962 research outputs found
AN ADAPTIVE SCHEME FOR IMAGE-BASED VISUAL SERVOING OF AN UNDERACTUATED UAV
No full textAn image-based visual servoing (IBVS) method is proposed for controlling the 3D translational motion and the yaw rotation of a quadrotor. The dynamic model of this unmanned aerial vehicle (UAV) is considered at the design stage to account for its underactuation. In contrast with previous IBVS methods for underactuated UAVs, which used spherical image moments as visual features, the proposed controller makes use of appropriately defined perspective moments. As a consequence, we gain a clear improvement in performance, as satisfactory trajectories are obtained in both image and Cartesian space. In addition, an adaptation mechanism is included in the controller to achieve robust performance in spite of uncertainties related to the depth of the image features and to the dynamics of the robot. Simulation results in both nominal and perturbed conditions are presented to validate the proposed method
Dynamic IBVS control of an underactuated UAV
No full textIn this paper image based visual servo approach for 3D translational motion and yaw rotation of an under-actuated flying robot is considered. Taking into account the complexity of dynamics of flying robots, main objective of this paper is to consider the dynamics of these robots in designing an image based control strategy. Inertial information of the robot orientation is combined with image information in order to have overall system dynamics in a fashion to apply full dynamic image based controller. Suitable perspective image moments are used in order to have satisfactory trajectories in image space and Cartesian coordinates. A nonlinear controller for the full dynamics of the system is designed. Simulation results are presented to validate the designed controller. © 2012 IEEE
The exegesis of Tabatabaei and the Hermeneutics of Hirsch: a comparative study
Get PDFThis thesis is a comparative study between Hermeneutics on the one hand and exegesis of the Holy Qur'an on the other. Its objective is to discover whether there are salient points of convergence between the two disciples, and whether issues germane to the Hermeneutical tradition in the West have been referred to and/or employed in Muslim works of Qur'an commentary. To this end, the works of one of the most prominent Shi'ite philosophers and exegetes. Allama Mohammad Hossein Tabataei, have been analysed and compared with the perspective and methodology of E D. Hirsch, one of the most important hermeneuticians in the Western World. Hirsch has been chosen since, in the opinion of the author, there is a considerable number of commonalities between the Hirschian approach to hermeneutics and the exegetical methodology of Tabatabaei and other Shi'ite Muslim interpreters of the Qur'an.. Hirsch, as an objectivist, along with a number of other Hermeneutical scholars, are critical of those who subscribe to philosophical Hermeneutics, such as Heideger and Gadimer. The same approach is taken in Tabatabaei's works, thus providing a strong rationale for an academic comparison of these two scholars. For this reason, this thesis attempts to study the theories of Tabatabaei and Hirsch in order to highlight the similarities and differences in their works. The central hypothesis is that while small differences in approach exist, there is much common ground, and that it is possible to use certain facets of Hirschian hermeneutics in the interpretation of the Qur'an, thus modernising some of the existing exegetical approaches employed by Shi'ite scholars.Since the aim of this thesis is to compare the interpretive works of Tabatabaei with those of Hirsch's, an introductory chapter has been dedicated to the study of the evolution of Shi'ite exegesis from the beginning to date. Tabatabaei's Al-Mizan has been chosen as the foremost work of Shi'ite exegesis in the modem period. Furthermore, a complete chapter has also been dedicated to Tabatabai's exegetical modus operandi as reflected in Al-Mizan, in order to arrive at a better understanding of his perspectives. This research arrives at the conclusion that philosophical Hermeneutics and Epistemology have opened new horizons on which we will always be dependent. Whatever interpretive theories with regards to the understanding of the text are accepted, or whatever the tendency as far as literary criticism is concerned, or whatever ideas are accepted in the arena of philosophy of human and social sciences, the discussion of the nature of understanding in general cannot be avoided. This does not mean that Hermeneutics is limited to these new theories. Rather, the opportunity always exists to introduce new interpretive theories in connection with the understanding of the text. It is indeed possible to study these discussions in detail in a separate sphere independent of the other branches of Islamic sciences and arrive at a number of stable principles in the interpretation of the text in Islamic research
"Behind the Plan to Bomb Iran"
Get PDFIsmael Hossein-zadeh is a professor of economics at Drake University, Des Moines, Iowa. He is the author of the newly published book, The Political Economy of U.S. Militarism. His Web page is http://www.cbpa.drake.edu/hossein-zade
"Islamic Fascism?"
