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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)
— We present a path planning algorithm for time-critical 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(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)
Recent developments of autonomous unmanned vehicles and sensor systems allow automated approaches to surveillance with minimal human supervision or intervention. Indeed as the number of vehicles increases it becomes increasingly difficult and even impossible for direct human supervision. Our work addresses the generation of team flight plans and controllers(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)
— We present a path planning algorithm for cooperative surveillance using a set of heterogeneous unmanned vehicles. The paper describes our overall framework and algorithm for the computation of trajectories that maximize spatio-temporal coverage while satisfying hard constraints such as collision avoidance and specifications on initial and final positions.(More)
— We provide a system-theoretic analysis of the mathematical model of lactose induction in E.coli which predicts the level of lactose induction into the cell for specified values of external lactose. Depending on the levels of external lactose and other parameters, the Lac operon is known to have a low steady state in which it is said to be turned off and(More)
Hydronephrosis is the most common abnormal finding in the urinary tract on prenatal screening with ultrasonography (U/S). Hydronephrosis may be obstructive or non-obstructive; obstructive lesions are more harmful to the developing kidneys. The aim of the study was to evaluate the causes of renal pelvic dilatation and the outcome of postnatal treatment in(More)