\r\n\tThus, we call for research and review papers on the chemistry and physics of dyes, pigments, and their intermediates, including chemical constituents, spectroscopic aspects, surface, solution, crystal formation, photochemical, and ecological or biological properties. The book will be of interest to a wide variety of researchers worldwide whose work involves various fields of activity such as dyes and pigment synthesis, imaging, sensor, energy, medicine, polymers, food product, toxicological properties, etc.
",isbn:"978-1-83768-114-3",printIsbn:"978-1-83768-113-6",pdfIsbn:"978-1-83768-115-0",doi:null,price:0,priceEur:0,priceUsd:0,slug:null,numberOfPages:0,isOpenForSubmission:!0,isSalesforceBook:!1,isNomenclature:!1,hash:"fcd069956c2e931195925b19a74ce9a3",bookSignature:"Dr. Brajesh Kumar",publishedDate:null,coverURL:"https://cdn.intechopen.com/books/images_new/12081.jpg",keywords:"Heterocycles Pigments, Azo, Nitro, Indigo, Alizarin, Chromophores, Chromophores, Photochemical, Sulphonation, Diazotisation, UV-Vis Spectroscopy, Metal-Ligand",numberOfDownloads:null,numberOfWosCitations:0,numberOfCrossrefCitations:null,numberOfDimensionsCitations:null,numberOfTotalCitations:null,isAvailableForWebshopOrdering:!0,dateEndFirstStepPublish:"May 19th 2022",dateEndSecondStepPublish:"June 16th 2022",dateEndThirdStepPublish:"August 15th 2022",dateEndFourthStepPublish:"November 3rd 2022",dateEndFifthStepPublish:"January 2nd 2023",dateConfirmationOfParticipation:null,remainingDaysToSecondStep:"19 days",secondStepPassed:!0,areRegistrationsClosed:!1,currentStepOfPublishingProcess:3,editedByType:null,kuFlag:!1,biosketch:"Dr. Brajesh Kumar has worked as a faculty member in various universities in India, Ecuador, and South Korea. He has published numerous SCI/SCIE/Scopus research articles and is an active reviewer of more than 50 Journals. Dr. Kumar is a member of the American Chemical Society, the Indian Society of Chemists and Biologists, and the Indian Science Congress Association and holder of two registered patents. He is included in the top 2% of the scientist list prepared by experts at Stanford University,",coeditorOneBiosketch:null,coeditorTwoBiosketch:null,coeditorThreeBiosketch:null,coeditorFourBiosketch:null,coeditorFiveBiosketch:null,editors:[{id:"176093",title:"Dr.",name:"Brajesh",middleName:null,surname:"Kumar",slug:"brajesh-kumar",fullName:"Brajesh Kumar",profilePictureURL:"https://mts.intechopen.com/storage/users/176093/images/system/176093.JPG",biography:"Dr. Brajesh Kumar is currently working as an Assistant Professor and Head in the Post Graduate Department of Chemistry, TATA College, Chaibasa, India. He received a Ph.D. in Chemistry from the University of Delhi, India. His research interest is in the development of sustainable and eco-friendly techniques for (a) nanoparticles synthesis and their applications for environmental remediation, (b) active films of organic solar cells, (c) nanomedicine, (d) sensors, (e) natural product extraction, purification, and analysis,(f) natural polymers, (g) peptide chemistry, (h) microwave and ultrasound-assisted organic synthesis and (i) organic synthesis. Dr. Brajesh Kumar has been credited for different national and international fellowships and he has also worked as a faculty member in various universities of India, Ecuador, and South Korea. He has also published numerous SCI/ SCIE/ Scopus research articles (h index = 28, Citations 2690) and is also an active reviewer of more than 50 Journals. 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1. Introduction
Ruminants, cloven-hoofed mammals of the order Artiodactyla, obtain their food by browsing or grazing, subsisting on plant material (Hungate, 1966). Today, 193 species of living ruminants exist in 6 families: Antilocapridae, Bovidae, Cervidae, Giraffidae, Moschidae and Tragulidae (Nowak, 1999). The number of wild ruminants is about 75 million and of domesticated about 3.6 billion (Hackmann and Spain, 2010). Approximately 95% of the population of domesticated ruminants constitute species: cattle, sheep and goats, all of them belong to the Bovidae family. Cattle and sheep are the two most numerous species and cattle is of the most economic importance. The economic value of milk and beef production in the EU is almost 125 billion Euro per year and accounts for 40% of total agricultural production (FAIP, 2003). The dairy cows is unique among all other mammalian species because of the intense artificial transgenerational genetic selection for milk production during the last 50 yr, so that annual averages of more than 12,500 kg/cow of milk per lactation are not uncommon (Eastridge, 2006). The selection has increased their peak energy yield by about 250% (20 Mcal × d-1 observed vs. 7.76 Mcal × d-1 expected) (Hackmann and Spain, 2010). Genetic improvement is accompanied by increasing metabolic demands for energy. The efficient use of energy of the feed resources is the main reason for the numerous and multilateral studies on carbohydrates digestion processes in cattle.
2. Digestive tract
Ruminants digestive system is characterized by functional and anatomical adaptations that allowed them to unlock otherwise unavailable food energy in fibrous plant material, mainly in cellulose and others recalcitrant carbohydrates (Van Soest, 1994). This property gives them an advantage over nonruminants. An important characteristic of ruminants digestive system is the occurrence of the microbial fermentation prior to the gastric and intestinal digestion activity. Their unique digestive system integrates a large microbial population with the animal’s own system in the symbiotic relationship. The microbial fermentation occurs mainly in the rumen, the first chamber of the four-compartment stomach, which consists also of the reticulum and omasum (act as filters), and the abomasum (the true enzymatic stomach).
3. Rumen function
The feedstuffs consumed by ruminants are all initially exposed to the fermentative activity in the rumen, the place of more or less complete microbial fermentation of dietary components. Ruminal fermentation initially results in the degradation of carbohydrates and protein to short-term intermediates such as sugars and amino acids. The products of this initial degradation are readily metabolized to microbial mass and carbon dioxide, methane, ammonia and volatile fatty acids (VFA): primarily acetate, propionate and butyrate and to a lesser degree branched chain VFA and occasionally lactate. The rate and extent of fermentation are important parameters that determine protein, vitamins, and short-chain organic acids supply to the animal (Koenig et al., 2003; Hall, 2003). The host ruminant animal absorbs VFA (mostly through the rumen wall) and digests proteins, lipids, and carbohydrate constituents of microbes and feed residues entering the small intestine to supply its maintenance needs and for the production of meat and milk. Ruminant animals derive about 70% of their metabolic energy from microbial fermentation of feed particles and microbial protein accounts for as much as 90% of the amino acids reaching the small intestine (Nocek and Russell, 1988; Bergman, 1990).
The rumen has a complex environment composed of microbes, feed at various stages of digestion, gases, and rumen fluid. Rumen microorganisms usually adhere to feed particles and form biofilms to degrades plant material. The efficiency of ruminants to utilize of feeds is due to highly diversified rumen microbial ecosystem consisting of bacteria (1010–1011 cells/ml, more than 50 genera), ciliate protozoa (104–106/ml, 25 genera), anaerobic fungi (103–105 zoospores/ml, 5 genera) and bacteriophages (108–109/ml) (Hobson, 1989). The synergism and antagonism among the different groups of microbes is so diverse and complicated that it is difficult to quantify the role played by any particular group of microbes present in the rumen (Kamra, 2005). Bacterial numbers in the rumen are the highest and bacteria play a dominant role in all facets of ruminal fermentation. They are adopted to live at acidities between pH 5.5 and 7.0, in the absence of oxygen, at the temperature of 39-40oC, in the presence of moderate concentration of fermentation products, and at the expense of the ingesta provided by ruminant (Hungate, 1966). Rumen digesta volume accounts for 8-14% of body weight of cows and is characterized by dry matter content about 15% (Dado and Allen, 1995; Reynolds et al., 2004; Kamra, 2005).
4. Techniques for estimating rumen digestibility
The rumen digestibility of feeds can be estimated by biological methods. The “basic model” which gives the value utilized for defining the nutritive value of a feed is the in vivo digestibility, which represents the entire process occurring in the gastro-intestinal tract. In vitro methods which simulate the digestion process, have being less expensive and less time-consuming, and they allow to maintain experimental conditions more precisely than do in vivo trials. Three major in vitro digestion techniques currently available to determine the nutritive value of ruminant feeds are: digestion with rumen microorganisms (Tilley and Terry, 1963; Menke et al., 1979), digestion with enzymes (De Boever et al., 1986), and in situ the nylon bag technique (Mehrez and Ørskov, 1977). The nylon bag technique (in sacco) has been used for many years to provide estimates of both the rate and the extent of disappearance of feed constituents. Those characteristics are measured by placing feedstuffs in fabric bag and then incubating the bag by certain time intervals in the rumen of animal. However, the single technique does not provide accurate estimation of in vivo digestion. Judkins et al. (1990) compared 11 techniques for estimating diet dry matter digestibility across six different diets in experiment with rams. Authors found, that the rumen digestibility of feeds nutrients was influenced by diets composition, feeding conditions and physiological status of animals. It therefore seems appropriate that the developments and use of various modification of mentioned experimental techniques have enabled much progress in rumen studies.
5. Carbohydrates classification in ruminants feeds
Carbohydrates constitute the highest proportion of diets and are important for meeting the energy needs of animals and of rumen microbes, and are important for maintaining the health of the gastrointestinal tract. Typically, carbohydrates make up 70 to 80% of the diets fed to dairy cattle and are composed of mixture of numerous monomers and polymers (Nocek and Russell, 1988). The carbohydrates fraction of feeds are defined according the chemical or enzymatic methods used for their analysis and availability to the ruminants. Broadly, carbohydrates are classified as nonstructural that are found inside the cells of plants or structural that are found in plant cell walls, but these fractions are not chemically uniform (Van Soest et al., 1991).
Fraction of nonstructural carbohydrates (NSC) includes organic acid, mono- di- and oligosaccharides, starches, and other reserve carbohydrates. Total NSC includes pectin is referred as nonfibrous carbohydrates (NFC), calculated as 100−(CP+ether extract+ash+NDF) (Mertens, 1992). NFC are the highly digestible and are the major source of energy for high producing cattle. Fraction of structural carbohydrates is characterized by neutral detergent fiber (NDF) and acid detergent fiber (ADF) contents. NDF includes the crosslinked matrix of the plant cell wall with cellulose, hemicellulose, and lignin as the major components and ADF does not include hemicelluloses (Van Soest, 1963). NDF, ADF, and cellulose content are measured according to methods described by Van Soest et al. (1991). The content of hemicellulose was calculated as NDF – ADF (Mertens, 1992).
Fractions of carbohydrates described above are subdivided by chemical composition, physical characteristics, ruminal degradation, and postruminal digestibility characteristics, because of these factors, various modifications of the analytical methods have been proposed (Hall et al., 1999; Nie et al., 2009).
6. Degradation and utilization of carbohydrates by rumen microbial ecosystem
Dietary carbohydrates are the main rumen microbial fermentation substrates. Microbial yields are related primarily to the growth rate that carbohydrate permits. The individual carbohydrates characterized by faster rumen degradation rates result in greater microbial yield (Hall and Herejk, 2001). The enzyme systems produced by microorganisms for carbohydrates hydrolysis are complex; they usually comprise hydrolases from several families, and there may be multiple enzymes hydrolysing each polysaccharide. Nearly all carbohydrate digestion occurs (>90%) within the rumen, but under certain circumstances (e.g., high rate of passage), a significant amount of carbohydrate digestion can occur in the small and large intestine.
7. Nonfibrous carbohydrates
Nonfiber carbohydrates may provide 30 to 45% of the diet on a dry matter basis (Hall et al., 2010). The NFC fraction is considered a source of readily available energy for microbial growth (Ariza et al., 2001).
7.1. Mono- di- and oligosaccharides
The concentration of monosaccharides, glucose and fructose was estimated from 1% to 3% (in grasses and herbage) and of sucrose from 2% to 8% (Smith, 1973). Sucrose formed from -D-glucose and -d-fructose linked by 1, 2 glycosidic linkage is digested by enzyme sucrose phosphorylase (EC 2.4.1.7, according to the IUB-MB enzyme nomenclature; Stan-Glasek et al., 2010). Maltose formed from two units of glucose joined with an α(1→4) bond is digested by enzyme α–glucosidase (EC 3.2.1.20). Oligosaccharides concentration in the different plants ranges between 0.3% and 6% and represent a wide diversity of biomolecules (including stachyose and raffinose), they are chains of monosaccharides that are two to approximately 20 units long. The enzymes belonging to the group of polysaccharide hydrolases (EC 3.2.1.-) which hydrolyse the glycosidic bond between two or more carbohydrates utilize oligosaccharides (Courtois, 2009).
Mono-and disaccharidesare rapidly fermented within the rumen to yield VFA. The rate of glucose fermentation after glucose dosing varied from 422 to 738% h−1 and the rate of fermentation of monosaccharides originating from disaccharide hydrolysis was 300 to 700% h−1(Wejsberg et al., 1998).
Ruminal bacteria that ferment sucrose include Streptococcus bovis, Lachnospira multiparus, Lactobacillus ruminis, Lactobacillus vitulinis, Clostridium longisporum, Eubacterium cellulosolvens, and some strains of Eubacterium ruminantium, Butyrivibrio fibrisolvens, Ruminococcus albus, Ruminococcus flavefaciens, Megaspaera elsdenii, Prevotella spp., Selenomonas ruminantium, Pseudobutyrivibrio ruminis strain A and Succinivibrio dextrinosolvens (Stewart et al., 1997, Martin and Russell, 1987, Stan-Glasek et al., 2010). Maltose utilize Ruminobacter amylophilus) and oligosaccharides Actinomyces ruminicola as a sources of energy (Anderson, 1995; An et al., 2006).
7.2. Pectic substances
Pectic substances are a group of galacturonan polymers with neutral sugars (largely arabinose and galactose) substitutions (Jung, 1997). Pectic substances are found in the middle lamella and other cell wall layers (Van Soest, 1994). The most important pectinolytic activity represents pectin lyase (EC 4.2.2.10) (Wojciechowicz, 1982).
Grasses contain from 3 to 4% of pectin in the dry matter, leguminous plants from 5 to 12%, and sugar beet pulp 25% (Aspinall, 1970; Van Soest, 1983; Cassida et al., 2007). The utilization of pectin varied from 79.4 to 95.9% (Marounek and Duškovă, 1999). Most of pectin degrades at a rate of 13% h-1 (Hall et al., 1998).
Starch is a complex of two structurally distinct polymers: amylose and amylopectin (Chesson, 1997). Amylose is chemically composed of -1,4- linked polymers of glucose. It is degraded by -amylases (EC 3.2.1.1), which releases oligosaccharides maltodextrins, and - amylases (EC 3.2.1.2), which remove maltose units. Amylopectin is a highly branched molecule of -1,4- linked polymers of glucose joined 1,6 at intervals along the backbone moleculr. Amylopectin is degraded to maltose by -amylases action (in 50%), glucanohydrolases (EC 3.2.1.3 and EC 3.2.1.41) and isoamylase (EC 3.2.1.68). Maltose and maltodextrins are degraded to glucose by -glucosidase (EC 3.2.1.20) (Hobson, 1989). Starch can be degraded by ruminal microbial enzymes as well as enzymes in the small intestine of the ruminats.
Of the nonfibrous fraction, starches are the highest proportion in the diet, and cereal grains is the major source of starch in ruminants diet. The cereal grains differ in their starch content, with wheat containing (on dry matter basis) 77% starch, corn 72%, and barley and oats 57 to 58% (Huntington, 1997). Differences exist among cereal grains in their extents and rates of ruminal starch degradation. In the rumen has been digested from 55 to 70% of corn starch, 80 to 90% of barley and wheat starch, and 92 to 94% of oats starch (Huntington, 1997). The degradation rates is estimated from 4.0 to 6.4% h-1 for corn starch and from 14.7 to 24.5% h-1 for barley starch (Herrera-Saldana et al., 1990; Tamminga et al., 1990). On average, 5 to 20% of starch consumed is digested postruminally, mainly in the small intestine (from 45 to 85% of starch entering the duodenum), this capacity is limited by the supply of pancreatic amylase (Hunhington, 1997).
The bacteria Ruminobacter amylophilus, Prevotela ruminicola, Streptococcus bovis, Succinimonas amylolytica and many strains of Selenomonas ruminantium, Butyrivibrio fibrisolvens, Eubacterium ruminantium and Clostridium ssp., all of the entodiniomorph protozoa and the chytrid fungi are amylolitic (Chesson, 1997). The high-starch concentrate diets favor the development of propionate producing bacteria species (Ørskov, 1986; France and Dijkstra, 2005). The fermentation of starch in the rumen depending on factors such as structure (amylose/amylopectin ratio), plant source, mechanical alterations (grain processing, chewing), diet composition, amount of feed consumed per unit time and degree of adaptation of ruminal microbiota to the diet (Piva and Masoero, 1996, Huntington, 1997; Eastridge, 2006).
8. Structural carbohydrates
Structural carbohydrates is less digestible than NFC and is negatively correlated with energy concentration in the diet for ruminants, but is important for rumination, saliva flow, ruminal buffering, and health of the rumen wall, however, high dietary concentrations can limit dry matter intake by increased rumen fill. The retention time of plant fiber in the rumen is sufficiently long (48 h or more in some species) to allow the growth of a fibrolytic microbial population whose extensive fiber utilization contributes a major portion of the energy for the animal (Van Soest, 1994). The cellulose fibers are embedded in a matrix of other structural biopolymers, primarily hemicelluloses and lignin (Lynd, 1999; Marchessault and Sundararajan, 1993; Van Soest, 1994). The high-fibre forage diets encourage the grown of acetate producing bacterial species, the acetate : propionate : butyrate molar proportion would typically be in region 70:20:10 (France and Dijkstra, 2005). Fiber digestion may be reduced due to decreased rumen pH (the fiber digesters are most active at a pH of 6.2 to 6.8), and the availability of surface area for colonization (Sutton et al., 1987; Chesson and Forsberg, 1997). Fungi plays an active and positive role in fiber degradation (Williams and Orpin, 1987).
8.1. Cellulose
Cellulose content is in the range from 35 to 50% of plant dry weight (Lynd et al., 1999). It is chemically composed of a homogenous polymers of β-1,4-D-glucose linked through β-1,4-glycosidic bonds. Native cellulose exists as fibrils which are composed of amorphous and crystalline regions formed from cellulose chains, each of them contains between 500 and 14,000 b-1,4D-glucose units (Bazooyar et al., 1012). The digestion of cellulose necessitates a combination of many classes of cellulases. The digestion process including activity of endoglucanases (EC 3.2.1.4), that cut randomly at internal amorphous sites in the cellulose chain; exoglucanases (cellodextrinases EC 3.2.1.74 and cellobiohydrolases EC 3.2.1.91), that act processively on the reducing or non-reducing ends of cellulose chains, releasing either cellobiose or glucose as major products; and glucosidases (EC 3.2.1.21) that hydrolyze soluble cellodextrins and cellobiose to glucose (Lynd et al., 2002).
Fibrobacter succinogenes, Ruminococcus flavefaciens and R. albus are considered to be the predominant cellulolytic bacteria present in the rumens, these species gain selective advantage in the rumen is by optimizing two catabolic activities: cellulose hydrolysis (depolymerization) and efficient utilization of the hydrolytic products (cellodextrins) (Weimer, 1996; Koike and Kobayashi, 2001). F. succinogenes has a potent ability to solubilize crystalline chains of cellulose (Halliwell and Bryant, 1963; Shinkai and Kobayashi, 2007). F. succinogenes produces primarily succinate (a propionate precursor), and lesser amounts of acetate, R. flavefaciens produces primarily acetate and lesser amounts of succinate converts to propionate by Selenomonas ruminantium (Weimer at al., 1999).