Get PDFIsmael Hossein-zadeh is a professor of economics at Drake University, Des Moines, Iowa. He is the author of the newly published book, The Political Economy of U.S. Militarism. His Web page is http://www.cbpa.drake.edu/hossein-zade
History of Maqtal al-Hossein Documents: From Factual History to Fictional History
No full textThe chronological account of Maqtal al-Hossein is a literary work that has been preserved and has become a source of inspiration for the formation of the collective identity of the Shi\u27a. However, Maqtal al-Hossein as a literary work, written based on the subjective understanding of its author, also leaves traces of distortion in the writing of Maqtal al-Hossein itself. This article aims to illustrate the gradual shift of Maqtal al-Hossein\u27s narrative from historical to fictional. This article discusses (1) A discussion of the history of the writing of Maqtal al-Hossein as a development of literacy by previous writers, followed by a review of the history of the writing of the historical kitab Maqtal al-Hossein from the second century to the writing of Maqtal al-Hossein in the tenth century Hijri. (2). A review of the critical analysis of the text of the hadiths of Maqtal al-Hossein that indicated fiction from the third century Hijri to the tenth century Hijri in the two kitabs of Maqtal al-Hossein in the third century and Maqtal al-Hossein in the seventh century Hijri. The conclusion of this article shows that the writing of Maqtal al-Hossein from the period of the third century Hijri to the tenth century Hijri provides an argument about the shift in the historical value of writing the history of Maqtal al-Hossein, from historical facts to fictional narratives. Meanwhile, the writing of Maqtal al-Hossein from the tenth century was also influenced by the various interests of Islamic power at that time
Iran's struggling health system: An increase in natural childbirth: A case study
No full textBackground: The 7th package of health reform in Iran has been implemented in May 15, 1393, is concerned with the “promotion of natural childbirth.” It has been focusing on reducing cesarean section (CS) and promoting normal vaginal delivery (NVD) as broadly as possible. This study evaluated the changes in the vaginal delivery and cesarean before and after implementation of the 7th package of health reform in public and private hospitals of Isfahan Province in 2014. Methods: This was a quasi-experimental research. The population of this study contained all public and private hospitals in Isfahan Province covered by the Health Reform Program. It included 22 public and 6 private hospitals. The data collected from the vice chancellor of treatment in 6 months before and after the implementation of the program have been analyzed. SPSS software version 18.0 (SPSS Inc., Chicago, IL, USA) and independent t-test have been employed for data analysis. Results: It was demonstrated that the increasing rate of NVD (P = 0.001) and decreasing rate of CS in public hospitals (P = 0.027) after the implementation of the plan were significant. On the other hand, the increasing rate of CS in private hospitals was significant (P = 0.026). Conclusions: Although this scheme has achieved its targets in public hospitals of Isfahan Province, it has not met its objectives in private hospitals. It seems CS operations were shifted from public hospitals to private ones, which is conflict with the objectives of the health reform plan
Author Correction: Smartphone‑based device for point‑of‑care diagnostics of pulmonary infammation using convolutional neural networks (CNNs)
Get PDFCorrection to: Scientific Reportshttps://doi.org/10.1038/s41598-024-54939-4, published online 22 March 2024 The original version of this Article contained an error in the author name S. Mohammad-Reza Taheri which was incorrectly given as Seyed Mohammad Reza Taheri. In addition, an affiliation was omitted for S. Mohammad-Reza Taheri. The correct affiliations for S. Mohammad-Reza Taheri are listed below. Groningen University, University Medical Center groningen, Antonius Deusinglaan 1, 9713AW Groningen, the Netherlands. Condensed Matter National Laboratory, Institute for Research in Fundamental Sciences (IPM), Tehran, Iran. Moreover, Hossein Simaee was incorrectly affiliated with ‘Institute of Biochemistry and Biophysics, University of Tehran, Tehran 1417614335, Iran’ and ‘Integrated Biophysics and Bioengineering Lab (iBL), Institute of Biochemistry and Biophysics, University of Tehran, Tehran 1417614335, Iran’. The correct affiliation for Hossein Simaee is listed below. Cardiac Primary Prevention Research Center, Cardiovascular Diseases Research Institute, Tehran University of Medical Sciences, Tehran, Iran. The original Article has been corrected.</p
