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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

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Frontiers of Information Technology & Electronic Engineering 2015年第2期16卷 166-172页

作者： Hamza KHAN jamshed iqbal Khelifa BAIZID Teresa ZIELINSKA Division of Theory of Machines and Robots Warsaw University of Technology Warsaw 00-661 Poland Department of Advanced Roboties Istituto Italiano di Teenologia Genova 16163 Italy Department of Electrical Engineering COMSATS Institute of Information Technology Islamabad 44000 Pakistan Department of Electrical and Information Engineering University of Cassino and Southern Lazio Cassino 03043 Italy

This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot （WMR）. The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

关键词： Robot modeling Robot navigation Slip and skid control Wheeled mobile robots

Antidiabetic potential of methanol extracts from leaves of Piper umbellatum L. and Persea americana Mill.

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Asian Pacific Journal of Tropical Biomedicine 2018年第3期8卷 160-165页

作者： Guy Sedar Singor Njateng Sumera Zaib Larissa Yetenge Chimi Cesaire Feudjio Raymond Simplice Mouokeu Donatien Gatsing Jules-Roger Kuiate Ezekiel Adewole jamshed iqbal Laboratory of Microbiology and Antimicrobial Substances Faculty of Science University of Dschang Centre for Advanced Drug Research COMSATS Institute of Information Technology Institute of Fisheries and Aquatic Sciences University of Douala Department of Chemical Sciences Afe Babalola University Ado

Objective: To determine inhibitory activity of methanolic leaf extract of Piper umbellatum and Persea americana(P. americana)(traditionally used in Cameroon against diabetes) on β-glucosidase, β-glucosidase, maltase-glucoamylase, aldose reductase and aldehyde reductase activities, enzymes involved in starch digestion or diabetic complications. Methods: The methanol extracts from Piper umbellatum and P. americana were prepared by maceration. To assess relative efficacy of these extracts, the determination of concentrations that were needed to inhibit 50% of enzyme activity was done, whereas, gas chromatography-mass spectrum was used to identify components from extracts that may be responsible for the activities. Results:The tested extracts strongly inhibited β-glucosidase, maltase-glucoamylase, aldose reductase and aldehyde reductase activities with IC50 ranging from(1.07 ± 0.03) to(31.77 ± 1.17) μg/*** the tested extracts, P. americana was the most active against sensitive enzymes(IC50 of1.07 ± 0.03 to 15.63 ± 1.23). But, none of the extracts showed interesting inhibitory effect against β-glucosidase as their percentage inhibitions were less than 16%. From gas chromatographymass spectrum analysis, 10 and 8 compounds were identified in Piper umbellatum and *** extracts respectively, using NIST library 2014. Conclusions: Results of this study provide the scientific credential for a prospective usage of these plants to treat diabetes.

关键词： Piper umbellatum Persea americana Glucosidase Maltase-glucoamylase Aldose reductase Aldehyde reductase

Non-occupational lead exposure and hypertension in Pakistani adults

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2006年第9期7卷 732-737页

作者： RAHMAN Sohaila KHALID Nasir ZAIDI jamshed Hussain AHMAD Shujaat iqbal Mohammad Zafar Nuclear Chemistry Division Pakistan Institute of Nuclear Science and Technology P. O. Nilore Islamabad 45650 Pakistan Dean Faculty of Biosciences University of Health Sciences Lahore 54590 Pakistan

