66 research outputs found
Development and testing of a collision avoidance algorithm for industrial applications
No full textSafe interaction of the operator and the cobot in the co-working space is one fundamental requirement for introducing automation in small and medium enterprises characterized by unstructured cell layouts. In addition to the exploitation of cobots, a fully safe interaction requires the adoption of collision avoidance systems, to enable the real-time re-planning of the end-effector trajectories thus avoiding to stop the machine in case of collision with humans. This is fundamental for industrial applications, in order to maintain the production rate as constant as possible even in unstructured production environments. However, collision avoidance applications in actual industrial production cells are still limited, due to some limitations which are not yet completely solved. It is indeed still likely to happen that the recalculation of the obstacle-free trajectory takes a too long time, not compatible with industrial applications. This paper describes the development of a collision avoidance program using the Lazy PRM∗ algorithm. The program is tested on a physical robot, the Mitsubishi Melfa RV-5AS-D, to perform some exemplary pick and place tasks. The developed algorithm can alter online, during the execution, the road-map from dense to sparse in those cases in which the search for an alternative trajectory is detected to take too long time. Compared to other commercial collision avoidance systems, in which the evaluation of road-maps can only be done offline once and for all, this feature would prevent the robot to get stucked in case a feasible solution is not found in a fast enough way. Furthermore, the developed program guarantees greater flexibility in creating the road-map, trying to match the user's needs, and eliminating the superfluous parts of the road-map to reduce computational time. This marks a difference with present-day solutions for commercial collision avoidance systems which, to the author knowledge, connects all the nodes together
Influence of volume ratio of liquid to solid and low pouring temperature on interface structure of cast Babbitt-steel bimetal composite
No full textContemporary Mosque Architecture and the Sanctioning of Sacred Form
No full textDr James Steele is an architect and Distinguished Professor at the School of Architecture, University of Southern California. He is the author of several books including The Hassan Fathy Collection: A Collection of Visual Documents At The Aga Khan Award For Architecture (Aga Khan Trust for Culture, 1989) and Architecture for People: The Complete Works of Hassan Fathy with Thames and Hudson (1997). He\u27s also the editor of two Aga Khan Award books, Architecture for a Changing World (1992), and Architecture for Islamic Societies Today (1994), both by Academy Editions, who also published his The Architecture of the Contemporary Mosque, with Ismail Serageldin (1995). In this lecture he will compare the relatively new Al Fozan Award for Mosque Architecture with several Mosques premiated by the Aga Khan Award, established in the late 1970’s
M pour un frère: Témoignage - «م» من أجل أخ: شهادة
No full textThis testimony recounts the personal relationship between the author and her deceased younger brother after his battle with kidney failure in Egypt. It draws on two works that emerged from the author’s period of mourning, manifested in cinematic and poetic forms, respectively: Mohammad Saved from the Waters (2014) and Revolution Goes Through Walls (2017). The author also reflects on Jacques Derrida’s concept of brotherhood and Jean-Luc Nancy’s work on transcendence.
تناول هذه الشهادة الحميمة العلاقة الشخصية بين الكاتبة وأخيها الصغير الذي توفي بالفشل الكلوي في مصر. وتتطرق في بنيانها إلى عملين انبثقا عن فترة حداد الكاتبة، التي تجلت في شكل سينمائي، في فيلم بعنوان محمد ينجو من الماء (٢٠١٤)، وفي شكل شعري، في مجموعة بعنوان ثورة وحائط نعبره (٢٠١٧). وتعتمد الكاتبة في شهادتها أيضاً على مفهوم الإخاء في فكر جاك دريدا، وعلى مفهوم التسامي في فكر جان-لوك نانسي
Synthesis and Biological Evaluation of Certain new Cyclohexane-1-carboxamides as Apoptosis Inducers
No full textTHE IDENTITY OF THE CATTLE HERDSMAN A STUDY IN THE SCENES OF ANCIENT EGYPTIAN PRIVATE TOMBS