ETIKA TANGGUNG JAWAB TERHADAP KRISIS EKOLOGIS (STUDI KOMPARATIF PEMIKIRAN HANS JONAS DAN SEYYED HOSSEIN NASR)
Get PDFThis research is motivated by the global ecological crisis that is not only physical and technical, but also reflects the crisis of values and spirituality of modern humans in treating nature. Efforts to resolve this crisis are not enough if they only rely on technology and policies, but demand a fundamental paradigm shift in human relations with nature. In this context, the ethics of responsibility is a relevant philosophical approach because it emphasizes long-term moral responsibility for the preservation of life. Hans Jonas, through the concept of imperative responsibility, calls for a new ethic that is adapted to the transformative power of modern technology. He emphasizes the principle of prudence (the heuristic of fear) to protect the future of life on earth. On the other hand, Seyyed Hossein Nasr sees the root of the ecological crisis in secularism and spiritual reduction in modern science, which makes nature a mere material object. He offers the concept of “sacred science” that integrates metaphysical and spiritual principles, and places humans as caliphs in charge of maintaining the sanctity of nature.
This research is library research using a documentation method. Primary data sources in this research include the original book by Hans Jonas entitled The Imperative of Responsibility: In Search of an Ethics for the Technological Age and Seyyed Hossein Nasr entitled Man and Nature: The Spiritual Crisis of Modern Man. Meanwhile, the secondary data sources utilize written references related to Hans Jonas and Seyyed Hossein Nasr's views on the ethics of responsibility towards the ecological crisis. The documented data is then analyzed through four stages, namely: data reduction, data classification, data display and interpretation, and conclusion making. In this research, the author formulates two research questions. First, how is the ethical concept of responsibility for the ecological crisis in the thoughts of Hans Jonas and Seyyed Hossein Nasr? Second, how does the ethical concept of responsibility for the ecological crisis of Hans Jonas and Seyyed Hossein Nasr compare?
The findings of this research are as follows: First, both Jonas and Nasr propose a new ethical paradigm in facing the ecological crisis, although from different epistemological foundations. Jonas emphasizes ethical responsibility based on rationality towards the future, while Nasr emphasizes the importance of spiritual awareness of the sanctity of the cosmos. Second, both agree that the ecological crisis is essentially a crisis of values and human moral failure in maintaining a responsible relationship with natur
Developing a commercial air ultrasonic ceramic transducer to transdermal insulin delivery
No full textThe application of low-frequency ultrasound for transdermal delivery of insulin is of particular public interest due to the increasing problem of diabetes. The purpose of this research was to develop an air ultrasonic ceramic transducer for transdermal insulin delivery and evaluate the possibility of applying a new portable and low-cost device for transdermal insulin delivery. Twenty-four rats were divided into four groups with six rats in each group: one control group and three experimental groups. Control group (C) did not receive any ultrasound exposure or insulin (untreated group). The second group (T 1 ) was treated with subcutaneous insulin (Humulin; R, rDNA U-100, Eli Lilly and Co., Indianapolis, IN) injection (0.25 U/Kg). The third group (T 2 ) topically received insulin, and the fourth group (T 3 ) received insulin with ultrasound waves. All the rats were anesthetized by intraperitoneal injection of ketamin hydrochloride and xylazine hydrochloride. Blood samples were collected after anesthesia to obtain a baseline glucose level. Additional blood samples were taken every 15 min in the whole 90 min experiment. In order for comparison the changes in blood glucose levels" to " In order to compare the changes in blood glucose levels. The statistical multiple comparison (two-sided Tukey) test showed a significant difference between transdermal insulin delivery group (T 2 ) and subcutaneous insulin injection group (T 1 ) during 90 min experiment (P = 0.018). In addition, the difference between transdermal insulin delivery group (T2) and ultrasonic transdermal insulin delivery group (T3) was significant (P = 0.001). Results of this study demonstrated that the produced low-frequency ultrasound from this device enhanced the transdermal delivery of insulin across hairless rat skin
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