The predominant ruminal cellulolytic species digest cellulose at rate approximately from 5 to 10% h-1, however, the extent to which native cellulose is utilizes by ruminal microorganisms is limiting by the cellulose association with lignin (Weimer, 1996; Chesson, 1993). Cellulose degradability of forages varies from 25 to 90% (Pigden and Heaney, 1969).
8.2. Hemicelluloses
Hemicellulose concentration varies from 6 to 22% (on dry matter basis) in leaves of grasses and herbs (Schädel at al., 2010). Hemicelluloses are composed of complex heteropolymers that vary considerably in primary composition, substitution and degree of branching, and can be grouped into four classes: xylans, xyloglucans, mannans and mixedlinkage β-glucans (Ebringerova et al., 2005).
Bacteroides (Fibrobacter) succinogenes, Ruminococcus albus, and Ruminococcus flavefaciens and same strains of Butyrivibrio fibrisolvens and Bacteroides ruminicola are considered to be the organisms responsible for most of the degradation of hemicelluloses (Hespell, 1988). Rumen degradation of hemicelluloses varies from 16 to 90%, depending on their composition (Pigden and Heaney, 1969; Coen and Dehority, 1970).
8.3. Lignin
Lignin, a complex phenolic polymer, is indigestible by rumen microbes, but their concentration limits digestibility of structural carbohydrates (Van Soest, 1994). The main reason for reduction of accessibility for the hydrolases secreted by ruminal microbes is the presence of strong covalent bonds between lignin and the cell wall polysaccharides (Chesson, 1993).
9. Interactions between energy and protein metabolism in rumen
Manipulation of rumen fermentation through proper diet formulation changes microbial population in a way that improved efficiency of microbial protein synthesis. A major factor in maximizing microbial protein synthesis is the ruminally available energy and N in the diet. There are many interactions of dietary conditions on bacterial populations and on protein and carbohydrates digestion in rumen. For instance: microbial fermentation releases organic acids that readily dissociate to decrease pH that influence on the microbial ecosystem and determining the selective growth of certain microbial species, and the types and quantities of fermentation products (Russell and Rychlik, 2001).
10. “Synchrony” hypothesis
The purpose of proper nutrition is “nutritional synchrony” refers to provision of dietary protein (N sources, true protein) and energy (ruminally fermented carbohydrates) to the rumen in such a manner that they are available simultaneously in proportions needed by the ruminal microorganisms (Hall and Weimer, 2007). Synchronous nutrient availability should allow more efficient use of nutrients, thus enhancing production of microbial products, increasing nutrient supply to the animal, and potentially improving animal production performance (Sinclair et al., 1993; Hall and Huntington, 2008).
10.1. Production efficiency
A number of studies have been conducted to evaluate the effects of “nutritional synchrony” conception on production efficiency, but the results are not consistently. There are many results which confirm increase in the yield of microbial protein when highly degradable carbohydrates were synchronized with rapidly degraded protein (Kovler et al., 1998; Charbonneau et al., 2006). Result from the in sacco study confirms that the better synchronization also affects degradation rate of diet components (Niwinska, 2009; Niwińska and Andrzejewski, 2011). However, nutrient synchrony has generally not resulted in improved animal performance (Yang et al., 2010). The fundamental reason is the following: ruminants animal have the ability to recycle N from blood and saliva to the gastrointestinal tract during periods of dietary protein deficiency or during periods of asynchronous carbohydrate and protein supply. Hall and Huntington (2008) suggested that for the optimal use of “nutritional synchrony” conception we may need to look at the whole animal, not just the rumen, and that a term such as the optimal balance may be more appropriate when considering the complexity of the ruminant animal.
10.2. Product composition
Volatile fatty acids, produced in the rumen, can have a major effect on fat composition of ruminant products. Results of studies with animal models, in tissue culture systems and in clinical research indicate that the functional health-related properties of milk and beef fat appear to be linked to the presence of rumenic acid and vaccenic acid (Parodi, 2005; Lee, 2008; Field et al., 2009). Milk fat provides 30% of fat consumed by humans and is the richest natural dietary source of those valuable fatty acids (Ritzenthaler et al., 2001). Research undertaken over the past decade has indicated, that concentration of those favorable fatty acids in milk fat may be controlled by the starch/fibre ratio in the diet of dairy cows (Niwińska et al., 2011).
10.3. Pollution emissions
An excessive supply of feed nutrients results in an increase in waste excreted to the environment. The pollutants produced by ruminants are nitrogen and methane, their production is dependent on carbohydrate composition of diet. Improved efficiency of microbial protein synthesis is considered as the most important target in reduction emissions of N, while synchronization of carbohydrate and protein supply in the rumen has been suggested as one possible solution to achieve this aim (Kaswari et al., 2007; Reynolds and Kristensen, 2008; Yang et al., 2010). The rumen microbial ecosystem produces methane as a result of anaerobic fermentation. Methane production results in losses of 5 to 12% of gross energy of diet and is estimated to be about 15% of total atmospheric methane emissions (Reid et al., 1980; Moss et al., 2000). The proper selection of carbohydrates in the ration, taking into account the structural and nonfibrous carbohydrates content, can reduce the formation of carbon dioxide, hydrogen and formate the major precursors of methane production in the rumen (Mitsumori and Sun, 2008).
11. Conclusion
The current data indicated, that the world production of dairy products is expected to grow 26% by 2020 and beef production worldwide grew by 30 million tons during 1965-2005 (OECD, 2011; FAO; 2006). The projected increase in cattle production directs our attention to the better utilization of feed resources. Understanding the effects of carbohydrates types and rumen microbial population shifts in response to nutrients contained in different feeds may be valuable to improve production efficiency, to modify the composition of the product and to minimize pollution emissions.
\n',keywords:null,chapterPDFUrl:"https://cdn.intechopen.com/pdfs/41118.pdf",chapterXML:"https://mts.intechopen.com/source/xml/41118.xml",downloadPdfUrl:"/chapter/pdf-download/41118",previewPdfUrl:"/chapter/pdf-preview/41118",totalDownloads:7484,totalViews:935,totalCrossrefCites:5,totalDimensionsCites:8,totalAltmetricsMentions:0,impactScore:2,impactScorePercentile:80,impactScoreQuartile:4,hasAltmetrics:0,dateSubmitted:"May 2nd 2012",dateReviewed:"July 13th 2012",datePrePublished:null,datePublished:"November 21st 2012",dateFinished:"November 20th 2012",readingETA:"0",abstract:null,reviewType:"peer-reviewed",bibtexUrl:"/chapter/bibtex/41118",risUrl:"/chapter/ris/41118",book:{id:"2323",slug:"carbohydrates-comprehensive-studies-on-glycobiology-and-glycotechnology"},signatures:"Barbara Niwińska",authors:[{id:"144439",title:"Associate Prof.",name:"Barbara",middleName:"Włdysława",surname:"Niwińska",fullName:"Barbara Niwińska",slug:"barbara-niwinska",email:"niwb@izoo.krakow.pl",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/144439/images/3038_n.jpg",institution:{name:"National Research Institute of Animal Production",institutionURL:null,country:{name:"Poland"}}}],sections:[{id:"sec_1",title:"1. Introduction",level:"1"},{id:"sec_2",title:"2. Digestive tract",level:"1"},{id:"sec_3",title:"3. Rumen function ",level:"1"},{id:"sec_4",title:"4. Techniques for estimating rumen digestibility",level:"1"},{id:"sec_5",title:"5. Carbohydrates classification in ruminants feeds",level:"1"},{id:"sec_6",title:"6. Degradation and utilization of carbohydrates by rumen microbial ecosystem ",level:"1"},{id:"sec_7",title:"7. Nonfibrous carbohydrates",level:"1"},{id:"sec_7_2",title:"7.1. Mono- di- and oligosaccharides ",level:"2"},{id:"sec_8_2",title:"7.2. Pectic substances ",level:"2"},{id:"sec_9_2",title:"7.3. Starch",level:"2"},{id:"sec_11",title:"8. Structural carbohydrates",level:"1"},{id:"sec_11_2",title:"8.1. Cellulose",level:"2"},{id:"sec_12_2",title:"8.2. Hemicelluloses",level:"2"},{id:"sec_13_2",title:"8.3. Lignin",level:"2"},{id:"sec_15",title:"9. Interactions between energy and protein metabolism in rumen",level:"1"},{id:"sec_16",title:"10. “Synchrony” hypothesis",level:"1"},{id:"sec_16_2",title:"10.1. Production efficiency ",level:"2"},{id:"sec_17_2",title:"10.2. Product composition ",level:"2"},{id:"sec_18_2",title:"10.3. Pollution emissions",level:"2"},{id:"sec_20",title:"11. Conclusion ",level:"1"}],chapterReferences:[{id:"B1",body:'AnD.CaiS.DongX.2006Actinomyces ruminicola sp. nov., isolated from cattle rumen. Int. J. Sys. Evol. Microbiol. 5620432048\n\t\t\t'},{id:"B2",body:'Anderson K.L.1995Biochemical analysis of starch degradation by Ruminobacter amylophilus 70. Appl. Environ. Microbiol., 6114881491\n\t\t\t'},{id:"B3",body:'ArizaP.BachA.SternM. D.HallM. B.2001Effects of carbohydrates from citrus pulp and hominy feed on microbial fermentation in continuous culture. J. Anim. Sci. 7927132718\n\t\t\t'},{id:"B4",body:'Aspinall G.O.1970Polysaccharides. Oxford: Pergamon Press.\n\t\t\t'},{id:"B5",body:'BaldwinR. L.AllisonM. 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\n\t\t\t
1. Introduction
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In contemporary society robots and manipulators are used in different spheres of life. Robot should be as autonomous as possible and should effectively operate in a natural environment.
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In the beginning of the robotic era, robots operated in a workspace which was free of obstacles. Later the works dedicated to the invention of algorithms for the control of robots in the presence of obstacles began to appear. There are algorithms which guarantee finding a trajectory in the presence of known obstacles, if such trajectory exists Canny, 1988, Collins, 1975, Donald, 1985. Some authors use the artificial potential methods (see, for example, Choset et al., 2005. In this method a robot is represented by a point, regions in the workspace that are to be avoided are modeled by repulsive potentials and the region to which the robot is to move is modeled by an attractive potential. In a general situation there is no guarantee that a collision-free path will always be found, if one exists Ahrikhencheikh & Sereig, 1994, Choset et al., 2005. There are different graph searching methods Choset et al., 2005, La Valle, 1999-2004 which find a trajectory avoiding obstacles (even an optimal one), if it exists. It is easier to use such methods in the case where we have full information about free and forbidden points before the beginning of the movement. A computer may then calculate a preliminary trajectory and after that the manipulator may execute this trajectory. But in case of unknown obstacles the manipulator has to investigate its environment and plan its trajectory alternately. Then the difficulty arises that the graph searching algorithms demand to carry out in a certain volume a breadth-first search, otherwise the reaching of the target point qT\n\t\t\t\t is not guaranteed Ilyin,1995. But during the breadth-first search the following situation often arises: suppose we have just finished considering the vertices adjacent to a vertex q and we have to consider vertices adjacent to a vertex q’ and the q and q’ are not adjacent. In order to consider vertices adjacent to the q’ the manipulator at first has to come to the q’. So we get a problem of the manipulator movement from q to q’. The necessity of searching and executing paths for multiple different q and q’ makes the total sum of the manipulator movements very big Ilyin,1995. In case we plan trajectory in known environment the computer simply switches its “attention” from q to q’, which are stored in the computer’s memory.
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It is possible to outline the following representatives of the breadth-first approach: they are namely breadth-first searching algorithm, A* algorithm, best-first heuristic search, lazy PRM, dynamic programming La Valle, 1999-2004. The methods based on randomized potential field, Ariadne’s Clew algorithm, rapidly-exploring random trees La Valle, 1999-2004 have such feature that new vertices are generated randomly and therefore using these methods for the unknown environment leads to the same difficulties. The approaches based on cell decomposition, visibility (bitangent) graphs, Voronoi diagrams Choset et al., 2005, La Valle, 1999-2004 are reduced to alternate graph building and searching a path on it and have the above mentioned disadvantage connected with multiple mechanical movements.
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In the algorithm presented in this article the vertices q and q’ are always neighbor vertices and it reduces the number of movements.
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For a solution of our problem it is possible to use the approach based on automatic theorem proving Timofeev,1978, but this approach demands to consider large amount of variants and directions of the search and therefore the application of such approach is not effective Yefimov, 1988.
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It is also known that the “depth-first” algorithms do not guarantee reaching of a goal Ilyin, 1995.
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There is common difficulty for the methods for trajectory planning in the presence of known obstacles: it is very difficult to borrow full information about workspace of manipulator in advance and to represent this information in a form suitable for trajectory planning. Considering our algorithm one may see that there is no need for the control system to have full information about workspace in advance, manipulator will borrow necessary information by itself in limited quantities and in terms of generalized coordinates which is suitable for trajectory planning.
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The attempts of creating algorithms for the robot control in presence of unknown obstacles were made. Most of them cover various two-dimensional cases Lumelsky, 2006.
In Lumelsky, 2006 an algorithm for the control of manipulators in the presence of unknown obstacles in three-dimensional space is given. Though this algorithm guarantees reaching of a target position it has such a limitation that the manipulator should not have more than three degrees of freedom.
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In Amosov et al., 1975, Kasatkin, 1979, Kussul & Fomenko, 1975 is described an application of semantic nets to the problem of robot control in unknown environment. The disadvantage of such approach is the preliminary teaching of the net, which simulates a planning system. The absence of formal algorithms for teaching makes impossible the teaching of a complex net, which should plan robot actions in an environment close to natural Ilyin, 1995.
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In Yegenoglu et al., 1988 the n-dimensional case is considered. The algorithm is based on the solution of the system of nonlinear equations using Newton method and therefore in cannot guarantee the reaching of a target position.
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In La Valle, 1999-2004 algorithms for moving a robot in the presence of uncertainty (including cases of unknown environment) are considered. The algorithms are based on the sequential decision theory. In general case the algorithms do not guarantee reaching the goal. In cases when the algorithms use searching on a graph the above mentioned difficulty arises connected with multiple mechanical movements.
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In Lopatin, 2001, Lopatin & Yegorov, 2007 algorithms for a n-link manipulator movement amidst arbitrary static unknown obstacles were presented. Algorithms guarantee reaching the qT\n\t\t\t\t in a finite number of steps under condition that the qT\n\t\t\t\t is reachable. It was supposed that the manipulator’s sensor system may supply information about free and forbidden points either from a r-neighborhood of the manipulator’s configuration space point where the manipulator is currently situated Lopatin, 2001 or from r-neighborhoods of a finite number of points from the manipulator configuration space Lopatin, 2006, Lopatin & Yegorov, 2007. In both cases it was supposed that the r-neighborhood has a form of a hyperball with a radius r>0. In this work we consider more general form of the r-neighborhood.
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2. Task formulation and algorithm
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2.1. Preliminary Information
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We will consider manipulators which consist of n rigid bodies (called links) connected in series by either revolute or sliding joints Shahinpoor, 1987. We must take into account that because of manipulator\'s constructive limitations the resulting trajectory q(t) must satisfy the set of inequalities
for every time moment, where a\n\t\t\t\t\t1 is the vector of lower limitations on the values of generalized coordinates comprising q(t), and a\n\t\t\t\t\t2 is the vector of higher limitations.
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The points satisfying the inequalities (1) comprise a hyperparallelepiped X in the generalized coordinate space. We will consider all points in the generalized coordinate space which do not satisfy the inequalities (1) as forbidden.
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We will have to move the manipulator from a start configuration q\n\t\t\t\t\t0=(q\n\t\t\t\t\t1\n\t\t\t\t\t0, q\n\t\t\t\t\t2\n\t\t\t\t\t0, …, qn\n\t\t\t\t\t\n\t\t\t\t\t0) to a target configuration qT\n\t\t\t\t\t=(q1\n\t\t\t\t\t\tT\n\t\t\t\t\t, q\n\t\t\t\t\t2\n\t\t\t\t\t\n\t\t\t\t\t\tT\n\t\t\t\t\t, …, qn\n\t\t\t\t\t\tT\n\t\t\t\t\t). In our case the manipulator will have to move amidst unknown obstacles. If in a configuration q the manipulator has at least one common point with any obstacle then the point q in the configuration space will be considered as forbidden. If the manipulator in q has no common points with any obstacle then the q will be considered as allowed.
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So, in our problem a manipulator will be represented as a point which will have to move in the hyperparallelepiped (1) from q\n\t\t\t\t\t0 to qT\n\t\t\t\t\t and the trajectory of this point should not intersect with the forbidden points.
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2.2. Preliminary Consideratons
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Let us make the following considerations:
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The disposition, shapes and dimensions of the obstacles do not change during the whole period of the manipulator movement. Their number may not increase.
It is known in advance, that the target configuration is allowed and is reachable (that is, we know that in the generalized coordinates space it is possible to find a line connecting q\n\t\t\t\t\t\t\t0 and qT\n\t\t\t\t\t\t\t, and this line will not intersect with any forbidden point).
The manipulator has a sensor system which may supply information about r-neighborhoods of points qiX, i=0.1,…, N, where N – is a finite number, defined by the sensor system structure and methods of its using.
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The r-neighborhood of a point q\n\t\t\t\t\ti is a set Y(qi) of points near qi\n\t\t\t\t\t (see Figure 1).
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Figure 1.
An example of a r-neighborhhod Y(qi).
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The Y(qi) has a shape of a hypercube. The qi\n\t\t\t\t\t is situated in the centre of the hypercube. The length of the hypercube’s edge may be arbitrary and is defined by the sensor system structure and methods of its using. All sets Y(qi), i=0,1,… should have the same size that is the length of an edge of a Y(qi) should be equal to the length of an edge of a Y(qj) for every i and j. The sides of a Y(qi), i=0,1,… should be parallel to the corresponding planes of the basic coordinate system of the generalized coordinate space. The sets Y(qi), i=0,1,… also should satisfy such condition that it should be possible to inscribe in the set Y(qi) a hyperball with the centre in the qi\n\t\t\t\t\t and with a radius r> 0 (see Figure 2). The part of the Y(qi) comprising the hyperball should be compact that is the part should not have any hole. So, all points of the hyperball should belong to the inner part of the Y(qi).\n\t\t\t\t
\n\t\t\t\t
The words “the sensor system supplies information about the r-neighborhood of a point qi\n\t\t\t\t\t“ mean that the sensor system tells about every point from the Y(qi) whether this point is allowed or forbidden. The sensor system writes all forbidden points from the Y(qi) into a set Q(qi), and writes into a set Z(qi) all allowed points from the Y(qi). The sets Y(qi), Q(qi), Z(qi) may be written using one of such methods like using formulas, lists, tables and so on, but we suppose that we have such method. We will not consider the sensor system structure.
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Figure 2.
It should be possible to inscribe in the set Y(qi) a hyperball with the centre in the qi\n\t\t\t\t\t\t\t and with a radius r > 0\n\t\t\t\t\t\t
\n\t\t\t\t
An r-neighborhood of qi\n\t\t\t\t\t with the sets Z(qi) and Q(qi) may look as follows Figure 3. Note that the sets Z(qi) and Q(qi) may be not continuous.
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Figure 3.
An example of a r-neighborhood Y(qi) with the sets Q(qi) and Z(qi). The set Q(qi) is shown by a dark color. The points from the Y(qi) which do not constitute the Q(qi), belong to the Z(qi).\n\t\t\t\t\t\t
\n\t\t\t\t
The considerations 1)-3) cover a wide range of manipulators’ applications.
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2.3. Algorithm for Manipulators’ Control in the Unknown Environment
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We will denote the points where generation of a new trajectory occurs as qn, n=0, 1, 2,… We will call such points “trajectory changing points”. Before the algorithm work n=0 and qn= q0\n\t\t\t\t\t.
