Search results for: Bruk Gebregziabher

Authors: Bruk Gebregziabher

Abstract:

The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multiobject tracking and predictive collision avoidance. This paper presents algorithms and techniques for addressing these challenges using Lidar sensor data, emphasizing ensemble Kalman filter. The developed predictive collision avoidance algorithm employs the data provided by lidar sensors to track multiple objects and predict their velocities and future positions, enabling the AMR to navigate safely and effectively. A modification to the dynamic windowing approach is introduced to enhance the performance of the collision avoidance system. The overall system architecture encompasses object detection, multi-object tracking, and predictive collision avoidance control. The experimental results, obtained from both simulation and real-world data, demonstrate the effectiveness of the proposed methods in various scenarios, which lays the foundation for future research on global planners, other controllers, and the integration of additional sensors. This thesis contributes to the ongoing development of safe and efficient autonomous systems in complex and dynamic environments.

Keywords: autonomous mobile robots, multi-object tracking, predictive collision avoidance, ensemble Kalman filter, lidar sensors

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Authors: Tadesse Desta Gidey, Gebregziabher Kahsay, Pooran Singh

Abstract:

This work focuses on the theoretical investigation of the coexistence of superconductivity and Spin Density Wave (SDW)in Ferropnictide Ba₁₋ₓKₓFe₂As₂. By developing a model Hamiltonian for the system and by using quantum field theory Green’s function formalism, we have obtained mathematical expressions for superconducting transition temperature TC), spin density wave transition temperature (Tsdw), superconductivity order parameter (Sc), and spin density wave order parameter (sdw). By employing the experimental and theoretical values of the parameters in the obtained expressions, phase diagrams of superconducting transition temperature (TC) versus superconducting order parameter (Sc) and spin density wave transition temperature (Tsdw), versus spin density wave order parameter (sdw) have been plotted. By combining the two phase diagrams, we have demonstrated the possible coexistence of superconductivity and spin density wave (SDW) in ferropnictide Ba1−xKxFe2As2.

Keywords: Superconductivity, Spin density wave, Coexistence, Green function, Pnictides, Ba₁₋ₓKₓFe₂As₂

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Authors: Gebregziabher Brhane Berhe, Bing Joe Hwange, Wei-Nien Su

Abstract:

For a high-voltage cell, severe capacity fading is usually observed when the commercially carbonate-based electrolyte is employed due to the oxidative decomposition of solvents. To mitigate this capacity fading, an advanced electrolyte of fluoroethylene carbonate, ethyl methyl carbonate (EMC), and 1,1,2,2-Tetrafluoroetyle-2,2,3,3-tetrafluoropropyl ether (TTE) (in vol. ratio of 3:2:5) is dissolved with oxidative stability. A high-voltage lithium-ion battery was designed by coupling sulfured carbon anode from polyacrylonitrile (S-C(PAN)) and LiN0.5Mn1.5 O4 (LNMO) cathode. The discharged capacity of the cell made with modified electrolyte reaches 688 mAhg-1S a rate of 2 C, while only 19 mAhg-1S for the control electrolyte. The adopted electrolyte can effectively stabilize the sulfurized carbon anode and LNMO cathode surfaces, as the X-ray photoelectron spectroscopy (XPS) results confirmed. The developed robust high-voltage lithium-ion battery enjoys wider oxidative stability, high rate capability, and good cyclic performance, which can be attributed to the partially fluorinated electrolyte formulations with balanced viscosity and conductivity.

