We consider the problem of calibrating range measurements of a Light Detection and Ranging (lidar) sensor that is dealing with the sensor nonlinearity and heteroskedastic, range-dependent, measurement error. We solved the calibration problem without using additional hardware, but rather exploiting assumptions on the environment surrounding the sensor during the calibration procedure. More specifically we consider the assumption of calibrating the sensor by placing it in an environment so that its measurements lie in a 2D plane that is parallel to the ground. Then, its measurements come from fixed objects that develop orthogonally w.r.t. the ground, so that they may be considered as fixed points in an inertial reference frame. Moreover, we consider the intuition that moving the distance sensor within this environment implies that its measurements should be such that the relative distances and angles among the fixed points above remain the same. We thus exploit this intuition to cast the sensor calibration problem as making its measurements comply with this assumption that “fixed features shall have fixed relative distances and angles”. The resulting calibration procedure does thus not need to use additional (typically expensive) equipment, nor deploy special hardware. As for the proposed estimation strategies, from a mathematical perspective we consider models that lead to analytically solvable equations, so to enable deployment in embedded systems. Besides proposing the estimators we moreover analyze their statistical performance both in simulation and with field tests. We report the dependency of the MSE performance of the calibration procedure as a function of the sensor noise levels, and observe that in field tests the approach can lead to a tenfold improvement in the accuracy of the raw measurements.
RPT is a method used for classifying various lithologies and fluids from data of well logging or seismic inversion. Three Formations (Nahr Umr, Shuaiba, and Zubair Formations) were selected in the East Baghdad Oil field within well EB-4 to test the possibility of using this method. First, the interpretations of the well log and Density – Neutron cross plot were used for lithology identification, which showed that Nahr Umr and Zubair formations consist mainly of sandstone and shale, while the Shuaiba Formation consists of carbonate (dolomite and limestone). The study was also able to distinguish between the locations of hydrocarbon reservoirs using RPT. Finally, a polynomial equation was generated from the cross plot domain (AI versus V
... Show MoreThe aim of this study is to determine the effect of cold plasma on nails pH, creatine levels and the accumulative of some trace elements in humans nails. Creatine levels in the blood, as well as pH and trace elements, were measured before and after (1, 2) months of plasma exposure in both gender (men and women) between the ages of 22 and 25 years. Nails are exposed to cold plasma with a voltage of (175 volts) and (2 gas flow). After one month of exposure, there was no significant change in the levels of all parameters, but after 2 months, the concentration of creatine and pH had reached a near- neutral value. In both men and women, calcium concentration increased and showed a positive response to cold plasma, while the v
... Show MoreCost is the essence of any production process for it is one of the requirements for the continuity of activities so as to increase the profitability of the economic unit and to support the competitive situation in the market. Therefore, there should be an overall control to reduce the cost without compromising the product quality; to achieve this, the management should have detailed credible and reliable information about the cost to be measured, collected, understood and to analyze the causes for the spread of deviations and obstacles the management faces, and to search for the factors that trigger the emergence of these deviations and obstacles
Hepatocellular carcinoma (HCC) is the third most common cause of cancer-related death. Therefore, it is critical for researchers to understand molecular biology in greater depth. In several diseases including cancer, abnormal miRNA expression has been linked to apoptosis, proliferation, differentiation, and metastasis. Many miRNAs have been studied in relation to cancer, including miR-122, miR-223, and others. Hepatitis B and C viruses are the most important global risk factors for HCC. This study is intended to test whether serum miRNAs serve as a potential biomarker for both HCC and viral infections HBV and C. The expression of miRNA in 64 serum samples was analyzed by RT-qPCR. Compared to healthy volunteers, HCC patients' sera expre
... Show MoreBackground: The main purpose of this study is to find if there is any correlation between the level of C-reactive protein (CRP) in gingival crevicular fluid with its serum level in chronic periodontitis patients and to explore the differences between them according to the probing depth. Materials and methods: Forty seven male subjects enrolled in this study. Thirty males with chronic periodontitis considered as study group whom further subdivided according to probing depth into subgroup 1 with pocket depth ≤6mm, subgroup 2 with pocket depth >6mm. The other 17 subjects considered as controls. For all subjects, clinical examination where done for periodontal parameters plaque index (PLI), gingival index (GI), bleeding on probing (BOP),
... Show MoreA new Turbidimetric method characterized by simplicity, accuracy and speed for determination of iron(III) in drug samples by continuous flow injection analysis. The method was based on the formation of complex for iron(III) with 8-hydroxyquinoline in presence of ammonium acetate as a medium for the formation of deep green precipitate and this precipitate was determined using homemade Linear Array Ayah-5SX1-T-1D continuous flow injection analyser. The optimum parameters were 2.6 mL.min-1 flow rate using H2O as a carrier, 1.9 mL.min-1 (14 mmol.L-1) ammonium acetate, 2.4 mL.min-1 (14 mmol.L-1) 8-hydroxyquinoline, 60 L sample volume and open valve for the purge of the sample segment. Data treatment shows that linear range 0.1-8.0 mmol.L-1
... Show MoreThe water quality index was used for the evaluation of the quality of water, as well its impacts on the rotifer abundance, in the Tigris River as it passes through Mishahda City, northern Baghdad. Five sites were selected and samples were collected during October 2019 to September 2020. It was noticed that the index values in most sites have exceeded the upper limits of river waters. The values ranged from 40 (Poor) to 45 (Marginal) in all sites. While, the values were from 42 (Poor) to 65 (Fair) during different seasons. As for drinking usages, the results demonstrated poor or undrinkable (31-40) water in all sites. Meanwhile, the values ranged from 39 (Poor) to 56 (Clear) in regard to seasons. The index values
... Show MoreAbstract:
This study aims to identify the level of patients’ satisfaction among a sample of hospitalized patients in the targeted hospital (Al-Kindy Teaching Hospital, and Al-Yarmook Teaching Hospital). Moreover, this study highlights the reality of services for patients, especially in the targeted governmental teaching hospitals. The Patient Satisfaction with Nursing Care (PSNCS) has been measured in these hospitals through the revised scale by Tang et al, (2013).This scale includes four major domains; Health Information (5 items), Influencing Support (4 items), Decision Control (4 items), Specialized Technical Competence (7 items). The method of surveying patients’ opinions about the degree
... Show MoreSix house-hold Abyssinian pumps distributed in different villages of Mansoura (Mans-I, Mans-II and Mans-III) and Talkha (Talk-I, Talk-II and Talk-III) cities, Egypt, have been selected for regular seasonal water quality assessment during 2017. Water samples have been collected within the mid-periods of four seasons Standard assessment tools were employed for the integrated water quality assessment including Water Quality Index (WQI) and ISO standard algal toxicity test. WQI displayed remarkable local and seasonal variations with excellent (≥ 90) and good (70 - 89) only recorded for water samples collected from Mans-I pump located in sparsely populated area and far 50 meters only from the eastern (Damietta) branch of Nile River. WQI of
... Show MoreThe primary objective of root canal therapy is adequate biomechanical preparation of root canal system followed by 3D obturation.in clinics we are encountered with several anatomical variations, which we need to manage efficiently. One of the major factors responsible for failure of root canal therapy is missed canals. Recent technological advances have given the clinician opportunity to identify anatomical variations and treat them to satisfaction.