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هُوية راعى الأبقار: دراسة فى مناظر المقابر المصرية القديمة الخاصة
ذخرت مقابرالمصريون القدماء برسوم ونقوش توثق تفاصيل حياتهم اليومية التى يرغبون فى أن يحيوها فى الحياة الأخرى. وهكذا، أضحت مقابر المصريين القدماء بمحتوياتها ونقوشها الجدارية بمثابة ديوان لحضارة وادى النيل، نتعرف منها على ملامح الحياة اليومية فى مصر القديمة. احتلت مناظر رعى الأبقار، من خلال مشاهد الزراعة والرعى والمناظر الجنائزية، مكانة بارزة بكافة تفاصيلها الحياتية التى عاشها المصرى القديم. لم يقتصر دور راعى الأبقار على قيادة القطيع فقط بل امتد عمله ليشمل العديد من الجوانب الأخرى، والتى من شأنها المحافظة على سلامة القطيع البدنية والصحية، كتوجيه القطيع للقيام بدوره فى اعمال الزراعة أوالرعى والأمتثال أما صاحب المقبرة وكذلك المشاركة فى المناظر الجنائزية. تهدف هذه الورقة البحثية إلى معرفة هوية راعى البقر، والذى اتسم دائما بالنحافة والجسم الهزيل بحكم مهنته وقلة قوته، شارك فى هذه المهنة جميع الفئات العمرية من الصبيان والشباب وكبار السن، وتنوعت درجاتهم الوظيفية مابين رؤساء ومرؤسين ومساعدين. تعتمد هذه الدراسة على أربع أقسام رئيسية. يعرض القسم الأول: مصطلح الراعى. فى القسم الثانى: أشكال الشعر المختلفة التى ظهر بها راعى الأبقار من خلال المناظر حيث ارتدى البعض منهم باروكة الشعر وظهر البعض بالشعر الطبيعى كما غلب على اكثرها مناظر الصلع بأنواعه المختلفة. فى القسم الثالث: نستعرض زي الرعاة والذى اختلف حسب القابهم الاجتماعية فظهرت الطبقة الدنيا منهم عراة وظهرت الطبقة العامة بالنقبة القصيرة أما الرؤساء منهم فظهروا بنقبة ذات نتؤات أمامية. فى القسم الرابع: نتعرف على أدوات الرعاة المستخدمة فى قيادة القطيع مثل العصاة والحبل والسوط وغيرها من الأدوات واختلفت أوضاع الأيدى باختلاف استخدام هذه الأدوات. وأخيرا يستعرض الكاتب نماذج من حوار الرعاة والتى تميزت دائما بالبساطة والواقعية وتكشف الكثير عن سماتهم الشخصية والعملية من خلال واقع وظيفتهم.
[En]
The tomb wall scenes give art historians a glimpse into ancient Egyptian daily life, allowing them to piece together a vision of their civilization. The depictions of animals in the scenes of daily life are commonly found in ancient Egyptian tombs. The image of the cattle herdsman has been regarded as one of the «daily life» scenes. The great collection of iconography portraying herdsmen attests to the crucial significance they played in Egyptian visual culture. The present paper is concerned with the identity of the cattle herdsman. It is divided into four main sections. The first section defines herdsman and reviews the activities in which he participated. The second section presents the different hairstyles in which the herdsmen appeared throughout the scenes. The third section reviews the herdsman\u27s costume. The fourth section is devoted to the job of the herdsmen by showing the different positions of using the grazing tools. Finally, the author gives some examples of captions for herdsman scenes to explore their conversational style, work-related characteristics, knowledge of cows, and innate instincts
واقع وخيال: السر في الصورة / Reality and Imagination: The Secret in the Image
No full text[This article puts into question the concept of art as an exnihilo creation. It deconstructs the dichotomous duality between artistic creation and construction, on the one hand, and documentation and reality, on the other. It explores this apparent contradiction on the basis of film theory (mark and sign) and the author\u27s practice in the field of documentary cinema, especially in light of her film D\u27ailleurs, Derrida. It analyzes the concept of the frame, which excludes whatever is outside it at the very moment it selects what is to appear inside it under the authority of the signature. The article sheds light on the hidden aspects of the creative process, one that by nature effaces the borders between creation and documentation. تضع هذه المقالة مفهوم الفن باعتباره إبداﻋﺎﹰ من العدم موضع المساءلة . فهي تسعى إلى تفكيك الثنائية التي تضع الإبداع الفني والتأليف في ﻣﻮﺍجهه التوثيق والواقع . تتناول المقالة هذا التناﻗﺾ الظاهري باﻟﻔﺤﺺ والتحري إستناداﹰ إلى نظريات السينما والعلامة والرسم من ناحية، ومن ناحية ﺃخرى بالعودة إلى ممارسات المؤلفة الخاﺻﺔ في مجال السينما التوﺛﻴﻘﻴﺔ أو التسجيلية، وبخاصة فيلم ﺩﺭﻳﺪﺍ من جهة أخرى . تخوض المقالة في ﺗﺤﻠﻴﻞ مفهوم الإطار الذي يستبعد ما هو خارج عنه عند اختياره لما يظهر بداخله تحت سلطة اليد الموقعة . وتحاول أيضاﹰ أن تلقي الضوء على خفايا العملية الإبداعية التي تمحو بطبيعتها الحدود بين التوثيق والإبداع .