Keywords: high voltage, LNMO, fluorinated electrolyte, lithium-ion batteries

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Authors: Hanna Teklu Gebregziabher

Abstract:

Background: A variety of techniques for medical termination of second-trimester pregnancy can be used, but there is no consensus about which is the best. Even though most evidence suggests the combined use of intracervical Foley catheter and vaginal misoprostol is safe, effective, and acceptable method for termination of second-trimester pregnancy, which is comparable to mifepristone-misoprostol combination regimen with lower cost and no additional maternal risks. The use of mifepristone and misoprostol alone with no other procedure is still the most common procedure in different institutions for 2nd-trimester pregnancy. Methods: A cross-sectional comparative prospective study design is employed on women who were admitted for 2nd-trimester medical abortion and medical abortion failed or if there was no change in cervical status after 24 hours of 1st dose of misoprostol. The study was conducted at St. Paulose Hospital Millennium Medical College. A sample of 44 participants in each arm was necessary to give a two-tailed test, a type 1 error of 5%, 80% statistical power, and a 1:1 ratio among groups. Thus, a total of 94 cases, 47 from each arm, were recruited. Data was entered and cleaned by using Epi-info and analyzed using SPSS version 29.0 statistical software and was presented in descriptive and tabular forms. Different variables were cross-tabulated and compared for significant differences and statistical analysis using the chi-square test and independent t-test, to conclude. Result: There was a significant difference between the two groups on induction to expulsion time and number of doses used. The mean ± SD of induction to expulsion time for those used misoprostol alone was 48.09 ± 11.86 and those who used trans-cervical catheter sequentially with misoprostol were 36.7 ±6.772. Conclusion: The use of a trans-cervical Foley catheter in conjunction with misoprostol in a sequential manner is a more effective, safe, and easily accessible procedure. In addition, the cost of utilizing the catheter is less compared to the cost of misoprostol and is readily available. As a good substitute, we advised using Trans-cervical Catether even for medical abortions performed in the second trimester.

Keywords: second trimester, medical abortion, catheter, misoprostol

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Authors: Yoseph Halala Handiso, Zewdi Gebregziabher

Abstract:

Background: Malnutrition in hospitalized patients remains a major public health problem in both developed and developing countries. Despite the fact that malnourished patients are more prone to stay longer in hospital, there is limited data regarding the magnitude of malnutrition and its effect on length of stay among surgical patients in Ethiopia, while nutritional assessment is also often a neglected component of the health service practice. Objective: This study aimed to assess the prevalence of malnutrition at admission and its effect on the length of hospital stay among adult surgical patients in Wolaita Sodo University Comprehensive Specialized Hospital, South Ethiopia, 2022. Methods: A facility-based prospective cohort study was conducted among 398 adult surgical patients admitted to the hospital. Participants in the study were chosen using a convenient sampling technique. Subjective global assessment was used to determine the nutritional status of patients with a minimum stay of 24 hours within 48 hours after admission (SGA). Data were collected using the open data kit (ODK) version 2022.3.3 software, while Stata version 14.1 software was employed for statistical analysis. The Cox regression model was used to determine the effect of malnutrition on the length of hospital stay (LOS) after adjusting for several potential confounders taken at admission. Adjusted hazard ratio (HR) with a 95% confidence interval was used to show the effect of malnutrition. Results: The prevalence of hospital malnutrition at admission was 64.32% (95% CI: 59%-69%) according to the SGA classification. Adult surgical patients who were malnourished at admission had higher median LOS (12 days: 95% CI: 11-13) as compared to well-nourished patients (8 days: 95% CI: 8-9), means adult surgical patients who were malnourished at admission were at higher risk of reduced chance of discharge with improvement (prolonged LOS) (AHR: 0.37, 95% CI: 0.29-0.47) as compared to well-nourished patients. Presence of comorbidity (AHR: 0.68, 95% CI: 0.50-90), poly medication (AHR: 0.69, 95% CI: 0.55-0.86), and history of admission (AHR: 0.70, 95% CI: 0.55-0.87) within the previous five years were found to be the significant covariates of the length of hospital stay (LOS). Conclusion: The magnitude of hospital malnutrition at admission was found to be high. Malnourished patients at admission had a higher risk of prolonged length of hospital stay as compared to well-nourished patients. The presence of comorbidity, polymedication, and history of admission were found to be the significant covariates of LOS. All stakeholders should give attention to reducing the magnitude of malnutrition and its covariates to improve the burden of LOS.

Keywords: effect of malnutrition, length of hospital stay, surgical patients, Ethiopia

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