Hypertension is one of the most prevalent diseases in the developed and developing countries. Based on the long historical association and the provocative findings of blood pressure effects at low level of lead exposure a study was carried out to determine if an association existed between low blood lead concentration and hypertension. In this study the effects of low-level exposure to lead on blood pressure were examined among 244 adults using atomic absorption spectrometer. For quality assurance purpose certified reference materials i.e., Animal blood A-13, Bovine liver 1577 and cotton cellulose V-9 from IAEA （International Atomic Energy Agency） and NIST （National Institute of Standard Technology） were analyzed under identical experimental conditions. The mean age of hypertensive adults was 52 years （range 43-66）. The mean values of systolic and diastolic blood pressure were （209±11.7）（range 170-250） and （117±3.9）（range 105-140） mmHg respectively. Blood lead concentration ranged from 78-201 μg/L with a mean of 139 μg/L and 165-497 μg/L with a mean of 255 μg/k in normal and hypertensive adults respectively. Increase in systolic blood pressure was significantly predictive with increase in blood lead levels. Body mass index （BMI） and lipid profile including total cholesterol, low density lipoprotein cholesterol, high density lipoprotein cholesterol and triglyceride correlated with blood pressure.

关键词： Hypertension Lead exposure Biochemical parameters Body mass index

Attitudes and understanding of complementary and alternative medicine in cancer care:An exploratory study of patients’perspectives in Karachi,Pakistan

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Asian Pacific Journal of Tropical Medicine 2023年第9期16卷 400-408页

作者： Shahlla Imam Muneeba Aijaz Wajiha Iffat Shazia Qasim jamshed Nahlah Elkudssiah Ismail Ganesh Sritheran Paneerselvam Khang Wen Goh Long Chiau Ming Halima Sadia iqbal Azhar Department of Pharmacognosy Faculty of Pharmacy and Pharmaceutical SciencesUniversity of KarachiSindh 75270Pakistan Department of Pharmacognosy Institute of Pharmaceutical SciencesJinnah Sindh Medical UniversityKarachiSindh 75510Pakistan Department of Pharmaceutics Dow College of PharmacyDow University of Health SciencesKarachiSindh 75270Pakistan Clinical Pharmacy and Practice Faculty of PharmacyUnivesiti Sultan Zainal Abidin(UNISZA)Besut22200TerengganuMalaysia Malaysian Academy of Pharmacy Puchong 47160SelangorMalaysia Clinical Pharmacy and Pharmacy Practice Unit Faculty of PharmacyAIMST University08100 BedongKedahMalaysia School of Pharmacy Taylor’s UniversitySunway CityMalaysia Faculty of Data Science and Information Technology INTI International University71800 NilaiMalaysia School of Medical and Life Sciences Sunway University47500 Sunway CityMalaysia Department of Pharmacy Practice Faculty of PharmacyJinnah Women UniversityKarachiPakistan

Objective:To evaluate the prevalence and types of complementary and alternative medicine(CAM)modalities among patients with cancer in Karachi,***:This descriptive cross-sectional study was conducted from March 2021 to December *** hundred patients with cancer were invited to participate in the *** databases,namely,Google scholar,Publons,EMBASE,PubMed,Chinese National Knowledge Infrastructure Database,and ResearchGate was used for questionnaire *** self-administered survey included questions on demographic characteristics,education level,socio-economic conditions and information about CAM therapies,prevalence,effectiveness,and common CAM *** analysis was conducted using SPSS software version ***:Out of the 500 invited patients,433(86.6%)successfully completed and returned the *** contrast to patients who were with younger,highly educated,professionally active,higher income,and had advanced cancer,time since diagnosis,type of treatment,cancer types and family history are significantly associated with CAM *** results showed that 59.8%of the participants were acquainted with complementary and/or alternative medicine and considered safe owing to its natural *** prevalence of CAM usage among cancer patients was 40.9%and the most widely used CAM modality was herbal medicine(27.7%)and dietary supplements(28.8%).Patients used CAM as a complementary therapy to improve the morphological parameter(28.2%),strengthen the immune system(6.8%),and to decrease the side effects of conventional treatment(18.1%).Most of the respondents get the information regarding CAM therapy from the electronic media(43.2%)and the family members(48%)rather than healthcare ***:Participants used CAM modalities along with the conventional health care *** multicentre studies should be conducted to provide information regarding the usage of CAM therapies and their eventual benefi

关键词： Alternative medicine Cancer patients Complementary medicine Cross-sectional study