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Algorithm
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STEP 1. The manipulator is in a point qn, n=0, 1, 2,…, and its sensor system supplies information about the r-neighborhood of the qn\n\t\t\t\t\t\t, and about the r-neighborhoods of points yj\n\t\t\t\t\t\t, j=0, 1, …, Nn, yjX for every j=0, 1, …, Nn, Nn – is a known finite number. yj, j=0, 1, …, Nn and the Nn are generally speaking different for every n and are told on every n to the sensor system before start of the sensor system functioning. So the sensor system supplies information about the Q(qn) and about the set
After that the manipulator generates in the configuration space a preliminary trajectory L(qn, qT). The L(qn, qT) should satisfy the following conditions: I) connect the qn\n\t\t\t\t\t\t and the qT\n\t\t\t\t\t\t; II) no point from the L(qn, qT) coincides with any point from the sets \n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t∪\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\ti\n\t\t\t\t\t\t\t\t\t\t\t\t\t=\n\t\t\t\t\t\t\t\t\t\t\t\t\t0\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tn\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tQ\n\t\t\t\t\t\t\t\t\t\t\t\t(\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\tq\n\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\ti\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t)\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t and\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t∪\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\ti\n\t\t\t\t\t\t\t\t\t\t\t\t\t=\n\t\t\t\t\t\t\t\t\t\t\t\t\t0\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tn\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tQ\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\tS\n\t\t\t\t\t\t\t\t\t\t\t\t\ti\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t, in other words the preliminary trajectory should not intersect with any known forbidden point; III) satisfy the conditions (1).
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The manipulator starts to follow the L(qn, qT). The algorithm goes to STEP 2.
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STEP 2. While following the L(qn, qT) two results may happen:
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a) the manipulator will not meet forbidden points unknown earlier and therefore will reach the qT\n\t\t\t\t\t\t. Upon the reaching of the qT\n\t\t\t\t\t\t the Algorithm terminates its work;
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b) the manipulator will come to such a point (making at first operation n=n+1, let us define it qn, n=1,2,…), that the next point of the preliminary trajectory is forbidden. The Algorithm goes to STEP 1. End of Algorithm.
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2.4. Theorem and Sequences
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Theorem. If the manipulator moves according to the Algorithm it will reach the target configuration in a finite number of steps.
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Proof.
Suppose that the manipulator being in qn\n\t\t\t\t\t (n=0,1,…), generated a trajectory, leading to qT\n\t\t\t\t\t and began to follow this trajectory. If the manipulator does not meet obstacles it will reach the target configuration in a finite number of steps (because the length of the trajectory is finite). Therefore, the endlessness of the manipulator wandering may be caused only by the endless repeating of the situation described in the item b) of STEP 2 of the Algorithm and therefore the endless generating of new trajectories may be caused by the two reasons:
the manipulator will infinitely return to the same point of the trajectory changing,
the number of points where it is necessary to change trajectory will be infinite.
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Let us prove that all points where the manipulator changes its trajectory will be different. Suppose that the manipulator changed a trajectory being in a point qs\n\t\t\t\t\t\t, and later it again changed a trajectory, being in a point qp\n\t\t\t\t\t\t, that is s<p. Let us show that qsqp\n\t\t\t\t\t\t. Suppose, at first, that, on the contrary, qs\n\t\t\t\t\t\t=qp\n\t\t\t\t\t\t. Then Q(qs)=Q(qp). When the manipulator was in qs\n\t\t\t\t\t\t, it generated a trajectory which did not intersect with the sets Q(qi), i=0, 1,..., s. When the manipulator reached the point qp\n\t\t\t\t\t\t, it discovered that it was necessary to change the trajectory that is this trajectory intersected with the set Q(qp). But Q(qp)=Q(qs) and Q(qs) was taken into account when this trajectory was generated. It means that the manipulator can not come to a point of the trajectory changing qp\n\t\t\t\t\t\t which will be equal to any other point of the trajectory changing and it means that all points where the manipulator changes its trajectory are different.
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Now let us show that the number of such points is finite. Suppose that it is infinite. All points of a trajectory changing must satisfy the inequalities (1). It means, that the sequence of these points is bounded. According to the Boltsano-Weierstrass theorem it is possible to extract from this sequence a convergent subsequence qi, i=1,2,… According to the Cauchy property of the convergent sequences it is possible for any to find such a number s that all points qi, i>s will lie in an -neighborhood of qs\n\t\t\t\t\t\t. Let us take <r. Consider an arbitrary point qi\n\t\t\t\t\t\t of the trajectory changing lying in the -neighborhood of qs\n\t\t\t\t\t\t. As far as in the qi\n\t\t\t\t\t\t the manipulator had to change the trajectory, it means that that trajectory intersected with Q(qs) (because qi\n\t\t\t\t\t\t and its neighbor points belong to Q(qs\n\t\t\t\t\t\t)). From this fact it is possible to make the conclusion that the set Q(qs\n\t\t\t\t\t\t) was not taken into account when that trajectory was generated. But such situation is impossible if we strictly follow the conditions of the algorithm. The situation when a trajectory changing point belongs to the -neighborhood of another trajectory changing point will necessarily appear if the number of the points where trajectory is changing is infinite. But we showed that such situation is impossible and it means that a number of the points where it is necessary to change trajectory will be finite.
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2.4.3. The theorem is proved.
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So, it was shown that the number of the preliminary trajectory changes is finite, that the number of calls of the STEP 1 will be finite. Therefore one may see that the problem of a n-link manipulator control in an unknown environment under the considerations mentioned above is reduced to a solution of a finite number of problems of a trajectory planning in the presence of the known forbidden states.
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Sometimes it is necessary to explore the environment more intensively. The following sequences will be useful for such cases.
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Sequence 1.
In a point qd, d=0,1,…, Ndn\n\t\t\t\t\t of the trajectory L(qn, qT ), n=0,1,…, where Ndn\n\t\t\t\t\t – a finite number not bigger than the number of points in the L(qn, qT\n\t\t\t\t\t ), the manipulator may do a retreat from the L(qn, qT\n\t\t\t\t\t). The retreat is a sequence S of allowed points continiously following one after another. The S is different from the L(qn,qT) and satisfies the (1). The retreats may be done for the environment investigation. The number of steps on every retreat should be finite. The manipulator may investigate the environment on any step of a retreat and get information about the r-neighborhoods of points yi, i=0,1,2…, Ns1\n\t\t\t\t\t, where yi, i=0,1,2…, Ns1\n\t\t\t\t\t – arbitrary points from X and Ns1\n\t\t\t\t\t – a finite number arbitrary for every step. The number Ns1\n\t\t\t\t\t of points yi\n\t\t\t\t\t and their disposition is defined by the structure of the sensor system and methods of its using. After making a finite number of steps on a retreat the manipulator should return to the L(qn, qT\n\t\t\t\t\t) exactly by the points made on the retreat. If on some step of a retreat it is discovered that further movement is impossible because of forbidden states’ presence the manipulator should return to the L(qn, qT\n\t\t\t\t\t) exactly by the points of the retreat. After return to the L(qn, qT\n\t\t\t\t\t) the manipulator continues movement according to the Algorithm. As a result we get a finite number of steps on all retreats which is added to the finite number of steps according to the Algorithm and in sum we get that qT\n\t\t\t\t\t will be reached in a finite number of steps.
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Sequence 2.
The manipulator also may, being in a point q of a preliminary trajectory or retreat, get information about Q(q) and, maybe, about Q(yi) i=0,1,2,…, Ns2, where yi, i=0,1,2,…, Ns2 – arbitrary points from X, and Ns2 – a finite number. After that operations n:=n+1 and qn=q should be done and the manipulator may generate a new trajectory L(qn, qT) satisfying the conditions I-III of STEP 1 of the Algorithm and begin to move along the new L(qn,qT) according to the Algorithm. Let us call such action “refuse from a preliminary trajectory” that is it is such action when despite the qT has not been reached a new trajectory leading to the qT is generated and the manipulator begins to follow the new trajectory. It is possible to make only a finite number of refuses. Then the finite number of steps on refuses will be added to the finite number of steps according to the Algorithm and in sum we get that the qT will be reached in a finite number of steps.
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3. Using the polynomial approximation algorithm as a subroutine in the exact algorithm
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3.1. Reducing the Algorithm to a finite number of calls of a subroutine for a trajectory planning in known environment
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Every time when the manipulator generates a new trajectory according to the STEP 1 of the Algorithm, two cases may happen: either the manipulator will not meet an obstacle and therefore it will reach the qT in a finite number of steps (because the length of the trajectory is finite) or the manipulator will meet an unknown obstacle and will have to plan a new trajectory. Therefore, in the Algorithm the problem of a manipulator control in the presence of unknown obstacles is reduced to the solution of a finite number of tasks of trajectory planning in the presence of known forbidden states. In other words, the Algorithm will make a finite number of calls of a subroutine which will solve the problem stated in STEP 1. In the rest of the article we will call this subroutine the SUBROUTINE. We took the polynomial approximation algorithm as algorithm for the SUBROUTINE.
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3.2. Polynomial approximation algorithm
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Denote the components of vector-function q(t) as q1, q2, …, qn. Write down the restrictions using new variables:
Specify the obstacles by hyperspheres with centers (qp\n\t\t\t\t\tm1, qp\n\t\t\t\t\tm2, …, qp\n\t\t\t\t\tmn) and radius r = Δq / 2 ∙ 1.1, where qp\n\t\t\t\t\tmi correspond to the components of vectors pm, m = 1, 2, …, M, q is step of configuration space discretization. The value of the radius r is chosen so that if two obstacles are located on neighbor nodes of the grid and their centers differ only in one component, the corresponding hyperspheres intersect. Otherwise the hyperspheres don’t intersect. Then the requirement of obstacles avoiding trajectory can be written as follow:
The left part of this inequality is squared distance between the trajectory point at moment t and the center of the m-th obstacle. We will search the trajectory in the form of polynomials of some order s:
Thus, it is necessary to find such coefficients cji (j = 1, 2, …, n, i = 1, 2, …, s) which satisfy the system of equations (6), (7) and inequalities (8). Obviously, the coefficients cj0 are easily found from the equations (6). Express the coefficients cjs from the equations (7):
Thus, it is necessary to solve the system of (M + 2n) K nonlinear inequalities. This problem can be replaced by the problem of optimization of some function F(C):
where C is vector of coefficients (c1,1, c1,2, …, с1,s-1, c2,1, c2,2, …, с2,s-1,…, cn,1, cn,2, …, cn,s-1), E(C) is measure of restrictions violation, P(C) is estimated probability that trajectory not intersects with unknown obstacles. Let’s define function F(C). First, introduce function defining the trajectory point for the vector of coefficients C at the moment t:
The following functions correspond to the inequalities of the system (8), they show the violation of upper and lower bounds and the intersection with the obstacles of trajectory at the moment t:
Because of using of the operator I, the items in the above functions are negative only if corresponding restrictions are violated. The more violation of the restriction, the more the value of the function. If particular restriction is not violated, the corresponding function element is zero. In any case, values of functions can’t be positive. Join all restrictions into single function (taking into account all discrete moments except t = 0 and t = 1):
Thus, E(C) takes negative values if at least one restriction is violated and becomes zero otherwise, that is if the vector C satisfies all the inequalities of the system (9). The function P(C) was introduced to make possible comparison of trajectories which not violate the restrictions. Assume p(d) = e-2d is probability that there is an unknown obstacle in some point, where d is distance between this point and the nearest known obstacle. Then\n\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\tP\n\t\t\t\t\t\t\t\t\t(\n\t\t\t\t\t\t\t\t\tC\n\t\t\t\t\t\t\t\t\t)\n\t\t\t\t\t\t\t\t\t=\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t∏\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tm\n\t\t\t\t\t\t\t\t\t\t\t\t=\n\t\t\t\t\t\t\t\t\t\t\t\t1\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tM\n\t\t\t\t\t\t\t\t\t\t\t\t*\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\tp\n\t\t\t\t\t\t\t\t\t\t\t(\n\t\t\t\t\t\t\t\t\t\t\tD\n\t\t\t\t\t\t\t\t\t\t\t(\n\t\t\t\t\t\t\t\t\t\t\tC\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tO\n\t\t\t\t\t\t\t\t\t\t\t\tm\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t)\n\t\t\t\t\t\t\t\t\t\t\t)\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t, where {O1, O2, …, OM*} is set of obstacles along which the trajectory lies, \n\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\tD\n\t\t\t\t\t\t\t\t\t(\n\t\t\t\t\t\t\t\t\tC\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\tO\n\t\t\t\t\t\t\t\t\t)\n\t\t\t\t\t\t\t\t\t=\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\tmin\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\tk\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t∑\n\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\tj\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t=\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t1\n\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\tn\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t(\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tL\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tj\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t(\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tC\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tt\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tk\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t)\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t−\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tO\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tj\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t)\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t2\n\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t−\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tr\n\t\t\t\t\t\t\t\t\t\t\t\t2\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\tis distance between the trajectory C and the obstacle O. A trajectory lies along an obstacle O if such point of trajectory L(tk) exists as an obstacle O is nearest among all obstacles for this point. Usage of function P(C) would promote the algorithm to produce trajectories which lie far from unknown obstacles. Since function F(C) is multiextremal, the genetic algorithm is used to find the desired vector.
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3.3. Optimization of the restriction function using genetic algorithm
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Genetic algorithm is based on collective training process inside the population of individuals, each representing search space point. In our case search space is space of vectors C. Encoding of vector in the individual is made as follows. Each vector component is assigned the interval of values possessed by this component. The interval is divided into a quantity of discrete points. Thus, each vector component value is associated with corresponding point index. The sequence of these indexes made up the individual. The algorithm scheme:
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Generate an initial population randomly. The size of population is N.
Calculate fitness values of the individuals.
Select individuals to the intermediate population.
With probability PC perform crossover of two individuals randomly chosen from the intermediate population and put it into new population; and with probability 1 – PC perform reproduction – copy the individual randomly chosen from intermediate population to new population.
If size of new population is less than N, go to Step 4.
With given mutation probability PM invert each bit of each individual from new population.
If required number of generations is not reached go to Step 2.
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The fitness function matches F(C). On the third step the tournament selection is used: during the selection the N tournaments are carried out among m randomly chosen individuals (m is called tournament size). In every tournament the best individual is chosen to be put into the new population. On the fourth step the arithmetical crossover is used. The components of offspring are calculated as arithmetic mean of corresponding components of two parents.
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\n\t\t\t\t
3.4. Quantization of the path
\n\t\t\t\t
After the polynomials coefficients specifying the route are found, it’s necessary to get the sequence of route discrete points q0, q1, …, qT. The first point (q0) is obtained from the initial values. The rest of points can be found using the following algorithm:
Find the point q* with coordinates (q*1, q*2, …, q*n) in whose neighborhood the trajectory is lying at the moment t*: \n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tq\n\t\t\t\t\t\t\t\t\t\t\t\tj\n\t\t\t\t\t\t\t\t\t\t\t\t*\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t−\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\tΔ\n\t\t\t\t\t\t\t\t\t\t\t\t\tq\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t2\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t≤\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tq\n\t\t\t\t\t\t\t\t\t\t\t\tj\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t(\n\t\t\t\t\t\t\t\t\t\t\tt\n\t\t\t\t\t\t\t\t\t\t\t*\n\t\t\t\t\t\t\t\t\t\t\t)\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\tq\n\t\t\t\t\t\t\t\t\t\t\t\tj\n\t\t\t\t\t\t\t\t\t\t\t\t*\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t+\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\tΔ\n\t\t\t\t\t\t\t\t\t\t\t\t\tq\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t2\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t∀\n\t\t\t\t\t\t\t\t\t\t\tj\n\t\t\t\t\t\t\t\t\t\t\t=\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t1\n\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\tn\n\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t¯\n\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t
If q* equals to qi, then t = t*, go to Step 3.
If q* is not a neighbor of qi, then tH = t*, go to Step 3.
If qi = qT, then the algorithm is finished, otherwise go to Step 2.
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\n\t\t
\n\t\t
\n\t\t\t
4. Experimental results
\n\t\t\t
Consider the following experimental set Figure 5. It is necessary to move a seven-link manipulator Figure 4 from the start configuration q0 = (1.57; 1.57; 0; 4.71; 0; 4.71; 0) to the target configuration qT = (4.71; 1.57; 0; 0; 0; 0; 0). There are the following limitations on the generalized coordinates: 0 ≤ qi(t) ≤ 6.28, i = 1,2,…,7. The lengths of links are 10. There are four cuboid obstacles in the working area. Each obstacle is described by six values: the length, width, height and the coordinates of the origins attached to the obstacles in the basic coordinate system Table 1.
\n\t\t\t
The parameters of algorithms are as follow:
\n\t\t\t
Polynomial order s: 10.
Number of time pieces K: 100.
Polynomials coefficients precision: 10-5.
Population size N: 20.
Number of generations: 20.
Probability of crossover PC: 0,5.
Probability of mutation PM: 0,1.
Tournament size m: 5.
\n\t\t\t
The working time of the Algorithm depending on different number_of_discretes is given in the Table 2. The q is calculated as the difference between upper and lower bounds of q(t) (that is 6.28) divided on the number_of_discretes. The working time is a sum of three elements: trajectory search time, time to check whether trajectory intersects with unknown obstacles, manipulator moving time (12 per second).
\n\t\t\t
Figure 4.
The manipulator kinematic scheme.
\n\t\t\t
Figure 5.
Experimental set.
\n\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
№
\n\t\t\t\t\t\t
x
\n\t\t\t\t\t\t
y
\n\t\t\t\t\t\t
z
\n\t\t\t\t\t\t
length
\n\t\t\t\t\t\t
width
\n\t\t\t\t\t\t
height
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
1
\n\t\t\t\t\t\t
-30
\n\t\t\t\t\t\t
2
\n\t\t\t\t\t\t
12
\n\t\t\t\t\t\t
80
\n\t\t\t\t\t\t
1.6
\n\t\t\t\t\t\t
2
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
2
\n\t\t\t\t\t\t
10
\n\t\t\t\t\t\t
-20
\n\t\t\t\t\t\t
0
\n\t\t\t\t\t\t
34
\n\t\t\t\t\t\t
14
\n\t\t\t\t\t\t
20
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
3
\n\t\t\t\t\t\t
-44
\n\t\t\t\t\t\t
-20
\n\t\t\t\t\t\t
0
\n\t\t\t\t\t\t
34
\n\t\t\t\t\t\t
14
\n\t\t\t\t\t\t
40
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
4
\n\t\t\t\t\t\t
-40
\n\t\t\t\t\t\t
-40
\n\t\t\t\t\t\t
-10
\n\t\t\t\t\t\t
200
\n\t\t\t\t\t\t
200
\n\t\t\t\t\t\t
10
\n\t\t\t\t\t
\n\t\t\t\t
Table 1.
The characteristics of obstacles.
\n\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
Obstacles
\n\t\t\t\t\t\t
number_of_ discretes
\n\t\t\t\t\t\t
Working time, seconds
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
1, 2
\n\t\t\t\t\t\t
40
\n\t\t\t\t\t\t
58
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
60
\n\t\t\t\t\t\t
82
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
120
\n\t\t\t\t\t\t
153
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
240
\n\t\t\t\t\t\t
150
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
360
\n\t\t\t\t\t\t
125
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
1, 2, 3
\n\t\t\t\t\t\t
40
\n\t\t\t\t\t\t
83
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
60
\n\t\t\t\t\t\t
96
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
120
\n\t\t\t\t\t\t
154
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
240
\n\t\t\t\t\t\t
233
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
360
\n\t\t\t\t\t\t
251
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
1, 2, 3, 4
\n\t\t\t\t\t\t
40
\n\t\t\t\t\t\t
233
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
60
\n\t\t\t\t\t\t
340
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
120
\n\t\t\t\t\t\t
761
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
240
\n\t\t\t\t\t\t
1142
\n\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\t\t\t
360
\n\t\t\t\t\t\t
1169
\n\t\t\t\t\t
\n\t\t\t\t
Table 2.
