Classification of robotic surgical systems
\r\n\tIn this book we will try to cover most of the topics related to tensile testing. These topics will include the introduction to tensile testing, tensile testing equipment, tensile measuring, and data analysis software, tensile testing behavior of conventional and advanced engineering and biomaterials, tensile testing of engineering designs, the applications of tensile testing and effects of tensile loads on materials properties. It is expected that this book will be very attractive for undergraduate and graduate engineering students. Moreover, this book will be equally beneficial for design, production, processing, quality control, material testing, and safety engineers.
",isbn:null,printIsbn:"979-953-307-X-X",pdfIsbn:null,doi:null,price:0,priceEur:0,priceUsd:0,slug:null,numberOfPages:0,isOpenForSubmission:!1,isSalesforceBook:!1,isNomenclature:!1,hash:"db0f7fb44c3e0152c42b386df6d2f591",bookSignature:"Dr. Muhammad Tariq Saeed Chani",publishedDate:null,coverURL:"https://cdn.intechopen.com/books/images_new/9301.jpg",keywords:"Tensile Testing History, Tensile Testing Methods, Hydraulic Machines, Electromechanical Machines, Material Testing, Data Analysis, Metals and Alloys, Polymers, Composites, Strain Hardening, Loading rates, Tensile Testing Applications",numberOfDownloads:null,numberOfWosCitations:0,numberOfCrossrefCitations:null,numberOfDimensionsCitations:null,numberOfTotalCitations:null,isAvailableForWebshopOrdering:!0,dateEndFirstStepPublish:"April 23rd 2020",dateEndSecondStepPublish:"May 14th 2020",dateEndThirdStepPublish:"July 13th 2020",dateEndFourthStepPublish:"October 1st 2020",dateEndFifthStepPublish:"November 30th 2020",dateConfirmationOfParticipation:null,remainingDaysToSecondStep:"2 years",secondStepPassed:!0,areRegistrationsClosed:!0,currentStepOfPublishingProcess:5,editedByType:null,kuFlag:!1,biosketch:'Dr. Muhammad Tariq Saeed Chani has published more than 48 research papers and has 15 completed and 5 ongoing research projects as well as registered 4 US patents, among which "Composition and method of making a strain sensor and its use."',coeditorOneBiosketch:null,coeditorTwoBiosketch:null,coeditorThreeBiosketch:null,coeditorFourBiosketch:null,coeditorFiveBiosketch:null,editors:[{id:"308513",title:"Dr.",name:"Muhammad Tariq Saeed",middleName:null,surname:"Chani",slug:"muhammad-tariq-saeed-chani",fullName:"Muhammad Tariq Saeed Chani",profilePictureURL:"https://mts.intechopen.com/storage/users/308513/images/system/308513.png",biography:"Engineer Dr. Muhammad Tariq Saeed Chani is currently working at the Center of Excellence for Advanced Materials Research, King Abdulaziz University, Jeddah, Saudi Arabia. He received his Doctor of Philosophy (PhD) in Materials Engineering from Ghulam Ishaq Khan Inst. Engg. Sci. Technol. in 2012. He has registered 4 US patents. He has also published 48 research papers in various international journals and has 15 completed and 5 ongoing research projects.",institutionString:"King Abdulaziz University",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"0",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"King Abdulaziz University",institutionURL:null,country:{name:"Saudi Arabia"}}}],coeditorOne:null,coeditorTwo:null,coeditorThree:null,coeditorFour:null,coeditorFive:null,topics:[{id:"11",title:"Engineering",slug:"engineering"}],chapters:null,productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"},personalPublishingAssistant:{id:"177731",firstName:"Dajana",lastName:"Pemac",middleName:null,title:"Ms.",imageUrl:"https://mts.intechopen.com/storage/users/177731/images/4726_n.jpg",email:"dajana@intechopen.com",biography:"As a Commissioning Editor at IntechOpen, I work closely with our collaborators in the selection of book topics for the yearly publishing plan and in preparing new book catalogues for each season. This requires extensive analysis of developing trends in scientific research in order to offer our readers relevant content. Creating the book catalogue is also based on keeping track of the most read, downloaded and highly cited chapters and books and relaunching similar topics. I am also responsible for consulting with our Scientific Advisors on which book topics to add to our catalogue and sending possible book proposal topics to them for evaluation. Once the catalogue is complete, I contact leading researchers in their respective fields and ask them to become possible Academic Editors for each book project. Once an editor is appointed, I prepare all necessary information required for them to begin their work, as well as guide them through the editorship process. I also assist editors in inviting suitable authors to contribute to a specific book project and each year, I identify and invite exceptional editors to join IntechOpen as Scientific Advisors. I am responsible for developing and maintaining strong relationships with all collaborators to ensure an effective and efficient publishing process and support other departments in developing and maintaining such relationships."}},relatedBooks:[{type:"book",id:"10198",title:"Response Surface Methodology in Engineering Science",subtitle:null,isOpenForSubmission:!1,hash:"1942bec30d40572f519327ca7a6d7aae",slug:"response-surface-methodology-in-engineering-science",bookSignature:"Palanikumar Kayaroganam",coverURL:"https://cdn.intechopen.com/books/images_new/10198.jpg",editedByType:"Edited by",editors:[{id:"321730",title:"Prof.",name:"Palanikumar",surname:"Kayaroganam",slug:"palanikumar-kayaroganam",fullName:"Palanikumar Kayaroganam"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"1591",title:"Infrared Spectroscopy",subtitle:"Materials Science, Engineering and Technology",isOpenForSubmission:!1,hash:"99b4b7b71a8caeb693ed762b40b017f4",slug:"infrared-spectroscopy-materials-science-engineering-and-technology",bookSignature:"Theophile Theophanides",coverURL:"https://cdn.intechopen.com/books/images_new/1591.jpg",editedByType:"Edited by",editors:[{id:"37194",title:"Dr.",name:"Theophile",surname:"Theophanides",slug:"theophile-theophanides",fullName:"Theophile Theophanides"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"3161",title:"Frontiers in Guided Wave Optics and Optoelectronics",subtitle:null,isOpenForSubmission:!1,hash:"deb44e9c99f82bbce1083abea743146c",slug:"frontiers-in-guided-wave-optics-and-optoelectronics",bookSignature:"Bishnu Pal",coverURL:"https://cdn.intechopen.com/books/images_new/3161.jpg",editedByType:"Edited by",editors:[{id:"4782",title:"Prof.",name:"Bishnu",surname:"Pal",slug:"bishnu-pal",fullName:"Bishnu Pal"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"371",title:"Abiotic Stress in Plants",subtitle:"Mechanisms and Adaptations",isOpenForSubmission:!1,hash:"588466f487e307619849d72389178a74",slug:"abiotic-stress-in-plants-mechanisms-and-adaptations",bookSignature:"Arun Shanker and B. Venkateswarlu",coverURL:"https://cdn.intechopen.com/books/images_new/371.jpg",editedByType:"Edited by",editors:[{id:"58592",title:"Dr.",name:"Arun",surname:"Shanker",slug:"arun-shanker",fullName:"Arun Shanker"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"3092",title:"Anopheles mosquitoes",subtitle:"New insights into malaria vectors",isOpenForSubmission:!1,hash:"c9e622485316d5e296288bf24d2b0d64",slug:"anopheles-mosquitoes-new-insights-into-malaria-vectors",bookSignature:"Sylvie Manguin",coverURL:"https://cdn.intechopen.com/books/images_new/3092.jpg",editedByType:"Edited by",editors:[{id:"50017",title:"Prof.",name:"Sylvie",surname:"Manguin",slug:"sylvie-manguin",fullName:"Sylvie Manguin"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"72",title:"Ionic Liquids",subtitle:"Theory, Properties, New Approaches",isOpenForSubmission:!1,hash:"d94ffa3cfa10505e3b1d676d46fcd3f5",slug:"ionic-liquids-theory-properties-new-approaches",bookSignature:"Alexander Kokorin",coverURL:"https://cdn.intechopen.com/books/images_new/72.jpg",editedByType:"Edited by",editors:[{id:"19816",title:"Prof.",name:"Alexander",surname:"Kokorin",slug:"alexander-kokorin",fullName:"Alexander Kokorin"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"2270",title:"Fourier Transform",subtitle:"Materials Analysis",isOpenForSubmission:!1,hash:"5e094b066da527193e878e160b4772af",slug:"fourier-transform-materials-analysis",bookSignature:"Salih Mohammed Salih",coverURL:"https://cdn.intechopen.com/books/images_new/2270.jpg",editedByType:"Edited by",editors:[{id:"111691",title:"Dr.Ing.",name:"Salih",surname:"Salih",slug:"salih-salih",fullName:"Salih Salih"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"117",title:"Artificial Neural Networks",subtitle:"Methodological Advances and Biomedical Applications",isOpenForSubmission:!1,hash:null,slug:"artificial-neural-networks-methodological-advances-and-biomedical-applications",bookSignature:"Kenji Suzuki",coverURL:"https://cdn.intechopen.com/books/images_new/117.jpg",editedByType:"Edited by",editors:[{id:"3095",title:"Prof.",name:"Kenji",surname:"Suzuki",slug:"kenji-suzuki",fullName:"Kenji Suzuki"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"3828",title:"Application of Nanotechnology in Drug Delivery",subtitle:null,isOpenForSubmission:!1,hash:"51a27e7adbfafcfedb6e9683f209cba4",slug:"application-of-nanotechnology-in-drug-delivery",bookSignature:"Ali Demir Sezer",coverURL:"https://cdn.intechopen.com/books/images_new/3828.jpg",editedByType:"Edited by",editors:[{id:"62389",title:"PhD.",name:"Ali Demir",surname:"Sezer",slug:"ali-demir-sezer",fullName:"Ali Demir Sezer"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"872",title:"Organic Pollutants Ten Years After the Stockholm Convention",subtitle:"Environmental and Analytical Update",isOpenForSubmission:!1,hash:"f01dc7077e1d23f3d8f5454985cafa0a",slug:"organic-pollutants-ten-years-after-the-stockholm-convention-environmental-and-analytical-update",bookSignature:"Tomasz Puzyn and Aleksandra Mostrag-Szlichtyng",coverURL:"https://cdn.intechopen.com/books/images_new/872.jpg",editedByType:"Edited by",editors:[{id:"84887",title:"Dr.",name:"Tomasz",surname:"Puzyn",slug:"tomasz-puzyn",fullName:"Tomasz Puzyn"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}]},chapter:{item:{type:"chapter",id:"39348",title:"Micro-Robot Management",doi:"10.5772/39240",slug:"micro-robot-management",body:'Micro-Robots have been and continue to be essential components of medical field. Micro-Robots are used in medical field to surgical applications. Knowledge of the kinematics, dynamics and trajectory planning of these Micro-Robots is most important for their design and control. MATLAB is a modern tool that has transformed the mathematical calculations methods because MATLAB not only provides numerical calculations but also facilitates analytical calculations using the computer. The present textbook uses MATLAB as a tool to solve problems from micro-robots. The intent is to show the convenience of MATLAB for micro-robots analysis. Using example problems the MATLAB syntax will be demonstrated. MATLAB is very useful in the process of deriving solutions for any problem in micro-robots. The chapter includes a most problem of micro-robots for surgical applications that are being solved using MATLAB. The programs are available at the end of this chapter.
Robots are widely used in medical field for getting minimally invasive surgery efficiently and accurately. Minimally invasive surgery is an innovative approach that allows reducing patient trauma, postoperative pain and recovery time [1]. The kinematic and dynamic analysis of the robot, for any applications whether in medical field or another, are very important. The direct aim is to properly select the workspace and the actuator size. Frumento [1] designed a minimally invasive robot for heart surgery. They concentrated mainly on the kinematic analysis and the workspace of the robot. Tsai and Hsu [3] investigated a parallel surgical robot having six degrees of freedom. They studied the kinematics only, to obtain the workspace of surgical robot and control it using Fuzzy Logic control. Miller and Christensen [4] analyzed the dynamics of the Multi-rigid-body robot using Newton’s second law of motion and used the results to design the controller. Featherstone and Orin [5] investigated the robot dynamics and used Newton-Euler technique to obtain the equation and algorithms of robot motion. Wang, et al [6] designed the dimensional synthesis of 6-DOF Micro-surgery manipulator (Micro Hand).They studied the kinematics and the workspace of the manipulator they considered by an Optimal design method. Alici and Shirinzadeh [7] obtained the singularity loci of parallel manipulators exemplified by a 3-DOF spherical parallel manipulator. They utilized the inverse kinematics, and Jacobian matrices to obtain the velocity equation of the actuator and the end effector. The determinants of the manipulator Jacobian matrices were evaluated for a specified set of geometric parameters. Finally, the singularity loci of the manipulator in Cartesian space were generated. Ben-Horin, et al [8] analyzed the kinematics and dynamics of parallel robot consisting of three plenary actuated links [6-DOF parallel manipulator]. They investigated by direct kinematic analysis and obtained the dynamics equations and algorithms using Newton’s second law and presented the system performance. Bonnifait and Garcia [9] studied the 6-DOF dynamic localization of an outdoor mobile robot. They obtained the robot dynamics equations and algorithms using the numerical method (Taylor method) and used the azimuth and elevation angles of known landmarks, collected by a rotating linear camera to obtain the simulation results of the robot. They finally presented and analyzed the results of real experiments, performed with an outdoor mobile robot. Abdellatif and Heimann [10] investigated the inverse dynamics equations of 6-DOF fully parallel manipulators using the Lagrangian formalism. With respect to a proposed set of generalized coordinates and velocities they obtained the final form with respect to the robot’s active coordinates. Attention was paid to the transformation of the sub chains dynamics. Finally, a systematic study of the resulting computational effort was presented and discussed with respect to results of other methods and approaches of other researches. Zhu, et al [11] investigated the kinematic and dynamic modeling for a newly developed parallel robot with the proposed Tau configuration and used the inverse kinematics method to obtain the kinematic equations of end effector of 3-DOF parallel robot. The dynamic modeling of 3-DOF parallel robot was derived by analytical solutions, which were verified by both numerical simulation and actual experiments. This analytical approach enabled the real-time control of this parallel robot with high positioning accuracy. Gouliaev and Zavrazhina [12] investigated the dynamic and kinematic control of the spatial movements of a flexible multi-link manipulator. They focused on the dynamics of a flexible multi-link manipulator by Euler-Bernoulli method, so that each element was in a compound motion. A technique for the numerical construction of solutions for an essentially non-linear hybrid-type system of constituent equations was proposed. They used the linear control method. Eliodoro and Serna [13] investigated the inverse dynamics of flexible robots. They focused on the new and general technique for solving the inverse dynamics of flexible robots. The proposed method finds the joint torques that must be applied by the actuators to obtain a specified end-effector trajectory. The inverse dynamics of flexible robots are derived by using the Euler-Bernoulli beam theory and Lagrange\'s equations. The finite element method was utilized to discretize space variables. They finally established the global dynamic equations of the robot. Kinematic constraints were introduced in the dynamic equations by means of a penalty formulation. The system performance was drawn for different tip trajectories.