العلاقة بين المقاصد الشرعية والاجتهاد في ضوء القرآن والسنة The relationship between the purposes of sharia and juristic deduction in view of the Quran and Sunnah
No full textJuristic deduction (Ijtihad) is considered one of the pillars of the Principles of Islamic
Jurisprudence (Uṣūl al-fiqh), as it is tightly correlated to The Purposes of Sharia (Maqasid alShariah) that it is indispensable for any who is dedicated to the art of the principles of
jurisprudence authorship .For the jusrist (mujtahid) to obtain such a status, the detailed
comprehension of the Purposes of Sharia is sine qua non so that the jusrist be able to apply them
to deduct the aimed jurisprudential ruling for the situation on the ground. However, there still some
views that tend to undermine the significance role of learning such a subtle knowledge or pushing
to eliminate it away as the matter of Juristic Deduction concern, an approach that could lead the
Umma to go astray. Therefore, this research statement will be about tackling this issue. Since the
essence, wonders and objectives of Sharia are the chief support for the mujtahid for the Juristic
Deduction accomplishment in absence of the Quran and Sunnah versions, the author considers
handling it as the significance of this research as the research targets to confirm the correlation
between the Juristic Deduction and the Purposes of Sharia. As postulated that it is Illicit for Ijtihad
to counteract the Text, it is logic that Itjtihad is not an obverse to The Purposes of Sharia because
these Purposes are considered to be the spirit and secret meanings of the honorable Sharia itself.
The author utilized the analytical approach to analyze the he Provisions of the Islamic Sharia
besides the scholars’ views that corroborate the profound relationship between The Purposes of
Sharia and the Juristic Deduction which consequently led to the following results: the Provisions
of the Islamic Sharia represent the essence of objectives of Sharia as a whole, the updating issues
with their accompanying circumstances urges further surveys that bind the juristic deduction to
The Purposes of Sharia and thus, the close link between The Purposes of Sharia and the Juristic
Deduction manifests
Neoadjuvant chemotherapy for stage II–III breast cancer: a single-center experience
No full textAbstract Introduction We conducted this study to reflect a single-center experience with the use of neoadjuvant systemic chemotherapy (NAC) for the management of women with operable breast cancer. Methods We conducted a retrospective chart review on all women presenting with operable, stage II–III, breast cancer and were scheduled for NAC at Suez Canal University Hospital. The primary outcome of this study was to estimate the proportion of patients with breast cancer who become eligible for breast-conserving surgery (BCS) after (NAC). Results A total of 147 patients were included. Before the initiation of chemotherapy, only 66 (44.9%) patients were indicated for (BCS). A total of 40 (49.4%) new patients, out of the 81 patients who were ineligible before chemotherapy, became eligible for BCS after NAC (95% CI 39.3–61.9%). On the other hand, 8 (12.1%) patients became ineligible for BCS after NAC, out of 66 patients who were initially eligible. Out of the 98 eligible patients for BCS after chemotherapy, 72 (73.5%) patients underwent the surgery, and the remaining 26 (26.5%) patients chose modified radical mastectomy (MRM). A total of 55 out of 72 (76.4%) patients achieved pathological complete response (pCR). One woman (0.1%) experienced relapse in the 3rd year of follow-up and three women (2%) experienced relapse in the 5th year of follow-up. We found a statistically significant relationship between patients who became eligible for breast-conserving surgery and both age and estrogen receptor negativity (p = 0.001 and 0.007, respectively). Conclusion NAC can play a crucial role in increasing the rate of eligibility for BCS among women with operable, stage II–III, breast cancer
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