Stigma Receptivity Is Controlled by Functionally Redundant MAPK Pathway Components in Arabidopsis

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Molecular Plant 2020年第11期13卷 1582-1593页

作者： Muhammad jamshed Subramanian Sankaranarayanan Kumar Abhinandan Marcus A.Samuel University of Calgary BI 392Department of Biological Sciences2500 University Dr.NWCalgaryAB T2N 1N4Canada Senior Scientist Frontier Agri-Science Inc98 Ontario StreetPort HopeON L1A2V2Canada Department of Botany and Plant Pathology Purdue UniversityWest LafayetteIN 47907USA

In angiosperms,the process of pollination relies on species-specific interaction and signaling between the male(pollen)and female(pistil)counterparts where the interplay between several pollen and stigma proteins decides the fate of the *** Brassicaceae,the dry stigmatic papillary cells control pollen germination by releasing resources only to compatible pollen thereby allowing pollen to hydrate and *** the identification of a number of stigmatic proteins that facilitate pollination responses,the signaling mechanisms that regulate functions of these proteins have remained ***,we show that,in Arabidopsis,an extremely functionally redundant mitogen-activated protein kinase(MAPK)cascade is required for maintaining stigma receptivity to accept compatible *** genetic analyses demonstrate that in stigmas,five MAPK kinases(MKKs),MKK1/2/3/7/9 are required to transmit upstream signals to two MPKs,MPK3/4,to mediate compatible *** functions of these five MKKs in the quintuple mutant(mkk1/2/3RNAi/mkk7/9)phenocopied pollination defects observed in the m pk4RNAi/m pk3 double *** further show that this MAPK nexus converges on Exo70A1,a previously identified stigma receptivity factor essential for *** that pollination is the crucial initial step during plant reproduction,understanding the mechanisms that govern successful pollination could lead to development of strategies to improve crop yield.

关键词： reproduction pollination stigma receptivity compatibility MAPK redundancy Exo70A1 exocytosis phosphorylation

Optimizing yield and chemical compositions of dimethylsulfoxide-extracted birchwood xylan

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Journal of Bioresources and Bioproducts 2022年第3期7卷 211-219页

作者： Mingquan Zhang jamshed Bobokalonov Abduvali Dzhonmurodov Zhouyang Xiang State Key Laboratory of Pulp and Paper Engineering South China University of TechnologyGuangzhou 510640China V.I.Nikitin Institute of Chemistry National Academy of Sciences of TajikistanDushanbe 734063Tajikistan

Dimethylsulfoxide(DMSO)extraction is commonly used to study the chemical structures of orig-inal xylan in the plant cell wall,since the DMSO can preserve the original structure of the xylan as much as possible during the extracting *** addition,the DMSO-extracted xylans have unique properties allowing their potential applications in emulsifying or filming ***-ever,the yield of DMSO-extracted xylan is always low and the effects of different DMSO extraction conditions on the chemical compositions of xylan have not been fully studied,which greatly hin-ders its researches and *** this study,we have found that extensive delignification before DMSO extraction results in destruction of lignin-carbohydrate complex(LCC),leading to xylan yield and xylose unit content increased by up to 220%and 20%,***-butanol washing of the holocellulose can further increase the DMSO extracted xylan yield by∼10%.The yield of xylan extracted by the DMSO at 80°C for 7 h was obviously higher than that at room temperature for 3 d by 30%-40%.Thermal analysis showed that the xylans extracted at differ-ent conditions had thermal stability without obvious *** results indicate that the DMSO-extracted xylan with a high yield,a high purity and a high degree of acetylation can be ex-tracted at a high delignification level,a high reaction temperature and a short reaction *** study is of great significance for studying xylan structure-property relationships and promoting the applications of DMSO-extracted xylan.