Martins et al [14] examined an adaptive controller to guide a unicycle-like mobile robot during trajectory tracking. They concentrated, mainly on the kinematic analysis to design the adaptive controller using Lyapunov theory. The kinematic equations of mobile robot were found by inverse kinematics method to obtain the desired values of the linear and angular velocities, which represented the input to adaptive controller. Valero et al [15] investigated a trajectory planner for 3-DOF industrial robots that have to operate in workspaces with obstacles. They found the workspace modeling analytically using the differential equations of all joints angle and solved them in Cartesian coordinates system. The trajectory planner for 3-DOF industrial robots they found by workspace model using the finite element method for joints and end effector. Integrating all elements, the function of the trajectory planner for 3-DOF industrial robots was obtained. Finally they minimized the objective function of the trajectory planner to attain the minimum time. Geng [16] investigated the dynamics and trajectory planning of a planar flipping robot with two feet and one-leg robot. Geng made a dynamic analysis to obtain the trajectory planning using Lagrange’s formulation. Geng presented the simulation results for joints kinetic variables with time. Alessandro and Vanni [17] investigated a technique for optimal trajectory planning of robot manipulators to minimize the jerk. They concentrated on the trajectory planning of robot manipulators. In order to get the optimal trajectory, an objective function composed of two terms was minimized. The first term was proportional to the total execution time, and the second was proportional to the integral of the squared jerk. Finally, they minimized the time of trajectory planning to minimize energy (or actuator effort) and jerk of manipulator joints. They represented the Simulation results for joints kinetic variables and jerk against the minimized time. Pires et al [18] tested a manipulator trajectory planning with multiple objectives and obstacle avoidance (MOEA).It is a non-trivial optimization problem. They concentrated on the trajectory planning of 2-DOF robot manipulators using MOEA method and simulated for several ranges of joint angle. Finally they gave the simulation results for joints kinetic variables with minimized time. Chettibi et al [19] studied the problem of minimum cost trajectory planning for 2-DOF industrial manipulators. They studied the optimal control via direct parameter optimization of joint positions then they concentrated on the trajectory planning of 2-DOF industrial manipulators for six ranges of joint angle. Finally, they represented the simulation results for joints kinetic variables, jerk and torque with minimized time, to obtain the optimum parameters of joint positions and minimum cost trajectory planning. Alessandro and Vanni [20] investigated a method for smooth trajectory planning of robot manipulators. In order to ensure that the resulting trajectory is smooth enough they used the same method used by them in reference. They also presented in their work a new method to obtain the smooth jerk by composing the overall trajectory with respect to other trajectory optimization techniques.
Robots in medicine are recent entry, beginning as generic instrumental aides and aiming at specialized duties once technology sophistication enables effective settings. Several classifications are used, mainly, dressing taxonomy by means of the expected accomplishments [1]:
Patients and disabled aid: bed automation, walking assistants, delivery servants, etc.
Laboratory support: clinical testers, radiation therapies assistants, etc.
Soundness care: pace-makers, health-monitors, drugs dosing up suppliers, etc.
Surgery help: surgeon’s servants, remote effectors, autonomous actors, etc.
Moreover, roughly speaking, the example taxonomy distinguishes extra corporeal fixtures, mainly derived out of conventional technologies, from in-body active devices, generally requiring invasive actions, thus, critically dependent on micro-mechanics and nanotechnologies. With focus on surgery robots, four kinds of tasks are, generally, considered:
Organ inspection: cerebral probing, laparoscopic monitoring, etc.
Organ nursing or repair: internal anastomosis, obstruction relief, etc.
Organ removal: cysts excision, lymph node dissection, etc.
(Artificial) organ implant: prosthesis insertion, etc.
Surgical robotic systems are commonly classified according to the degree of direct control the surgeon has over the machine [2].Under this classification there are three principal types of robots Table 1:
Autonomous: performs a preoperative plan without any immediate control from the surgeon.
Surgical Assist Device: surgeon and robot share control.
Teleoperator: function of the robot completely controlled by the surgeon.
Robodoc | Percutaneous renal needle placement | Orthopedic surgery | |
PAKY-RCM | Prostatectomy | Urology | |
ProBot | Hip surgery | Urology | |
Caspar | Voice controlled telescope | Orthopedic surgery | |
AESOP | Stereotactic | Multiple | |
NeuroMate | Neurosurgery | Neurosurgery | |
Acrobat | Knee arthroplasty | Orthopedic surgery | |
PUMA (Programmable Universal Machine for Assembly) | Multiple | Multiple | |
Da Vinci | Multiple | Multiple | |
Zeus | Multiple | Multiple | |
Neurobot | Multiple | Neurosurgery |
Classification of robotic surgical systems
The systems in study at this present work are Zeus and Da Vinci robotic arms which are usually attached to a patient-side tower structure and consists of two to three arms that control the operative instruments and a separate arm that controls the video endoscope as shown in the Figure 1.
Zeus and Da Vinci robotic arms
Both the Zeus and Da Vinci systems enhance dexterity in several ways. Internal software filters out the natural tremor of a surgeon’s hand, which becomes particularly evident under high magnification and problematic when attempting fine maneuvers in very small fields. In addition, the system can scale movements such that large movements of the control grips can be transformed into smaller movements inside the patient. Finally the system group has 7-DOF. The Surgery arm has 6-DOF plus 1-DOF for the tool actuation. Arrangement, the DOF ‘‘a’’ and ‘‘b’’ are respectively the last DOF at the carrier and the 6-DOF robot joints has Roll-Yaw-Pitch motions as shown in the Figures.2, 3 and 4.
The ZEUS® surgery tools
Da Vinci® surgery tools
Roll-Yaw-Pitch motions
The forward kinematics problem is concerned with the relationship between the individual joints of the robot manipulator and the position and orientation of the tool or end effector. Stated more formally, the forward kinematics problem is to determine the position and orientation of the end effector, given the values for the joint variables of the robot. The joint variables are the angles between the links in the case of revolute or rotational joints, and the link extension in the case of prismatic or sliding joints.
The solution is always unique: one given joint position vector always corresponds to only one single end effector pose. The FK problem is not difficult to solve, even for a completely arbitrary kinematic structure.
There are different methods for a forward kinematic analysis: like using straightforward geometry and using transformation matrices.
The D-H modeling rules:
Find and identify all joint axes: Z0 to Zn-1.
Establish the base frame. Set base origin anywhere on the Z0 axis. Choose X0 and Y0 conveniently and to form a right hand frame.
Locate the origin Oi where the common normal to Zi-1 and Zi intersects Zi.
If Zi intersects Zi-1 locate Oi at this intersection.
If Zi-1 and Zi are parallel, locate Oi at Joint (i+1).
Establish Xi along the common normal between Zi-1 and Zi through Oi, or in the direction normal to the plane Zi-1 - Zi if these axes intersect. See Figure 5.
Establish Yi to form a right hand system
Repeat Steps 3 to 5 for i= 1 : n-1.
Establish the end effector (n) frame: OnXnYnZn. Assuming the nth joint is revolute.
Set Kn = a along the direction Zn-1 and establish the origin On conveniently along Zn, at center of tool tip. Set jn=o in the direction of tool closure (opening) and set in= n, such that n=oxa.
If the tool is not a simple gripper, set Xn and Yn conveniently to form a right hand frame.
Create a table of “Link” parameters: See Figure 5.
Joint Angle i : angle between Xi-1 and Xi about Zi.
Link Offset di : distance from Xi-1 and Xi along Zi.
Link Twist i : angle between Zi and Zi+1 about Xi.
Link length ai : distance between Zi and Zi+1 along Xi.
Form HTM matrices A1, A2 … An from the information contained in each row of the LP table by substituting , d, and a into the general model.
Build forward kinematic solution: = A1* A2 * … * An.
Construction of the link frame
The geometrical model of the surgical robot in this study has 6 degrees of freedom (DOF) and an extra one for tool action. The end-effector has 3 rotations (Roll, Pitch and Yaw) as shown in Figure 6 and the frame assignment of 6-DOF surgical manipulator is represented in Figure 7.
The geometrical model of surgical manipulator
The frame assignment of 6-DOF surgical manipulator
The 6-DOF manipulator kinematic parameters are derived using Denavit Hartemberg formulation shown in Table 2.
Link # | θj | dj | aj | αj | T |
1 | θ1 | 0 | L1 | 0 | 0T1 |
2 | θ2 | 0 | L2 | 90 | 1T2 |
3 | θ3 | 0 | 0 | -90 | 2T3 |
4 | θ4 | L3 | 0 | 90 | 3T4 |
5 | θ5 | 0 | 0 | -90 | 4T5 |
6 | θ6 | L4 | 0 | 0 | 5T6 |
Full mobility robotic tool: geometry and link parameters
The flowchart representing the sequence of generating the MATLAB CODE of the link transformations matrix is shown in Figure 8.
The flowchart of the link transformations matrix
The general form of the Homogeneous Transformation Matrix is:
The link transformations matrix can be given as:
The kinematics equations of the end effectors are manipulated using MATLAB symbolic Toolbox were as follows:
The workspace of a robot can be defined as the set of points that are reachable by the manipulator (with fixed base). Roughly speaking the workspace is the volume of space which the end effector of the robot can reach. Both shape and total volume are important. Workspace is also called work volume or work envelope.
The workspace depends on the characteristics of the manipulator; physical configurations, size, number of axes, the robot mounted position (overhead gantry, wall-mounted, floor mounted, on tracks, etc), limits of arm and joint configurations. The addition of an end effector can move or offset the entire work volume.
The kinematics design of a manipulator can tailor the workspace to some extent to the operational requirements of the robot.
Some robots will have unusable spaces such as dead zones, singular poses, and wrist-wrap poses inside of the boundaries of their reach. Elbow manipulators tend to have a wider volume of workspace.
Dexterous workspace: This is the volume of space which the end-effector of the manipulator can reach with all orientations.
Reachable workspace: This is the volume of space which the end-effector of the manipulator can reach with at least one orientation.
The dexterous workspace is obviously a subset of the reachable workspace.
The workspace may be found mathematically by writing equations that define the robot\'s links and joints and including their limitations, such as ranges of motions for each joint. Alternatively, the workspace may be found empirically, by moving each joint through each range of motion and combining all the space in can reach and subtracting what it cannot reach.
The workspace of the surgical manipulator can be represented by solving the inverse kinematic equations and taking into consideration all the physical limits of the joints. Figure 9 represents the flowchart showing the sequence of generating the three dimensional workspace of the robot and end-effector to be manipulated using the MATLAB symbolic Toolbox.
The flowchart of The Robot workspace
Table 3 represent the physical limits of the six joints while Figure10 represent the workspace of end-effector respectively.
Link # | 1 | 2 | 3 | 4 | 5 | 6 |
θi (degree) | -180° | -90º | 0 | -180° | -90º | -180° |
θf (degree) | 180° | 90º | 180° | 180° | 90º | 180° |
L (mm) | 0 | 50 | 15 | 36 | 0 | 39.5 |
Joint coordinates ranges
The workspace of the end-effector depends on the physical limits of the six joints angle, i.e. if the angle range of the robot joints is changes the workspace of the robot changes. So it is important to take into account the accuracy in determining the angle range of the robot joints to get the required workspace which covers the work area.
The work space of end effector
The Jacobian is a representation of the geometry of the elements of mechanism in time. It allows the conversion of differential motions or velocities of individual joints to differential motions or velocities of pints of interest. It also relates the individual joint motion to overall mechanism motions. Jacobian is time related; since the values of
Differential motions are small movements of robot parts that can be used to derive velocity relationships between different parts of the robot. To find these relations the following steps, are to be considered:
Frames relative to a fixed frame.
Robot joint relative to a fixed frame.
Jacobian matrix.
Robot velocity relationship.
Suppose we have a set of equations Yi in terms of variables Xj
The differential change in Yi for a differential change in Xj is:
The Kinematics equations of the end effectors which are used to calculate the Jacobian matrix of the robot are:
The flowchart of the Jacobian matrix
The Jacobian matrix of the robot can be calculated by MATLAB symbolic Toolbox using the kinematics equations as shown in the Figure 11.
The differential equations of motion of the end effector for the surgical robot are represented by:
The relation between angle of joints and the end effector differential translation
The previous differential equations of motion of the end effector represent the relation between the magnitude of the elements of Jacobian (the elements of end effector motion) and the joints angle. Figures 12 a, b, c, d, e and f represents the relation between angle of joints and the end effector differential translation. This shows six figures is (a, b, c, d, e and f) for six joints. It is to be noted that in Figures 12-a and 12-b for the first and second joints respectively the relation between angle of joint and the end effector differential translation in the Z direction is constant i.e. the motion of the end effector in the Z direction is not affected by the change in angle of the first and second joints. In the same time the motion of the end effector in all directions (X, Y and Z) is not affected by the change in angle of the six joints because the frame of the end effector is in the same directions of the frame of the joint number six. This can clearly be inferred from the geometrical model and the frame of the robot given in Figures 6 and 7 respectively.
The relations between the magnitude of the elements of Jacobian (the elements of end effector motion at all directions) i.e. dPX, dPY and dPZ give of the path of the robot joints as shown in Figures 13 a, b, c, d, e and f.
The path of the robot joints
Robot study is divided into two parts; they are the kinematics and dynamics. This means that using the equations of motion of the robot, its position can be determined if the joint variables are known. Path and trajectory planning relates the way a robot is moved from one location to another in controlled manner. In this chapter, a study of the sequence of movements is to be made to create a controlled movement between motion segments, in straight-line motion, or in sequential motions. Path and trajectory planning requires the use of both kinematics and dynamics of robots. In practice, precise motion requirements are so intensive that approximations are always necessary [23].
What is the different between the path and the trajectory planning?
A Path is defined as a sequence of robot configurations in particular order without regard to timing of these configurations as shown in Figure 14. A trajectory is concerned about when each part of the path must be obtained thus specifying timing (Velocity and Acceleration). Or a trajectory is a spatial position/time curve that usually represents a desired manipulation motion in either link or Cartesian space as shown in Figure 15.
Sequential robot movements in a path [
Sequential motions of a robot to follow a straight line [
There are four different methods which have been derived to calculate the trajectory planning of the robot using MATLAB code. The trajectory planning in the four methods needs two parameters, namely the joint angle range and the final time required to complete the process. The first one was selected from the workspace needed to complete the process In any case, this dependent on the type of surgical applications and can easily be identified. The final time required is a very important parameter to derive the trajectory planning of the robot. As all the results that have been inferred from the orientation, velocity, acceleration and torque of the robot are based on this parameter. If the time increases the velocity required decreases and acceleration i.e. the inertia of the robot link consequently decreases accidentally irrespective of the methods used. The orientation must be seen carefully examined and the behaviour should be increasing gradually with the time from the initial angle to the final angle. The final time required to complete the process for each method should be optimized and this is called optimal planning. In this work the trajectory planning of the four times is derived and then, comparison of the results at specific joint is made. The proper time which gives satisfactory results is obtained.
The most common techniques for trajectory planning for industrial robots are the use of polynomial of different orders, such as Cubic and B-splines, linear segments with parabolic blends and the soft motion trajectory [22]. The Linear Segments with Parabolic blends trajectories are faster and more suitable for industrial applications. On the other hand, the higher order polynomials trajectory as well as the soft motion trajectory [24] are easy to design and control especially for the jerk. They are accurate, precise and suitable for medical applications. In this work, the trajectory planning for each joint is designed using third order polynomial as a rest-to-rest manoeuvring where the link starts from rest, accelerates and decelerates at the end of the trajectory. The trajectory is given by [23]:
In which
By substituting in to equation (6):
The initial and final location and orientation of robot are known from:
By substituting in to equation (5):
By solving equations (7), (8) simultaneously:
The third order trajectory only takes into account starting and end velocities. The equations of the fifth order polynomial takes into account starting and end accelerations. In this case, the total number of boundary conditions are six, allowing a fifth.
