This paper proposes a novel robust orientation estimator to enhance the accuracy and robustness of estimation for inertial–magnetic sensors small consumer–grade drones. The proposed utilizes trust–region strategy within nonlinear optimization framework, transforming fusion problem into based on maximum likelihood principle. employs Dogleg gradient descent optimize precision incorporates Huber k...

Background: Psoriasis vulgaris is a common chronic and inflammatory disease of skin that its etiology is not completely known. However, it seems that genetic and environmental factors play a role in this disease. In vitro studies show that prolactin as a neurohormone has an etiologic effect on psoriasis. This study aimed to compare serum prolactin levels in psoriatic patients with control group...

We present in this paper a new approach to the three or four layer channel routing problem. Since two layer channel routing has been well studied, there are several two layer routers which can produce optimal or near optimal solution for almost all the practical problems. We develop a general technique which transforms a two layer routing solution systematically into a three layer routing solut...

In recent years, the UAV’s are increasingly becoming main part of both military and commercial operations, where accurate pose estimation is considered as a critical problem to be investigated. UAV pose estimation problem can be investigated through vision based navigation (VBN) approach where visual sensors are augmented with the traditional IMU unit. VBN is based on localizing set of features...

drought is a normal, recurring feature of climate phenomena; it may occur virtually in all climatic regions. the effects of drought accumulate slowly and its impacts are spread over a larger geographical area than other natural hazards. drought is a natural hazard originating from a deficiency of precipitation that result in a water shortage for some activities or some groups and is often assoc...

the present study examined year-to-year variations in areas affected by drought during a period of 39 water yearsin iran. ninety-five meteorological stations were chosen to provide near-continuous long-term records, althoughsome data was missing (less than 10%). the missing data points were estimated using a linear correlation methodbetween the reference station with the missing data points and...

the aim of this study was to investigate c-reactive protein (crp) level in preeclampsia (pe) and its association with the severity of the disease. this cross-sectional study included 43 women with mild pe, 43 women with severe pe, and 43 healthy pregnant. they were selected in the third trimester of pregnancy in the afzalipour hospital, kerman, iran, from march 2006 to march 2007. mean diastoli...

statement of problem: snoring is the most common sleep disorder which in itself may only be viewed as an obnoxious disturbance in human society; however it must be considered a potential indicator of significant medical problems such as: hypertension, obstructive sleep apnea, cerebrovascular infarction and ischemic heart disease. purpose: the purpose of this study was to evaluate the effectiven...

premenstrual syndrome is a common disorder experienced by up to 50% of women during reproductive age. the prevalence of severe form of pms (pmdd) is 3% to 8 %. psychiatric disorders in pms patients have resulted in significant morbidity and in some cases caused resistance to the treatment process.390 participants (264 with pms/pmdd, and 126 healthy students of university of guilan) who complete...

conclusions the seatbelt wearing rate among the study participants was much lower than the 90% rate reported among iranian drivers in 2010. mandating seatbelt use, as in most countries, will be more effective if a combination of factors such as changes in vehicle design, road safety, and driver and passenger behavior are taken into account. background seatbelts are a relatively low-cost safety ...