video streaming with real-time image processing to detect segments of theanalogous-road in lab or real-road environments. The study shows that theproposed method is able to generate shortest path and best smooth trajectoryfrom start to goal points in comparison with laser simulator.

关键词： Path planning generalized laser simulator wheeled mobile robot global path panning local path planning

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Fournier’s Gangrene: 13-Year Experience in a Tertiary Center, North Eastern Nigeria

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Open Journal of Urology 2024年第7期14卷 407-414页

作者： Makama Baje Salihu haruna Liman Stephen Yusuf Aminu Umar Oladimeji Abraham Tunde Ayodele Olufikayo Oshagbemi Amur ibrahim Urology Unit Department of Surgery Abubakar Tafawa Balewa University Teaching Hospital Bauchi Nigeria

Background: Fournier’s gangrene is a fulminant infection of the genitourinary tract characterized by progressive necrosis of the skin and subcutaneous tissue of the external genitalia. Initially mainly seen involving the scrotum of elderly men with different moods of occurrence each unpleasantly lethal. With varying types of presentation only one thing has remained constant;the poor prognosis of this condition. Purpose/Aim: Thus, it’s important to study the trends of the presentation of this condition laying emphasis on the challenges in the management of these patients;both the negative and positive prognostic factors. Materials and Methods: Urology ward record books, clinic record books and operating theater records were used to identify patients managed for Fournier gangrene in ATBUTH Bauchi. A retrospective study of the medical files of all the patients managed from January 2011 to January 2024 was done. Data was analyzed using SPSS version 29. Results: Data from 47 patients seen during the period of study were carefully collected and analyzed. The age range is 2 weeks to 97 years. There were two neonates, one at 2nd week of life and the other at 3rd week. Mortality rate is 36%. The average time duration before presentation for patients that died was two weeks, a minimum of 9 days prior to presentation and a maximum of 21 days, about 10 of which came in septic shock and the remaining presented with fever and very extensive necrotizing fasciitis of the perineum. All the patients that died had diabetes mellitus as a comorbidity except the neonate. All the patients that survived were much younger, all were below 60 years of age (2 weeks - 53 years). Conclusion: Here, we share our experience managing patients with Fournier’s gangrene in our facility in the past 13-year period from January 2011 to January 2024. .

关键词： Fournier’s Gangrene Prognosis Elderly Presentation Treatment

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Small Cell Prostate Cancer;Center Review of Two Cases and Testimony of a Rare and Aggressive Disease

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Case Reports in Clinical Medicine 2024年第9期13卷 410-417页

作者： Makama Baje Salihu haruna Liman Stephen Yusuf Dauda Suleiman Shaphat Shuaibu ibrahim Yusuf Aliyu Salihu Isa Sajo Mienda Department of Urology ATBUTH Bauchi Bauchi State Nigeria Department of Orthopaedics ATBUTH Bauchi Bauchi State Nigeria Department of Histopathology ATBUTH Bauchi Bauchi State Nigeria Department of Radiology ATBUTH Bauchi Bauchi State Nigeria

Small cell cancers were initially described in the lungs and later found to occur in a wide range of organs of the body, constituted a disease entity that is characterized by an aggrieve path/course and a huge disease related mortality. They are also called neuroendocrine tumors with peculiar histologic and biologic disease entity. Here we present two cases of small cell cancer of the prostate seen and managed in our facility with focus on their presentation, disease progression and outcome. The first patient was a 72-year-old retired military officer who presented with a progressively painful scrotal swelling of 3-month duration, and scrotal ulceration with contact bleeding of a month duration associated with a foul-smelling discharge. There was also history of progressive weight lost, loss of appetite and constipation. Patient was pale and lethargic on examination with a foul smelling exophytic scrotal mass. Serum PSA was 4 ng/l (within normal limit). Wedge biopsy and trucut prostate biopsy revealed small cell cancer of the prostate. Patient was resuscitated and prepared for chemoradiation, had a single dose of chemotherapy and died before the second dose. Second patient was a 63-year-old farmer who presented with lower urinary tract symptoms, progressive weight loss and constipation of two months duration, a known hypertensive and diabetic who has been regular on his medication. He was lethargic on examination, pale and unable to stand without support. Trucut prostate biopsy shows small cell cancer of the prostate. He was also resuscitated and being prepared for chemoradiation but died before commencement of treatment.

关键词： Small Cell Prostate Cancer Mortality Chemoradiation

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Climate Change Impact on Sub-Surface Hydrology of Kaduna River Catchment

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Open Journal of Modern Hydrology 2013年第3期3卷 115-121页

作者： haruna Garba Abubakar Ismail Rabia Lawal Batagarawa Saminu Ahmed Abdullahi ibrahim Faustinus Bayang Department of Civil Engineering Nigerian Defence Academy Kaduna Nigeria Department of Water Resources and Environmental Engineering Ahmadu Bello University Zaria Nigeria.