The initial and final velocities are zero. (Rest to Rest manoeuvring) and the trajectory is given by [23]:
In which
Linear segments can be blended with parabolic sections at the beginning and the end of the motion segment, creating continuous position and velocity. Acceleration is constant for the parabolic sections, yielding a linear velocity at the common points A and B as shown in the Figure 16.
3.2.3.1. First parabolic blends (
Scheme for linear segments with parabolic blends
The position of the robot at time t0 is known and using the inverse Kinematic equations of the robot, the joint angles at via points and at the end of the motion can be found.
To blend the motion segments together, the boundary conditions at each point are used to calculate the coefficients of the parabolic segments.
3.2.3.2. Straight line (
3.2.3.3. Second parabolic blends (
In this method we consider the trajectory planning of points generated by a motion planning technique. The motion planner calculates the trajectory which the end effector must follow in space. However, the temporal characteristics of this movement are independent. One important difference between industrial robotic manipulators and service robot applications is the human interaction, which introduce safety and comfort constraints. In this work, we define soft motions conditions to facilitate this cohabitation. An on-line trajectory planner is proposed here. It generates the necessary references to produce soft motion and a control loop that guarantees the end effector’s motion characteristics (jerk, acceleration, velocity and position) in the Cartesian space, by using quaternion feedback. Two visual feedback control loops are proposed: a visual servoing control loop in a shared position - vision schema and a visual guided loop (which is the general case of soft motion trajectory) are given by:
3.2.4.1. The motion with a maximum jerk (Jmax)
3.2.4.2. The motion with a maximum acceleration (Amax)
3.2.4.3. Finally, the equations for the motion with a maximum velocity (Vmax)
The initial conditions are:
Where: D is general traversed angular movement.
The final conditions are:
We have two limit conditions to obtain the traversed angular movement:
Where
The angular movement (Dthr1) becomes:
Where only
The angular movement (Dthr2) becomes:
The soft motion trajectory planning of 6-DOF surgical robot is divided in to three cases depending on the maximum Jerk algorithm as:
In this work, four different methods are applied here to design the joints trajectories third order polynomial, fifth order polynomial, linear segments with parabolic blends and soft motion trajectory. The trajectories have the same initial and final angles and different four duration times (5, 10, 20 and 60 s) are applied to choose the best duration time give the correct dynamic response. As well but they differ in the acceleration and the jerk. After designing the joints trajectories, the hub torques of the robot actuators can be simulated using MATLAB. The parameters of six joints were obtained using inverse kinematics analysis as shown in Table 4.
The flowchart representing the sequence of generating the trajectory planning is shown in the Figure 17.
-180° | -90º | 0 | -180° | -90º | -180° | |
180° | 90º | 180° | 180° | 90º | 180° | |
L (mm) | 0 | 50 | 15 | 36 | 0 | 39.5 |
5 | 5 | 5 | 5 | 5 | 5 | |
-5 | -5 | -5 | -5 | -5 | -5 | |
135 | 70 | 70 | 135 | 70 | 135 | |
80 | 40 | 40 | 80 | 40 | 80 | |
160 | 80 | 80 | 160 | 80 | 160 | |
0 | 0 | 0 | 0 | 0 | 0 | |
5 | 5 | 5 | 5 | 5 | 5 |
Full robotic mobility information used in trajectory planning
The flowchart of the trajectory planning
Where: Position.1 for first methods of trajectory planning and Position.2 for Soft motion trajectory planning.
Manipulator dynamics is concerned with the equations of motion, the way in which the manipulator moves in response to torques applied by the actuators, and external forces. The history and mathematics of the dynamics of serial-link manipulators are well covered in the literature. The equations of motion for an n-axis manipulator are given by [25]:
These equations of motion can be derived by six methods, namely the Newton\'s second law method, D\'Alembert method, Lagrange method, Hemilton method, Lagrange-Euler method and Newton-Euler method. But not all previous methods can be used to derive the equations of motion for the robot subject of this work. That is not all methods can easily derived the equations of motion for a robot having multi-degree of freedom.
As we have stated, the dynamic equation for two-degree of freedom system is much more complicated than a one-degree of freedom system. Similarly, these equations for multiple-degree of freedom robot are cumbersome and complicated, but can be found by calculating the kinetic and potential energies of the links and joints [25]. For the robot considered in this work the robot has 6-DOF and the most appropriate method to derive the equations of motion is likely to be Lagrange-Euler technique.
The Lagrange-Euler technique is utilized here to calculate the kinetic energy, potential energy and to derive the dynamic equations in symbolic form using the MATLAB symbolic toolbox for the six-degree of freedom robot. The equations of motion are given in a concise form similar to that given in [25].
4.2.1.1. The total kinetic energy
The total kinetic energy of multiple-degree of freedom robot is given in a concise form as:
But in our case all joints in the robot arm used in surgical applications are considered revolute joints where
4.2.1.2. The potential energy
The potential energy of multiple-degree of freedom robot may be given in a concise from as:
4.2.1.3. Robot equations of motion
The equations of motion of multiple-degree of freedom robot be given in a compact form as:
Iact (Nmm) | 10000 | 10000 | 10000 | 10000 | 10000 | 10000 |
m (kg) | 6.055 | 6.055 | 6.055 | 6.055 | 6.055 | 6.055 |
L (mm) | 0 | 50 | 15 | 36 | 0 | 39.5 |
g (m/s2) | 9.81 | 9.81 | 9.81 | 9.81 | 9.81 | 9.81 |
R (mm) | 75 | 75 | 75 | 75 | 75 | 75 |
Ixx | (1/12)*mi*(3*(R2)+(Li/4)2) | |||||
Iyy | (1/12)*mi*(3*(R2)+(Li/4)2) | |||||
Izz | mi * R2 | |||||
Ixy | 0 | |||||
Ixz | 0 | |||||
Iyz | 0 | |||||
X | Li/2 | |||||
Y | 0 | |||||
Z | 0 |
Full robotic mobility parameters
For the MATLAB simulation, the parameters of the robotic arm are given in table 5. The flowchart for the algorithm employed to calculate the torque history for each actuator based on the derived equations of motion (Equation 20) is shown in the Figure 18. The simulated results for the actuators torques change depending on the method of trajectory planning used to calculate the torque. For example the simulated results for the actuators torques calculated by the Third-Order Polynomial trajectory planning are presented in section 3. It can be seen that the torque history over the selected period of time (5, 10, 20 and 60 s) has considerable fluctuations.
The flowchart of the dynamic model
The results presented in this chapter are those of chapters IV and V that is the trajectory planning and dynamic modeling respectively as they are very much related to each other. The results are divided into two sections. The first one is for the trajectory planning of the surgical robot which is divided into four parts, each represents a method from four chosen different methods for trajectory planning. As mentioned in chapter IV the joints limits for some of the joints are similar as the joints (1, 4, and 6) and (2, 5). Only the trajectory planning of similar joints will be represented. It should be noted that the results of trajectory planning for all methods were derived using four different times (5, 10, 20 and 60 s) in order to select the best time which gives the best and smooth orientation, velocity, acceleration (i.e. the inertia of the robot link) and torque. The dynamic modeling results are dependent on the trajectory planning results. This requires the results of the dynamic modeling to be represented after the trajectory planning results i.e. after comparison of the results of the trajectory planning and selecting the best time to be used.
Finally, a comparison of the results is held to choose the best method that gives the smooth set trajectory planning and best performance of the robot under investigation.The simulation results were obtained using MATLAB.
As previously stated that trajectory planning was derived using four methods of the trajectory planning to select the best method that gives the smooth set trajectory planning and best performance of the robot under investigation.
The trajectory planning results is presented in two ways. The first one shows the trajectory planning of the first joint of robot derived using four different times and the second one shows the torque history for the first joint and a comparison between the four times of the first joint of robot in terms of the orientation, velocity, acceleration and the torque history to select the best time that can be used to derive the trajectory planning and torque history for all joints of robot model.
Figures 19 and 20 show comparisons between the orientation, velocity, acceleration, torque and four different time ranges (5, 10, 20 and 60 s) of the first joint of the surgical robot. It is clearly shown in Figure 19 that the orientation behaviour increases gradualy with the time from the initial angle to the final angle and as the time increases the velocity required decreases and also the acceleration i.e. the inertia of the robot link decreases. It is also clearly shown in Figure 20 that the original torque history has considerable fluctuations. It is clear that the highest hub torque is for joint one while actuator torque of joint 6 is the lowest.
From Figures 19 and 20 the optimum final time required to complete the process for the robot can be selected. By inspection of Figure 19 for the trajectory planning of the robot we find that for all times the same behaviours i.e. the velocity and acceleration are inversely proportional with the times and the orientation behaviour increases gradualy with the time from the initial angle to the final angle. The largest time i.e. 60s to complete the results of the surgical robot can be selected. Since this time has the lowest acceleration i.e the lowest inertia. In Figure 20 for the torque history in the time 60s we find that the torque decreases with time and the over shooting decreases gradualy near the steady state time 60s.
It is seen from Table 4 that the joints angle ranges are very large. So, it is assured that the robot accelerations will not exceed the maximum permissible limits for robot’s capabilities if the robot is satisfying the trajectory in one segment.
The time comparison of third order trajectory planning of the first joint
The comparison between the time and torque of the first joint using third order trajectory planning
For Third-order Polynomial trajectory planning the maximum accelerations for robot’s capabilities is given by:
From Figure 19 the robot acceleration needed at the beginning of the motion is 0.62 (degree/s2) as well as -0.62 (degree/s2) deceleration at the end of the motion.
The orientation, angular velocity and angular acceleration for six joint micro-robot using Third order Polynomial trajectory planning
But from the equation 6.1 the maximum permissible accelerations for this robot joints is 0.6 (degree/s2). So to be ensured that robot joint accelerations will not exceed the maximum accelerations for robot’s capabilities the robot should satisfy the trajectory planning in two or more segments.
Figures 21a, b and c show the modified trajectories for the six joints, after dividing the trajectory in to two segments.
The joints angle ranges of the initial and final angles are large compared to the values of the velocity and accelerations. So it is more suitable to represent the angle-Time relation and velocity and acceleration – Time relations in two separate figures.
Figures 22 and 23 show comparisons between the orientation, velocity, acceleration, and torque for four different time ranges (5, 10, 20 and 60 s) of the first joint of the robot. As is clearly shown in Figure 22 the orientation behaviour increases gradually with time from the initial angle to the final angle for the times (5, 10 and 20 s) only. But for the time 60s the orientation increases gradually from the initial angle to 40 degree then decreases to -40 degree and then increases reaching the final angle. And if the time increases the velocity required decreases. This is similar as to what is shown in Figure 23 which presents the original torque history that has considerable fluctuations. It is clear that the highest hub torque is for joint one while actuator torque of joint 6 is the lowest.
The time comparison of fifth order trajectory planning of the first joint
The comparison between the time and torque of the first joint using fifth order trajectory planning
From Figures 22 and 23 the optimum final time required to complete the process for the robot can be selected. It is seen from figures that the trajectory planning of the robot for the times (5, 10 and 20 s) has the same properties i.e. the velocity is inversely proportional with time. The orientation behaviour increased gradualy with the time from the initial angle to the final angle. Where the time 60s is omitted from selected. For figure 23 for the torque history in the time (5, 10, 20 and 60 s) it is found for
Figures 24a, b and c show the trajectories for the six joints of the robot using Fifth order Polynomial trajectory planning.
Figures 25 and 26 show comparisons between the orientation, velocity, acceleration, torque and four different time ranges (5, 10, 20 and 60 s) of the first joint of the surgical robot. It is clearly shown in the Figure 25 that the orientation behaviour increases gradually with the time from the initial angle to the final angle and as the time increases the velocity required decreases and also the acceleration i.e. the inertia of the robot link decreases. It is also clearly shown in the Figure 26 that the original torque history has considerable fluctuations. It is clear that the highest hub torque is for joint one while actuator torque of joint 6 is the lowest.
The orientation, angular velocity and angular acceleration for six joint micro-robot using Fifth order Polynomial trajectory planning
The time comparison of liner segments with parabolic blends trajectory of the first joint
The comparison between the time and torque of the first joint using liner segments with parabolic blends trajectory planning
From Figures 25 and 26 the optimum final time required to complete the process for the robot can be selected. By inspection of Figure 25 the trajectory planning has three segments they are First parabolic blends, Straight line and Second parabolic blends. The straight line segment was very important segment because the velocity in this segment is constant and the acceleration was zero i.e. no inertia of the link of the robot in this segment of time. It is therefore better to have a larger period for this segment. The largest time i.e. 60s to complete the results of the robot can be selected. Since this time has the largest period of straight line segment. By inspection of Figure 26 for the torque history in the time 60s we find that the torque decreases with the time and the shooting decreases gradualy near the steady state time 60s.
Figures 27a, b and c show the trajectories for the six joints of the robot using linear segments with parabolic blends.
The orientation, angular velocity and angular acceleration for six joint micro-robot using parabolic blends trajectory planning
Figures 28 and 29 show comparisons between the orientation, velocity, acceleration, jerk, torque and four different time ranges (5, 10, 20 and 60 s) of the first joint of the surgical robot. It is clearly shown in the Figure 28 that the orientation behaviour increases gradually with the time from the initial angle to the final angle and as the time increases the velocity required decreases and also the acceleration i.e. the inertia of the robot link decreases. It is also clearly shown in Figure 29 that the original torque history has considerable fluctuations. It is clear that the highest hub torque is for joint one while actuator torque of joint 6 is the lowest.
The time comparison of Soft motion trajectory planning of the first joint
The comparison between the time and torque of the first joint using soft motion trajectory planning
The orientation, angular velocity and angular acceleration for six joint micro-robot using soft motion trajectory planning
From Figures 28 and 29 we can select the optimum final time required to complete the process for the robot. By inspection of Figure 28 we find the trajectory planning three segments they are maximum jerk, maximum acceleration and maximum velocity. The maximum acceleration and maximum velocity segments were very important segments because the velocity in the maximum velocity segment is constant and the acceleration was zero i.e. no inertia of the link of the robot in this segment of time and the acceleration in the maximum acceleration segment is constant and the jerk of the link of the robot was zero. It is therefore better to have a larger period for this segment. It is seen from figures that the segments were released from time 60s but the the maximum velocity segment only was released from time 10s. Where the times (10 and 60 s) is omitted from selected i.e. the times (10 and 60 s) have properties were not satisfactory for trajectory of robot. And by inspection of Figure 29 for the torque history in the times (5 and 20 s) we find for
Figures 30a, b and c show the trajectories for the six joints of the robot using soft motion trajectory planning.
As previously stated that the dynamic analysis of the surgical robot was derived using Lagrange-Euler technique and the results of the dynamic analysis were depended on the method of trajectory planning. In the trajectory planning results were derived using four different methods. The dynamic analysis results of surgical robot are divided into four parts each part in for each special method of the four different methods which have been derived from the trajectory planning.
Figures 31 to 34 show the original torque history which clearly shown considerable fluctuations. It is clear that the highest hub torque is experienced at joint one while actuator torque of joint 6 is the lowest.