Experimental results.
\n\t\t\t
The tests were made on the processor AMD Athlon XP 1800+ (1533 MHz). During experiments the value Nn in the Algorithm was equal to 0 for every n. The key steps of manipulator trajectory for the last test case (with four obstacles) are shown on the Figure 6.
\n\t\t\t
One may see that the software based on our Algorithm moved the 7-link manipulator to the target configuration in 58-1169 seconds. In case of using breadth-first or A* algorithms La Valle, 1999-2004 we have to discretize the configuration space and therefore we get mn points of the configuration space, where m is a number of points for certain level of discretization, n is the configuration space dimensionality. The working time of such algorithms may approximate to billions of seconds.
\n\t\t\t
It is possible to outline the following criteria which should be satisfied by an algorithm for SUBROUTINE: a)it should be applicable to the n-dimensional case; b) it should guarantee finding a path in the presence of known forbidden states; c) in case of new call of STEP 1 minimum work for finding path in the presence of known forbidden states should be done.
\n\t\t\t
Using of cell decomposition and bitangent graphs algorithms La Valle, 1999-2004 as algorithms for SUBROUTINE of our Algorithm looks promising.
\n\t\t
\n\t\t
\n\t\t\t
5. Conclusion
\n\t\t\t
An algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles was presented. Given a theorem stating that if the manipulator moves according to the algorithm it will reach a target configuration qT in a finite number of steps under condition that the qT is reachable. Given proof of the theorem. It was shown that the problem of the manipulator control in the unknown environment may be reduced to a solution of a finite number of problems for the manipulator control in known environment. Given the sequences from the theorem which may facilitate reaching the qT. We also introduced the results of computer simulation of a 7- link manipulator movement in the unknown environment based on our Algorithm and compared results with some other algorithms.
\n\t\t\t
Figure 6.
The key steps of manipulator movement trajectory.
\n\t\t
\n\t\n',keywords:null,chapterPDFUrl:"https://cdn.intechopen.com/pdfs/8704.pdf",chapterXML:"https://mts.intechopen.com/source/xml/8704.xml",downloadPdfUrl:"/chapter/pdf-download/8704",previewPdfUrl:"/chapter/pdf-preview/8704",totalDownloads:1661,totalViews:92,totalCrossrefCites:0,dateSubmitted:null,dateReviewed:null,datePrePublished:null,datePublished:"October 1st 2009",dateFinished:null,readingETA:"0",abstract:null,reviewType:"peer-reviewed",bibtexUrl:"/chapter/bibtex/8704",risUrl:"/chapter/ris/8704",signatures:"Pavel Lopatin and Artyom Yegorov",book:{id:"3612",type:"book",title:"Advanced Technologies",subtitle:null,fullTitle:"Advanced Technologies",slug:"advanced-technologies",publishedDate:"October 1st 2009",bookSignature:"Kankesu Jayanthakumaran",coverURL:"https://cdn.intechopen.com/books/images_new/3612.jpg",licenceType:"CC BY-NC-SA 3.0",editedByType:"Edited by",isbn:null,printIsbn:"978-953-307-009-4",pdfIsbn:"978-953-51-5856-1",isAvailableForWebshopOrdering:!0,editors:[{id:"2259",title:"Dr.",name:"Kankesu",middleName:null,surname:"Jayanthakumaran",slug:"kankesu-jayanthakumaran",fullName:"Kankesu Jayanthakumaran"}],productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"}},authors:null,sections:[{id:"sec_1",title:"1. Introduction",level:"1"},{id:"sec_2",title:"2. Task formulation and algorithm",level:"1"},{id:"sec_2_2",title:"2.1. Preliminary Information",level:"2"},{id:"sec_3_2",title:"2.2. Preliminary Consideratons",level:"2"},{id:"sec_4_2",title:"2.3. Algorithm for Manipulators’ Control in the Unknown Environment",level:"2"},{id:"sec_4_3",title:"Algorithm",level:"3"},{id:"sec_6_2",title:"2.4. Theorem and Sequences",level:"2"},{id:"sec_6_3",title:"Theorem. If the manipulator moves according to the Algorithm it will reach the target configuration in a finite number of steps.",level:"3"},{id:"sec_7_3",title:"Proof.",level:"3"},{id:"sec_8_3",title:"2.4.3. The theorem is proved.",level:"3"},{id:"sec_9_3",title:"Sequence 1.",level:"3"},{id:"sec_10_3",title:"Sequence 2.",level:"3"},{id:"sec_13",title:"3. Using the polynomial approximation algorithm as a subroutine in the exact algorithm",level:"1"},{id:"sec_13_2",title:"3.1. Reducing the Algorithm to a finite number of calls of a subroutine for a trajectory planning in known environment",level:"2"},{id:"sec_14_2",title:"3.2. Polynomial approximation algorithm",level:"2"},{id:"sec_15_2",title:"3.3. Optimization of the restriction function using genetic algorithm",level:"2"},{id:"sec_16_2",title:"3.4. Quantization of the path",level:"2"},{id:"sec_18",title:"4. Experimental results",level:"1"},{id:"sec_19",title:"5. Conclusion",level:"1"}],chapterReferences:[{id:"B1",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tAhrikhencheikh\n\t\t\t\t\t\t\tC.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tSeireg\n\t\t\t\t\t\t\tA.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1994Optimized-MotionPlanning.TheoryAnd.ImplementationJohn.WileySons Inc, \n\t\t\t'},{id:"B2",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tN.M.\n\t\t\t\t\t\t\tAmosov\n\t\t\t\t\t\t, \n\t\t\t\t\t\t\tA.M.\n\t\t\t\t\t\t\tKasatkina\n\t\t\t\t\t\t, \n\t\t\t\t\t\t\tL.M.\n\t\t\t\t\t\t\tKasatkina\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1975, “Aktivnye semanticheskiye seti v robotakh s avtonomnym upravleniyem (Active semantic nets in robots with autonomous control)”, Trudy IV Mezhdunarodnoy obyedinennoy konferencii po iskustvennomu intellectu. M.: AN SSSR, 9\n\t\t\t\t\t11\n\t\t\t\t\t20 (in Russian).\n\t\t\t'},{id:"B3",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tJ.\n\t\t\t\t\t\t\tCanny\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1988, “The Complexity of Robot Motion Planning”, The MIT Press, Cambridge, Massachusetts,.\n\t\t\t'},{id:"B4",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tChen\n\t\t\t\t\t\t\tC.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tLi\n\t\t\t\t\t\t\tH. X.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tDong\n\t\t\t\t\t\t\tD.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t2008Hybrid“.Controlfor.RobotNavigation. A hierarchical Q-learning algorithm”, IEEE Robotics & Automation Magazine, 15 №2, June, 37\n\t\t\t\t\t47 .\n\t\t\t'},{id:"B5",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tChoset\n\t\t\t\t\t\t\tH.\n\t\t\t\t\t\t\n\t\t\t\t\t\tet al.\n\t\t\t\t\t\n\t\t\t\t\t2005Principles“.ofRobot.Motion Theory, Algorithms and Implementations”, A Bradford Book. The MIT Press. \n\t\t\t'},{id:"B6",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tG.E.\n\t\t\t\t\t\t\tCollins\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1975, “Quantifier Elimination for Real Closed Fields by Cylindrical Algebraic Decomposition”, Lecture Notes in Computer Science, 33\n\t\t\t\t\t33\n\t\t\t\t\t135\n\t\t\t\t\t183 , Springer-Verlag, New York,.\n\t\t\t'},{id:"B7",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tB. R.\n\t\t\t\t\t\t\tDonald\n\t\t\t\t\t\t\n\t\t\t\t\t, 1985 “On Motion Planning with Six Degrees of Freedom: Solving the Intrsection Problems in Configuration Space”, Proceedings of the IEEE International Conference on Robotics and Automation ().\n\t\t\t'},{id:"B8",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tGhosh\n\t\t\t\t\t\t\tS. K.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tBurdick\n\t\t\t\t\t\t\tJ. W.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tBhattacharya\n\t\t\t\t\t\t\tA.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tSarkar\n\t\t\t\t\t\t\tS.\n\t\t\t\t\t\tOnline“.Algorithmswith.\n\t\t\t\t\t\t\tDiscrete\n\t\t\t\t\t\t\tVisibility.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t2008 Exploring Unknown Polygonal Environments”, IEEE Robotics & Automotion Magazine. 15 15 №2, June. 67\n\t\t\t\t\t76 .\n\t\t\t'},{id:"B9",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tIlyin\n\t\t\t\t\t\t\tV. A.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1995Intellektualnye“.RobotyTeoriya. I.Algoritmy.IntelligentRobots.TheoryAlgorithms)”Krasnoyarsk. S. A. A.Press (in Russian).\n\t\t\t'},{id:"B10",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tKasatkin\n\t\t\t\t\t\t\tA. M.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1979predstavlenii“. O.znaniyv.sistemahiskustvennogo.intellectarobotov. .Onknowledge.representationin.artificialintelligence.systemsof.robots)”Kibernetika. №2, 57\n\t\t\t\t\t65 (in Russian).\n\t\t\t'},{id:"B11",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tKussul\n\t\t\t\t\t\t\tE. M.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tFomenko\n\t\t\t\t\t\t\tV. D.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1975Maket“.avtonomnogotransportnogo.robotaT. A. I. R. . A.Modelof.anautonomous.transportrobot. T. A. I.R)”Voprosy.teoriiavtomatov.robotovI. C. V. M. Kiyev, 60\n\t\t\t\t\t68 (in Russian).\n\t\t\t'},{id:"B12",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tS.M.\n\t\t\t\t\t\t\tLaValle\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1999-2004, “Planning Algorithms”,. Available: http:// msl.es.uiuc.edu/ planning\n\t\t\t'},{id:"B13",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tLopatin\n\t\t\t\t\t\t\tP. K.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t2001Algorithm“.ofa.manipulatormovement.amidstunknown”.Proceedingsof. 10 10th International Conference on Advanced Robotics (ICAR 2001), August 22-25, , Hotel Mercure Buda, Budapest, Hungary- 327\n\t\t\t\t\t331 .\n\t\t\t'},{id:"B14",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tLopatin\n\t\t\t\t\t\t\tP. K.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t2006Algorithm“.upravlenia.dinamicheskimisistemami. v.neizvestnoystaticheskoy.srede.Algorithmfor.DynamicSystems’.Controlin.anUnknown.StaticEnvironment)”. Herald of The Siberian state aerospace university named after academician M.F.Reshetnev / ed. prof. G.P.Belyakov; SibSAU. 411 Krasnoyarsk. 28\n\t\t\t\t\t32 ,. (in Russian).\n\t\t\t'},{id:"B15",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tP. K.\n\t\t\t\t\t\t\tLopatin\n\t\t\t\t\t\t\n\t\t\t\t\t\t, A. S.\n\t\t\t\t\t\t\tYegorov\n\t\t\t\t\t\t\n\t\t\t\t\t, “Using the Polynomial Approximation Algorithm in the Algorithm2 for Manipulator’s Control in an Unknown Environment”, International Journal of Applied Mathematics and Computer Sciences, Volume 4, Number 4, pp.190-195. http://www.waset.org/ijamcs/v4/v4-4-32.pdf\n\t\t\t'},{id:"B16",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tV.\n\t\t\t\t\t\t\tLumelsky\n\t\t\t\t\t\t\n\t\t\t\t\t, 2006 "Sensing, Intelligence, Motion: How Robots and Humans Move in an Unstructured World”, John Wiley & Sons,.\n\t\t\t'},{id:"B17",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tMasehian\n\t\t\t\t\t\t\tE.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tAmin-Nasari\n\t\t\t\t\t\t\tM. R.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t2008Sensor-Based“.RobotMotion.Planning Amin-Nasari, “Sensor-Based Robot Motion Planning. A Tabu Search Approach”, IEEE Robotics & Automation Magazine. 15\n\t\t\t\t\t152 №2, June, 48\n\t\t\t\t\t57 .\n\t\t\t'},{id:"B18",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tRawlinson\n\t\t\t\t\t\t\tD.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tJarvis\n\t\t\t\t\t\t\tR.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t2008Ways“.toTell.RobotsWhere.toGo. Directing autonomous robots using topological instructions”, IEEE Robotics & Automation Magazine. 15 №2, June, 27\n\t\t\t\t\t36 .\n\t\t\t'},{id:"B19",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tShahinpoor\n\t\t\t\t\t\t\tM.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1987Robot“. A.EngineeringTextbook”.HarperRowPublishers.New York, \n\t\t\t'},{id:"B20",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tA.V.\n\t\t\t\t\t\t\tTimofeev\n\t\t\t\t\t\t\n\t\t\t\t\t, 1978 “Roboty i Iskusstvennyi Intellekt (Robots and Artificial Intelligence)”, M.: Nauka, (in Russian).\n\t\t\t'},{id:"B21",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tYefimov\n\t\t\t\t\t\t\tYe I.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1988 “.Problemaperebora. v.iskusstvennomintellekte. .Thesearch.problemin.artificialintelligence)”.IzvA. AN SSSR. Tehnicheskaya Kibernetika. №2, 127\n\t\t\t\t\t128 .\n\t\t\t'},{id:"B22",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tYegenoglu\n\t\t\t\t\t\t\tF.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tErkmen\n\t\t\t\t\t\t\tA. M.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tStephanou\n\t\t\t\t\t\t\tH. E.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1988On-line.PathPlanning.UnderUncertainty.Proc 27 IEEE Conf. Decis. And Contr., Austin, Austin, Tex., Dec.7-9, 1988. 2\n\t\t\t\t\t1075\n\t\t\t\t\t1079 , New York (N.Y.),.\n\t\t\t'}],footnotes:[],contributors:[{corresp:"yes",contributorFullName:"Pavel Lopatin",address:null,affiliation:'
Siberian state aerospace university named after academician M.F.Reshetnev,, Russia
Siberian state aerospace university named after academician M.F.Reshetnev,, Russia
'}],corrections:null},book:{id:"3612",type:"book",title:"Advanced Technologies",subtitle:null,fullTitle:"Advanced Technologies",slug:"advanced-technologies",publishedDate:"October 1st 2009",bookSignature:"Kankesu Jayanthakumaran",coverURL:"https://cdn.intechopen.com/books/images_new/3612.jpg",licenceType:"CC BY-NC-SA 3.0",editedByType:"Edited by",isbn:null,printIsbn:"978-953-307-009-4",pdfIsbn:"978-953-51-5856-1",isAvailableForWebshopOrdering:!0,editors:[{id:"2259",title:"Dr.",name:"Kankesu",middleName:null,surname:"Jayanthakumaran",slug:"kankesu-jayanthakumaran",fullName:"Kankesu Jayanthakumaran"}],productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"}}},profile:{item:{id:"234939",title:"Prof.",name:"Paula",middleName:null,surname:"Teixeira",email:"pcteixeira@porto.ucp.pt",fullName:"Paula Teixeira",slug:"paula-teixeira",position:null,biography:null,institutionString:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",totalCites:0,totalChapterViews:"0",outsideEditionCount:0,totalAuthoredChapters:"1",totalEditedBooks:"0",personalWebsiteURL:null,twitterURL:null,linkedinURL:null,institution:null},booksEdited:[],chaptersAuthored:[{id:"60868",title:"The Impact of Environmental Stresses in the Virulence Traits of Listeria monocytogenes Relevant to Food Safety",slug:"the-impact-of-environmental-stresses-in-the-virulence-traits-of-listeria-monocytogenes-relevant-to-f",abstract:"Listeria monocytogenes is a foodborne pathogen, which causes listeriosis disease among humans and other animal species. Infections in humans mainly occur in immunocompromised individuals and are caused by the consumption of ready-to-eat and raw food products contaminated with the pathogen. To ensure survival in nature, L. monocytogenes easily adapts to different environmental conditions, and that justifies the hurdles to prevent bacterial growth inside the food chain. Exposure to a single or multiple sublethal stresses, as those impaired by food processing, food matrices, and the gastrointestinal tract, can enhance tolerance of L. monocytogenes to stresses and increase its survival and pathogenesis. This chapter summarizes the current information on the adaptive response of L. monocytogenes to different stresses, namely (1) cold stress, (2) acid stress, (3) osmotic stress, (4) desiccation stress, and (5) high hydrostatic pressure, and the impact of these stresses on L. monocytogenes virulence. The objective is to provide the background information that is necessary for the development of scientifically sound control strategies to improve food safety and to reduce the uncertainty of microbial risk assessments, associated to limited knowledge on the behavior of cells capable to adapt and survive stresses.",signatures:"Sofia Araújo Pereira, Ângela Alves, Vânia Ferreira and Paula Cristina\nMaia Teixeira",authors:[{id:"234939",title:"Prof.",name:"Paula",surname:"Teixeira",fullName:"Paula Teixeira",slug:"paula-teixeira",email:"pcteixeira@porto.ucp.pt"},{id:"234943",title:"Dr.",name:"Vânia",surname:"Ferreira",fullName:"Vânia Ferreira",slug:"vania-ferreira",email:"vania.borges.ferreira@gmail.com"},{id:"234945",title:"Mrs.",name:"Sofia",surname:"Pereira",fullName:"Sofia Pereira",slug:"sofia-pereira",email:"sofiaaraujopereira@gmail.com"},{id:"234947",title:"Ms.",name:"Ângela",surname:"Alves",fullName:"Ângela Alves",slug:"angela-alves",email:"sofiaalves_93@hotmail.com"}],book:{id:"6648",title:"Listeria Monocytogenes",slug:"listeria-monocytogenes",productType:{id:"1",title:"Edited Volume"}}}],collaborators:[{id:"101525",title:"Dr.",name:"Monde Alfred",surname:"Nyila",slug:"monde-alfred-nyila",fullName:"Monde Alfred Nyila",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/101525/images/system/101525.jpg",biography:"Dr. Monde A. Nyila has the following qualifications, PhD plant science from the University of Pretoria, MSc Environmental Biotechnology form Rhodes University ,BSc Honours from the University the Western Cape. He is the senior lecturer at the University of South Africa where he is involved in teaching, research and community engagement. He is supervising masters and PhD students. Dr Nyila has co-published articles and the book chapter on Listeria monocytogenes, foodborne pathogens and medicinal plants. He is passionate about research that involves Listeria monocytogenes and the use of medicinal plants in treating symptoms associated with listeriosis. Dr. Nyila is also passionate about food safety and foodborne pathogens research. He has co-published a book chapter in one of the Intech Open Access Publisher book.",institutionString:"University of South Africa",institution:{name:"University of South Africa",institutionURL:null,country:{name:"South Africa"}}},{id:"216009",title:"Dr.",name:"Nihed",surname:"Ben Halima",slug:"nihed-ben-halima",fullName:"Nihed Ben Halima",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/216009/images/14465_n.jpg",biography:"Dr-Ing Nihed Ben Halima holds an Engineering degree in Biology and a Research Master’s degree in Biological Engineering. She defended her PhD in Biological Engineering at the University of Sfax, Tunisia, in 2015.",institutionString:null,institution:{name:"University of Sfax",institutionURL:null,country:{name:"Tunisia"}}},{id:"229896",title:"Dr.",name:"Frederick Tawi",surname:"Tabit",slug:"frederick-tawi-tabit",fullName:"Frederick Tawi Tabit",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"234575",title:"Prof.",name:"Prasann",surname:"Kumar",slug:"prasann-kumar",fullName:"Prasann Kumar",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"234943",title:"Dr.",name:"Vânia",surname:"Ferreira",slug:"vania-ferreira",fullName:"Vânia Ferreira",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"234945",title:"Mrs.",name:"Sofia",surname:"Pereira",slug:"sofia-pereira",fullName:"Sofia Pereira",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"234947",title:"Ms.",name:"Ângela",surname:"Alves",slug:"angela-alves",fullName:"Ângela Alves",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"238123",title:"Dr.",name:"Elena",surname:"Karanina",slug:"elena-karanina",fullName:"Elena Karanina",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"238124",title:"Ms.",name:"Ekaterina",surname:"Selezneva",slug:"ekaterina-selezneva",fullName:"Ekaterina Selezneva",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"241113",title:"Ms.",name:"Shweta",surname:"Pathak",slug:"shweta-pathak",fullName:"Shweta Pathak",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null}]},generic:{page:{slug:"OA-publishing-fees",title:"Open Access Publishing Fees",intro:"
The Open Access model is applied to all of our publications and is designed to eliminate subscriptions and pay-per-view fees. This approach ensures free, immediate access to full text versions of your research.