关键词： Xylan Dimethylsulfoxide(DMSO)extraction Birchwood Yield Chemical composition

Leveraging the Role of Dynamic Reconfigurable Antennas in Viewpoint of Industry 4.0 and Beyond

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Research 2023年第3期6卷 35-56页

作者： Abdul Jabbar Muhammad Ali jamshed Qammer Abbasi Muhammad Ali Imran Masood Ur-Rehman James Watt School of Engineering University of GlasgowGlasgowUK

Industry 4.0 is a digital paradigm that refers to the integration of cutting-edge computing and digital technologies into global industries because of which the state of manufacturing,communication,and control of smart industries has changed *** 4.0 has been profoundly influenced by some major disruptive technologies such as the Internet of Things(IoT),smart sensors,machine learning and artificial intelligence,cloud computing,big data analytics,advanced robotics,augmented reality,3D printing,and smart adaptive *** this review paper,we discuss physical layer-based solutions with a focus on high reliability and seamless connectivity for Industry 4.0 and beyond ***,we present a harmonized review of the industrial revolution journey,industrial communication infrastructure,key performance requirements,and potential sub-6-GHz frequency ***,based on that,we present a comprehensive review of intelligent tunable dynamic antenna systems at sub-6 GHz as key enablers for next-generation smart industrial ***-of-the-art smart antenna techniques such as agile pattern reconfigurability using electrical components,machine learning-and artificial intelligence-based agile beam-scanning antennas,and beam-steerable dynamic metasurface antennas are thoroughly reviewed and *** unfolded the exciting prospects of reconfigurable dynamic antennas for intelligent and reliable connectivity in application scenarios of Industry 4.0 and beyond such as Industrial IoT and smart manufacturing.

关键词： antenna IoT smart

Relevance of early intervention in Fahr's disease: understanding through a case study

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General Psychiatry 2019年第1期32卷 43-45页

作者： jamshed Ahmad Bandna Gupta Sujita Kumar Kar Department of Psychiatry King George's Medical UniversityLucknowUttar PradeshIndia

SUMMARY Intracranial calcification may result from disturbances in calcium metabolism. It often remains asymptomatic, but may present with symptoms like seizure and neurological deficits. Correction of the underlying metabolic disturbance before damage of neuronal tissues due to intracranial calcification may be useful in preventing irreversible neurological deficits. This window period may be the crucial period that needs a thorough clinical evaluation and urgent intervention. We highlight the case of an adult woman with Fahr's disease presented with generalised tonic-clonic seizure. The management priorities were also discussed along with review of literature.

关键词： Relevance of early intervention Fahr's disease understanding through a case study

Heat transfer analysis of MHD rotating flow of Fe_(3)O_(4)nanoparticles through a stretchable surface

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Communications in Theoretical Physics 2021年第7期73卷 27-41页

作者： Faisal Shahzad Wasim jamshed Tanveer Sajid Kottakkaran Sooppy Nisar Mohamed R Eid Department of Mathematics Capital University of Science and Technology(CUST)Islamabad44000Pakistan Department of Mathematics College of Arts and SciencesPrince Sattam bin Abdulaziz UniversityWadi AldawaserSaudi Arabia Department of Mathematics Faculty of ScienceNew Valley UniversityAl-KhargaAl-Wadi Al-Gadid72511 Egypt Department of Mathematics Faculty of ScienceNorthern Border UniversityArar1321Saudi Arabia

The flow of a magnetite-H_(2)O nanofluid has been considered among two rotating surfaces,assuming porosity in the upper ***,the lower surface is considered to move with variable speed to induce the forced *** as well as Coriolis forces impacting on the rotating fluid are likewise taken into *** conversions are employed for the transformation of the governing partial-differential equations into a group of non-dimensional ordinary-differential *** solution of the converted expressions is gained by means of the shooting *** is theoretically found that the nanofluid has less skin friction and advanced heat transport rate when compared with the base *** effect of rotation causes the drag force to elevate and reduces the heat transport *** are portrayed to reveal the impact of injection/suction.

关键词： rotating frame magnetite-water nanofluid flow magnetic field stretching sheet