Torque history for Third order Polynomial trajectory planning
Torque history for Fifth order Polynomial trajectory planning
Torque history for Linear segments with parabolic blends trajectory planning
Torque history for Soft motion trajectory planning
A kinematic and dynamic analysis for a six-degree-of-freedom surgical robot were presented in this work. The kinematic model is based on Denavit-Hartenberg representation and the workspace of the end-effector is defined by solving the inverse kinematics problem. Four different methods were used to derive the trajectory planning for the six joints and were designed and employed to calculate the torque history for the six actuators. The dynamic equations of motion in symbolic form were derived using the Lagrange-Euler technique and the torque history was obtained using MATLAB for each joint. The proposed algorithm is flexible and can be extended to any robot configuration provided that the Denavit-Hartenberg presentation was available and the physical limits of joints are defined. The original torque history has considerable fluctuations. It was shown that the highest hub torque was of joint 1 while actuator torque of joint 6 was the lowest. It should be also noted that changing the final time for the joint trajectory changes the torque history considerably. The final time required to complete the process was selected depending on the method used to derive the trajectory planning as previously stated.
It was clearly shown in this work that the best method of trajectory planning that gives the smooth set trajectory planning and best performance of the robot under investigation was the soft motion trajectory planning because the most important reason for this selection was the torque history that has the lowest number ever of shooting and the shooting was distributed regularly over the period of time unlike the other methods which have a long number of shootings and were distributed randomly. Also the reason for selecting this method was the disappearance of the shooting quite before the final time of trajectory i.e. the steady state time. T
Cj | cos θj |
Sj | sin θj |
j | the total number of joints |
i | the total number of coordinates |
n | the total number of links |
k and p | coefficient (1, 2, 3… n) |
x, y, z | local joint coordinates |
X,Y,Z | global joint coordinates |
Yi | the Kinematics equations of the end effectors |
Xj | the joint variables (θ1, θ2, θ3, θ4, θ5, θ6) |
D | the end effector differential translation matrix |
Dθ | the joint differential motion matrix |
J | the robot Jacobian matrix (i x j) |
θi | the initial values of each joint angle |
θf | the final values of each joint angle |
tf | the time duration |
the orientation, angular velocity, angular acceleration and angular jerk respectively | |
the initial conditions | |
Tjpa | Jerk positive initial time |
Taca | Acceleration constant initial time |
Tjna | Jerk negative initial time |
Tvc | Velocity constant time |
Tjnb | Jerk negative final time |
Tacb | Acceleration constant final time |
Tjpb | Jerk positive final time |
q | the vector of generalized joint coordinates |
the vector of joint velocities | |
the vector of joint accelerations | |
M | the inertia matrix |
C | the Coriolis and centrifugal matrix |
G | the gravity matrix |
Q | the vector of generalized force associated |
he gravity matrix (1x4) | |
the gravity components in x, y and z direction respectively | |
the location of the center of mass of link relative to the frame representing the link | |
Tj | the torque on joint (j) |
the inertia matrix | |
the principal moments of inertia for the link | |
the parallel moments of inertia for the link | |
the mass of the link | |
the distance between the X, Y and Z axis to the center of the link mass respectively |
%******************************************************************************************************* % Micro-Robot Management % Complete MATLAB Code for kinematic %******************************************************************************************************* syms th1 th2 th3 th4 th5 th6 L1 L2 L3 L4 %****************************THE INPUTS OF ROBOT ********************************************* L1=input(\'please enter The length of Link NO(1) (mm)=\'); L2=input(\'please enter The length of Link NO(2) (mm)=\'); L3=input(\'please enter The length of Link NO(3) (mm)=\'); L4=input(\'please enter The length of Link NO(4) (mm)=\'); th1min=input(\'please enter minth1 (degree)=\'); th1max=input(\'please enter maxth1 (degree)=\'); th2min=input(\'please enter minth2 (degree)=\'); th2max=input(\'please enter maxth2 (degree)=\'); th3min=input(\'please enter minth3 (degree)=\'); th3max=input(\'please enter maxth3 (degree)=\'); th4min=input(\'please enter minth4 (degree)=\'); th4max=input(\'please enter maxth4 (degree)=\'); th5min=input(\'please enter minth5 (degree)=\'); th5max=input(\'please enter maxth5 (degree)=\'); th6min=input(\'please enter minth6 (degree)=\'); th6max=input(\'please enter maxth6 (degree)=\'); %******************************************************************************************************* th1=th1min:2:th1max;th2=th2min:th2max;th3=th3min:th3max; th4=th4min:2:th4max;th5=th5min:th5max;th6=th6min:2:th6max; %******************************************************************************************************* c1=cos(th1);c2=cos(th2);c3=cos(th3);c4=cos(th4);c5=cos(th5);c6=cos(th6); s1=sin(th1);s2=sin(th2);s3=sin(th3);s4=sin(th4);s5=sin(th5);s6=sin(th6); %*************************D.H matrix***************************************************************** A1=[c1,-s1,0,L1*c1;s1,c1,0,L1*s1;0,0,1,0;0,0,0,1];A2=[c2,0,s2,L2*c2;s2,0,-c2,L2*s2;0,1,0,0;0,0,0,1]; A3=[c3,0,-s3,0;s3,0,c3,0;0,-1,0,0;0,0,0,1];A4=[c4,0,-s4,0;s4,0,c4,0;0,-1,0,L3;0,0,0,1]; A5=[c5,0,-s5,0;s5,0,c5,0;0,-1,0,0;0,0,0,1];A6=[c6,-s6,0,0;s6,c6,0,0;0,0,1,L4;0,0,0,1]; A01=A1;A02=A1*A2;A03=A1*A2*A3;A04=A1*A2*A3*A4;A05=A1*A2*A3*A4*A5; A06=A1*A2*A3*A4*A5*A6; %*************The Kinematics equations of the end effectors************************************** px= A06(4,1),py= A06(4,2),pz=A06(4,3) subplot(1,3,1);plot(xa,ya); xlabel(\'Px\');ylabel(\'Py\');grid on subplot(1,3,2);plot(xa,z); xlabel(\'Px\');ylabel(\'Pz\');grid on subplot(1,3,3);plot(ya,z); xlabel(\'Py\');ylabel(\'Pz\');grid on %*********************************************THE end*********************************************** %**********************CREATED BY DR/WAEL A. AL-TABEY*********************************** |
Currently, the quality of water in the largest rivers in the European part of Russia continues to deteriorate. For instance, the rivers of the Volga basin are in an unsatisfactory condition [1, 2, 3]. Over the past decade, the Volga River and its tributaries have been characterised as dirty, despite decreased wastewater discharge and increased efficiency of purification of controlled discharge from point sources due to the construction of modern treatment facilities. For 1990–2012, the discharge of polluted waters decreased almost 3.5 times; the content of oil products decreased six times; the content of sulphates decreased 19.3 times; the content of chlorides decreased 3.4 times; the content of zinc decreased 15 times; the content of copper decreased 17.8 times; the content of nitrogen decreased 3.5 times; the content of phosphorus decreased 7.2 times; total biochemical oxygen consumption decreased 7.6 times [4, 5]. However, water quality in river systems and reservoirs did not improve as expected, especially in small tributaries of the Volga River. Along with the discharge of wastewater from industrial, municipal, and other enterprises, the river network is fuelled by uncontrolled diffuse runoff from the catchment area, which according to many authors, significantly worsens the quality of water in Volga [5].
The Upper Volga basin is characterised by excessive moisture content; precipitation averages 600–700 mm per year and significantly prevails over evaporation (425–475 mm). The abundance of precipitation and high snow cover lead to the formation of surface runoff, especially during the period of snow melting when solid and liquid runoffs enter the river network. This is due to erosion, leaching, and dissolution. During erosion, suspended soil particles are mainly removed with the sorption of nutrients, in particular phosphorus, on them, whereas dissolved chemicals are sorbed during dissolution and leaching. The main factors influencing the formation of surface runoff, its quality, and removal of nutrients are climate, terrain, soil surface condition, and migration capacity of nutrients. Depending on the soil type, the amount and nature of precipitation, type of plants, dose of fertilisation on one hectare of arable land, removal can be up to 80 kg of nitrate nitrogen, 3 kg of phosphorus, and 60 kg of potassium per year [6].
The abundance of precipitation requires drainage reclamation. This zone of agricultural lands is characterised by the use of horizontal drainage. As a result, drainage runoff, which is formed along with surface runoff, is directly or indirectly discharged into the river network. Through drainage waters, water bodies are filled with organic matter, residues of mineral fertilisers, and individual ions of chemical elements [7, 8, 9]. This leads to pollution of river waters and eutrophication of water bodies. Numerous studies have established that the removal of salts from drained mineral soils depends on many natural and economic indicators such as soil type, its granulometric composition, saturation with bases, the use of mineral and organic fertilisers, agricultural practices, the composition of crops, and so on. Thus, in loamy soils, the concentration of nitrogen in drainage waters varies from 5 mg/dm3 to 91 mg/dm3; the concentration of phosphorus varies from 0.4 mg/dm3 to 0.5 mg/dm3; the concentration of potassium varies from 2 mg/dm3 to 10 mg/dm3; the concentration of calcium varies from 61 mg/dm3 to 107 mg/dm3; and the concentration of magnesium varies from 21 mg/dm3 to 28 mg/dm3. This corresponds to the nitrogen removal of 1.4–4.1 kg/ha, phosphorus removal of up to 1 kg/ha, potassium removal of 3–12 kg/ha, calcium removal of 20–147 kg/ha, magnesium removal of 10–76 kg/ha. The concentrations of biogenic substances such as nitrogen (2.0–121.0 mg/dm3), phosphorus (0.2–0.3 mg/dm3), potassium (0.2–14.0 mg/dm3), calcium (53–74 mg/dm3), and magnesium (13–58 mg/dm3) were defined in soils of lighter granulometric composition [10, 11, 12, 13, 14].
Drainage of the floodplain lands leads to an increased removal of nutrients directly into the river due to surface runoff and discharge of drainage waters. Thus, the mean annual nitrogen removal from agricultural lands of the floodplain lands of the Ryazan region in the Oka river, a tributary of the Volga, was 23.9 kg/ha. The concentrations of nitrates, nitrites, and ammonium were 13.7 kg/ha, 1.6 kg/ha, and 8.6 kg/ha respectively [10]. Discharge of drainage water from drainage systems causes a surge in the concentrations of nutrients and minerals in river water. From the drained floodplain of the Yakhroma river (a tributary of the Volga of the third order), the discharge of drainage water caused an increase in the concentration of ammonium ions in the river water, exceeding the MPCfish on average more than 2–11.5 times, so that the permissible values for the mesotrophic level increased from 4.7 to 77 times. In the summer period, an excess of the standard values of ammonia by 1.4–4 times downstream from the discharge of drainage waters was registered [15].
Thus, small rivers of the Upper Volga basin are recipients of diffuse runoff from catchments and transport impurities directly to the Volga. It seems relevant to assess the role of diffuse runoff in the general pollution of river water. The purpose of the work was to assess the diffuse runoff from the drainage basin of a small river with agricultural land in the drainage basin and to substantiate measures to protect river waters from pollution.
The study object was the drainage basin of the Yakhroma river located in the Moscow region with a catchment area of 1437 km2 (Figure 1). The choice of the object was preconditioned by its location, a significant area of agricultural land and a large reclamation facility with an area of more than 9 th ha, on which there are 487 land use facilities and 61 drainage facilities with a total area of 26,654 ha. The studied basin comprises 249 settlements, the largest of which is the city of Dmitrov with a population of more than 68 thousand people.
Physical and geographical map of the Moscow region with the allocation of the basin of the Yakhroma river.
Yakhroma is a third-order tributary of the Volga that flows into the Sestra river. The length of the river is 78 km [16, 17]. In the upper and partly in the middle reaches, right down to the Yakhroma reservoir, the regime of the river is natural. In the middle reaches, downstream from Dmitrov, there is a vast floodplain area, which is intensively used for agricultural production. It represents an irrigation and drainage system for bilateral regulation of the water regime of soils. Part of the area operates in polder mode. The Levyy Nagornyy canal with a system of reclamation canals built along the root bank is watered by tributaries and runoffs from settlements, which flow down to Yakhroma through a hydraulic network. Within the reclaimed massif, the Yakhroma river is canalised with its banks reinforced with dams. In the lower reach, the river flows in a low-lying area; its bed is characterised by great tortuosity (Figure 2).
Map of the drainage area of the Yachroma river basin and location of observation points.
The drainage network on the reclaimed massif is made in the form of a closed horizontal drainage 0.8–1.2 m deep with distances between drains from 12 m to 40 m. The drains flow into closed collectors, the runoff from which is discharged directly into the river through the open network. Water is taken in from Yakhroma and supplied to the irrigation network by means of mobile and stationary pumping stations. Irrigation technology is represented mainly by hose-reel sprinklers. Vegetable crops are grown on the floodplain using intensive technologies with the introduction of high doses of fertilisers and the use of various agrochemicals to combat pests and weeds. This increased load led to pollution of soil and river water with biogenic substances, mineral salts, heavy metals, and pesticides, which enter the Yakhroma river. The river serves as a drainage of flood runoff and waters from reclaimed lands of the floodplain massif.
The hydrological regime of Yakhroma is of the Eastern European type, which is characterised by high floods, low water level in the summer and winter drought periods, and increased runoff in autumn. The maximum flood discharge is, on average 10–20 times higher than the mean annual discharge [16, 17]. The share of snow supply is over 60%. Groundwater plays a significant role in nutrition.
The climate is temperate continental with frosty snowy winters and relatively humid and warm summers. According to the Dmitrov weather station, for the period 2005–2019, the mean annual air temperature was 4.9°C. The warm period with positive mean daily temperatures lasts an average of 210 days a year. The duration of the winter period with stable snow cover is more than 140 days a year. It lasts from November to mid-April. Snow height averages 55 cm. The mean annual precipitation over the past 16 years is 676 mm. Up to 70% of the annual amount of precipitation falls during the warm period from April to October. The autumn of 2019 was abnormally humid, whereas the winter of 2019–2020 was abnormally warm. Long-term dynamics of climatic conditions indicators is shown in Figures 3 and 4.
Chronological graph of monthly precipitation norms according to the Dmitrov meteorological station.
Chronological graph of the snow cover height according to the Dmitrov meteorological station.
The soils are sod-medium podzolic, varying from gleyic to gley, light loamy sandy. The soils are depleted in organic matter (1.8–3.0%), poorly provided with mobile forms of phosphorus and potassium. Chemical elements migrate in an acidic environment that leads to leaching and removal of many trace elements outside the soil profile. The valleys of the Yakhroma river are dominated by floodplain soils that form during floods, when dark, humus-rich, shallow sediments are deposited on the banks along with alluvium. The most widespread soils in the Yakhroma lowland are silt-peat, humus-peat, and humus-peaty ferruginous-carbonate gleyed. Long-term cultivation of reclaimed soils using intensive technologies with high doses of mineral fertilisers led to the secondary pollution of organogenic soil profiles with heavy metals [18].
The study methodology included reconnaissance along the entire length of the river with observation of the watercourse state. Observation and water sampling points were defined by various pollution sources in the catchment (Figure 2). Along the longitudinal profile of the river were selected eight sampling points: P-1 and P-3 points above the Yakhroma reservoir, where the anthropogenic load is not intense – the area comprises rural settlements, horticultural associations, and farmland. Point P-4 is located below the reservoir, in the zone of influence of the highway and cities; point P-6 is located at the beginning of the reclaimed massif of the Yakhroma floodplain, below the sewage canal of the city of Dmitrov; points P-8 and P-9 are located in the central part of the massif; P-10 is located at the exit from the massif; P-11 is located in the mouth part, near the Ust’-Pristan’ settlement. Drainage runoff was studied in an open reclamation network and along the runoff from closed collectors; studies were also conducted on the flow of water into the reclamation array along tributaries and flood waters. The electrical conductivity, water temperature, and pH value were determined directly in situ using portable devices WTW’s Cond 340i/SET and pH 330i/SET and HANNA instruments’ conductometer HI 8733. In the samples taken for analysis in the laboratory, the content of potassium was determined by potentiometric methods; the content of nitrites, ammonium, and phosphates was determined by calorimetric methods. The content of metals and individual chemical elements in the Yakhroma river water and drainage canals was analysed by the spectrometric method of atomic emission with inductively coupled plasma (ICP) at the Engler-Bunt-Institute of the University of Karlsruhe in Germany (DVGW-Forshungsstelle am Engler-Bunte-Institut der Universheität (TH). The assessment of the quality of drainage runoff and its impact on the waters of the Yakhroma river involved the use of detailed studies conducted on the Yakhroma floodplain in different years by the professors of the All-Russia Research Institute of Hydraulic Engineering and Land Reclamation of A.N. Kostyakov such as Trifonov [19], Strelbitskaya [15], and Yashin [18, 20].