As a gold Open Access publisher, an Open Access Publishing Fee is payable on acceptance following peer review of the manuscript. In return, we provide high quality publishing services and exclusive benefits for all contributors. IntechOpen is the trusted publishing partner of over 140,000 international scientists and researchers.
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The Open Access Publishing Fee (OAPF) is payable only after your book chapter, monograph or journal article is accepted for publication.
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OAPF Publishing Options
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1,400 GBP Chapter - Edited Volume
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850 GBP Chapter - Book Series Topic (Annual Volume)
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10,000 GBP Monograph - Long Form
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4,000 GBP Compacts Monograph - Short Form
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850 GBP Journal Article (Across Portfolio)
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During the launching phase journals do not charge an APC, rather they will be funded by IntechOpen.
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*These prices do not include Value-Added Tax (VAT). Residents of European Union countries need to add VAT based on the specific rate in their country of residence. Institutions and companies registered as VAT taxable entities in their own EU member state will not pay VAT as long as provision of the VAT registration number is made during the application process. This is made possible by the EU reverse charge method.
\\n\\n
Services included are:
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An online manuscript tracking system to facilitate your work
\\n\\t
Personal contact and support throughout the publishing process from your dedicated Author Service Manager
\\n\\t
Assurance that your manuscript meets the highest publishing standards
\\n\\t
English language copyediting and proofreading, including the correction of grammatical, spelling, and other common errors
\\n\\t
XML Typesetting and pagination - web (PDF, HTML) and print files preparation
\\n\\t
Discoverability - electronic citation and linking via DOI
\\n\\t
Permanent and unrestricted online access to your work
\\n
\\n\\n
What isn't covered by the Open Access Publishing Fee?
\\n\\n
If your manuscript:
\\n\\n
\\n\\t
Exceeds the number of pages defined by the publishing guidelines, an additional fee per page may be required
\\n\\t
If a manuscript requires Heavy Editing or Language Polishing, this will incur additional fees.
\\n
\\n\\n
Your Author Service Manager will inform you of any items not covered by the OAPF and provide exact information regarding those additional costs before proceeding.
\\n\\n
Open Access Funding
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To explore funding opportunities and learn more about how you can finance your IntechOpen publication, go to our Open Access Funding page. IntechOpen offers expert assistance to all of its Authors. We can support you in approaching funding bodies and institutions in relation to publishing fees by providing information about compliance with the Open Access policies of your funder or institution. We can also assist with communicating the benefits of Open Access in order to support and strengthen your funding request and provide personal guidance through your application process. You can contact us at funders@intechopen.com for further details or assistance.
\\n\\n
For Authors who are still unable to obtain funding from their institutions or research funding bodies for individual projects, IntechOpen does offer the possibility of applying for a Waiver to offset some or all processing feed. Details regarding our Waiver Policy can be found here.
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Added Value of Publishing with IntechOpen
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Choosing to publish with IntechOpen ensures the following benefits:
\\n\\n
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Indexing and listing across major repositories, see details ...
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Long-term archiving
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Visibility on the world's strongest OA platform
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Live Performance Metrics to track readership and the impact of your chapter
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Dissemination and Promotion
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Benefits of Publishing with IntechOpen
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Proven world leader in Open Access book publishing with over 10 years experience
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+5,700 OA books published
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Most competitive prices in the market
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Fully compliant with OA funding requirements
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Optimized processes that assure your research is made available to the scientific community without delay
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As a gold Open Access publisher, an Open Access Publishing Fee is payable on acceptance following peer review of the manuscript. In return, we provide high quality publishing services and exclusive benefits for all contributors. IntechOpen is the trusted publishing partner of over 140,000 international scientists and researchers.
\n\n
The Open Access Publishing Fee (OAPF) is payable only after your book chapter, monograph or journal article is accepted for publication.
\n\n
OAPF Publishing Options
\n\n
\n\t
1,400 GBP Chapter - Edited Volume
\n\t
850 GBP Chapter - Book Series Topic (Annual Volume)
\n\t
10,000 GBP Monograph - Long Form
\n\t
4,000 GBP Compacts Monograph - Short Form
\n\t
850 GBP Journal Article (Across Portfolio)
\n
\n\n
During the launching phase journals do not charge an APC, rather they will be funded by IntechOpen.
\n\n
*These prices do not include Value-Added Tax (VAT). Residents of European Union countries need to add VAT based on the specific rate in their country of residence. Institutions and companies registered as VAT taxable entities in their own EU member state will not pay VAT as long as provision of the VAT registration number is made during the application process. This is made possible by the EU reverse charge method.
\n\n
Services included are:
\n\n
\n\t
An online manuscript tracking system to facilitate your work
\n\t
Personal contact and support throughout the publishing process from your dedicated Author Service Manager
\n\t
Assurance that your manuscript meets the highest publishing standards
\n\t
English language copyediting and proofreading, including the correction of grammatical, spelling, and other common errors
\n\t
XML Typesetting and pagination - web (PDF, HTML) and print files preparation
\n\t
Discoverability - electronic citation and linking via DOI
\n\t
Permanent and unrestricted online access to your work
\n
\n\n
What isn't covered by the Open Access Publishing Fee?
\n\n
If your manuscript:
\n\n
\n\t
Exceeds the number of pages defined by the publishing guidelines, an additional fee per page may be required
\n\t
If a manuscript requires Heavy Editing or Language Polishing, this will incur additional fees.
\n
\n\n
Your Author Service Manager will inform you of any items not covered by the OAPF and provide exact information regarding those additional costs before proceeding.
\n\n
Open Access Funding
\n\n
To explore funding opportunities and learn more about how you can finance your IntechOpen publication, go to our Open Access Funding page. IntechOpen offers expert assistance to all of its Authors. We can support you in approaching funding bodies and institutions in relation to publishing fees by providing information about compliance with the Open Access policies of your funder or institution. We can also assist with communicating the benefits of Open Access in order to support and strengthen your funding request and provide personal guidance through your application process. You can contact us at funders@intechopen.com for further details or assistance.
\n\n
For Authors who are still unable to obtain funding from their institutions or research funding bodies for individual projects, IntechOpen does offer the possibility of applying for a Waiver to offset some or all processing feed. Details regarding our Waiver Policy can be found here.
\n\n
Added Value of Publishing with IntechOpen
\n\n
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Also, the use of polyphenols and organosulfurate compounds as an alternative for the treatment of anxiety- and depressive-like behavior as well as fibromyalgia is included. A narrative review was conducted using bibliography reporting the use of isoflavones (genistein, daidzein, equol), coumestans or lignans for the reduction of depressive-like or anxiety-like behavior. Furthermore, it is described if the use of this compounds impact in other signs of menopause, i.e. vasomotor and osteoporosis. In addition, due to the high frequency of comorbid pathologies as diabetes mellitus, dyslipidemia or metabolic syndrome with psychiatric disorders, the use of these phytochemicals is discussed.",book:{id:"5984",slug:"a-multidisciplinary-look-at-menopause",title:"Menopause",fullTitle:"A Multidisciplinary Look at Menopause"},signatures:"Erika Estrada-Camarena, Carolina López-Rubalcava, Brenda Valdés-\nSustaita, Gabriel Sinhue Azpilcueta-Morales and Eva María\nGonzález-Trujano",authors:[{id:"114710",title:"Dr.",name:"Erika",middleName:null,surname:"Estrada-Camarena",slug:"erika-estrada-camarena",fullName:"Erika Estrada-Camarena"},{id:"200969",title:"Prof.",name:"Carolina",middleName:null,surname:"López Rubalcava",slug:"carolina-lopez-rubalcava",fullName:"Carolina López Rubalcava"},{id:"200970",title:"MSc.",name:"Brenda",middleName:null,surname:"Valdés Sustaita",slug:"brenda-valdes-sustaita",fullName:"Brenda Valdés Sustaita"},{id:"200971",title:"BSc.",name:"Gabriel",middleName:null,surname:"Azpilcueta",slug:"gabriel-azpilcueta",fullName:"Gabriel Azpilcueta"},{id:"207957",title:"Prof.",name:"Eva",middleName:null,surname:"Gonzalez-Trujano",slug:"eva-gonzalez-trujano",fullName:"Eva Gonzalez-Trujano"}]},{id:"56195",doi:"10.5772/intechopen.69786",title:"Depression and Serotonergic Changes during the Climacteric and Postmenopausal Stages: Hormonal Influences",slug:"depression-and-serotonergic-changes-during-the-climacteric-and-postmenopausal-stages-hormonal-influe",totalDownloads:1503,totalCrossrefCites:1,totalDimensionsCites:5,abstract:"Depression is a psychiatric disorder that affects a high percentage of women. Most of the depression disorders turn up during the premenopause and perimenopause stages when the hormonal oscillations make an impact in the brain function principally on the serotonergic system, which is related to neurobiology of depression. 5-HT1A and 5-HT2A receptors change on functionality and density in afferent areas related to emotional modulation and increased serotonin clearance, and the binding potential of serotonin transport has been related to the underlying mechanism of the depression during the climacteric or postmenopausal stage. Some findings have been proven on preclinical studies. These studies on animals have recognized how estrogen treatment activates intracellular signaling pathways as mitogen-activated protein (MAP)/extracellular signal-regulated kinase (ERK), tyrosine kinase brain-derived neurotrophic factor receptor (TrKB), insulin-like growth factor-1 receptor (IGF-1R), phosphatidylinositol 3-kinase (PI3)/serine/threonine-specific protein kinase (Akt), and metabotropic glutamate receptor 1 (mGluR1) which interact with the serotonergic system to allow establishment of the estradiol effects on mood regulation. Thus, the interaction between the woman’s reproductive status and the serotonin changes could be useful to create prevention strategies, early diagnosis, and medical treatment of climacteric and postmenopausal women with depression, in order to improve their quality of life.",book:{id:"5984",slug:"a-multidisciplinary-look-at-menopause",title:"Menopause",fullTitle:"A Multidisciplinary Look at Menopause"},signatures:"Rosa Isela García-Ríos, Armando Mora-Pérez and Cesar Soria-\nFregozo",authors:[{id:"174653",title:"Dr.",name:"Rosa Isela",middleName:null,surname:"García-Ríos",slug:"rosa-isela-garcia-rios",fullName:"Rosa Isela García-Ríos"},{id:"174654",title:"Dr.",name:"Cesar",middleName:null,surname:"Soria-Fregozo",slug:"cesar-soria-fregozo",fullName:"Cesar Soria-Fregozo"},{id:"198327",title:"Dr.",name:"Armando",middleName:null,surname:"Mora-Perez",slug:"armando-mora-perez",fullName:"Armando Mora-Perez"}]},{id:"56181",doi:"10.5772/intechopen.69078",title:"Psychological and Social Aspects of Menopause",slug:"psychological-and-social-aspects-of-menopause",totalDownloads:2534,totalCrossrefCites:3,totalDimensionsCites:4,abstract:"Menopause is one of the age-related phases of physiological transition of females. There is robust research and information regarding its biological aspects specially its endocrine base, yet the psychosocial aspect is quite interesting and debatable due to its variability among different cultures and climates. There are certain subthreshold response in form fear and loss of reproductive life to no more ability to reproduce and a feeling of loss of femininity. The period of menstruation simulated to reproductive age or fertility is around half of their lives; therefore, loss of fertility or reproductive life may be a source of stress specially among tribes where long reproductive age period is desired on the cultural belief that this will lead to a large family size that is considered as a symbol of success. Psychological factors such personal or inter-psychic (personality, self-esteem, and coping skills) and intra-psychic (relationship issues and social support) may contribute in the onset, course, and repose to perimenopausal period. There are certain psychiatric conditions such as anxiety, depressive disorder, and premenstrual dysphoric syndrome related to premenopausal period that must be screened. Before embarking on pharmacological treatment, psychosocial intervention especially lifestyle modifications must be offered to avoid complications.",book:{id:"5984",slug:"a-multidisciplinary-look-at-menopause",title:"Menopause",fullTitle:"A Multidisciplinary Look at Menopause"},signatures:"Iqbal Afridi",authors:[{id:"203383",title:"Prof.",name:"Iqbal",middleName:null,surname:"Afridi",slug:"iqbal-afridi",fullName:"Iqbal Afridi"}]},{id:"33797",doi:"10.5772/28644",title:"Operative Vaginal Deliveries in Contemporary Obstetric Practice",slug:"operative-vaginal-deliveries-in-contemporary-obstetric-practise",totalDownloads:9027,totalCrossrefCites:0,totalDimensionsCites:3,abstract:null,book:{id:"1751",slug:"from-preconception-to-postpartum",title:"From Preconception to Postpartum",fullTitle:"From Preconception to Postpartum"},signatures:"Sunday E. Adaji and Charles A. Ameh",authors:[{id:"74801",title:"Dr.",name:"Sunday",middleName:null,surname:"Adaji",slug:"sunday-adaji",fullName:"Sunday Adaji"},{id:"86877",title:"Dr.",name:"Charles",middleName:"Anawo",surname:"Ameh",slug:"charles-ameh",fullName:"Charles Ameh"}]},{id:"56061",doi:"10.5772/intechopen.69657",title:"Menopause in Nonhuman Primates: A Comparative Study with Humans",slug:"menopause-in-nonhuman-primates-a-comparative-study-with-humans",totalDownloads:1662,totalCrossrefCites:3,totalDimensionsCites:3,abstract:"Although menopause is a phenomenon predominantly studied in humans or laboratory animals, this chapter discussed the case of nonhuman primates (NHPs), not only with the objective of employing them as study models but also to better understand phylogenetic divergence among species. Those taxonomic differences are reflected in reproductive processes that may be similar to those of human beings, with the presence of a defined cycle or periods of estrus, but perhaps at different ages as well, where menopause plays a crucial role. First, it is important to delimit the concept of menopause by considering its anatomical, physiological, and biochemical parameters, including the cessation of menstrual bleeding or perineal swelling—when present—or follicular depletion and hormonal changes. Thus, the aim of this chapter is to discuss some of the similarities between NHPs and human females, during the menopause period. Studying these phenomena should help us achieve a better understanding of the social, physiological, and environmental factors without adopting any particular cultural view of menopause.",book:{id:"5984",slug:"a-multidisciplinary-look-at-menopause",title:"Menopause",fullTitle:"A Multidisciplinary Look at Menopause"},signatures:"María de Jesús Rovirosa-Hernández, Marisela Hernández González,\nMiguel Ángel Guevara-Pérez, Francisco García-Orduña, Abril de los\nÁngeles Aguilar-Tirado, Abraham Puga-Olguín and Brisa Patricia\nVásquez-Domínguez",authors:[{id:"174651",title:"Dr.",name:"Abraham",middleName:null,surname:"Puga-Olguín",slug:"abraham-puga-olguin",fullName:"Abraham Puga-Olguín"},{id:"203584",title:"Dr.",name:"Ma De Jesus",middleName:null,surname:"Rovirosa Hernandez",slug:"ma-de-jesus-rovirosa-hernandez",fullName:"Ma De Jesus Rovirosa Hernandez"},{id:"203585",title:"MSc.",name:"Francisco",middleName:null,surname:"García-Orduña",slug:"francisco-garcia-orduna",fullName:"Francisco García-Orduña"},{id:"203586",title:"Dr.",name:"Marisela",middleName:null,surname:"Hernández-González",slug:"marisela-hernandez-gonzalez",fullName:"Marisela Hernández-González"},{id:"203587",title:"Dr.",name:"Abril De Los Ángeles",middleName:null,surname:"Aguilar-Tirado",slug:"abril-de-los-angeles-aguilar-tirado",fullName:"Abril De Los Ángeles Aguilar-Tirado"},{id:"206508",title:"Dr.",name:"Miguel Angel",middleName:null,surname:"Guevara-Pérez",slug:"miguel-angel-guevara-perez",fullName:"Miguel Angel Guevara-Pérez"},{id:"206510",title:"Dr.",name:"Brisa",middleName:null,surname:"Vásquez-Domínguez",slug:"brisa-vasquez-dominguez",fullName:"Brisa Vásquez-Domínguez"}]}],mostDownloadedChaptersLast30Days:[{id:"56181",title:"Psychological and Social Aspects of Menopause",slug:"psychological-and-social-aspects-of-menopause",totalDownloads:2529,totalCrossrefCites:3,totalDimensionsCites:4,abstract:"Menopause is one of the age-related phases of physiological transition of females. There is robust research and information regarding its biological aspects specially its endocrine base, yet the psychosocial aspect is quite interesting and debatable due to its variability among different cultures and climates. There are certain subthreshold response in form fear and loss of reproductive life to no more ability to reproduce and a feeling of loss of femininity. The period of menstruation simulated to reproductive age or fertility is around half of their lives; therefore, loss of fertility or reproductive life may be a source of stress specially among tribes where long reproductive age period is desired on the cultural belief that this will lead to a large family size that is considered as a symbol of success. Psychological factors such personal or inter-psychic (personality, self-esteem, and coping skills) and intra-psychic (relationship issues and social support) may contribute in the onset, course, and repose to perimenopausal period. There are certain psychiatric conditions such as anxiety, depressive disorder, and premenstrual dysphoric syndrome related to premenopausal period that must be screened. Before embarking on pharmacological treatment, psychosocial intervention especially lifestyle modifications must be offered to avoid complications.",book:{id:"5984",slug:"a-multidisciplinary-look-at-menopause",title:"Menopause",fullTitle:"A Multidisciplinary Look at Menopause"},signatures:"Iqbal Afridi",authors:[{id:"203383",title:"Prof.",name:"Iqbal",middleName:null,surname:"Afridi",slug:"iqbal-afridi",fullName:"Iqbal Afridi"}]},{id:"56195",title:"Depression and Serotonergic Changes during the Climacteric and Postmenopausal Stages: Hormonal Influences",slug:"depression-and-serotonergic-changes-during-the-climacteric-and-postmenopausal-stages-hormonal-influe",totalDownloads:1503,totalCrossrefCites:1,totalDimensionsCites:5,abstract:"Depression is a psychiatric disorder that affects a high percentage of women. Most of the depression disorders turn up during the premenopause and perimenopause stages when the hormonal oscillations make an impact in the brain function principally on the serotonergic system, which is related to neurobiology of depression. 