A Generalized Laser Simulator Algorithm for Mobile Robot Path Planning with Obstacle Avoidance.

This paper aims to develop a new mobile robot path planning algorithm, called generalized laser simulator (GLS), for navigating autonomously mobile robots in the presence of static and dynamic obstacles. This algorithm enables a mobile robot to identify a feasible path while finding the target and avoiding obstacles while moving in complex regions. An optimal path between the start and target point is found by forming a wave of points in all directions towards the target position considering target minimum and border maximum distance principles. The algorithm will select the minimum path from the candidate points to target while avoiding obstacles. The obstacle borders are regarded as the environment's borders for static obstacle avoidance. However, once dynamic obstacles appear in front of the GLS waves, the system detects them as new dynamic obstacle borders. Several experiments were carried out to validate the effectiveness and practicality of the GLS algorithm, including path-planning experiments in the presence of obstacles in a complex dynamic environment. The findings indicate that the robot could successfully find the correct path while avoiding obstacles. The proposed method is compared to other popular methods in terms of speed and path length in both real and simulated environments. According to the results, the GLS algorithm outperformed the original laser simulator (LS) method in path and success rate. With application of the all-direction border scan, it outperforms the A-star (A*) and PRM algorithms and provides safer and shorter paths. Furthermore, the path planning approach was validated for local planning in simulation and real-world tests, in which the proposed method produced the best path compared to the original LS algorithm.

Correlates of human papillomavirus vaccine knowledge and acceptability among medical and allied health students in Northern Nigeria.

Prior to its planned introduction, we investigated predictors of baseline knowledge and acceptability of HPV vaccination among medical and allied health care students in Kano, northern Nigeria. A total of 410 medical, dental and allied health students completed structured validated questionnaires. Knowledge scores and acceptability of HPV vaccine were determined and adjusted odds ratios (AOR) for predictors of HPV knowledge and acceptability were derived from multivariate logistic regression models. Overall, 3.7% (n = 15), 30.7% (n = 126) and 65.6% (n = 269) of respondents had good, moderate, and poor knowledge of HPV, respectively. The majority 334 (81.5%) were willing to accept the HPV vaccine, but only 18 (4.4%) had received at least one dose of the vaccine. Knowledge of HPV was better among females, younger (<20 years) medical students, students at higher levels of study, sexually experienced students, and condom users. HPV vaccine acceptance was higher among female students in the faculty of allied health with a family history of cervical cancer and good or moderate knowledge of HPV. In conclusion, most students were willing to receive HPV vaccination, despite their sub-optimal level of knowledge and low vaccine uptake. We recommend piloting the HPV vaccine in health colleges and recruiting early adopters as peer educators and advocates.IMPACT STATEMENTWhat is already known on this subject? Human Papilloma Virus (HPV) vaccine has been introduced in over 80 countries in the past decade, but evidence suggests low awareness of HPV infection and the vaccine, especially in developing countries. Nigeria proposes to introduce the HPV vaccine as part of the routine immunisation program in early 2021.What do the results of this study add? The majority of medical and allied health students in Kano, Nigeria, were willing to receive HPV vaccination, despite their sub-optimal level of knowledge and low vaccine uptake. Vaccine acceptance was predicted by the respondent's sex, course of study, family history of cervical cancer and knowledge of HPV.What are the implications of these findings for clinical practice and/or further research? The findings could inform program implementation and evaluation as HPV vaccine uptake is scaled up across Africa.

Assessment of Knowledge, Attitude and Experience of Sexual Violence among Female Employees in Sokoto Metropolis, Northwest Nigeria.

This descriptive cross-sectional study was carried out to determine the knowledge, attitude and experiences of sexual violence among female employees in Sokoto metropolis. Multistage sampling technique was used to select 191 participants and a set of pre-tested structured questionnaire was used to obtain data from the participants. Data was analysed using IBM SPSS version 20. The mean age of the respondents was 28.9years ±6 with 102(53%) of them aged between 20-30 years. Up to 112(63.6%) of them were unmarried, 127(73%) were Muslims and 96(54.5%) in the upper socio-economic class (SEC). About 50% of respondents in both formal and informal settings had good knowledge of sexual violence and up to 36% and 64% of respondents in the formal and informal settings respectively have positive attitude towards sexual violence (SV). Overall prevalence of SV in the workplace was 63.8% (N=113) and significant predictors of SV in the work place include tribe (p=0.006), work setting (p=0.02) and society's perception of SV (P <0.001). Respondents in this study showed high levels of awareness and knowledge regarding SV in the workplace. The study revealed a high prevalence of SV in the workplace especially among females in formal settings with several factors including, perception of the society on sexual violence and working in the formal sector were found to have influenced respondents' experience of SV in the workplace. There is the need, therefore for the government and relevant stake holders to put in place measures to curb SV in the workplace and protect victims of such practices with relevant legislations.

The challenges of addressing the cholera outbreak in Cameroon.

Cholera is an enteric disease caused by the ingestion of food or water contaminated by the toxins of the bacteria - Vibrio Cholerae. Its transmission is exacerbated by poor sanitary conditions and poor hygiene practices. Affected individuals may present with severe symptoms such as watery diarrhoea and vomiting that can lead to death within few hours. Cameroon is experiencing its worst cholera outbreak in decades. The outbreak is severest in the South-West and the Littoral regions. As of the time of writing, in six regions of the country, 6652 suspected cases of cholera including 134 deaths (CFR 2%) have been reported and the number is rising. Shortage of safe drinking water and contamination of rivers has exacerbated the outbreak, especially in the rural and hard to reach communities. The trans-border movement at the South-West region, defecation in the open and on rivers, and overcrowding at the Littoral region have been particularly challenging towards curbing the outbreak. Despite the challenges, Cameroon's health authorities have been working to bring the situation under control by engaging in community sensitization on good hygiene habits, disinfection of houses and vaccination campaigns. In the light of these, it is recommended that Cameroon should improve and strengthen its vaccination campaign across the country. Adequate health systems should be established at the point of entry to prevent cross-border cholera transmission and retransmission. Access to hard to reach communities should be improved so that vaccines and basic health care and sanitation services such as provision of safe drinking water can be provided.