The removal of nutrients with surface and drainage runoff into the Yakhroma river was calculated taking into account cadastral and slope maps compiled using GIS technology for 1309 agricultural plots, 96 of which are classified into a separate group as reclaimed. For this, the Yakhroma river basin along the slopes of the terrain was zoned with identification of four large zones: zone 1 – weak flush (slope < 0.01), zone 2 – moderate flush (slope from 0.01 to 0.05), zone 3 – strong flush (slope > 0.05), zone 4 – reclaimed territory (floodplain slopeless massif) (Figure 5).
Map of the distribution of agricultural plots by flush zones.
The zone of weak erosion, with a slope of less than 0.01, included 427 agricultural plots with a total area of 10,333.55 ha; five sections located on an area of 66.46 ha with a slope of more than 0.005 were brought together into the strong flush zone. When overlaying the zonal slope map on the soil and cadastral maps, the prevailing soil types were adopted for each agricultural plot and the total soil areas were determined by zones.
When calculating the diffuse runoff, it was assumed that potatoes are mainly grown in the weak flush zone; the moderate flush zone with sod-podzolic soils are dominated by cereals; the zone with peat soils is dominated by potatoes; in the strong flush zone, grain crops are grown on slope lands, whereas vegetables and partly potatoes are grown on reclaimed lands [21].
The amount of the surface runoff from the drained territory was estimated by the runoff coefficient
where Wsurf.runoff stands for the amount of surface runoff, m3, Wprecip is the mean annual precipitation, m3, determined by the formula:
where Нav. annualprecip is mean annual precipitation for spring and autumn, mm; F is the water collection area, ha. It was taken into account that the surface runoff from adjacent territories enters the water intake. A river or pond having a discharge into the river was considered a water intake.
The amount of runoff was determined by the formula:
where Кrunoff is the correction factor for the runoff of artificially drained territory. Other symbols are given above. The calculation results were compared with the data of field studies for the zone under consideration and, if necessary, were corrected [19, 20].
The flush of pollutants by surface runoff, including solid runoff, was determined by the dependencies outlined in the regulatory document [12]. The estimated dependencies take into account almost all sources of biogenic inputs into the soil, including the specific composition of mineral and organic fertilisers applied, the content of dissolved and absorbed biogenic substances in the soil by using appropriate correction factors. The residual amount of biogenic substances in the soil after being consumed from the soil by the crop was also taken into account.
The annual flush of absorbed and dissolved nitrogen by surface runoff (FlushNsolid runoff) was calculated by the formula [12]:
where К1 is the coefficient determining the residual amount of mobile nitrogen forms of mineral fertilisers after consumption by agricultural plants (for ammonium nitrate – 0.02, ammonium sulphate – 0.03, ammonium chloride – 0.06); K2 is the coefficient determining the amount of nitrogen fixed in soil and absorbed by soil microorganisms from fertilisers (for ammonium nitrate – 0.65, for ammonium sulphate – 0.35, for sodium nitrate – 0.18, for lime ammonium nitrate – 0.065); Ny and Nо stand for the rate of application of mineral (у) and organic (о) fertilisers, respectively, kg/ha; Nn and Ntotal stand for the content of mineral (n) and total nitrogen in the arable layer of soil (taken according to the survey, in this case for sod-podzolic gley soils Nn = 4000 kg/ha, Ntotal = 66 kg/ha, for sod-podzolic loamy soils Nn = 5800 kg/ha, Ntotal = 128 kg/ha, for grey forest soil Nn = 5400 kg/ha, Ntotal = 81 kg/ha, for leached chernozem Nn = 13 kg/ha, Ntotal = 195 kg/ha);
The flush of absorbed phosphorus with solid runoff (ВРsolid runoff) over the year was determined as follows:
where Ру and Ро stand for the rate of application of mineral and organic fertilisers, respectively, kg/ha; Рn and Рtotal stand for the content of mineral and total phosphorus in the arable layer of soil (for sod-podzolic gley soils Рn = 300 kg/ha, Рtotal = 1820 kg/ha; for sod-podzolic loamy soils Рn = 210 kg/ha, Рtotal = 3380 kg/ha; for grey forest soil Рn = 420 kg/ha, Рtotal = 3600 kg/ha; for leached chernozem Рn = 260 kg/ha, Рtotal = 3900 kg/ha); n2, n3, and n4 are coefficients characterising the residual amount of phosphorus in mineral, organic fertilisers, and soil respectively (n2 for light soils – 0.8; for heavy soils – 0.26; for peat soils – 0.32; n3 = 0.0014, 0.0004, and 0.0005; n4 = 0.85, 0.28, and 0.34).
The annual flush of absorbed and dissolved potassium by surface runoff (FlushKsurf.runoff) was calculated by the formula:
where Кy is the rate of application of the mineral fertiliser, kg/ha; Кtotal is the total amount of potassium in the arable layer of soil, kg/ha (for sod-podzolic gley soils Кtotal = 50,000 kg/ha, for sod-podzolic loamy soils Кtotal = 58,000 kg/ha, for grey forest soil Кtotal = 50,600 kg/ha, for leached chernozem Кtotal = 51,250 kg/ha).
The drainage flow (Wdr) was calculated based on the known dependencies of the mean annual module drainage flow:
where q is the mean annual module of drainage flow, L/s/ha; F is the area of the drained area, ha; t is the number of seconds in a year, s.
A correction factor for the flush of biogenic substances for the long-term mean annual water content was introduced to determine the flush of biogenic substances with drainage runoff.
Nitrogen annual flush by drainage runoff (FlushNdr) is determined by the formula:
where Wlimit is moisture reserve in the considered soil layer to the groundwater depth or to the depth of drainage at maximum moisture capacity of soil, m3/ha (for peat soils Wlimit = 4500 m3/ha, for sod–podzolic loamy soils Wlimit = 2682 m3/ha, for grey forest soil Wlimit = 2138 m3/ha, for leached chernozem Wlimit = 2765 m3/ha);
See other symbols above.
The annual flush of dissolved phosphorus by drainage runoff (FlushPdr) is determined by the formula:
where n1– the value characterising the content of dissolved phosphorus in the soil (for light soils it is 0.002; for heavy soils it is 0.00017; for peat soils it is 0.0015); Warablelimit is moisture content in the topsoil, m3/ha (for peat soils Wlimit = 1350 m3/ha, for sod–podzolic loamy soils Wlimit = 537 m3/ha, for grey forest soil Wlimit = 428 m3/ha, for leached chernozem Wlimit = 553 m3/ha).
The annual flush of dissolved potassium by drainage runoff (FlushKdr) is determined by the formula:
where Ко is the rate of application of organic fertiliser, kg/ha,
The total volume of biogenic compounds flush was determined by the following formula:
where Bidr, Вisurf stand for the flush of i biogenic element (nitrogen, phosphorus, potassium) by the drainage and surface runoff respectively.
The purpose of hydrochemical studies conducted since 2001was to establish and localise sources of water pollution along the longitudinal profile of the river. They showed that over the entire observation period, the salinity of water in the river fluctuated within 80–500 mg/dm3 and increased from source to mouth due to inflow of wastewater from the cities of Yakhroma and Dmitrov and surface runoff of tributaries and diffuse runoff from the catchment area. The data on the content of biogenic pollutants is taken from observations conducted in 2019–2020. In the spring period (samples were taken on April 12, 2019), the chemical composition of river water was determined mainly by the quality of melt water from the slopes and along the tributaries and was characterised by relatively low values of the content of dissolved salts. It was found that along the longitudinal profile of the river, the electrical conductivity naturally increased due to diffuse runoff and point sources from 56 μS/cm in the upper reaches to 229 μS/cm in the lower reaches (Figure 6). The highest value is confined to the site where the river receives wastewater from the city of Dmitrov and drainage water from the reclaimed massif, which are characterised by increased electrical conductivity (P-6–P-10). The electrical conductivity of the tributaries entering the Levyy Nagornyy canal varies from 285 μS/cm to 591 μS/cm; in the open drainage network it varies from 352 μS/cm to 1170 μS/cm. At the same time, increased values are typical for drainage canals with minimal flow rates.
Change in electrical conductivity (μS/cm) of water along the longitudinal profile of the Yakhroma river by season.
The distribution of electrical conductivity values along the longitudinal profile of the river in the summer (July 15, 2020) and autumn (September 30, 2020) periods is similar. These seasons are characterised by higher values reaching 695–766 μS/cm. The maximum values are observed within the reclaimed massif, which is associated with drainage waters flowing into the river. The ratios of the electrical conductivity values of the water of the Yakhroma river by seasons in the sections “entry” to the reclaimed massif and “exit” from it showed that due to drainage runoff and unloading of groundwater with an increased concentration of salts, the salinity of the river runoff increases in winter–spring periods – mineral salts are withdrawn into the river by runoff from agricultural lands. In summer, due to irrigation and decreased salinity of the drainage runoff, electrical conductivity at the outlet from the massif decreases. In the autumn period, due to precipitation, these processes slow down so that the values of electrical conductivity become almost similar. The values of the electrical conductivity of almost all hydrospheric components within the reclaimed massif, tributaries from the sides of the valley (520–870 μS/cm) and pressure waters (640–650 μS/cm) show that the maximum values of electrical conductivity reaching 1100–1300 μS/cm are characteristic of the drainage runoff in autumn and winter. This is probably due to partial flush of mineral fertilisers by the surface runoff and flow of residual amounts into deep soil horizons and groundwater.
Figure 7 shows the distribution of nutrient concentrations in river water along the longitudinal profile from the source to the mouth of the Yakhroma river. The nutrient content in river water gradually increases from the source to the beginning of the reclaimed Yakhroma floodplain massif (point Р-6) with some fluctuation within the land reclamation massif and a decrease towards the river mouth. A sharp increase is observed at point Р-6. Increased concentrations of phosphates and ammonium are characteristic of the summer and autumn periods and are confined to the reclaimed massif of the Yakhroma floodplain (P-8–P-10). The surge in the concentrations of phosphates and ammonium nitrogen is confined to the beginning of the floodplain massif (R-6) and is caused by the influence of the discharge of insufficiently treated urban wastewater. On reclaimed lands, the content of phosphates in the reclamation network varies, as a rule, in the range of 0.06–0.54 mg/dm3, ammonium nitrogen content varies between 1.3 and 4.5 mg/dm3 and 11.03 mg/dm3, which significantly exceeds the fishery standards. The potassium content varies over a wide range – from 1.7 to 33.7 mg/dm3, while the most frequent values fall into the range 2.0–10.8 mg/dm3. This is confirmed by detailed studies conducted earlier by A.V. Trifonov [19], who showed that the annual drainage removal of potassium oxide is 8 kg/ha. Drainage waters also contain ions of calcium, magnesium, iron, nitrogen, sulphur, chloride, potassium, phosphorus, and silicon. According to E.B. Strelbitskaya’s studies [15], the inflow of drainage water from the reclaimed massif increased the concentration of ammonium ions in the river water in the area below the discharges from the drainage system, exceeding the standards for fishery reservoirs on average by more than 2–11.5 times.
Distribution of the content of nutrients along the length of the longitudinal profile of the Achromat river by seasons.
The results received in 2019–2020 are confirmed by the study conducted by V.M. Yashin in 2001–2005 on the reclaimed massif of the Yakhroma floodplain [18]. The pH varies from 6.0 to 8.1 with the most frequent values in the range from 7.0 to 7.7. There are no definite patterns in pH changes for various water bodies. Artesian (0.4–0.8 mg/dm3) and drainage waters at the mouths of closed drains and collectors (1–2 mg/dm3) are characterised by the lowest values of dissolved oxygen. In open reclamation canals, the content of dissolved oxygen does not reach the standard (6.0 mg/dm3) level. The maximum concentrations of biogenic pollutants are typical for the Levyy Nagornyy canal, which receives water from tributaries from the left side of the valley, including groundwater and partially wastewater from rural settlements.
The pollution of drainage and river waters with heavy metals is characterised by the data in Table 1. The water contains a wide range of dissolved metals. On the basis of the concentrations of metals drainage, river waters are divided into three groups: more than 1000 μg/dm3 (calcium, magnesium, sodium, potassium and silicon for river waters and iron and strontium for drainage waters), 100–999 μg/dm3 (aluminium, barium, phosphorus, manganese, and iron for drainage waters and strontium for river waters), and up to 99 μg/dm3 (heavy metals such as cobalt, copper, nickel, lead, zinc). The concentrations of metals, except iron and strontium, in the drainage runoff exceed their content in river water, which indicates potential danger of river water pollution.
Metal | Open drainage | Closed drainage | Yakhroma river, output from massive | |
---|---|---|---|---|
KYa-26-2 | KYa 26-2-12 | |||
Ca | 111,700 | 150,820 | 162,080 | 92,830 |
Mg | 24,835 | 30,030 | 50,455 | 24,665 |
Na | 13,380 | 8964 | 8435 | 18,890 |
K | 2404 | 2025 | 2950 | 5170 |
Fe | 98 | |||
Si | 983 | 9000 | 12,360 | 8260 |
Sr | ||||
Al | 13 | 15 | 26 | |
Ba | 54 | |||
Mn | ||||
Co | 1 | 2 | 1 | <1 |
Ni | <2 | 6 | ||
P | ||||
Pb | <5 | <5 | <5 | |
Cu | <2 | |||
Zn | 3 | 5 | ||
V |
Content of metals in drainage runoff and river water, (μg/dm3).
Note: metal concentrations exceeding the standards are highlighted in bold.
The concentrations of organochlorine (according to AEX) compounds in drainage and river waters were 23 μg/dm3 and 8.2 μg/dm3 respectively.
Thus, the study revealed increased concentrations of pollutants in the river water within the reclaimed massif of the Yakhroma floodplain. This confirms the influx of uncontrolled diffuse runoff into the river network from the catchment area.
To assess the diffuse runoff, the volume of surface water was calculated for the identified zones of flush and drainage water from the reclaimed massif (Figure 5). The average long-term module of surface runoff depends on the slope angle. In the zones of weak, moderate, and strong flushes, it equals to 0.013 dm3/s/ha, 0.017 dm3/s/ha, and 0.029 dm3/s/ha respectively. On the reclaimed massif, where drainage is used, the module of surface runoff is less than 0.005 dm3/s/ha; the calculated mean vegetation module of drainage runoff is 0.052 dm3/s/ha; the maximum module during the spring snowmelt period reaches 1 dm3/s/ha. The mean annual amount of surface and drainage runoff was calculated according to formulas (3) and (7) for all considered zones (Table 2).