5-HT1A and 5-HT2A receptors change on functionality and density in afferent areas related to emotional modulation and increased serotonin clearance, and the binding potential of serotonin transport has been related to the underlying mechanism of the depression during the climacteric or postmenopausal stage. Some findings have been proven on preclinical studies. These studies on animals have recognized how estrogen treatment activates intracellular signaling pathways as mitogen-activated protein (MAP)/extracellular signal-regulated kinase (ERK), tyrosine kinase brain-derived neurotrophic factor receptor (TrKB), insulin-like growth factor-1 receptor (IGF-1R), phosphatidylinositol 3-kinase (PI3)/serine/threonine-specific protein kinase (Akt), and metabotropic glutamate receptor 1 (mGluR1) which interact with the serotonergic system to allow establishment of the estradiol effects on mood regulation. Thus, the interaction between the woman’s reproductive status and the serotonin changes could be useful to create prevention strategies, early diagnosis, and medical treatment of climacteric and postmenopausal women with depression, in order to improve their quality of life.",book:{id:"5984",slug:"a-multidisciplinary-look-at-menopause",title:"Menopause",fullTitle:"A Multidisciplinary Look at Menopause"},signatures:"Rosa Isela García-Ríos, Armando Mora-Pérez and Cesar Soria-\nFregozo",authors:[{id:"174653",title:"Dr.",name:"Rosa Isela",middleName:null,surname:"García-Ríos",slug:"rosa-isela-garcia-rios",fullName:"Rosa Isela García-Ríos"},{id:"174654",title:"Dr.",name:"Cesar",middleName:null,surname:"Soria-Fregozo",slug:"cesar-soria-fregozo",fullName:"Cesar Soria-Fregozo"},{id:"198327",title:"Dr.",name:"Armando",middleName:null,surname:"Mora-Perez",slug:"armando-mora-perez",fullName:"Armando Mora-Perez"}]},{id:"65889",title:"Progesterone Resistance and Adult Stem Cells’ Genomic and Epigenetic Changes in the Puzzle of Endometriosis",slug:"progesterone-resistance-and-adult-stem-cells-genomic-and-epigenetic-changes-in-the-puzzle-of-endomet",totalDownloads:1064,totalCrossrefCites:0,totalDimensionsCites:0,abstract:"Endometriosis is a chronic inflammatory disease under hormonal/non-hormonal regulation, and microenvironment influences, originating in adult stem cells (mainly of bone marrow/endometrial progenitor mesenchymal type), and their exosomes, with special migratory and adhesion capacities. The postmenstrual repair with regeneration of eutopic and ectopic endometrium has similar genetic and epigenetic changes versus disease-free women. The competition between ectopic and eutopic endometrium for a limited supply of stem cells, and the depletion of normal stem cells flux to the uterus is considered the novel mechanism through which endometriosis interferes with endometrial functions and fertility. The gene expression DNA/RNA or microRNA changes/dysregulation of estrogen and progesterone receptors represent a possible explanation of progesterone resistance or loss of progesterone signalling in ectopic, and eutopic endometrium versus normal. The genes’ changes involved in hormonal/non-hormonal pathways control of eutopic/ectopic endometrial cells, and of invaded tissues/organs may explain the disease persistency, progression and severity. Deficient DNA methylation of ERβ, the initial genomic event is followed by pathologic over-expressed ERβ in ectopic stromal cells, and it dictates the decline of PR isoforms, PRB being significantly lower in ectopic and eutopic endometrium. Altered expression of ERα, ERβ, and PRs accompanies the conversion of resident normal endometrial cells to ectopic lesions.",book:{id:"8584",slug:"molecular-bases-of-endometriosis-the-integration-between-research-and-clinical-practice",title:"Molecular Bases of Endometriosis",fullTitle:"Molecular Bases of Endometriosis - The Integration Between Research and Clinical Practice"},signatures:"Manuela Cristina Russu",authors:[{id:"219629",title:"Distinguished Prof.",name:"Manuela Cristina",middleName:null,surname:"Russu",slug:"manuela-cristina-russu",fullName:"Manuela Cristina Russu"}]},{id:"33797",title:"Operative Vaginal Deliveries in Contemporary Obstetric Practice",slug:"operative-vaginal-deliveries-in-contemporary-obstetric-practise",totalDownloads:9021,totalCrossrefCites:0,totalDimensionsCites:3,abstract:null,book:{id:"1751",slug:"from-preconception-to-postpartum",title:"From Preconception to Postpartum",fullTitle:"From Preconception to Postpartum"},signatures:"Sunday E. Adaji and Charles A. Ameh",authors:[{id:"74801",title:"Dr.",name:"Sunday",middleName:null,surname:"Adaji",slug:"sunday-adaji",fullName:"Sunday Adaji"},{id:"86877",title:"Dr.",name:"Charles",middleName:"Anawo",surname:"Ameh",slug:"charles-ameh",fullName:"Charles Ameh"}]},{id:"56061",title:"Menopause in Nonhuman Primates: A Comparative Study with Humans",slug:"menopause-in-nonhuman-primates-a-comparative-study-with-humans",totalDownloads:1659,totalCrossrefCites:3,totalDimensionsCites:3,abstract:"Although menopause is a phenomenon predominantly studied in humans or laboratory animals, this chapter discussed the case of nonhuman primates (NHPs), not only with the objective of employing them as study models but also to better understand phylogenetic divergence among species. Those taxonomic differences are reflected in reproductive processes that may be similar to those of human beings, with the presence of a defined cycle or periods of estrus, but perhaps at different ages as well, where menopause plays a crucial role. First, it is important to delimit the concept of menopause by considering its anatomical, physiological, and biochemical parameters, including the cessation of menstrual bleeding or perineal swelling—when present—or follicular depletion and hormonal changes. Thus, the aim of this chapter is to discuss some of the similarities between NHPs and human females, during the menopause period. Studying these phenomena should help us achieve a better understanding of the social, physiological, and environmental factors without adopting any particular cultural view of menopause.",book:{id:"5984",slug:"a-multidisciplinary-look-at-menopause",title:"Menopause",fullTitle:"A Multidisciplinary Look at Menopause"},signatures:"María de Jesús Rovirosa-Hernández, Marisela Hernández González,\nMiguel Ángel Guevara-Pérez, Francisco García-Orduña, Abril de los\nÁngeles Aguilar-Tirado, Abraham Puga-Olguín and Brisa Patricia\nVásquez-Domínguez",authors:[{id:"174651",title:"Dr.",name:"Abraham",middleName:null,surname:"Puga-Olguín",slug:"abraham-puga-olguin",fullName:"Abraham Puga-Olguín"},{id:"203584",title:"Dr.",name:"Ma De Jesus",middleName:null,surname:"Rovirosa Hernandez",slug:"ma-de-jesus-rovirosa-hernandez",fullName:"Ma De Jesus Rovirosa Hernandez"},{id:"203585",title:"MSc.",name:"Francisco",middleName:null,surname:"García-Orduña",slug:"francisco-garcia-orduna",fullName:"Francisco García-Orduña"},{id:"203586",title:"Dr.",name:"Marisela",middleName:null,surname:"Hernández-González",slug:"marisela-hernandez-gonzalez",fullName:"Marisela Hernández-González"},{id:"203587",title:"Dr.",name:"Abril De Los Ángeles",middleName:null,surname:"Aguilar-Tirado",slug:"abril-de-los-angeles-aguilar-tirado",fullName:"Abril De Los Ángeles Aguilar-Tirado"},{id:"206508",title:"Dr.",name:"Miguel Angel",middleName:null,surname:"Guevara-Pérez",slug:"miguel-angel-guevara-perez",fullName:"Miguel Angel Guevara-Pérez"},{id:"206510",title:"Dr.",name:"Brisa",middleName:null,surname:"Vásquez-Domínguez",slug:"brisa-vasquez-dominguez",fullName:"Brisa Vásquez-Domínguez"}]}],onlineFirstChaptersFilter:{topicId:"1068",limit:6,offset:0},onlineFirstChaptersCollection:[],onlineFirstChaptersTotal:0},preDownload:{success:null,errors:{}},subscriptionForm:{success:null,errors:{}},aboutIntechopen:{},privacyPolicy:{},peerReviewing:{},howOpenAccessPublishingWithIntechopenWorks:{},sponsorshipBooks:{sponsorshipBooks:[],offset:8,limit:8,total:0},allSeries:{pteSeriesList:[{id:"14",title:"Artificial Intelligence",numberOfPublishedBooks:9,numberOfPublishedChapters:89,numberOfOpenTopics:6,numberOfUpcomingTopics:0,issn:"2633-1403",doi:"10.5772/intechopen.79920",isOpenForSubmission:!0},{id:"7",title:"Biomedical Engineering",numberOfPublishedBooks:12,numberOfPublishedChapters:104,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2631-5343",doi:"10.5772/intechopen.71985",isOpenForSubmission:!0}],lsSeriesList:[{id:"11",title:"Biochemistry",numberOfPublishedBooks:32,numberOfPublishedChapters:318,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2632-0983",doi:"10.5772/intechopen.72877",isOpenForSubmission:!0},{id:"25",title:"Environmental Sciences",numberOfPublishedBooks:1,numberOfPublishedChapters:12,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2754-6713",doi:"10.5772/intechopen.100362",isOpenForSubmission:!0},{id:"10",title:"Physiology",numberOfPublishedBooks:11,numberOfPublishedChapters:141,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2631-8261",doi:"10.5772/intechopen.72796",isOpenForSubmission:!0}],hsSeriesList:[{id:"3",title:"Dentistry",numberOfPublishedBooks:8,numberOfPublishedChapters:133,numberOfOpenTopics:2,numberOfUpcomingTopics:0,issn:"2631-6218",doi:"10.5772/intechopen.71199",isOpenForSubmission:!0},{id:"6",title:"Infectious Diseases",numberOfPublishedBooks:13,numberOfPublishedChapters:113,numberOfOpenTopics:3,numberOfUpcomingTopics:1,issn:"2631-6188",doi:"10.5772/intechopen.71852",isOpenForSubmission:!0},{id:"13",title:"Veterinary Medicine and Science",numberOfPublishedBooks:11,numberOfPublishedChapters:107,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2632-0517",doi:"10.5772/intechopen.73681",isOpenForSubmission:!0}],sshSeriesList:[{id:"22",title:"Business, Management and Economics",numberOfPublishedBooks:1,numberOfPublishedChapters:19,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2753-894X",doi:"10.5772/intechopen.100359",isOpenForSubmission:!0},{id:"23",title:"Education and Human Development",numberOfPublishedBooks:0,numberOfPublishedChapters:5,numberOfOpenTopics:1,numberOfUpcomingTopics:1,issn:null,doi:"10.5772/intechopen.100360",isOpenForSubmission:!0},{id:"24",title:"Sustainable Development",numberOfPublishedBooks:0,numberOfPublishedChapters:15,numberOfOpenTopics:5,numberOfUpcomingTopics:0,issn:null,doi:"10.5772/intechopen.100361",isOpenForSubmission:!0}],testimonialsList:[{id:"13",text:"The collaboration with and support of the technical staff of IntechOpen is fantastic. 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His research interests and specialties include financial econometrics, financial economics, international economics and finance, housing markets, financial markets, among others.",institutionString:null,institution:{name:"University of Southampton",institutionURL:null,country:{name:"United Kingdom"}}},editorTwo:null,editorThree:null},subseries:{paginationCount:3,paginationItems:[{id:"86",title:"Business and Management",coverUrl:"https://cdn.intechopen.com/series_topics/covers/86.jpg",isOpenForSubmission:!0,annualVolume:11970,editor:{id:"128342",title:"Prof.",name:"Vito",middleName:null,surname:"Bobek",slug:"vito-bobek",fullName:"Vito Bobek",profilePictureURL:"https://mts.intechopen.com/storage/users/128342/images/system/128342.jpg",biography:"Dr. Vito Bobek works as an international management professor at the University of Applied Sciences FH Joanneum, Graz, Austria. 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Singh",profilePictureURL:"https://mts.intechopen.com/storage/users/329385/images/system/329385.png",institutionString:"Punjab Technical University",institution:{name:"Punjab Technical University",institutionURL:null,country:{name:"India"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"8018",title:"Extracellular Matrix",subtitle:"Developments and Therapeutics",coverURL:"https://cdn.intechopen.com/books/images_new/8018.jpg",slug:"extracellular-matrix-developments-and-therapeutics",publishedDate:"October 27th 2021",editedByType:"Edited by",bookSignature:"Rama Sashank Madhurapantula, Joseph Orgel P.R.O. and Zvi Loewy",hash:"c85e82851e80b40282ff9be99ddf2046",volumeInSeries:23,fullTitle:"Extracellular Matrix - Developments and Therapeutics",editors:[{id:"212416",title:"Dr.",name:"Rama Sashank",middleName:null,surname:"Madhurapantula",slug:"rama-sashank-madhurapantula",fullName:"Rama Sashank Madhurapantula",profilePictureURL:"https://mts.intechopen.com/storage/users/212416/images/system/212416.jpg",institutionString:"Illinois Institute of Technology",institution:{name:"Illinois Institute of Technology",institutionURL:null,country:{name:"United States of America"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"9759",title:"Vitamin E in Health and Disease",subtitle:"Interactions, Diseases and Health Aspects",coverURL:"https://cdn.intechopen.com/books/images_new/9759.jpg",slug:"vitamin-e-in-health-and-disease-interactions-diseases-and-health-aspects",publishedDate:"October 6th 2021",editedByType:"Edited by",bookSignature:"Pınar Erkekoglu and Júlia Scherer Santos",hash:"6c3ddcc13626110de289b57f2516ac8f",volumeInSeries:22,fullTitle:"Vitamin E in Health and Disease - Interactions, Diseases and Health Aspects",editors:[{id:"109978",title:"Prof.",name:"Pınar",middleName:null,surname:"Erkekoğlu",slug:"pinar-erkekoglu",fullName:"Pınar Erkekoğlu",profilePictureURL:"https://mts.intechopen.com/storage/users/109978/images/system/109978.jpg",institutionString:"Hacettepe University",institution:{name:"Hacettepe University",institutionURL:null,country:{name:"Turkey"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null}]},subseriesFiltersForPublishedBooks:[{group:"subseries",caption:"Proteomics",value:18,count:4},{group:"subseries",caption:"Metabolism",value:17,count:6},{group:"subseries",caption:"Cell and Molecular Biology",value:14,count:9},{group:"subseries",caption:"Chemical Biology",value:15,count:13}],publicationYearFilters:[{group:"publicationYear",caption:"2022",value:2022,count:8},{group:"publicationYear",caption:"2021",value:2021,count:7},{group:"publicationYear",caption:"2020",value:2020,count:12},{group:"publicationYear",caption:"2019",value:2019,count:3},{group:"publicationYear",caption:"2018",value:2018,count:2}],authors:{paginationCount:250,paginationItems:[{id:"274452",title:"Dr.",name:"Yousif",middleName:"Mohamed",surname:"Abdallah",slug:"yousif-abdallah",fullName:"Yousif Abdallah",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/274452/images/8324_n.jpg",biography:"I certainly enjoyed my experience in Radiotherapy and Nuclear Medicine, particularly it has been in different institutions and hospitals with different Medical Cultures and allocated resources. Radiotherapy and Nuclear Medicine Technology has always been my aspiration and my life. As years passed I accumulated a tremendous amount of skills and knowledge in Radiotherapy and Nuclear Medicine, Conventional Radiology, Radiation Protection, Bioinformatics Technology, PACS, Image processing, clinically and lecturing that will enable me to provide a valuable service to the community as a Researcher and Consultant in this field. My method of translating this into day to day in clinical practice is non-exhaustible and my habit of exchanging knowledge and expertise with others in those fields is the code and secret of success.",institutionString:null,institution:{name:"Majmaah University",country:{name:"Saudi Arabia"}}},{id:"313277",title:"Dr.",name:"Bartłomiej",middleName:null,surname:"Płaczek",slug:"bartlomiej-placzek",fullName:"Bartłomiej Płaczek",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/313277/images/system/313277.jpg",biography:"Bartłomiej Płaczek, MSc (2002), Ph.D. (2005), Habilitation (2016), is a professor at the University of Silesia, Institute of Computer Science, Poland, and an expert from the National Centre for Research and Development. His research interests include sensor networks, smart sensors, intelligent systems, and image processing with applications in healthcare and medicine. He is the author or co-author of more than seventy papers in peer-reviewed journals and conferences as well as the co-author of several books. He serves as a reviewer for many scientific journals, international conferences, and research foundations. Since 2010, Dr. Placzek has been a reviewer of grants and projects (including EU projects) in the field of information technologies.",institutionString:"University of Silesia",institution:{name:"University of Silesia",country:{name:"Poland"}}},{id:"35000",title:"Prof.",name:"Ulrich H.P",middleName:"H.P.",surname:"Fischer",slug:"ulrich-h.p-fischer",fullName:"Ulrich H.P Fischer",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/35000/images/3052_n.jpg",biography:"Academic and Professional Background\nUlrich H. P. has Diploma and PhD degrees in Physics from the Free University Berlin, Germany. He has been working on research positions in the Heinrich-Hertz-Institute in Germany. Several international research projects has been performed with European partners from France, Netherlands, Norway and the UK. He is currently Professor of Communications Systems at the Harz University of Applied Sciences, Germany.\n\nPublications and Publishing\nHe has edited one book, a special interest book about ‘Optoelectronic Packaging’ (VDE, Berlin, Germany), and has published over 100 papers and is owner of several international patents for WDM over POF key elements.\n\nKey Research and Consulting Interests\nUlrich’s research activity has always been related to Spectroscopy and Optical Communications Technology. Specific current interests include the validation of complex instruments, and the application of VR technology to the development and testing of measurement systems. He has been reviewer for several publications of the Optical Society of America\\'s including Photonics Technology Letters and Applied Optics.\n\nPersonal Interests\nThese include motor cycling in a very relaxed manner and performing martial arts.",institutionString:null,institution:{name:"Charité",country:{name:"Germany"}}},{id:"341622",title:"Ph.D.",name:"Eduardo",middleName:null,surname:"Rojas Alvarez",slug:"eduardo-rojas-alvarez",fullName:"Eduardo Rojas Alvarez",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/341622/images/15892_n.jpg",biography:null,institutionString:null,institution:{name:"University of Cuenca",country:{name:"Ecuador"}}},{id:"215610",title:"Prof.",name:"Muhammad",middleName:null,surname:"Sarfraz",slug:"muhammad-sarfraz",fullName:"Muhammad Sarfraz",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/215610/images/system/215610.jpeg",biography:"Muhammad Sarfraz is a professor in the Department of Information Science, Kuwait University. His research interests include computer graphics, computer vision, image processing, machine learning, pattern recognition, soft computing, data science, intelligent systems, information technology, and information systems. Prof. Sarfraz has been a keynote/invited speaker on various platforms around the globe. He has advised various students for their MSc and Ph.D. theses. He has published more than 400 publications as books, journal articles, and conference papers. He is a member of various professional societies and a chair and member of the International Advisory Committees and Organizing Committees of various international conferences. Prof. Sarfraz is also an editor-in-chief and editor of various international journals.",institutionString:"Kuwait University",institution:{name:"Kuwait University",country:{name:"Kuwait"}}},{id:"32650",title:"Prof.",name:"Lukas",middleName:"Willem",surname:"Snyman",slug:"lukas-snyman",fullName:"Lukas Snyman",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/32650/images/4136_n.jpg",biography:"Lukas Willem Snyman received his basic education at primary and high schools in South Africa, Eastern Cape. He enrolled at today's Nelson Metropolitan University and graduated from this university with a BSc in Physics and Mathematics, B.Sc Honors in Physics, MSc in Semiconductor Physics, and a Ph.D. in Semiconductor Physics in 1987. After his studies, he chose an academic career and devoted his energy to the teaching of physics to first, second, and third-year students. After positions as a lecturer at the University of Port Elizabeth, he accepted a position as Associate Professor at the University of Pretoria, South Africa.