Offline programming (OLP) is a new method in robot programming which is used widely in the indust... more Offline programming (OLP) is a new method in robot programming which is used widely in the industry nowadays which is a simulation base method that can produce the robot codes for motion according to virtual world in the simulation software. In this project Delmia v5 is used as simulation software. First the work cell component was modelled by Catia v5 and all of them was imported to a process file in Delmia and placed roughly to form the virtual work cell. Then robot was added to the work cell from the Delmia library. Work cell was calibrated corresponding to real world work cell to have accurate code. Tool calibration is the first step of calibration scheme and then work cell equipment can be calibrated using 6 point calibration method. Finally generated code needs to be reformed to match related controller code instruction. At the last stage IO were set to accomplish robots cooperation and make their motion synchronized. The pros and cons also will be discussed to clarify the pre...
therapy. Recent data favor fractional flow reserve (FFR) over quantitative coronary angiography (... more therapy. Recent data favor fractional flow reserve (FFR) over quantitative coronary angiography (QCA) for stable CAD in the general population. Our study aims to reclassify lesion severity based on measured FFR and determine safety of this assessment method in cancer patients. METHODS From 2008 to 2016, cancer patients with stable CAD with 70% stenosis by QCA received assessment by FFR. We determined FFR <0.75 as threshold for revascularization, which the DEFER trial used. Lesions with FFR 0.75 were medically managed only, while FFR <0.75 received PCI. RESULTS In 57 patients evaluated, 57 lesions were located in the following distribution: 39 left anterior descending artery, 3 circumflex artery, 10 right coronary artery, 4 left main, and 1 ramus. We identified 23 lesions (40.35%) with FFR <0.75 and 34 lesions (59.64%) with FFR 0.75. There were 12 "grey zone" lesions (FFR ¼ 0.75-0.80). In 14/31 lesions (45%) with 70% stenosis by QCA, we measured FFR 0.75 and reclassified as "moderate" without PCI performed. In 6/26 lesions (23%) with <70% stenosis by QCA, we measured FFR <0.75 and reclassified as "severe" with PCI performed. Follow-up averaged 43 months (95% CI: 31-53 months) with 13 deaths (22.8%) at 1 year, all cancer-related. Overall, mortality rate was 38.6%, with 1 cardiovascular-related death. No urgent revascularization or acute coronary syndromes (ACS) were observed. In the PCI group, all-cause mortality risk was significantly decreased (HR: 0.37, 95% CI 0.15-0.90, p¼0.03) without periprocedural complications, urgent revascularization, ACS, or cardiovascular deaths.
TAMPERE UNIVERSITY OF TECHNOLOGY Master’s Degree Program in Automation Muhammad, Jamal: Master of... more TAMPERE UNIVERSITY OF TECHNOLOGY Master’s Degree Program in Automation Muhammad, Jamal: Master of Science Thesis, 70 pages, Appendices 19 pages September 2014 Major: Mechatronics Minor: Robotics and Automation Examiner: Prof. ReijoTuokko
Chapter 1. Introduction 1 Chapter 2. Review of literature 5 Chapter 3. Materials and methods 29 C... more Chapter 1. Introduction 1 Chapter 2. Review of literature 5 Chapter 3. Materials and methods 29 Chapter 4. Results 51 Chapter 5. Discussion 101 Conclusion 117 Recommendations and future prospects 120 Chapter 6. References 122 List of publications 149 v ACKNOWLEDGEMENTS All praises to Almighty Allah, Who bestowed the man with intelligence, knowledge, sight to observe, and mind to think and judge. Peace and blessings of Allah be upon the Holy Prophet, Muhammad (peace be upon him), who exhorted his followers to seek for knowledge from cradle to grave.
Arthropod-transmitted hemoparasitic diseases of cattle, caused by Trypanosoma, Babesia, Theileria... more Arthropod-transmitted hemoparasitic diseases of cattle, caused by Trypanosoma, Babesia, Theileria, Anaplasma and Eperythrozoon, occur throughout the world, their occurrence is greater in Pakistani since conditions are favorable to the maintenance of vector ...
The study revealed that maximum biological yield, grain yield and minimum days taken to seed fill... more The study revealed that maximum biological yield, grain yield and minimum days taken to seed filling were observed at 10 ppm concentration. Seed weight, number of seed per plant and number of nodules per plant were not significantly affected by various concentrations. Maximum number of seeds/plant, biological yield and grain yield were produced when IAA was applied at 15 days after emergence stage. Seed filling duration, seed weight and number of nodules per plant were not significantly affected by growth stages.
Cane yield and Recovery Percentage of sugar cane varieties were affected due to various irrigatio... more Cane yield and Recovery Percentage of sugar cane varieties were affected due to various irrigation frequencies. Variety COL-75 showed outstanding performance for cane yield under normal weekly irrigation in plant/ratoon stages, followed by Bannu-1 and Naurang-98 under same irrigation regime. The highest recovery percentage was noted for varieties Naurang-98 and Bannu-1 under weekly irrigation. Hence COL-75 was found with higher cane yield potential followed by Bannu-1 and Naurang-98 for cane yield and recovery percentage under normal weekly irrigation and different irrigation intervals in Bannu Division.