Zone name | Zone 1, weak flush, slope <0.01 | Zone 2, moderate flush, slope from 0.01 to 0.05 | Zone 3, strong flush, slope > 0.05 | Zone IV, floodplain massif |
---|---|---|---|---|
Area, ha | 10333.55 | 12,233.99 | 66.46 | 9730.80 |
Drainage | 15,957.26 | |||
Surface runoff | 4173.72 | 6551.32 | 61.34 | 1572.11 |
Total flow, th m3/year | 28,315.75 |
The results of calculating the amount of surface and drainage runoff (thousand m3/year) from the drainage basin of the Yakhroma river.
As can be seen from the table, surface runoff is 12.4 mln m3/year, while drainage runoff is 15.9 mln m3/year. The first is formed on an area of 22.6 th ha, while the second is concentrated on a floodplain with an area of 9.7 th ha. Removal of nutrients (NPK), surface, and drainage runoff are calculated according to dependencies (4–6) and (8–10). Calculations showed that the annual surface removal of nitrogen from agricultural land varies from 0.51 kg/ha to 1.09 kg/ha, while drainage removal is 9.96 kg/ha (Table 3).
Zone name | Zone 1 | Zone 2 | Zone 3 | Zone 4 |
---|---|---|---|---|
Nitrogen removal by surface runoff, t/year | 9.59 | 6.42 | 0.03 | 11.32 |
Weighted average nitrogen removal by surface runoff, kg/ha | 0.92 | 0.51 | 0.53 | 1.09 |
Nitrogen removal by drainage runoff, t/year | 96.88 | |||
Weighted average nitrogen removal by drainage runoff, kg/ha | 9.96 | |||
Nitrogen concentration in surface runoff | 2.30 | 0.98 | 0.49 | 7.20 |
Results of calculating nitrogen removal from the drainage basin of the Yakhroma river by flush zones.
The largest nitrogen removal is noted with drainage waters; its average concentration in water reaches 6 mg/dm3; the predominant form of nitrogen in drainage water is nitrate (97% of the removed total mineral nitrogen), the content of which in drainage water according to data [23] can vary within the range of 0.42–9.66 mg/dm3, whereas the removal reaches 5.5–8.0 kg/ha.
The removal of phosphorus from the soil by surface and drainage waters is insignificant (does not exceed 0.1% of the phosphorus content in the soil), which is explained by its low mobility (Table 4).
Zone name | Zone 1 | Zone 2 | Zone 3 | Zone 4 |
---|---|---|---|---|
Phosphorus removal by surface runoff, t/year | 2.02 | 2.41 | 0.01 | 1.62 |
Weighted average phosphorus removal by surface runoff, kg/ha | 0.16 | 0.14 | 0.20 | 0.14 |
Phosphorus removal by drainage runoff, t/year | 0.38 | |||
Weighted average removal of phosphorus by drainage runoff, kg/ha | 0.04 | |||
Phosphorus concentration in surface runoff, mg/dm3 | 0.48 | 0.37 | 0.14 | 1.03 |
Concentration of phosphorus in the drainage runoff, mg/dm3 | 0.02 |
Results of calculating phosphorus removal by flush zones from the drainage basin of the Yakhroma river.
Phosphorus practically does not enter the drainage waters; its concentration does not exceed 0.02 mg/dm3 even with the introduction of phosphate fertilisers, since orthophosphoric acid is associated mainly with trivalent metals, and especially with aluminium. In the classical experiments of the Rothamsted Experimental Station on the use of phosphorus fertilisers conducted for 130 years, the concentration of phosphorus in drainage waters was not more than 0.05 mg/dm3 with a phosphorus content in the soil solution of up to 0.2 mg/dm3 [24].
The removal of potassium with surface and drainage waters significantly depends on its content in the soil and the application rates of highly soluble potassium fertilisers and ranges from 4.87 kg/ha to 7.89 kg/ha (Table 5).
Zone name | Zone 1 | Zone 2 | Zone 3 | Zone 4 |
---|---|---|---|---|
Potassium removal by surface runoff, t/year | 79.67 | 100.94 | 0.52 | 61.15 |
Weighted average potassium removal by surface runoff, kg/ha | 7.89 | 5.62 | 7.89 | 4.87 |
Removal of potassium by drainage runoff, t/year | 37.04 | |||
Weighted average potassium removal by drainage runoff, kg/ha | 3.81 | |||
Potassium concentration in surface runoff, mg/dm3 | 19.09 | 15.41 | 8.53 | 38.89 |
Potassium concentration in drainage runoff, mg/dm3 | 2.32 |
Results of calculating potassium removal from the drainage basin of the Yakhroma river by flush zones.
In the drainage waters of soddy-gley soils, the concentration of potassium reaches 2.32 mg/dm3. This is due to the introduction of a large amount of potash fertilisers on the reclaimed massif, which is confirmed by the earlier studies by M.A. Borovitskaya [25]: when potassium was applied at a dose of 170 kg/ha, the removal of potassium on soddy-podzolic loamy soil increased from 3.3 kg/ha to 9.6 kg/ha, and on sandy loam it increased from 2.2 kg/ha to 10.5 kg/ha.
The total removal of nutrients, according to calculations, amounted to almost 410.0 t/year, including removal of nitrogen compounds of 124.2 t/year, removal of phosphorus of 6.4 t/year, and removal of potassium of 279.4 t/year [26]. Drainage runoff removes 96.9 t/year of nitrogen compounds, whereas surface waters remove only 27.4 t/year, which is 3.5 times less, while surface removal of phosphorus compounds is on the contrary 6.1 t/year and drainage removal is 0.4 t/year, or 15 times less. Removal of nutrients with drainage runoff on reclaimed lands is almost two times higher than with surface runoff and amounts to 134 kg/ha/year. Dissolved nitrogen compounds predominate in the drainage runoff. Their removal varies from 7 kg/ha/year to 12 kg/ha/year; drainage removal of phosphorus compounds varies from 0.02 kg/ha/year to 0.06 kg/ha/year; potassium removal varies from 0.8 kg/ha/year to 5.7 kg/ha/year. This explains the surge in the pollution of the Yakhroma river waters within the reclaimed massif.
The pollution of river waters can be reduced by decreasing surface runoff and improving its quality. Low-cost organisational and economic measures reduce diffuse runoff by 20%, agrotechnical methods reduce it by 25–50%, and agro-reclamation methods reduce it by 50–75%. Organisational, economic, and agrotechnical measures are recommended on all plots of arable land of the catchment of the Yakhroma river on an area of 32,365.5 ha.
On arable land with a slope of up to 0.01 (weak flush zone) on an area of 10333.6 ha, it is recommended to conduct accelerated ploughing to transfer part of the surface runoff to soil runoff by forming shallow parallel furrows every 4–15 m, into which surface water flows from the entire enclosure. Lands with small slopes (up to 0.01) should be ploughed towards the natural surface slope, with large slopes at a certain angle to the surface slope so that the slope of the furrows does not exceed 0.01. The recommended distance between the exit furrows is 80–140 m. These techniques will reduce the surface runoff by up to 50%.
In the zone of moderate erosion on an area of 12,234 ha, it is recommended to conduct surface ridging or deep ridge ploughing. This leads to the formation of dense network of furrows, the water from which is diverted to the collectors along the drainage furrows, which reduce the diffuse runoff by 50–75%.
The strong flush zone occupy an area of 66.5 ha. To regulate surface runoff, it is recommended to create anti-erosion hydraulic structures, which are earthen embankments, that is, terraces that allow partial surface runoff without destroying the soil in cases of rainfall in excess of the calculated value.
On the reclaimed massif of the Yakhroma floodplain under study on an area of 9731 ha, where the drainage runoff is discharged directly into the river network, it is recommended to build a diversion canal with a bed bioplateau inside it, downstream from which the treated runoff is discharged into the Yakhroma river. For additional treatment of the drainage runoff, the bioplateau is planted with higher aquatic vegetation in alternating strips of 5–10 m along the width of the watercourse serving as a barrier to the incoming pollutants. The flood is passed through the retaining structure. At a depth of from 0.8 m to 1.2 m in structures, it is recommended to plant
A possible reduction in the removal of pollutants into water bodies of the Yakhroma river was also calculated when taking the above measures. Also the removal of nutrients such as nitrogen (37.36 t), phosphorus (3.24 t), and potassium (135.7 t) was determined. The total intake of nutrients (176.3 t) allows reducing the diffuse load on the water body by more than 50% (Table 6).
Scenarios | Removal of nutrients in the current state | Predicted removal of nutrients after taking the measures | ||||||
---|---|---|---|---|---|---|---|---|
Zone name | Zone 1 | Zone 2 | Zone 3 | Zone 4 | Zone 1 | Zone 2 | Zone 3 | Zone 4 |
Nitrogen removal, t/year | 9.59 | 6.42 | 0.03 | 108.19 | 7.67 | 3.21 | 0.00 | 26.48 |
Phosphorus removal, t/year | 2.02 | 2.41 | 0.01 | 1.99 | 1.61 | 1.21 | 0.00 | 0.42 |
Potassium removal, t/year | 79.67 | 100.94 | 0.52 | 98.19 | 63.73 | 50.47 | 0.00 | 21.49 |
Total removal of nutrients, t/year | 91.27 | 109.77 | 0.56 | 208.38 | 73.02 | 54.89 | 0.00 | 48.39 |
Total removal of nutrients, t/year | 409.984 | 176.294 |
Estimated values of nutrient removal during water protection measures.
Thus, for the given catchment area, the recommended set of measures will ensure a decrease in diffuse runoff formed as a result of agricultural activities.
To assess the possible diffuse pollution of water bodies in the process of agricultural production, the catchment area of the small Yakhroma river was selected. The conducted studies made it possible to comprehensively consider the formation of diffuse runoff from the surface of agricultural fields and drainage runoff from the reclaimed objects depending on climatic, soil, and organisational conditions and to estimate the volume of biogenic pollution entering the Yakhroma river.
Hydrochemical studies of river water quality along the Yakhroma river profile made it possible to identify pollution sources, the main of which are the point discharge of insufficiently treated municipal waters from Dmitrov and Yakhroma cities and the discharge of drainage and surface waters from the reclaimed massif of the Yakhroma river floodplain.
The methodological approach to the assessment of regional diffuse pollution proposed by the authors provides a solution to one of the priority tasks of environmental management and is of practical importance in assessing the pollution of any water body with biogenic substances. The study methodology is based on a comprehensive and objective analysis of the results of field studies in the region under consideration.
The revealed regularities of the formation of surface and drainage runoffs and the use of calculated dependences make it possible to comprehensively consider the formation of diffuse runoff from the surface of agricultural fields and drainage runoff from drainage systems depending on climatic, organisational, and economic conditions and to estimate the volume of biogenic pollution entering the water bodies of the Upper Volga.
It is shown that in the Yakhroma river basin the amount of surface runoff from agricultural fields is 12.4 mln m3/year; the amount of drainage runoff is 15.9 mln m3/year, while surface runoff is formed on an area of 22.6 th ha, and drainage is concentrated on a floodplain with an area of 9.7 th ha The total removal of nutrients, according to calculations, amounted to almost 410.0 t/year, including that of nitrogen compounds (124.2 t/year), phosphorus (6.4 t/year), and potassium (279.4 t/year). Removal of nutrients with drainage runoff on drained lands is almost 2 times higher than with surface runoff and amounts to 134 kg/ha/year. Dissolved nitrogen compounds predominate in the drainage runoff. Their removal varies from 7 kg/ha/year to 12 kg/ha/year; the removal of phosphorus compounds with drainage runoff varies from 0.02 kg/ha/year to 0.06 kg/ha/year; potassium removal varies from 0.8 kg/ha/year to 5.7 kg/ha/year.
Reducing and cleaning diffuse runoff will allow decreasing the diffuse load on a water body by more than 50%, protecting water bodies, and reducing risks to human life and health.
IntechOpen aims to guarantee that original material is published while at the same time giving significant freedom to our Authors. We uphold a flexible Copyright Policy, guaranteeing that there is no transfer of copyright to the publisher and Authors retain exclusive copyright to their Work.
',metaTitle:"Publication Agreement - Monograph",metaDescription:"IntechOpen aims to guarantee that original material is published while at the same time giving significant freedom to our authors. For that matter, we uphold a flexible copyright policy meaning that there is no transfer of copyright to the publisher and authors retain exclusive copyright to their work.",metaKeywords:null,canonicalURL:"/page/publication-agreement-monograph",contentRaw:'[{"type":"htmlEditorComponent","content":"When submitting a manuscript, the Author is required to accept the Terms and Conditions set out in our Publication Agreement – Monographs/Compacts as follows:
\\n\\nCORRESPONDING AUTHOR'S GRANT OF RIGHTS
\\n\\nSubject to the following Article, the Author grants to IntechOpen, during the full term of copyright, and any extensions or renewals of that term, the following:
\\n\\nThe foregoing licenses shall survive the expiry or termination of this Publication Agreement for any reason.
\\n\\nThe Author, on his or her own behalf and on behalf of any of the Co-Authors, reserves the following rights in the Work but agrees not to exercise them in such a way as to adversely affect IntechOpen's ability to utilize the full benefit of this Publication Agreement: (i) reprographic rights worldwide, other than those which subsist in the typographical arrangement of the Work as published by IntechOpen; and (ii) public lending rights arising under the Public Lending Right Act 1979, as amended from time to time, and any similar rights arising in any part of the world.
\\n\\nThe Author, and any Co-Author, confirms that they are, and will remain, a member of any applicable licensing and collecting society and any successor to that body responsible for administering royalties for the reprographic reproduction of copyright works.
\\n\\nSubject to the license granted above, copyright in the Work and all versions of it created during IntechOpen's editing process, including all published versions, is retained by the Author and any Co-Authors.
\\n\\nSubject to the license granted above, the Author and Co-Authors retain patent, trademark and other intellectual property rights to the Work.
\\n\\nAll rights granted to IntechOpen in this Article are assignable, sublicensable or otherwise transferrable to third parties without the specific approval of the Author or Co-Authors.
\\n\\nThe Author, on his/her own behalf and on behalf of the Co-Authors, will not assert any rights under the Copyright, Designs and Patents Act 1988 to object to derogatory treatment of the Work as a consequence of IntechOpen's changes to the Work arising from the translation of it, corrections and edits for house style, removal of problematic material and other reasonable edits as determined by IntechOpen.
\\n\\nAUTHOR'S DUTIES
\\n\\nWhen distributing or re-publishing the Work, the Author agrees to credit the Monograph/Compacts as the source of first publication, as well as IntechOpen. The Author guarantees that Co-Authors will also credit the Monograph/Compacts as the source of first publication, as well as IntechOpen, when they are distributing or re-publishing the Work.
\\n\\nThe Author agrees to:
\\n\\nThe Author will be held responsible for the payment of the agreed Open Access Publishing Fee before the completion of the project (Monograph/Compacts publication).
\\n\\nAll payments shall be due 30 days from the date of issue of the invoice. The Author or whoever is paying on behalf of the Author and Co-Authors will bear all banking and similar charges incurred.
\\n\\nThe Author shall obtain in writing all consents necessary for the reproduction of any material in which a third-party right exists, including quotations, photographs and illustrations, in all editions of the Work worldwide for the full term of the above licenses, and shall provide to IntechOpen, at its request, the original copies of such consents for inspection or the photocopies of such consents.
\\n\\nThe Author shall obtain written informed consent for publication from those who might recognize themselves or be identified by others, for example from case reports or photographs.