\r\n\r\nIn 1992, he motivates the concept of 'television and computer-based education” as means to reach large student numbers with only the best of teaching expertise and publishes an article on the concept in the SA Journal of Higher Education of 1993 (and later in 2003). The University of Pretoria subsequently approved a series of test projects on the concept with outreach to Mamelodi and Eerste Rust in 1993. In 1994, the University established a 'Unit for Telematic Education ' as a support section for multiple faculties at the University of Pretoria. In subsequent years, the concept of 'telematic education” subsequently becomes well established in academic circles in South Africa, grew in popularity, and is adopted by many universities and colleges throughout South Africa as a medium of enhancing education and training, as a method to reaching out to far out communities, and as a means to enhance study from the home environment.\r\n\r\nProfessor Snyman in subsequent years pursued research in semiconductor physics, semiconductor devices, microelectronics, and optoelectronics.\r\n\r\nIn 2000 he joined the TUT as a full professor. Here served for a period as head of the Department of Electronic Engineering. Here he makes contributions to solar energy development, microwave and optoelectronic device development, silicon photonics, as well as contributions to new mobile telecommunication systems and network planning in SA.\r\n\r\nCurrently, he teaches electronics and telecommunications at the TUT to audiences ranging from first-year students to Ph.D. level.\r\n\r\nFor his research in the field of 'Silicon Photonics” since 1990, he has published (as author and co-author) about thirty internationally reviewed articles in scientific journals, contributed to more than forty international conferences, about 25 South African provisional patents (as inventor and co-inventor), 8 PCT international patent applications until now. Of these, two USA patents applications, two European Patents, two Korean patents, and ten SA patents have been granted. A further 4 USA patents, 5 European patents, 3 Korean patents, 3 Chinese patents, and 3 Japanese patents are currently under consideration.\r\n\r\nRecently he has also published an extensive scholarly chapter in an internet open access book on 'Integrating Microphotonic Systems and MOEMS into standard Silicon CMOS Integrated circuitry”.\r\n\r\nFurthermore, Professor Snyman recently steered a new initiative at the TUT by introducing a 'Laboratory for Innovative Electronic Systems ' at the Department of Electrical Engineering. The model of this laboratory or center is to primarily combine outputs as achieved by high-level research with lower-level system development and entrepreneurship in a technical university environment. Students are allocated to projects at different levels with PhDs and Master students allocated to the generation of new knowledge and new technologies, while students at the diploma and Baccalaureus level are allocated to electronic systems development with a direct and a near application for application in industry or the commercial and public sectors in South Africa.\r\n\r\nProfessor Snyman received the WIRSAM Award of 1983 and the WIRSAM Award in 1985 in South Africa for best research papers by a young scientist at two international conferences on electron microscopy in South Africa. He subsequently received the SA Microelectronics Award for the best dissertation emanating from studies executed at a South African university in the field of Physics and Microelectronics in South Africa in 1987. In October of 2011, Professor Snyman received the prestigious Institutional Award for 'Innovator of the Year” for 2010 at the Tshwane University of Technology, South Africa. This award was based on the number of patents recognized and granted by local and international institutions as well as for his contributions concerning innovation at the TUT.",institutionString:null,institution:{name:"University of South Africa",country:{name:"South Africa"}}},{id:"317279",title:"Mr.",name:"Ali",middleName:"Usama",surname:"Syed",slug:"ali-syed",fullName:"Ali Syed",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/317279/images/16024_n.png",biography:"A creative, talented, and innovative young professional who is dedicated, well organized, and capable research fellow with two years of experience in graduate-level research, published in engineering journals and book, with related expertise in Bio-robotics, equally passionate about the aesthetics of the mechanical and electronic system, obtained expertise in the use of MS Office, MATLAB, SolidWorks, LabVIEW, Proteus, Fusion 360, having a grasp on python, C++ and assembly language, possess proven ability in acquiring research grants, previous appointments with social and educational societies with experience in administration, current affiliations with IEEE and Web of Science, a confident presenter at conferences and teacher in classrooms, able to explain complex information to audiences of all levels.",institutionString:null,institution:{name:"Air University",country:{name:"Pakistan"}}},{id:"75526",title:"Ph.D.",name:"Zihni Onur",middleName:null,surname:"Uygun",slug:"zihni-onur-uygun",fullName:"Zihni Onur Uygun",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/75526/images/12_n.jpg",biography:"My undergraduate education and my Master of Science educations at Ege University and at Çanakkale Onsekiz Mart University have given me a firm foundation in Biochemistry, Analytical Chemistry, Biosensors, Bioelectronics, Physical Chemistry and Medicine. After obtaining my degree as a MSc in analytical chemistry, I started working as a research assistant in Ege University Medical Faculty in 2014. In parallel, I enrolled to the MSc program at the Department of Medical Biochemistry at Ege University to gain deeper knowledge on medical and biochemical sciences as well as clinical chemistry in 2014. In my PhD I deeply researched on biosensors and bioelectronics and finished in 2020. Now I have eleven SCI-Expanded Index published papers, 6 international book chapters, referee assignments for different SCIE journals, one international patent pending, several international awards, projects and bursaries. In parallel to my research assistant position at Ege University Medical Faculty, Department of Medical Biochemistry, in April 2016, I also founded a Start-Up Company (Denosens Biotechnology LTD) by the support of The Scientific and Technological Research Council of Turkey. Currently, I am also working as a CEO in Denosens Biotechnology. The main purposes of the company, which carries out R&D as a research center, are to develop new generation biosensors and sensors for both point-of-care diagnostics; such as glucose, lactate, cholesterol and cancer biomarker detections. My specific experimental and instrumental skills are Biochemistry, Biosensor, Analytical Chemistry, Electrochemistry, Mobile phone based point-of-care diagnostic device, POCTs and Patient interface designs, HPLC, Tandem Mass Spectrometry, Spectrophotometry, ELISA.",institutionString:null,institution:{name:"Ege University",country:{name:"Turkey"}}},{id:"267434",title:"Dr.",name:"Rohit",middleName:null,surname:"Raja",slug:"rohit-raja",fullName:"Rohit Raja",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/267434/images/system/267434.jpg",biography:"Dr. Rohit Raja received Ph.D. in Computer Science and Engineering from Dr. CVRAMAN University in 2016. His main research interest includes Face recognition and Identification, Digital Image Processing, Signal Processing, and Networking. Presently he is working as Associate Professor in IT Department, Guru Ghasidas Vishwavidyalaya (A Central University), Bilaspur (CG), India. He has authored several Journal and Conference Papers. He has good Academics & Research experience in various areas of CSE and IT. He has filed and successfully published 27 Patents. He has received many time invitations to be a Guest at IEEE Conferences. He has published 100 research papers in various International/National Journals (including IEEE, Springer, etc.) and Proceedings of the reputed International/ National Conferences (including Springer and IEEE). He has been nominated to the board of editors/reviewers of many peer-reviewed and refereed Journals (including IEEE, Springer).",institutionString:"Guru Ghasidas Vishwavidyalaya",institution:{name:"Guru Ghasidas Vishwavidyalaya",country:{name:"India"}}},{id:"246502",title:"Dr.",name:"Jaya T.",middleName:"T",surname:"Varkey",slug:"jaya-t.-varkey",fullName:"Jaya T. Varkey",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/246502/images/11160_n.jpg",biography:"Jaya T. Varkey, PhD, graduated with a degree in Chemistry from Cochin University of Science and Technology, Kerala, India. She obtained a PhD in Chemistry from the School of Chemical Sciences, Mahatma Gandhi University, Kerala, India, and completed a post-doctoral fellowship at the University of Minnesota, USA. She is a research guide at Mahatma Gandhi University and Associate Professor in Chemistry, St. Teresa’s College, Kochi, Kerala, India.\nDr. Varkey received a National Young Scientist award from the Indian Science Congress (1995), a UGC Research award (2016–2018), an Indian National Science Academy (INSA) Visiting Scientist award (2018–2019), and a Best Innovative Faculty award from the All India Association for Christian Higher Education (AIACHE) (2019). She Hashas received the Sr. Mary Cecil prize for best research paper three times. She was also awarded a start-up to develop a tea bag water filter. \nDr. Varkey has published two international books and twenty-seven international journal publications. She is an editorial board member for five international journals.",institutionString:"St. Teresa’s College",institution:null},{id:"250668",title:"Dr.",name:"Ali",middleName:null,surname:"Nabipour Chakoli",slug:"ali-nabipour-chakoli",fullName:"Ali Nabipour Chakoli",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/250668/images/system/250668.jpg",biography:"Academic Qualification:\r\n•\tPhD in Materials Physics and Chemistry, From: Sep. 2006, to: Sep. 2010, School of Materials Science and Engineering, Harbin Institute of Technology, Thesis: Structure and Shape Memory Effect of Functionalized MWCNTs/poly (L-lactide-co-ε-caprolactone) Nanocomposites. Supervisor: Prof. Wei Cai,\r\n•\tM.Sc in Applied Physics, From: 1996, to: 1998, Faculty of Physics & Nuclear Science, Amirkabir Uni. of Technology, Tehran, Iran, Thesis: Determination of Boron in Micro alloy Steels with solid state nuclear track detectors by neutron induced auto radiography, Supervisors: Dr. M. Hosseini Ashrafi and Dr. A. Hosseini.\r\n•\tB.Sc. in Applied Physics, From: 1991, to: 1996, Faculty of Physics & Nuclear Science, Amirkabir Uni. of Technology, Tehran, Iran, Thesis: Design of shielding for Am-Be neutron sources for In Vivo neutron activation analysis, Supervisor: Dr. M. Hosseini Ashrafi.\r\n\r\nResearch Experiences:\r\n1.\tNanomaterials, Carbon Nanotubes, Graphene: Synthesis, Functionalization and Characterization,\r\n2.\tMWCNTs/Polymer Composites: Fabrication and Characterization, \r\n3.\tShape Memory Polymers, Biodegradable Polymers, ORC, Collagen,\r\n4.\tMaterials Analysis and Characterizations: TEM, SEM, XPS, FT-IR, Raman, DSC, DMA, TGA, XRD, GPC, Fluoroscopy, \r\n5.\tInteraction of Radiation with Mater, Nuclear Safety and Security, NDT(RT),\r\n6.\tRadiation Detectors, Calibration (SSDL),\r\n7.\tCompleted IAEA e-learning Courses:\r\nNuclear Security (15 Modules),\r\nNuclear Safety:\r\nTSA 2: Regulatory Protection in Occupational Exposure,\r\nTips & Tricks: Radiation Protection in Radiography,\r\nSafety and Quality in Radiotherapy,\r\nCourse on Sealed Radioactive Sources,\r\nCourse on Fundamentals of Environmental Remediation,\r\nCourse on Planning for Environmental Remediation,\r\nKnowledge Management Orientation Course,\r\nFood Irradiation - Technology, Applications and Good Practices,\r\nEmployment:\r\nFrom 2010 to now: Academic staff, Nuclear Science and Technology Research Institute, Kargar Shomali, Tehran, Iran, P.O. Box: 14395-836.\r\nFrom 1997 to 2006: Expert of Materials Analysis and Characterization. Research Center of Agriculture and Medicine. Rajaeeshahr, Karaj, Iran, P. O. Box: 31585-498.",institutionString:"Atomic Energy Organization of Iran",institution:{name:"Atomic Energy Organization of Iran",country:{name:"Iran"}}},{id:"248279",title:"Dr.",name:"Monika",middleName:"Elzbieta",surname:"Machoy",slug:"monika-machoy",fullName:"Monika Machoy",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/248279/images/system/248279.jpeg",biography:"Monika Elżbieta Machoy, MD, graduated with distinction from the Faculty of Medicine and Dentistry at the Pomeranian Medical University in 2009, defended her PhD thesis with summa cum laude in 2016 and is currently employed as a researcher at the Department of Orthodontics of the Pomeranian Medical University. She expanded her professional knowledge during a one-year scholarship program at the Ernst Moritz Arndt University in Greifswald, Germany and during a three-year internship at the Technical University in Dresden, Germany. She has been a speaker at numerous orthodontic conferences, among others, American Association of Orthodontics, European Orthodontic Symposium and numerous conferences of the Polish Orthodontic Society. She conducts research focusing on the effect of orthodontic treatment on dental and periodontal tissues and the causes of pain in orthodontic patients.",institutionString:"Pomeranian Medical University",institution:{name:"Pomeranian Medical University",country:{name:"Poland"}}},{id:"252743",title:"Prof.",name:"Aswini",middleName:"Kumar",surname:"Kar",slug:"aswini-kar",fullName:"Aswini Kar",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/252743/images/10381_n.jpg",biography:"uploaded in cv",institutionString:null,institution:{name:"KIIT University",country:{name:"India"}}},{id:"204256",title:"Dr.",name:"Anil",middleName:"Kumar",surname:"Kumar Sahu",slug:"anil-kumar-sahu",fullName:"Anil Kumar Sahu",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/204256/images/14201_n.jpg",biography:"I have nearly 11 years of research and teaching experience. I have done my master degree from University Institute of Pharmacy, Pt. Ravi Shankar Shukla University, Raipur, Chhattisgarh India. I have published 16 review and research articles in international and national journals and published 4 chapters in IntechOpen, the world’s leading publisher of Open access books. I have presented many papers at national and international conferences. I have received research award from Indian Drug Manufacturers Association in year 2015. My research interest extends from novel lymphatic drug delivery systems, oral delivery system for herbal bioactive to formulation optimization.",institutionString:null,institution:{name:"Chhattisgarh Swami Vivekanand Technical University",country:{name:"India"}}},{id:"253468",title:"Dr.",name:"Mariusz",middleName:null,surname:"Marzec",slug:"mariusz-marzec",fullName:"Mariusz Marzec",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/253468/images/system/253468.png",biography:"An assistant professor at Department of Biomedical Computer Systems, at Institute of Computer Science, Silesian University in Katowice. Scientific interests: computer analysis and processing of images, biomedical images, databases and programming languages. He is an author and co-author of scientific publications covering analysis and processing of biomedical images and development of database systems.",institutionString:"University of Silesia",institution:null},{id:"212432",title:"Prof.",name:"Hadi",middleName:null,surname:"Mohammadi",slug:"hadi-mohammadi",fullName:"Hadi Mohammadi",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/212432/images/system/212432.jpeg",biography:"Dr. Hadi Mohammadi is a biomedical engineer with hands-on experience in the design and development of many engineering structures and medical devices through various projects that he has been involved in over the past twenty years. Dr. Mohammadi received his BSc. and MSc. degrees in Mechanical Engineering from Sharif University of Technology, Tehran, Iran, and his PhD. degree in Biomedical Engineering (biomaterials) from the University of Western Ontario. He was a postdoctoral trainee for almost four years at University of Calgary and Harvard Medical School. He is an industry innovator having created the technology to produce lifelike synthetic platforms that can be used for the simulation of almost all cardiovascular reconstructive surgeries. He’s been heavily involved in the design and development of cardiovascular devices and technology for the past 10 years. He is currently an Assistant Professor with the University of British Colombia, Canada.",institutionString:"University of British Columbia",institution:{name:"University of British Columbia",country:{name:"Canada"}}},{id:"254463",title:"Prof.",name:"Haisheng",middleName:null,surname:"Yang",slug:"haisheng-yang",fullName:"Haisheng Yang",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/254463/images/system/254463.jpeg",biography:"Haisheng Yang, Ph.D., Professor and Director of the Department of Biomedical Engineering, College of Life Science and Bioengineering, Beijing University of Technology. He received his Ph.D. degree in Mechanics/Biomechanics from Harbin Institute of Technology (jointly with University of California, Berkeley). Afterwards, he worked as a Postdoctoral Research Associate in the Purdue Musculoskeletal Biology and Mechanics Lab at the Department of Basic Medical Sciences, Purdue University, USA. He also conducted research in the Research Centre of Shriners Hospitals for Children-Canada at McGill University, Canada. Dr. Yang has over 10 years research experience in orthopaedic biomechanics and mechanobiology of bone adaptation and regeneration. He earned an award from Beijing Overseas Talents Aggregation program in 2017 and serves as Beijing Distinguished Professor.",institutionString:null,institution:{name:"Beijing University of Technology",country:{name:"China"}}},{id:"89721",title:"Dr.",name:"Mehmet",middleName:"Cuneyt",surname:"Ozmen",slug:"mehmet-ozmen",fullName:"Mehmet Ozmen",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/89721/images/7289_n.jpg",biography:null,institutionString:null,institution:{name:"Gazi University",country:{name:"Turkey"}}},{id:"242893",title:"Ph.D. Student",name:"Joaquim",middleName:null,surname:"De Moura",slug:"joaquim-de-moura",fullName:"Joaquim De Moura",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/242893/images/7133_n.jpg",biography:"Joaquim de Moura received his degree in Computer Engineering in 2014 from the University of A Coruña (Spain). In 2016, he received his M.Sc degree in Computer Engineering from the same university. He is currently pursuing his Ph.D degree in Computer Science in a collaborative project between ophthalmology centers in Galicia and the University of A Coruña. His research interests include computer vision, machine learning algorithms and analysis and medical imaging processing of various kinds.",institutionString:null,institution:{name:"University of A Coruña",country:{name:"Spain"}}},{id:"294334",title:"B.Sc.",name:"Marc",middleName:null,surname:"Bruggeman",slug:"marc-bruggeman",fullName:"Marc Bruggeman",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/294334/images/8242_n.jpg",biography:"Chemical engineer graduate, with a passion for material science and specific interest in polymers - their near infinite applications intrigue me. \n\nI plan to continue my scientific career in the field of polymeric biomaterials as I am fascinated by intelligent, bioactive and biomimetic materials for use in both consumer and medical applications.",institutionString:null,institution:null},{id:"255757",title:"Dr.",name:"Igor",middleName:"Victorovich",surname:"Lakhno",slug:"igor-lakhno",fullName:"Igor Lakhno",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/255757/images/system/255757.jpg",biography:"Igor Victorovich Lakhno was born in 1971 in Kharkiv (Ukraine). \nMD – 1994, Kharkiv National Medical Univesity.\nOb&Gyn; – 1997, master courses in Kharkiv Medical Academy of Postgraduate Education.