Offline programming (OLP) is a new method in robot programming which is used widely in the indust... more Offline programming (OLP) is a new method in robot programming which is used widely in the industry nowadays which is a simulation base method that can produce the robot codes for motion according to virtual world in the simulation software. In this project Delmia v5 is used as simulation software. First the work cell component was modelled by Catia v5 and all of them was imported to a process file in Delmia and placed roughly to form the virtual work cell. Then robot was added to the work cell from the Delmia library. Work cell was calibrated corresponding to real world work cell to have accurate code. Tool calibration is the first step of calibration scheme and then work cell equipment can be calibrated using 6 point calibration method. Finally generated code needs to be reformed to match related controller code instruction. At the last stage IO were set to accomplish robots cooperation and make their motion synchronized. The pros and cons also will be discussed to clarify the pre...
therapy. Recent data favor fractional flow reserve (FFR) over quantitative coronary angiography (... more therapy. Recent data favor fractional flow reserve (FFR) over quantitative coronary angiography (QCA) for stable CAD in the general population. Our study aims to reclassify lesion severity based on measured FFR and determine safety of this assessment method in cancer patients. METHODS From 2008 to 2016, cancer patients with stable CAD with 70% stenosis by QCA received assessment by FFR. We determined FFR <0.75 as threshold for revascularization, which the DEFER trial used. Lesions with FFR 0.75 were medically managed only, while FFR <0.75 received PCI. RESULTS In 57 patients evaluated, 57 lesions were located in the following distribution: 39 left anterior descending artery, 3 circumflex artery, 10 right coronary artery, 4 left main, and 1 ramus. We identified 23 lesions (40.35%) with FFR <0.75 and 34 lesions (59.64%) with FFR 0.75. There were 12 "grey zone" lesions (FFR ¼ 0.75-0.80). In 14/31 lesions (45%) with 70% stenosis by QCA, we measured FFR 0.75 and reclassified as "moderate" without PCI performed. In 6/26 lesions (23%) with <70% stenosis by QCA, we measured FFR <0.75 and reclassified as "severe" with PCI performed. Follow-up averaged 43 months (95% CI: 31-53 months) with 13 deaths (22.8%) at 1 year, all cancer-related. Overall, mortality rate was 38.6%, with 1 cardiovascular-related death. No urgent revascularization or acute coronary syndromes (ACS) were observed. In the PCI group, all-cause mortality risk was significantly decreased (HR: 0.37, 95% CI 0.15-0.90, p¼0.03) without periprocedural complications, urgent revascularization, ACS, or cardiovascular deaths.
TAMPERE UNIVERSITY OF TECHNOLOGY Master’s Degree Program in Automation Muhammad, Jamal: Master of... more TAMPERE UNIVERSITY OF TECHNOLOGY Master’s Degree Program in Automation Muhammad, Jamal: Master of Science Thesis, 70 pages, Appendices 19 pages September 2014 Major: Mechatronics Minor: Robotics and Automation Examiner: Prof. ReijoTuokko
Chapter 1. Introduction 1 Chapter 2. Review of literature 5 Chapter 3. Materials and methods 29 C... more Chapter 1. Introduction 1 Chapter 2. Review of literature 5 Chapter 3. Materials and methods 29 Chapter 4. Results 51 Chapter 5. Discussion 101 Conclusion 117 Recommendations and future prospects 120 Chapter 6. References 122 List of publications 149 v ACKNOWLEDGEMENTS All praises to Almighty Allah, Who bestowed the man with intelligence, knowledge, sight to observe, and mind to think and judge. Peace and blessings of Allah be upon the Holy Prophet, Muhammad (peace be upon him), who exhorted his followers to seek for knowledge from cradle to grave.
Arthropod-transmitted hemoparasitic diseases of cattle, caused by Trypanosoma, Babesia, Theileria... more Arthropod-transmitted hemoparasitic diseases of cattle, caused by Trypanosoma, Babesia, Theileria, Anaplasma and Eperythrozoon, occur throughout the world, their occurrence is greater in Pakistani since conditions are favorable to the maintenance of vector ...
The study revealed that maximum biological yield, grain yield and minimum days taken to seed fill... more The study revealed that maximum biological yield, grain yield and minimum days taken to seed filling were observed at 10 ppm concentration. Seed weight, number of seed per plant and number of nodules per plant were not significantly affected by various concentrations. Maximum number of seeds/plant, biological yield and grain yield were produced when IAA was applied at 15 days after emergence stage. Seed filling duration, seed weight and number of nodules per plant were not significantly affected by growth stages.
Cane yield and Recovery Percentage of sugar cane varieties were affected due to various irrigatio... more Cane yield and Recovery Percentage of sugar cane varieties were affected due to various irrigation frequencies. Variety COL-75 showed outstanding performance for cane yield under normal weekly irrigation in plant/ratoon stages, followed by Bannu-1 and Naurang-98 under same irrigation regime. The highest recovery percentage was noted for varieties Naurang-98 and Bannu-1 under weekly irrigation. Hence COL-75 was found with higher cane yield potential followed by Bannu-1 and Naurang-98 for cane yield and recovery percentage under normal weekly irrigation and different irrigation intervals in Bannu Division.
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