\\n\\nThe Author shall respect confidentiality during and after the termination of this Agreement. The information contained in all correspondence and documents as part of the publishing activity between IntechOpen and the Author and Co-Authors are confidential and are intended only for the recipients. The contents of any communication may not be disclosed publicly and are not intended for unauthorized use or distribution. Any use, disclosure, copying, or distribution is prohibited and may be unlawful.
\\n\\nAUTHOR'S WARRANTY
\\n\\nThe Author and Co-Authors confirm and warrant that the Work does not and will not breach any applicable law or the rights of any third party and, specifically, that the Work contains no matter that is defamatory or that infringes any literary or proprietary rights, intellectual property rights, or any rights of privacy.
\\n\\nThe Author and Co-Authors confirm that: (i) the Work is their original work and is not copied wholly or substantially from any other work or material or any other source; (ii) the Work has not been formally published in any other peer-reviewed journal or in a book or edited collection, and is not under consideration for any such publication; (iii) Authors and any applicable Co-Authors are qualifying persons under section 154 of the Copyright, Designs and Patents Act 1988; (iv) Authors and any applicable Co-Authors have not assigned, and will not during the term of this Publication Agreement purport to assign, any of the rights granted to IntechOpen under this Publication Agreement; and (v) the rights granted by this Publication Agreement are free from any security interest, option, mortgage, charge or lien.
\\n\\nThe Author and Co-Authors also confirm and warrant that: (i) he/she has the power to enter into this Publication Agreement on his or her own behalf and on behalf of each Co-Author; and (ii) has the necessary rights and/or title in and to the Work to grant IntechOpen, on behalf of themselves and any Co-Author, the rights and licences in this Publication Agreement. If the Work was prepared jointly by the Author and Co-Authors, the Author confirms that: (i) all Co-Authors agree to the submission, license and publication of the Work on the terms of this Publication Agreement; and (ii) the Author has the authority to enter into this biding Publication Agreement on behalf of each Co-Author. The Author shall: (i) ensure each Co-Author complies with all relevant provisions of this Publication Agreement, including those relating to confidentiality, performance and standards, as if a party to this Publication Agreement; and (ii) remain primarily liable for all acts and/or omissions of each Co-Author.
\\n\\nThe Author agrees to indemnify IntechOpen harmless against all liabilities, costs, expenses, damages and losses, as well as all reasonable legal costs and expenses suffered or incurred by IntechOpen arising out of, or in connection with, any breach of the agreed confirmations and warranties. This indemnity shall not apply in a situation in which a claim results from IntechOpen's negligence or willful misconduct.
\\n\\nNothing in this Publication Agreement shall have the effect of excluding or limiting any liability for death or personal injury caused by negligence or any other liability that cannot be excluded or limited by applicable law.
\\n\\nTERMINATION
\\n\\nIntechOpen has the right to terminate this Publication Agreement for quality, program, technical or other reasons with immediate effect, including without limitation (i) if the Author and/or any Co-Author commits a material breach of this Publication Agreement; (ii) if the Author and/or any Co-Author (being a private individual) is the subject of a bankruptcy petition, application or order; or (iii) if the Author and/or any Co-Author (as a corporate entity) commences negotiations with all or any class of its creditors with a view to rescheduling any of its debts, or makes a proposal for, or enters into, any compromise or arrangement with any of its creditors.
\\n\\nIn the event of termination, IntechOpen will notify the Author of the decision in writing.
\\n\\nIntechOpen’s DUTIES AND RIGHTS
\\n\\nUnless prevented from doing so by events beyond its reasonable control, IntechOpen, at its discretion, agrees to publish the Work attributing it to the Author and Co-Authors.
\\n\\nUnless prevented from doing so by events beyond its reasonable control, IntechOpen agrees to provide publishing services which include: managing editing (editorial and publishing process coordination, Author assistance); publishing software technology; language copyediting; typesetting; online publishing; hosting and web management; and abstracting and indexing services.
\\n\\nIntechOpen agrees to offer free online access to readers and use reasonable efforts to promote the Publication to relevant audiences.
\\n\\nIntechOpen is granted the authority to enforce the rights from this Publication Agreement on behalf of the Author and Co-Authors against third parties, for example in cases of plagiarism or copyright infringements. In respect of any such infringement or suspected infringement of the copyright in the Work, IntechOpen shall have absolute discretion in addressing any such infringement that is likely to affect IntechOpen's rights under this Publication Agreement, including issuing and conducting proceedings against the suspected infringer.
\\n\\nIntechOpen has the right to include/use the Author and Co-Authors names and likeness in connection with scientific dissemination, retrieval, archiving, web hosting and promotion and marketing of the Work and has the right to contact the Author and Co-Authors until the Work is publicly available on any platform owned and/or operated by IntechOpen.
\\n\\nMISCELLANEOUS
\\n\\nFurther Assurance: The Author shall ensure that any relevant third party, including any Co-Author, shall execute and deliver whatever further documents or deeds and perform such acts as IntechOpen reasonably requires from time to time for the purpose of giving IntechOpen the full benefit of the provisions of this Publication Agreement.
\\n\\nThird Party Rights: A person who is not a party to this Publication Agreement may not enforce any of its provisions under the Contracts (Rights of Third Parties) Act 1999.
\\n\\nEntire Agreement: This Publication Agreement constitutes the entire agreement between the parties in relation to its subject matter. It replaces all prior agreements, draft agreements, arrangements, collateral warranties, collateral contracts, statements, assurances, representations and undertakings of any nature made by, or on behalf of, the parties, whether oral or written, in relation to that subject matter. Each party acknowledges that in entering into this Publication Agreement it has not relied upon any oral or written statements, collateral or other warranties, assurances, representations or undertakings which were made by or on behalf of the other party in relation to the subject matter of this Publication Agreement at any time before its signature (known as the "Pre-Contractual Statements"), other than those which are set out in this Publication Agreement. Each party hereby waives all rights and remedies which might otherwise be available to it in relation to such Pre-Contractual Statements. Nothing in this clause shall exclude or restrict the liability of either party arising out of any fraudulent pre-contract misrepresentation or concealment.
\\n\\nWaiver: No failure or delay by a party to exercise any right or remedy provided under this Publication Agreement or by law shall constitute a waiver of that or any other right or remedy, nor shall it preclude or restrict the further exercise of that or any other right or remedy. No single or partial exercise of such right or remedy shall preclude or restrict the further exercise of that or any other right or remedy.
\\n\\nVariation: No variation of this Publication Agreement shall have effect unless it is in writing and signed by the parties, or their duly authorized representatives.
\\n\\nSeverance: If any provision, or part-provision, of this Publication Agreement is, or becomes invalid, illegal or unenforceable, it shall be deemed modified to the minimum extent necessary to make it valid, legal and enforceable. If such modification is not possible, the relevant provision or part-provision shall be deemed deleted. Any modification to, or deletion of, a provision or part-provision under this clause shall not affect the validity and enforceability of the rest of this Publication Agreement.
\\n\\nNo partnership: Nothing in this Publication Agreement is intended to, or shall be deemed to, establish or create any partnership or joint venture or the relationship of principal and agent or employer and employee between IntechOpen and the Author or any Co-Author, nor authorize any party to make or enter into any commitments for, or on behalf of, any other party.
\\n\\nGoverning law: This Publication Agreement and any dispute or claim, including non-contractual disputes or claims arising out of, or in connection with it, or its subject matter or formation, shall be governed by and construed in accordance with the law of England and Wales. The parties submit to the exclusive jurisdiction of the English courts to settle any dispute or claim arising out of, or in connection with, this Publication Agreement, including any non-contractual disputes or claims.
\\n\\nPolicy last updated: 2018-09-11
\\n"}]'},components:[{type:"htmlEditorComponent",content:'When submitting a manuscript, the Author is required to accept the Terms and Conditions set out in our Publication Agreement – Monographs/Compacts as follows:
\n\nCORRESPONDING AUTHOR'S GRANT OF RIGHTS
\n\nSubject to the following Article, the Author grants to IntechOpen, during the full term of copyright, and any extensions or renewals of that term, the following:
\n\nThe foregoing licenses shall survive the expiry or termination of this Publication Agreement for any reason.
\n\nThe Author, on his or her own behalf and on behalf of any of the Co-Authors, reserves the following rights in the Work but agrees not to exercise them in such a way as to adversely affect IntechOpen's ability to utilize the full benefit of this Publication Agreement: (i) reprographic rights worldwide, other than those which subsist in the typographical arrangement of the Work as published by IntechOpen; and (ii) public lending rights arising under the Public Lending Right Act 1979, as amended from time to time, and any similar rights arising in any part of the world.
\n\nThe Author, and any Co-Author, confirms that they are, and will remain, a member of any applicable licensing and collecting society and any successor to that body responsible for administering royalties for the reprographic reproduction of copyright works.
\n\nSubject to the license granted above, copyright in the Work and all versions of it created during IntechOpen's editing process, including all published versions, is retained by the Author and any Co-Authors.
\n\nSubject to the license granted above, the Author and Co-Authors retain patent, trademark and other intellectual property rights to the Work.
\n\nAll rights granted to IntechOpen in this Article are assignable, sublicensable or otherwise transferrable to third parties without the specific approval of the Author or Co-Authors.
\n\nThe Author, on his/her own behalf and on behalf of the Co-Authors, will not assert any rights under the Copyright, Designs and Patents Act 1988 to object to derogatory treatment of the Work as a consequence of IntechOpen's changes to the Work arising from the translation of it, corrections and edits for house style, removal of problematic material and other reasonable edits as determined by IntechOpen.
\n\nAUTHOR'S DUTIES
\n\nWhen distributing or re-publishing the Work, the Author agrees to credit the Monograph/Compacts as the source of first publication, as well as IntechOpen. The Author guarantees that Co-Authors will also credit the Monograph/Compacts as the source of first publication, as well as IntechOpen, when they are distributing or re-publishing the Work.
\n\nThe Author agrees to:
\n\nThe Author will be held responsible for the payment of the agreed Open Access Publishing Fee before the completion of the project (Monograph/Compacts publication).
\n\nAll payments shall be due 30 days from the date of issue of the invoice. The Author or whoever is paying on behalf of the Author and Co-Authors will bear all banking and similar charges incurred.
\n\nThe Author shall obtain in writing all consents necessary for the reproduction of any material in which a third-party right exists, including quotations, photographs and illustrations, in all editions of the Work worldwide for the full term of the above licenses, and shall provide to IntechOpen, at its request, the original copies of such consents for inspection or the photocopies of such consents.
\n\nThe Author shall obtain written informed consent for publication from those who might recognize themselves or be identified by others, for example from case reports or photographs.
\n\nThe Author shall respect confidentiality during and after the termination of this Agreement. The information contained in all correspondence and documents as part of the publishing activity between IntechOpen and the Author and Co-Authors are confidential and are intended only for the recipients. The contents of any communication may not be disclosed publicly and are not intended for unauthorized use or distribution. Any use, disclosure, copying, or distribution is prohibited and may be unlawful.
\n\nAUTHOR'S WARRANTY
\n\nThe Author and Co-Authors confirm and warrant that the Work does not and will not breach any applicable law or the rights of any third party and, specifically, that the Work contains no matter that is defamatory or that infringes any literary or proprietary rights, intellectual property rights, or any rights of privacy.
\n\nThe Author and Co-Authors confirm that: (i) the Work is their original work and is not copied wholly or substantially from any other work or material or any other source; (ii) the Work has not been formally published in any other peer-reviewed journal or in a book or edited collection, and is not under consideration for any such publication; (iii) Authors and any applicable Co-Authors are qualifying persons under section 154 of the Copyright, Designs and Patents Act 1988; (iv) Authors and any applicable Co-Authors have not assigned, and will not during the term of this Publication Agreement purport to assign, any of the rights granted to IntechOpen under this Publication Agreement; and (v) the rights granted by this Publication Agreement are free from any security interest, option, mortgage, charge or lien.
\n\nThe Author and Co-Authors also confirm and warrant that: (i) he/she has the power to enter into this Publication Agreement on his or her own behalf and on behalf of each Co-Author; and (ii) has the necessary rights and/or title in and to the Work to grant IntechOpen, on behalf of themselves and any Co-Author, the rights and licences in this Publication Agreement. If the Work was prepared jointly by the Author and Co-Authors, the Author confirms that: (i) all Co-Authors agree to the submission, license and publication of the Work on the terms of this Publication Agreement; and (ii) the Author has the authority to enter into this biding Publication Agreement on behalf of each Co-Author. The Author shall: (i) ensure each Co-Author complies with all relevant provisions of this Publication Agreement, including those relating to confidentiality, performance and standards, as if a party to this Publication Agreement; and (ii) remain primarily liable for all acts and/or omissions of each Co-Author.
\n\nThe Author agrees to indemnify IntechOpen harmless against all liabilities, costs, expenses, damages and losses, as well as all reasonable legal costs and expenses suffered or incurred by IntechOpen arising out of, or in connection with, any breach of the agreed confirmations and warranties. This indemnity shall not apply in a situation in which a claim results from IntechOpen's negligence or willful misconduct.
\n\nNothing in this Publication Agreement shall have the effect of excluding or limiting any liability for death or personal injury caused by negligence or any other liability that cannot be excluded or limited by applicable law.
\n\nTERMINATION
\n\nIntechOpen has the right to terminate this Publication Agreement for quality, program, technical or other reasons with immediate effect, including without limitation (i) if the Author and/or any Co-Author commits a material breach of this Publication Agreement; (ii) if the Author and/or any Co-Author (being a private individual) is the subject of a bankruptcy petition, application or order; or (iii) if the Author and/or any Co-Author (as a corporate entity) commences negotiations with all or any class of its creditors with a view to rescheduling any of its debts, or makes a proposal for, or enters into, any compromise or arrangement with any of its creditors.
\n\nIn the event of termination, IntechOpen will notify the Author of the decision in writing.
\n\nIntechOpen’s DUTIES AND RIGHTS
\n\nUnless prevented from doing so by events beyond its reasonable control, IntechOpen, at its discretion, agrees to publish the Work attributing it to the Author and Co-Authors.
\n\nUnless prevented from doing so by events beyond its reasonable control, IntechOpen agrees to provide publishing services which include: managing editing (editorial and publishing process coordination, Author assistance); publishing software technology; language copyediting; typesetting; online publishing; hosting and web management; and abstracting and indexing services.
\n\nIntechOpen agrees to offer free online access to readers and use reasonable efforts to promote the Publication to relevant audiences.
\n\nIntechOpen is granted the authority to enforce the rights from this Publication Agreement on behalf of the Author and Co-Authors against third parties, for example in cases of plagiarism or copyright infringements. In respect of any such infringement or suspected infringement of the copyright in the Work, IntechOpen shall have absolute discretion in addressing any such infringement that is likely to affect IntechOpen's rights under this Publication Agreement, including issuing and conducting proceedings against the suspected infringer.
\n\nIntechOpen has the right to include/use the Author and Co-Authors names and likeness in connection with scientific dissemination, retrieval, archiving, web hosting and promotion and marketing of the Work and has the right to contact the Author and Co-Authors until the Work is publicly available on any platform owned and/or operated by IntechOpen.
\n\nMISCELLANEOUS
\n\nFurther Assurance: The Author shall ensure that any relevant third party, including any Co-Author, shall execute and deliver whatever further documents or deeds and perform such acts as IntechOpen reasonably requires from time to time for the purpose of giving IntechOpen the full benefit of the provisions of this Publication Agreement.
\n\nThird Party Rights: A person who is not a party to this Publication Agreement may not enforce any of its provisions under the Contracts (Rights of Third Parties) Act 1999.
