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Yousif Z.M.O.,University of Bahri | Fathelrahman M.,University of Khartoum
Proceedings - 2013 International Conference on Computer, Electrical and Electronics Engineering: 'Research Makes a Difference', ICCEEE 2013 | Year: 2013

One of the problems in robotics field is, to find the orientation and framing of arm's end to desired location there for the new method must be find the solution of forward and inverse Kinematics (IK) problem. Traditional methods such as iterative, geometric and algebraic are used to solve (IK) inadequate if the joint structure of the robot is more complex. As the complexity of manipulator increases, solution of IK is difficult and computationally expensive. In this paper the use of the ability of Adaptive Neuro-Fuzzy Inference System (ANFIS) to learn from training data is implemented. Then the creation of ANFIS with limited mathematical representation of the system is performed. In the proposed method, forward kinematics relations of robot arm are used to obtain the data for training and testing of ANFIS. Simulation using MATLAB and microcontroller is used to show the effectiveness of the approach. Also the practical results which are carried out on PUMA 560 with 6DoF robot arm are used to show the effectiveness of the approach and proved that this method has good performance. © 2013 IEEE. Source


Elhussein A.B.,Najran University | Huneif M.A.,Najran University | Naeem A.,Islamic University | Fadlelseed O.E.,Najran University | And 5 more authors.
Acta Clinica Belgica: International Journal of Clinical and Laboratory Medicine | Year: 2015

Objectives: This study aimed to measure the level of interleukin-4 (IL-4) in the serum of children patients with falciparum malaria and to correlate the production of this cytokine with the severity of malaria parasitaemia. Methods: One hundred ten patients with malaria participated in this study (53 males and 57 females) and their results were compared with that of 60 healthy control subjects. Their ages ranged between 6 months and 15 years. For the detection of parasitaemia, a calibrated thick-smear technique was used with standard Giemsa staining. For designation of the relative parasite count, a simple code from one to four crosses is used according to the criteria mentioned by Gilles and Warrell. The blood samples were assessed for IL-4 using enzyme-linked immunosorbent assay (ELISA) technique. Results: Thirty-three malaria patients (30.27%) had one cross (z) parasitaemia, 13 patients (11.93%) had (zz) parasitaemia, 24 patients (22.02%) had (zzz) parasitaemia and 39 patients (35.78%) had (zzzz) parasitaemia. There was a significant difference (Pv0.009) in the concentration of IL-4 between malaria patients (160.74+25.5 pg/ml) and control group (62.136+18.16 pg/ml). Uncomplicated malaria patients showed the highest record of IL-4 level followed by cerebral malaria (CM) group and then severe malaria anaemia group (SMA) (255.8+54.13, 102.7+34.88 and 90.95+20.90 pg/ml respectively, Pw0.0001). Conclusion: It was concluded that elevation of serum IL-4 in Sudanese children suffering from Plasmodium falciparum malaria is correlated with the severity of malaria hyperparasitaemia rather than with the severity of the disease. © 2015 Acta Clinica Belgica. Source


Mohamed H.M.I.,University of Bahri | El Zubeir I.E.M.,University of Khartoum | Fadlelmoula A.A.,University of Jeddah | Fadlelmoula A.A.,University of Khartoum
Research Journal of Microbiology | Year: 2016

This study was carried out to improve the keeping quality and to prolong the shelf life of milk of Sudanese Nubian goat at different stages of lactation and storage temperatures (5±2, 13±2, 25±2 and 37±2°C) by using Lactoperoxidase Enzyme System (LPS). Morning milk samples (36 samples) were collected from Nubian goat unit of the Faculty of Animal Production University of Khartoum during February to November, 2009. The result showed that the treated LPS milk samples were significantly (p≤0.05) affected by the addition of the enzyme, stages of lactation and storage temperature. Moreover, the study showed reduction in total viable bacterial count, coliform, psychrotrophic bacteria and yeast and mould content of treated samples with the reducing of degrees of temperature compared with the control samples kept under the same condition. Samples kept at 37±2°C showed higher microbial load and shorter shelf life compared with that stored at 5±2°C. It was concluded that application of the LPS inhibited the growth and multiplication of microorganisms and prolonged the shelf life of goat’s milk under Sudan condition. © 2016 H.M.I. Mohamed et al. Source


Ahmed S.R.,Sohag University | Aitallah A.,Sohag University | Abdelghafar H.M.,Sohag University | Alsammani M.A.,Qassim University | Alsammani M.A.,University of Bahri
Journal of Clinical and Diagnostic Research | Year: 2015

Introduction: Major degree placenta is a serious health issue and is associated with high fetal-maternal morbidity and mortality. Literature from developing countries is scant. Aim: To determine the prevalence and maternal and neonatal outcomes among women with major placenta previa (PP). Materials and Methods: A prospective descriptive study of 52 singleton pregnancies with PP was evaluated in this study. The study was conducted at Sohag University Hospital, Egypt from January through June 2014. Outcome measures, including the prevalence of PP, maternal and neonatal outcomes, and case-fatality rate. Results: The total number of deliveries performed during the study period was 3841, of them, 52 cases were placenta previa. Thus, the prevalence of PP was 1.3%. The mean of previous cesarean scars was 2.2±1.4. Of women with PP, 26.4% (n=14) had placenta accreta. In total, 15.1% (n=8) of women underwent an obstetric hysterectomy. From the total no. of babies, 13.2% (n=7) were delivered fresh stillborn babies. Of the surviving babies (n=45), 20% (n=9) required admission to NICU. The frequencies of bowel and bladder injuries were 3.8% (n=2) and 13.2% (n=7) respectively. There was no maternal death in this study. Conclusion: The rate of PP is comparable to previous studies, however, the rate of placenta accreta is high. Also, there are high rates of neonatal mortality and intraoperative complications which can be explained by accreta. The study highlights the need to revise maternity and child health services. © 2015, Journal of Clinical and Diagnostic Research. All rights reserved. Source


Ibrahim G.A.,University of Bahri | Nour I.A.,University of Khartoum | Kadim I.T.,Sultan Qaboos University
Journal of Camel Practice and Research | Year: 2015

This study was aimed to investigate the effect of camel age and muscle type on meat quality and composition of Longissimus thoracis, bicepsfemoris, semitendinosus and semimembranosus muscles. Selected muscles were randomly collected from 12 Sudanese (Camelus dromedarius) of two age groups: group one ((3-4 year-old) and group two (6-7 year-old) at the Tambol slaughterhouse, Al-Butana State, Sudan. Moisture, protein, fat and ash contents of freeze dried samples were determined. Meat quality parameters including muscle ultimate pH, shear force, expressed juice, cooking loss%, myofibril fragmentation index and colour lightness (L∗), redness (a∗) and yellowness (b∗) were determined. There were significant differences in moisture, fat, and protein contents between muscles. The results also showed that old camel longissimus thoracis muscle had significantly higher fat content than the young one. The semimembranosus muscle sample from 6-7 year-old camel had significantly lower expressed juice than 3-4 year-old camel. The longissimus thoracis had the lowest and highest shear force and lightness values than other muscles. The semitendinosus had the highest shear force value, while semimembranosus had the lowest lightness than other muscle samples. This study indicated that composition and quality parameters varied among camel muscles and the knowledge of this variation allows for better marketing and processing of camel meat. Source

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