This paper applied the use of a stochastic weather generator at the site of a hydrological model to simulate the impact of climate change on the sub-surface hydrological response of Kaduna River as a basis for a sustainable ground water development plan. Average time series of rainfall, temperature and gauge height observed readings were downscaled to the watershed flow volume and applied as forcing to simulate the ground water response as spatially lumped, ignoring the heterogeneous nature of the ground water aquifer. Future simulations indicate increase in base flow, ground storage and decrease soil storage throughout the summer and autumn months for the catchment.

关键词： Climate Change Simulation Ground Storage Soil Storage Base Flow

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Seroprevalence of and Risk Factors for Cytomegalovirus among HIV-Infected Patients at University of Maiduguri Teaching Hospital, Nigeria

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Open Journal of Immunology 2014年第2期4卷 54-59页

作者： ibrahim Musa Kida Ballah Akawu Denue Bukar Bakki Baba Goni Waru Mohammed Abdullahi Talle ibrahim Ummate Salisu Aliyu Kwayabura ibrahim Shettima Kuburi haruna Yusuph Department of Medicine College of Medical Sciences University of Maiduguri Maiduguri Nigeria Department of Obstetrics and Gynaecology College of Medical Sciences University of Maiduguri Maiduguri Nigeria.

Although the distribution of cytomegalovirus (CMV) infection has a wide regional variation, it is more common in Africa and Asia with high prevalence approaching 100% in some communities. CMV is a frequent opportunistic infection and major cause of morbidity and mortality among HIV patients with severe immunosuppression. It can be contracted from body fluid, including saliva, urine, blood, cervical secretions, and semen. CMV seropositivity is considered the best laboratory measure of past infection. We determined the prevalence of CMV and the risk factors associated with its acquisition in a population of HIV positive patients. Anti-CMV IgG seroprevalence was 100% among HIV infected subjects and 98.6% among controls. Having multiple sexual partners and traditional practices were identified as risk factors associated with risk of contracting CMV infection.

关键词： CMV Cytomegalovirus HIV Human Immunodeficiency Virus AIDS Acquired Immunodeficiency Syndrome IgG Immunoglobulin

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The Gboko Limestone, Yandev, Benue State, Nigeria: Geology, Geochemistry and Industrial Potentials

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Geomaterials 2017年第2期7卷 51-63页

作者： Anuba Basil Ofulume Sabinus Ikechukwu Ibeneme Donatus Maduka Orazulike ibrahim Vela haruna Sani Aishatu Diugo Okechukwu Ikoro Stephen Ikpendu Nwankwo Nnaemeka Oluchukwu Ezetoha Joseph Azi Bulus Department of Geology Federal University of Technology Owerri Nigeria GEM Executive Education Grenoble Ecole De Management Rue Pierre Semard Grenoble France Department of Geology Federal University of Technology Yola Nigeria Department of Geology University of Maiduguri Maiduguri Nigeria Department of Architecture Federal University of Technology Owerri Nigeria Department of Geology University of Jos Jos Nigeria

The Cretaceous shallow marine Gboko limestone, Yandev, Nigeria is a component of the sedimentary fill of the 800 km NE-SW trending Benue Trough, Nigeria. The limestone is made up of thin bedded to massive limestone beds interspersed with laminated grey shale having foraminifera as the dominant fossil. The limestone has both mud supported and grain supported texture, and micrites constitute about 75% of the limestone. Bulk chemical composition analysis of the limestone reveals average CaCO3 of 92.41% and a range of 77.50% - 99.00%. Mineralogical impurities include quartz, dolomite, pyrrhotite, fluorapatite etc. Trace elements concentration analysis was carried out using Energy Dispersive X-ray (EDXRF) spectrophotometry and showed the following trace elements: Mn (841.3 ppm), Sr (444.6 ppm), Fe (470 ppm), Zn (114.6 ppm) and Pb (116.4 ppm). Calcining the limestone in a laboratory muffle furnace at 1050°C for 90 minutes produced a compact, soft burnt porous and reactive lime that does not crumble into fines. The lime so produced neither meets the requirements of the Steel Making Shop (SMS) of the Ajaokuta Steel Plant nor could it be used in the growing sugar refining industry in Nigeria. It can however be used in the food and the food by-products industry, environmental, agricultural and petroleum industries etc. The raw stone remains a major source of raw materials for cement manufacture for the ever expanding building industry.

关键词： Benue Trough Calcination Fluxing Geochemistry Gboko Limestone

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