\nPh.D. – 1999, Kharkiv National Medical Univesity.\nDSC – 2019, PL Shupik National Academy of Postgraduate Education \nProfessor – 2021, Department of Obstetrics and Gynecology of VN Karazin Kharkiv National University\nHead of Department – 2021, Department of Perinatology, Obstetrics and gynecology of Kharkiv Medical Academy of Postgraduate Education\nIgor Lakhno has been graduated from international training courses on reproductive medicine and family planning held at Debrecen University (Hungary) in 1997. Since 1998 Lakhno Igor has worked as an associate professor in the department of obstetrics and gynecology of VN Karazin National University and an associate professor of the perinatology, obstetrics, and gynecology department of Kharkiv Medical Academy of Postgraduate Education. Since June 2019 he’s been a professor in the department of obstetrics and gynecology of VN Karazin National University and a professor of the perinatology, obstetrics, and gynecology department. He’s affiliated with Kharkiv Medical Academy of Postgraduate Education as a Head of Department from November 2021. Igor Lakhno has participated in several international projects on fetal non-invasive electrocardiography (with Dr. J. A. Behar (Technion), Prof. D. Hoyer (Jena University), and José Alejandro Díaz Méndez (National Institute of Astrophysics, Optics, and Electronics, Mexico). He’s an author of about 200 printed works and there are 31 of them in Scopus or Web of Science databases. Igor Lakhno is a member of the Editorial Board of Reproductive Health of Woman, Emergency Medicine, and Technology Transfer Innovative Solutions in Medicine (Estonia). He is a medical Editor of “Z turbotoyu pro zhinku”. Igor Lakhno is a reviewer of the Journal of Obstetrics and Gynaecology (Taylor and Francis), British Journal of Obstetrics and Gynecology (Wiley), Informatics in Medicine Unlocked (Elsevier), The Journal of Obstetrics and Gynecology Research (Wiley), Endocrine, Metabolic & Immune Disorders-Drug Targets (Bentham Open), The Open Biomedical Engineering Journal (Bentham Open), etc. He’s defended a dissertation for a DSc degree “Pre-eclampsia: prediction, prevention, and treatment”. Three years ago Igor Lakhno has participated in a training course on innovative technologies in medical education at Lublin Medical University (Poland). Lakhno Igor has participated as a speaker in several international conferences and congresses (International Conference on Biological Oscillations April 10th-14th 2016, Lancaster, UK, The 9th conference of the European Study Group on Cardiovascular Oscillations). His main scientific interests: are obstetrics, women’s health, fetal medicine, and cardiovascular medicine. \nIgor Lakhno is a consultant at Kharkiv municipal perinatal center. He’s graduated from training courses on endoscopy in gynecology. He has 28 years of practical experience in the field.",institutionString:null,institution:null},{id:"244950",title:"Dr.",name:"Salvatore",middleName:null,surname:"Di Lauro",slug:"salvatore-di-lauro",fullName:"Salvatore Di Lauro",position:null,profilePictureURL:"https://intech-files.s3.amazonaws.com/0030O00002bSF1HQAW/ProfilePicture%202021-12-20%2014%3A54%3A14.482",biography:"Name:\n\tSALVATORE DI LAURO\nAddress:\n\tHospital Clínico Universitario Valladolid\nAvda Ramón y Cajal 3\n47005, Valladolid\nSpain\nPhone number: \nFax\nE-mail:\n\t+34 983420000 ext 292\n+34 983420084\nsadilauro@live.it\nDate and place of Birth:\nID Number\nMedical Licence \nLanguages\t09-05-1985. Villaricca (Italy)\n\nY1281863H\n474707061\nItalian (native language)\nSpanish (read, written, spoken)\nEnglish (read, written, spoken)\nPortuguese (read, spoken)\nFrench (read)\n\t\t\nCurrent position (title and company)\tDate (Year)\nVitreo-Retinal consultant in ophthalmology. Hospital Clinico Universitario Valladolid. Sacyl. National Health System.\nVitreo-Retinal consultant in ophthalmology. Instituto Oftalmologico Recoletas. Red Hospitalaria Recoletas. Private practise.\t2017-today\n\n2019-today\n\t\n\t\nEducation (High school, university and postgraduate training > 3 months)\tDate (Year)\nDegree in Medicine and Surgery. University of Neaples 'Federico II”\nResident in Opthalmology. Hospital Clinico Universitario Valladolid\nMaster in Vitreo-Retina. IOBA. University of Valladolid\nFellow of the European Board of Ophthalmology. Paris\nMaster in Research in Ophthalmology. University of Valladolid\t2003-2009\n2012-2016\n2016-2017\n2016\n2012-2013\n\t\nEmployments (company and positions)\tDate (Year)\nResident in Ophthalmology. Hospital Clinico Universitario Valladolid. Sacyl.\nFellow in Vitreo-Retina. IOBA. University of Valladolid\nVitreo-Retinal consultant in ophthalmology. Hospital Clinico Universitario Valladolid. Sacyl. National Health System.\nVitreo-Retinal consultant in ophthalmology. Instituto Oftalmologico Recoletas. Red Hospitalaria Recoletas. \n\t2012-2016\n2016-2017\n2017-today\n\n2019-Today\n\n\n\t\nClinical Research Experience (tasks and role)\tDate (Year)\nAssociated investigator\n\n' FIS PI20/00740: DESARROLLO DE UNA CALCULADORA DE RIESGO DE\nAPARICION DE RETINOPATIA DIABETICA BASADA EN TECNICAS DE IMAGEN MULTIMODAL EN PACIENTES DIABETICOS TIPO 1. Grant by: Ministerio de Ciencia e Innovacion \n\n' (BIO/VA23/14) Estudio clínico multicéntrico y prospectivo para validar dos\nbiomarcadores ubicados en los genes p53 y MDM2 en la predicción de los resultados funcionales de la cirugía del desprendimiento de retina regmatógeno. Grant by: Gerencia Regional de Salud de la Junta de Castilla y León.\n' Estudio multicéntrico, aleatorizado, con enmascaramiento doble, en 2 grupos\nparalelos y de 52 semanas de duración para comparar la eficacia, seguridad e inmunogenicidad de SOK583A1 respecto a Eylea® en pacientes con degeneración macular neovascular asociada a la edad' (CSOK583A12301; N.EUDRA: 2019-004838-41; FASE III). Grant by Hexal AG\n\n' Estudio de fase III, aleatorizado, doble ciego, con grupos paralelos, multicéntrico para comparar la eficacia y la seguridad de QL1205 frente a Lucentis® en pacientes con degeneración macular neovascular asociada a la edad. (EUDRACT: 2018-004486-13). Grant by Qilu Pharmaceutical Co\n\n' Estudio NEUTON: Ensayo clinico en fase IV para evaluar la eficacia de aflibercept en pacientes Naive con Edema MacUlar secundario a Oclusion de Vena CenTral de la Retina (OVCR) en regimen de tratamientO iNdividualizado Treat and Extend (TAE)”, (2014-000975-21). Grant by Fundacion Retinaplus\n\n' Evaluación de la seguridad y bioactividad de anillos de tensión capsular en conejo. Proyecto Procusens. Grant by AJL, S.A.\n\n'Estudio epidemiológico, prospectivo, multicéntrico y abierto\\npara valorar la frecuencia de la conjuntivitis adenovírica diagnosticada mediante el test AdenoPlus®\\nTest en pacientes enfermos de conjuntivitis aguda”\\n. National, multicenter study. Grant by: NICOX.\n\nEuropean multicentric trial: 'Evaluation of clinical outcomes following the use of Systane Hydration in patients with dry eye”. Study Phase 4. Grant by: Alcon Labs'\n\nVLPs Injection and Activation in a Rabbit Model of Uveal Melanoma. Grant by Aura Bioscience\n\nUpdating and characterization of a rabbit model of uveal melanoma. Grant by Aura Bioscience\n\nEnsayo clínico en fase IV para evaluar las variantes genéticas de la vía del VEGF como biomarcadores de eficacia del tratamiento con aflibercept en pacientes con degeneración macular asociada a la edad (DMAE) neovascular. Estudio BIOIMAGE. IMO-AFLI-2013-01\n\nEstudio In-Eye:Ensayo clínico en fase IV, abierto, aleatorizado, de 2 brazos,\nmulticçentrico y de 12 meses de duración, para evaluar la eficacia y seguridad de un régimen de PRN flexible individualizado de 'esperar y extender' versus un régimen PRN según criterios de estabilización mediante evaluaciones mensuales de inyecciones intravítreas de ranibizumab 0,5 mg en pacientes naive con neovascularización coriodea secunaria a la degeneración macular relacionada con la edad. CP: CRFB002AES03T\n\nTREND: Estudio Fase IIIb multicéntrico, randomizado, de 12 meses de\nseguimiento con evaluador de la agudeza visual enmascarado, para evaluar la eficacia y la seguridad de ranibizumab 0.5mg en un régimen de tratar y extender comparado con un régimen mensual, en pacientes con degeneración macular neovascular asociada a la edad. CP: CRFB002A2411 Código Eudra CT:\n2013-002626-23\n\n\n\nPublications\t\n\n2021\n\n\n\n\n2015\n\n\n\n\n2021\n\n\n\n\n\n2021\n\n\n\n\n2015\n\n\n\n\n2015\n\n\n2014\n\n\n\n\n2015-16\n\n\n\n2015\n\n\n2014\n\n\n2014\n\n\n\n\n2014\n\n\n\n\n\n\n\n2014\n\nJose Carlos Pastor; Jimena Rojas; Salvador Pastor-Idoate; Salvatore Di Lauro; Lucia Gonzalez-Buendia; Santiago Delgado-Tirado. Proliferative vitreoretinopathy: A new concept of disease pathogenesis and practical\nconsequences. Progress in Retinal and Eye Research. 51, pp. 125 - 155. 03/2016. DOI: 10.1016/j.preteyeres.2015.07.005\n\n\nLabrador-Velandia S; Alonso-Alonso ML; Di Lauro S; García-Gutierrez MT; Srivastava GK; Pastor JC; Fernandez-Bueno I. Mesenchymal stem cells provide paracrine neuroprotective resources that delay degeneration of co-cultured organotypic neuroretinal cultures.Experimental Eye Research. 185, 17/05/2019. DOI: 10.1016/j.exer.2019.05.011\n\nSalvatore Di Lauro; Maria Teresa Garcia Gutierrez; Ivan Fernandez Bueno. Quantification of pigment epithelium-derived factor (PEDF) in an ex vivo coculture of retinal pigment epithelium cells and neuroretina.\nJournal of Allbiosolution. 2019. ISSN 2605-3535\n\nSonia Labrador Velandia; Salvatore Di Lauro; Alonso-Alonso ML; Tabera Bartolomé S; Srivastava GK; Pastor JC; Fernandez-Bueno I. Biocompatibility of intravitreal injection of human mesenchymal stem cells in immunocompetent rabbits. Graefe's archive for clinical and experimental ophthalmology. 256 - 1, pp. 125 - 134. 01/2018. DOI: 10.1007/s00417-017-3842-3\n\n\nSalvatore Di Lauro, David Rodriguez-Crespo, Manuel J Gayoso, Maria T Garcia-Gutierrez, J Carlos Pastor, Girish K Srivastava, Ivan Fernandez-Bueno. A novel coculture model of porcine central neuroretina explants and retinal pigment epithelium cells. Molecular Vision. 2016 - 22, pp. 243 - 253. 01/2016.\n\nSalvatore Di Lauro. Classifications for Proliferative Vitreoretinopathy ({PVR}): An Analysis of Their Use in Publications over the Last 15 Years. Journal of Ophthalmology. 2016, pp. 1 - 6. 01/2016. DOI: 10.1155/2016/7807596\n\nSalvatore Di Lauro; Rosa Maria Coco; Rosa Maria Sanabria; Enrique Rodriguez de la Rua; Jose Carlos Pastor. Loss of Visual Acuity after Successful Surgery for Macula-On Rhegmatogenous Retinal Detachment in a Prospective Multicentre Study. Journal of Ophthalmology. 2015:821864, 2015. DOI: 10.1155/2015/821864\n\nIvan Fernandez-Bueno; Salvatore Di Lauro; Ivan Alvarez; Jose Carlos Lopez; Maria Teresa Garcia-Gutierrez; Itziar Fernandez; Eva Larra; Jose Carlos Pastor. Safety and Biocompatibility of a New High-Density Polyethylene-Based\nSpherical Integrated Porous Orbital Implant: An Experimental Study in Rabbits. Journal of Ophthalmology. 2015:904096, 2015. DOI: 10.1155/2015/904096\n\nPastor JC; Pastor-Idoate S; Rodríguez-Hernandez I; Rojas J; Fernandez I; Gonzalez-Buendia L; Di Lauro S; Gonzalez-Sarmiento R. Genetics of PVR and RD. Ophthalmologica. 232 - Suppl 1, pp. 28 - 29. 2014\n\nRodriguez-Crespo D; Di Lauro S; Singh AK; Garcia-Gutierrez MT; Garrosa M; Pastor JC; Fernandez-Bueno I; Srivastava GK. Triple-layered mixed co-culture model of RPE cells with neuroretina for evaluating the neuroprotective effects of adipose-MSCs. Cell Tissue Res. 358 - 3, pp. 705 - 716. 2014.\nDOI: 10.1007/s00441-014-1987-5\n\nCarlo De Werra; Salvatore Condurro; Salvatore Tramontano; Mario Perone; Ivana Donzelli; Salvatore Di Lauro; Massimo Di Giuseppe; Rosa Di Micco; Annalisa Pascariello; Antonio Pastore; Giorgio Diamantis; Giuseppe Galloro. Hydatid disease of the liver: thirty years of surgical experience.Chirurgia italiana. 59 - 5, pp. 611 - 636.\n(Italia): 2007. ISSN 0009-4773\n\nChapters in books\n\t\n' Salvador Pastor Idoate; Salvatore Di Lauro; Jose Carlos Pastor Jimeno. PVR: Pathogenesis, Histopathology and Classification. Proliferative Vitreoretinopathy with Small Gauge Vitrectomy. Springer, 2018. ISBN 978-3-319-78445-8\nDOI: 10.1007/978-3-319-78446-5_2. \n\n' Salvatore Di Lauro; Maria Isabel Lopez Galvez. Quistes vítreos en una mujer joven. Problemas diagnósticos en patología retinocoroidea. Sociedad Española de Retina-Vitreo. 2018.\n\n' Salvatore Di Lauro; Salvador Pastor Idoate; Jose Carlos Pastor Jimeno. iOCT in PVR management. OCT Applications in Opthalmology. pp. 1 - 8. INTECH, 2018. DOI: 10.5772/intechopen.78774.\n\n' Rosa Coco Martin; Salvatore Di Lauro; Salvador Pastor Idoate; Jose Carlos Pastor. amponadores, manipuladores y tinciones en la cirugía del traumatismo ocular.Trauma Ocular. Ponencia de la SEO 2018..\n\n' LOPEZ GALVEZ; DI LAURO; CRESPO. OCT angiografia y complicaciones retinianas de la diabetes. PONENCIA SEO 2021, CAPITULO 20. (España): 2021.\n\n' Múltiples desprendimientos neurosensoriales bilaterales en paciente joven. Enfermedades Degenerativas De Retina Y Coroides. SERV 04/2016. \n' González-Buendía L; Di Lauro S; Pastor-Idoate S; Pastor Jimeno JC. Vitreorretinopatía proliferante (VRP) e inflamación: LA INFLAMACIÓN in «INMUNOMODULADORES Y ANTIINFLAMATORIOS: MÁS ALLÁ DE LOS CORTICOIDES. RELACION DE PONENCIAS DE LA SOCIEDAD ESPAÑOLA DE OFTALMOLOGIA. 10/2014.",institutionString:null,institution:null},{id:"265335",title:"Mr.",name:"Stefan",middleName:"Radnev",surname:"Stefanov",slug:"stefan-stefanov",fullName:"Stefan Stefanov",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/265335/images/7562_n.jpg",biography:null,institutionString:null,institution:null},{id:"243698",title:"Dr.",name:"Xiaogang",middleName:null,surname:"Wang",slug:"xiaogang-wang",fullName:"Xiaogang Wang",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/243698/images/system/243698.png",biography:"Dr. Xiaogang Wang, a faculty member of Shanxi Eye Hospital specializing in the treatment of cataract and retinal disease and a tutor for postgraduate students of Shanxi Medical University, worked in the COOL Lab as an international visiting scholar under the supervision of Dr. David Huang and Yali Jia from October 2012 through November 2013. Dr. Wang earned an MD from Shanxi Medical University and a Ph.D. from Shanghai Jiao Tong University. Dr. Wang was awarded two research project grants focused on multimodal optical coherence tomography imaging and deep learning in cataract and retinal disease, from the National Natural Science Foundation of China. He has published around 30 peer-reviewed journal papers and four book chapters and co-edited one book.",institutionString:null,institution:null},{id:"7227",title:"Dr.",name:"Hiroaki",middleName:null,surname:"Matsui",slug:"hiroaki-matsui",fullName:"Hiroaki Matsui",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"University of Tokyo",country:{name:"Japan"}}},{id:"318905",title:"Prof.",name:"Elvis",middleName:"Kwason",surname:"Tiburu",slug:"elvis-tiburu",fullName:"Elvis Tiburu",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"University of Ghana",country:{name:"Ghana"}}},{id:"336193",title:"Dr.",name:"Abdullah",middleName:null,surname:"Alamoudi",slug:"abdullah-alamoudi",fullName:"Abdullah Alamoudi",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Majmaah University",country:{name:"Saudi Arabia"}}},{id:"318657",title:"MSc.",name:"Isabell",middleName:null,surname:"Steuding",slug:"isabell-steuding",fullName:"Isabell Steuding",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Harz University of Applied Sciences",country:{name:"Germany"}}},{id:"318656",title:"BSc.",name:"Peter",middleName:null,surname:"Kußmann",slug:"peter-kussmann",fullName:"Peter Kußmann",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Harz University of Applied Sciences",country:{name:"Germany"}}},{id:"338222",title:"Mrs.",name:"María José",middleName:null,surname:"Lucía Mudas",slug:"maria-jose-lucia-mudas",fullName:"María José Lucía Mudas",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Carlos III University of Madrid",country:{name:"Spain"}}}]}},subseries:{item:{id:"23",type:"subseries",title:"Computational Neuroscience",keywords:"Single-Neuron Modeling, Sensory Processing, Motor Control, Memory and Synaptic Pasticity, Attention, Identification, Categorization, Discrimination, Learning, Development, Axonal Patterning and Guidance, Neural Architecture, Behaviours and Dynamics of Networks, Cognition and the Neuroscientific Basis of Consciousness",scope:"Computational neuroscience focuses on biologically realistic abstractions and models validated and solved through computational simulations to understand principles for the development, structure, physiology, and ability of the nervous system. This topic is dedicated to biologically plausible descriptions and computational models - at various abstraction levels - of neurons and neural systems. This includes, but is not limited to: single-neuron modeling, sensory processing, motor control, memory, and synaptic plasticity, attention, identification, categorization, discrimination, learning, development, axonal patterning, guidance, neural architecture, behaviors, and dynamics of networks, cognition and the neuroscientific basis of consciousness. Particularly interesting are models of various types of more compound functions and abilities, various and more general fundamental principles (e.g., regarding architecture, organization, learning, development, etc.) found at various spatial and temporal levels.",coverUrl:"https://cdn.intechopen.com/series_topics/covers/23.jpg",hasOnlineFirst:!1,hasPublishedBooks:!0,annualVolume:11419,editor:{id:"14004",title:"Dr.",name:"Magnus",middleName:null,surname:"Johnsson",slug:"magnus-johnsson",fullName:"Magnus Johnsson",profilePictureURL:"https://mts.intechopen.com/storage/users/14004/images/system/14004.png",biography:"Dr Magnus Johnsson is a cross-disciplinary scientist, lecturer, scientific editor and AI/machine learning consultant from Sweden. \n\nHe is currently at Malmö University in Sweden, but also held positions at Lund University in Sweden and at Moscow Engineering Physics Institute. \nHe holds editorial positions at several international scientific journals and has served as a scientific editor for books and special journal issues. \nHis research interests are wide and include, but are not limited to, autonomous systems, computer modeling, artificial neural networks, artificial intelligence, cognitive neuroscience, cognitive robotics, cognitive architectures, cognitive aids and the philosophy of mind. \n\nDr. Johnsson has experience from working in the industry and he has a keen interest in the application of neural networks and artificial intelligence to fields like industry, finance, and medicine. \n\nWeb page: www.magnusjohnsson.se",institutionString:null,institution:{name:"Malmö University",institutionURL:null,country:{name:"Sweden"}}},editorTwo:null,editorThree:null,series:{id:"14",title:"Artificial Intelligence",doi:"10.5772/intechopen.79920",issn:"2633-1403"},editorialBoard:[{id:"13818",title:"Dr.",name:"Asim",middleName:null,surname:"Bhatti",slug:"asim-bhatti",fullName:"Asim Bhatti",profilePictureURL:"https://mts.intechopen.com/storage/users/13818/images/system/13818.jpg",institutionString:null,institution:{name:"Deakin University",institutionURL:null,country:{name:"Australia"}}},{id:"151889",title:"Dr.",name:"Joao Luis Garcia",middleName:null,surname:"Rosa",slug:"joao-luis-garcia-rosa",fullName:"Joao Luis Garcia Rosa",profilePictureURL:"https://mts.intechopen.com/storage/users/151889/images/4861_n.jpg",institutionString:null,institution:{name:"University of Sao Paulo",institutionURL:null,country:{name:"Brazil"}}},{id:"103779",title:"Prof.",name:"Yalcin",middleName:null,surname:"Isler",slug:"yalcin-isler",fullName:"Yalcin Isler",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRyQ8QAK/Profile_Picture_1628834958734",institutionString:null,institution:{name:"Izmir Kâtip Çelebi University",institutionURL:null,country:{name:"Turkey"}}}]},onlineFirstChapters:{paginationCount:13,paginationItems:[{id:"81566",title:"New and Emerging Technologies for Integrative Ambulatory Autonomic Assessment and Intervention as a Catalyst in the Synergy of Remote Geocoded Biosensing, Algorithmic Networked Cloud Computing, Deep Learning, and Regenerative/Biomic Medicine: Further Real",doi:"10.5772/intechopen.104092",signatures:"Robert L. 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