Ali Ahmadzadeh

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We present a path planning algorithm for timecritical cooperative surveillance using a set of unmanned aerial platforms. The unique constraints imposed by maneuver limits and body-fixed cameras make the problem quite challenging. An Integer Programming(IP)-based strategy for successfully operating within these constraints is developed. IP is applied over a(More)
OBJECTIVE Nephropatic Cystinosis (NC) is a rare metabolic disorder due to mutation in the CTNS gene in which more than 90 different mutations have already been reported so far. This study was performed to investigate mutations of the CTNS gene and its promoter in a number of Iranian patients with NC. METHODS Polymerase chain reaction and direct sequencing(More)
Recent developments of autonomous unmanned vehicles and sensor technology have motivated extensive applications in mobile surveillance. In the DARPA sponsored MARS2020 project, the University of Pennsylvania GRASP Lab has developed and experimentally demonstrated a variety of air to ground coordination concepts using fixed-wing autonomous air vehicle to(More)
In this paper, we propose a path planning method for nonholonomic multi-vehicle system in presence of moving obstacles. The objective is to find multiple fixed length paths for multiple vehicles with the following properties: (i) bounded curvature (ii) obstacle avoidant (iii) collision free. Our approach is based on polygonal approximation of a continuous(More)
Background: Urinary Tract Infections (UTI) may be a variety of presentation of underlying urinary tract abnormalities including vesicoureteral reflex (VUR), obstructive uropathy, urolithiasis, and ureteral duplication. The long-term complications of UTI with these conditions are renal scarring, hypertension, and chronic renal failure. Objective: The aim of(More)
OBJECTIVE To estimate the frequency of acquired ADAMTS13 deficiency in severe cases of Hemiscorpius lepturus stung patients and the frequency of acute kidney injury (AKI) in these patients. METHODS Sixty scorpion stung children who were referred with severe hemolysis and hemoglobinuria were studied. None of them had received blood products and no one had(More)
The use of autonomous air vehicles equipped with cameras for surveillance is a natural but challenging application of robotic technology. Unlike ground robots, aerial platforms have many more operating constraints and their dynamic response typically dictates the nature of their role in such an application. While rotary-winged platforms enable more diverse(More)
PURPOSE In this study, the relationship between glomerular and tubular function and creatinine, glomerular filtration rate (GFR) and urine NAG in thalassemia major patients aged 7-16 years was investigated. DESIGN AND SETTING This is a case-control study comprising 280 individuals [144 (51·4%), males; 136 (48·6%), females]. MATERIALS AND METHODS(More)
Hypercalciuria may present with dysuria, urinary incontinence and nocturnal enuresis (NE). To determine the frequency of hypercalciuria in NE patients and normally continent children, we studied 122 consecutive pre- school children with NE referred to our nephrology clinic during two years, from September 2007 to August 2009. We measured the 24- hour(More)
To evaluate the prevalence of renal tubular dysfunction in children with β-thalassemia (β-T) major, we studied the glomerular and tubular function in 140 children with β-T major and compared them to a healthy control group at our center from May 2007 to April 2008. Fresh first morning samples were collected from each patient and analyzed for sodium,(More)