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Formation control of quad-rotor UAV via PIO

Science China(Technological Sciences) 2022年第2期65卷 432-439页

作者： BAI TingTing WANG DaoBo masood rana javed College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China Department of Electrical Engineering Usman Institute of TechnologyKarachi 75850Pakistan

In this article, the formation control of quad-rotor unmanned aerial vehicle(UAV) via pigeon inspired optimization(PIO) is designed. The nonlinear mathematical model of the quad-rotor UAV is used by applying algebraic graph theory and matrix analysis. A high order consistent formation control algorithm with fixed control topology is designed by using a position deviation matrix to describe its formation. To control the attitude of quad-rotor UAVs, it is difficult to obtain a set of optimal solutions, and hence a PIO based algorithm with variable weight hybridization is proposed. The algorithm is mainly composed of two parts. First, according to the distance between the particles in the iterative process, the inertia weight is dynamically changed,and the coefficient is adjusted to control the degree of influence on its inertia weight. Second, the overall scenario is designed by using MATLAB based simulations which show that the formation control of the quad-rotor UAV is achieved with the help of PIO.

关键词： pigeon inspired optimization formation control unmanned aerial vehicle and quad-rotor UAV

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Reasons of Vaccine Hesitancy among Pakistanis with Available COVID-19 Vaccine: The Next Challenge in the Fight against COVID-19

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Natural Science 2021年第6期13卷 211-217页

作者： Wajiha Rizwan Muhammad Nasir rana Mulazim Hussain Bukhari Asma Mushtaq masood Sadiq The Children Hospital/Institute of Child Health Lahore Pakistan Azad Jammu Kashmir Medical College Muzaffarabad Pakistan

The government of Pakistan started vaccination campaign for the frontline healthcare pro-viders, as they are more likely to be exposed to COVID-19 patients. In the next step, it ex-tended the free vaccination campaign to include people above 60 and 50 years of age re-spectively. The drive is now open to all citizens >18 years of age. There is a significant re-luctance to get vaccinated even though the government has provided it free of cost. The project uses self-reporting method to assess reasons of vaccine hesitancy among Pakistanis and possible solutions to overcome this problem. Concern for serious side effects was the most common issue 154 (48.42%) reported among all groups of people, including the healthcare workers. The major sources of COVID-19 related information were television 117 (36.8%) and healthcare professionals 105 (33%). The participants reported that they can be convinced to get vaccinated if more published data related to vaccine efficacy and safety is available 118 (37.1%), they observe no side effect among vaccine recipients 90 (28.3%) or higher government officials get the same vaccine 39 (12.3%). Vigorous analysis and publication of data generated is paramount to increase the percentage of people being vaccinated. The healthcare professionals should share evidence-based knowledge related to vaccine efficacy and safety through television and social media to increase acceptance rates and hence, decrease mortality and morbidity from COVID-19 in Pakistan.

关键词： COVID-19 Vaccine Hesitancy Vaccine Side Effects Vaccine and Propaganda Herd Immunity

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Rethinking Strategies to Address Inequity in Immunization Services towards Achieving Universal Immunization Coverage (UIC) in Karachi, Pakistan

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World Journal of Vaccines 2021年第4期11卷 39-49页

作者： Iqbal Hossain Tariq masood Akram Sultan rana Safdar Hamidreza Setayesh Lora Shimp Soofia Younus Immunization Center JSI Arlington VA USA JSI Karachi Pakistan EPI Karachi Pakistan EPI Islamabad Pakistan Gavi Geneva Switzerland

Karachi, the largest city in Pakistan, having high population growth and a complex health care environment, has highest density of unimmunized (zero dose) and under-immunized children. The main reasons of low immunization coverage in Karachi were lack of governance and accountability in a duplicative and fragmented health management structure, weak and inequitable immunization services, and lack of demand and trust among people for immunization services. The Expanded Programme on Immunization (EPI), Ministry of Health (MOH) in Sindh Province spearheaded a structured and collaborative process to develop strategies for addressing inequity in immunization services towards achieving Universal Immunization Coverage (UIC) in Karachi. The process included a situation analysis with gathering quantitative and qualitative information on the root causes of zero-dose and inequity of the immunization services. The strategies and interventions were developed with multi-layer input and feedback of the stakeholders and partners, and focusing primarily to address gaps in three program areas: governance, leadership and accountability;immunization service delivery;and building demand and trust among the people. The interventions were further prioritized for high-risk areas;identified based on maximum number zero-dose children, presence of large slum areas, measles outbreak and on-going circulation of wild poliovirus. Finally, costing for the Roadmap activities was done through consultation with partners and aligning domestic and external (donor) resources. In this paper, we have highlighted the unique process the Sindh Government undertook in collaboration with the stakeholders and partners to develop strategies and interventions for addressing inequity in urban immunization services in Karachi towards achieving Universal Immunization Coverage (UIC). Similar processes can be adapted, as a potential model, for developing strategies to achieve universal health coverage in the cities of

关键词： Urban Immunization Inequity Strategies Roadmap Universal Immunization Coverage

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Forkhead box P3 and indoleamine 2,3-dioxygenase co-expression in Pakistani triple negative breast cancer patients

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World Journal of Clinical Oncology 2020年第12期11卷 1018-1028页

作者： Kashif Asghar Asif Loya Iftikhar Ali rana Muhammad Abu Bakar Asim Farooq Muhammad Tahseen Muhammad Ishaq Iqra masood Muhammad Usman Rashid Department of Basic Science Research Shaukat Khanum Memorial Cancer Hospital and Research CentreLahorePunjab 54000Pakistan Department of Pathology Shaukat Khanum Memorial Cancer Hospital and Research CentreLahorePunjab 54000Pakistan Department of Cancer Registry and Clinical Data Management Shaukat Khanum Memorial Cancer Hospital and Research CentreLahorePunjab 54000Pakistan Department of Clinical Research Shaukat Khanum Memorial Cancer Hospital and Research CentreLahorePunjab 54000Pakistan

BACKGROUND Forkhead box P3(FOXP3)is a specific marker for immunosuppressive regulatory T(T-reg)cells.T-regs and an immunosuppressive enzyme,indoleamine 2,3-dioxygenase(IDO),are associated with advanced disease in *** To evaluate the co-expression of FOXP3 and IDO in triple negative breast cancer(TNBC)with respect to hormone-positive breast cancer patients from *** Immunohistochemistry was performed to analyze the expression of FOXP3,IDO,estrogen receptor,progesterone receptor,and human epidermal growth factor receptor on tissues of breast cancer patients(n=100):Hormone-positive breast cancer(n=51)and TNBC(n=49).A total of 100 patients were characterized as FOXP3 negative vs positive and further categorized based on low,medium,and high IDO expression *** and multivariate logistic regression models were *** Out of 100 breast tumors,25%expressed FOXP3 positive T-regs.A significant coexpression of FOXP3 and IDO was observed among patients with TNBC(P=0.01)compared to those with hormone-positive breast *** variables were identified as significant independent risk factors for FOXP3 positive:IDO expression high(adjusted odds ratio(AOR)5.90;95%confidence interval(CI):1.22-28.64;P=0.03)and TNBC(AOR 2.80;95%CI:0.96-7.95;P=0.05).CONCLUSION Our data showed that FOXP3 positive cells might be associated with high expression of IDO in TNBC ***3 and IDO co-expression may also suggest its involvement in disease,and evaluation of FOXP3 and IDO expression in TNBC patients may offer a new therapeutic option.

关键词： Forkhead box P3 Indoleamine 2,3-dioxygenase Triple negative breast cancer T-regs Immunotherapy Cancer

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