\n\nEntire Agreement: This Publication Agreement constitutes the entire agreement between the parties in relation to its subject matter. It replaces all prior agreements, draft agreements, arrangements, collateral warranties, collateral contracts, statements, assurances, representations and undertakings of any nature made by, or on behalf of, the parties, whether oral or written, in relation to that subject matter. Each party acknowledges that in entering into this Publication Agreement it has not relied upon any oral or written statements, collateral or other warranties, assurances, representations or undertakings which were made by or on behalf of the other party in relation to the subject matter of this Publication Agreement at any time before its signature (known as the "Pre-Contractual Statements"), other than those which are set out in this Publication Agreement. Each party hereby waives all rights and remedies which might otherwise be available to it in relation to such Pre-Contractual Statements. Nothing in this clause shall exclude or restrict the liability of either party arising out of any fraudulent pre-contract misrepresentation or concealment.
\n\nWaiver: No failure or delay by a party to exercise any right or remedy provided under this Publication Agreement or by law shall constitute a waiver of that or any other right or remedy, nor shall it preclude or restrict the further exercise of that or any other right or remedy. No single or partial exercise of such right or remedy shall preclude or restrict the further exercise of that or any other right or remedy.
\n\nVariation: No variation of this Publication Agreement shall have effect unless it is in writing and signed by the parties, or their duly authorized representatives.
\n\nSeverance: If any provision, or part-provision, of this Publication Agreement is, or becomes invalid, illegal or unenforceable, it shall be deemed modified to the minimum extent necessary to make it valid, legal and enforceable. If such modification is not possible, the relevant provision or part-provision shall be deemed deleted. Any modification to, or deletion of, a provision or part-provision under this clause shall not affect the validity and enforceability of the rest of this Publication Agreement.
\n\nNo partnership: Nothing in this Publication Agreement is intended to, or shall be deemed to, establish or create any partnership or joint venture or the relationship of principal and agent or employer and employee between IntechOpen and the Author or any Co-Author, nor authorize any party to make or enter into any commitments for, or on behalf of, any other party.
\n\nGoverning law: This Publication Agreement and any dispute or claim, including non-contractual disputes or claims arising out of, or in connection with it, or its subject matter or formation, shall be governed by and construed in accordance with the law of England and Wales. The parties submit to the exclusive jurisdiction of the English courts to settle any dispute or claim arising out of, or in connection with, this Publication Agreement, including any non-contractual disputes or claims.
\n\nPolicy last updated: 2018-09-11
\n'}]},successStories:{items:[]},authorsAndEditors:{filterParams:{sort:"featured,name"},profiles:[],filtersByRegion:[],offset:0,limit:12,total:null},chapterEmbeded:{data:{}},editorApplication:{success:null,errors:{}},ofsBooks:{filterParams:{hasNoEditors:"0",sort:"dateEndThirdStepPublish",topicId:"8,9,10,11,14,15,20,22,24"},books:[{type:"book",id:"11124",title:"Next-Generation Textiles",subtitle:null,isOpenForSubmission:!0,hash:"093f9e26bb829b8d414d13626aea1086",slug:null,bookSignature:"Dr. Hassan Ibrahim",coverURL:"https://cdn.intechopen.com/books/images_new/11124.jpg",editedByType:null,editors:[{id:"90645",title:"Dr.",name:"Hassan",surname:"Ibrahim",slug:"hassan-ibrahim",fullName:"Hassan Ibrahim"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11561",title:"Zeolite From Wastes - New Perspectives on Innovative Resources and Their Valorization Process",subtitle:null,isOpenForSubmission:!0,hash:"3ed0dfd842de9cd1143212415903e6ad",slug:null,bookSignature:"Dr. Claudia Belviso",coverURL:"https://cdn.intechopen.com/books/images_new/11561.jpg",editedByType:null,editors:[{id:"61457",title:"Dr.",name:"Claudia",surname:"Belviso",slug:"claudia-belviso",fullName:"Claudia Belviso"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11922",title:"Watermarking - Recent Advances, New Perspectives and Applications",subtitle:null,isOpenForSubmission:!0,hash:"9843dc1d810407088ed9eef10768a64b",slug:null,bookSignature:"Prof. Joceli Mayer",coverURL:"https://cdn.intechopen.com/books/images_new/11922.jpg",editedByType:null,editors:[{id:"110638",title:"Prof.",name:"Joceli",surname:"Mayer",slug:"joceli-mayer",fullName:"Joceli Mayer"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11762",title:"Characteristics and Applications of Boron",subtitle:null,isOpenForSubmission:!0,hash:"611776f7f3cc9951a8956d2e3d535a8e",slug:null,bookSignature:"Associate Prof. Chatchawal Wongchoosuk",coverURL:"https://cdn.intechopen.com/books/images_new/11762.jpg",editedByType:null,editors:[{id:"34521",title:"Associate Prof.",name:"Chatchawal",surname:"Wongchoosuk",slug:"chatchawal-wongchoosuk",fullName:"Chatchawal Wongchoosuk"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11910",title:"Frontiers in Voltammetry",subtitle:null,isOpenForSubmission:!0,hash:"fc53a7599a61ed04a0672a7bca81e9c2",slug:null,bookSignature:"Dr. Rajendrachari Shashanka, Dr. Kiran Kenchappa Somashekharappa, Dr. Sharath Peramenahalli Chikkegouda and Dr. Shamanth Vasanth",coverURL:"https://cdn.intechopen.com/books/images_new/11910.jpg",editedByType:null,editors:[{id:"246025",title:"Dr.",name:"Shashanka",surname:"Rajendrachari",slug:"shashanka-rajendrachari",fullName:"Shashanka Rajendrachari"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11517",title:"Phase Change Materials - Technology and Applications",subtitle:null,isOpenForSubmission:!0,hash:"1b7a5f2631db5e49399539ade1edf264",slug:null,bookSignature:"Dr. Manish K Rathod",coverURL:"https://cdn.intechopen.com/books/images_new/11517.jpg",editedByType:null,editors:[{id:"236035",title:"Dr.",name:"Manish",surname:"Rathod",slug:"manish-rathod",fullName:"Manish Rathod"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11451",title:"Molecular Docking - Recent Advances",subtitle:null,isOpenForSubmission:!0,hash:"8c918a1973786c7059752b28601f1329",slug:null,bookSignature:"Dr. Erman Salih Istifli",coverURL:"https://cdn.intechopen.com/books/images_new/11451.jpg",editedByType:null,editors:[{id:"179007",title:"Dr.",name:"Erman Salih",surname:"Istifli",slug:"erman-salih-istifli",fullName:"Erman Salih Istifli"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11932",title:"New Materials and Enhanced Performance of Sodium-Ion Batteries",subtitle:null,isOpenForSubmission:!0,hash:"75c27a6f2739e8af817bace95b0e50d6",slug:null,bookSignature:"Ph.D. Fatma SARF",coverURL:"https://cdn.intechopen.com/books/images_new/11932.jpg",editedByType:null,editors:[{id:"245850",title:"Ph.D.",name:"Fatma",surname:"SARF",slug:"fatma-sarf",fullName:"Fatma SARF"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11528",title:"Maintenance Management - Current Challenges, New Developments, and Future Directions",subtitle:null,isOpenForSubmission:!0,hash:"a3e4ad5806a77b0e930fbd4cb191bee2",slug:null,bookSignature:"Prof. Germano Lambert-Torres, Dr. Erik Leandro Bonaldi and Dr. Levy Ely Oliveira",coverURL:"https://cdn.intechopen.com/books/images_new/11528.jpg",editedByType:null,editors:[{id:"112971",title:"Prof.",name:"Germano",surname:"Lambert-Torres",slug:"germano-lambert-torres",fullName:"Germano Lambert-Torres"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11509",title:"Wireless Power Transfer - Perspectives and Application",subtitle:null,isOpenForSubmission:!0,hash:"f188555eee4211fc24b6cca361983149",slug:null,bookSignature:"Dr. Kim Ho Yeap",coverURL:"https://cdn.intechopen.com/books/images_new/11509.jpg",editedByType:null,editors:[{id:"126825",title:"Dr.",name:"Kim Ho",surname:"Yeap",slug:"kim-ho-yeap",fullName:"Kim Ho Yeap"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11760",title:"Applications and Use of Diamond",subtitle:null,isOpenForSubmission:!0,hash:"2edcf9a24450d8655e756e1080defe32",slug:null,bookSignature:"Mr. Evgeniy Lipatov",coverURL:"https://cdn.intechopen.com/books/images_new/11760.jpg",editedByType:null,editors:[{id:"21254",title:"Mr.",name:"Evgeniy",surname:"Lipatov",slug:"evgeniy-lipatov",fullName:"Evgeniy Lipatov"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"11486",title:"Climate Change - Recent Observations",subtitle:null,isOpenForSubmission:!0,hash:"741543ff220f5cf688efbf12d3e2f536",slug:null,bookSignature:"Assistant Prof. Terence Epule Epule",coverURL:"https://cdn.intechopen.com/books/images_new/11486.jpg",editedByType:null,editors:[{id:"348146",title:"Assistant Prof.",name:"Terence Epule",surname:"Epule",slug:"terence-epule-epule",fullName:"Terence Epule Epule"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}],filtersByTopic:[{group:"topic",caption:"Agricultural and Biological Sciences",value:5,count:38},{group:"topic",caption:"Biochemistry, Genetics and Molecular Biology",value:6,count:13},{group:"topic",caption:"Business, Management and Economics",value:7,count:7},{group:"topic",caption:"Chemistry",value:8,count:23},{group:"topic",caption:"Computer and Information Science",value:9,count:24},{group:"topic",caption:"Earth and Planetary Sciences",value:10,count:15},{group:"topic",caption:"Engineering",value:11,count:65},{group:"topic",caption:"Environmental Sciences",value:12,count:10},{group:"topic",caption:"Immunology and Microbiology",value:13,count:16},{group:"topic",caption:"Materials Science",value:14,count:25},{group:"topic",caption:"Mathematics",value:15,count:11},{group:"topic",caption:"Medicine",value:16,count:116},{group:"topic",caption:"Nanotechnology and Nanomaterials",value:17,count:6},{group:"topic",caption:"Neuroscience",value:18,count:4},{group:"topic",caption:"Pharmacology, Toxicology and Pharmaceutical Science",value:19,count:9},{group:"topic",caption:"Physics",value:20,count:9},{group:"topic",caption:"Psychology",value:21,count:10},{group:"topic",caption:"Robotics",value:22,count:2},{group:"topic",caption:"Social Sciences",value:23,count:9},{group:"topic",caption:"Veterinary Medicine and Science",value:25,count:4}],offset:12,limit:12,total:174},popularBooks:{featuredBooks:[],offset:0,limit:12,total:null},hotBookTopics:{hotBooks:[],offset:0,limit:12,total:null},publish:{},publishingProposal:{success:null,errors:{}},books:{featuredBooks:[],latestBooks:[]},subject:{topic:{id:"1189",title:"Pharmacotherapy",slug:"drug-discovery-pharmacotherapy",parent:{id:"217",title:"Drug Discovery",slug:"drug-discovery"},numberOfBooks:3,numberOfSeries:0,numberOfAuthorsAndEditors:89,numberOfWosCitations:65,numberOfCrossrefCitations:34,numberOfDimensionsCitations:80,videoUrl:null,fallbackUrl:null,description:null},booksByTopicFilter:{topicId:"1189",sort:"-publishedDate",limit:12,offset:0},booksByTopicCollection:[{type:"book",id:"3853",title:"Pharmacology and Therapeutics",subtitle:null,isOpenForSubmission:!1,hash:"09f9295bff8acbce8a68f3c329d51cd7",slug:"pharmacology-and-therapeutics",bookSignature:"Sivakumar Joghi Thatha Gowder",coverURL:"https://cdn.intechopen.com/books/images_new/3853.jpg",editedByType:"Edited by",editors:[{id:"118572",title:"Dr.",name:"Sivakumar Joghi",middleName:null,surname:"Thatha Gowder",slug:"sivakumar-joghi-thatha-gowder",fullName:"Sivakumar Joghi Thatha Gowder"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"1516",title:"Pharmacotherapy",subtitle:null,isOpenForSubmission:!1,hash:"5913f56353d16d5484d5a0955843db96",slug:"pharmacotherapy",bookSignature:"Farid Badria",coverURL:"https://cdn.intechopen.com/books/images_new/1516.jpg",editedByType:"Edited by",editors:[{id:"41865",title:"Prof.",name:"Farid A.",middleName:null,surname:"Badria",slug:"farid-a.-badria",fullName:"Farid A. Badria"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"551",title:"Antiviral Drugs",subtitle:"Aspects of Clinical Use and Recent Advances",isOpenForSubmission:!1,hash:"4a607111d1bca42ff287b1cfac2468c0",slug:"antiviral-drugs-aspects-of-clinical-use-and-recent-advances",bookSignature:"Patrick Arbuthnot",coverURL:"https://cdn.intechopen.com/books/images_new/551.jpg",editedByType:"Edited by",editors:[{id:"88695",title:"Dr.",name:"Patrick",middleName:null,surname:"Arbuthnot",slug:"patrick-arbuthnot",fullName:"Patrick Arbuthnot"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}],booksByTopicTotal:3,seriesByTopicCollection:[],seriesByTopicTotal:0,mostCitedChapters:[{id:"46749",doi:"10.5772/58419",title:"Nanotherapeutics in Cancer Prevention, Diagnosis and Treatment",slug:"nanotherapeutics-in-cancer-prevention-diagnosis-and-treatment",totalDownloads:3504,totalCrossrefCites:11,totalDimensionsCites:13,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"Samaya R Krishnan and Suraj K George",authors:[{id:"169691",title:"Dr.",name:"Suraj Konnath",middleName:null,surname:"George",slug:"suraj-konnath-george",fullName:"Suraj Konnath George"},{id:"169719",title:"Dr.",name:"Samaya",middleName:null,surname:"Krishnan",slug:"samaya-krishnan",fullName:"Samaya Krishnan"}]},{id:"46134",doi:"10.5772/57235",title:"Drug Carrier Systems Using Chitosan for Non Parenteral Routes",slug:"drug-carrier-systems-using-chitosan-for-non-parenteral-routes",totalDownloads:2998,totalCrossrefCites:3,totalDimensionsCites:12,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"Clara Luisa Domínguez-Delgado, Isabel Marlen Rodríguez-Cruz,\nEnrique Fuentes-Prado, José Juan Escobar-Chávez, Gustavo Vidal-\nRomero, Lorena García-González and Rafael Iván Puente-Lee",authors:[{id:"94424",title:"Dr.",name:"Isabel Marlen",middleName:null,surname:"Rodriguez-Cruz",slug:"isabel-marlen-rodriguez-cruz",fullName:"Isabel Marlen Rodriguez-Cruz"},{id:"94426",title:"Dr.",name:"Clara Luisa",middleName:null,surname:"Dominguez-Delgado",slug:"clara-luisa-dominguez-delgado",fullName:"Clara Luisa Dominguez-Delgado"},{id:"170521",title:"Dr.",name:"Enrique",middleName:null,surname:"Fuentes-Prado",slug:"enrique-fuentes-prado",fullName:"Enrique Fuentes-Prado"},{id:"170522",title:"Dr.",name:"José Juan",middleName:null,surname:"Escobar-Chávez",slug:"jose-juan-escobar-chavez",fullName:"José Juan Escobar-Chávez"},{id:"170523",title:"Dr.",name:"Gustavo",middleName:null,surname:"Vidal-Romero",slug:"gustavo-vidal-romero",fullName:"Gustavo Vidal-Romero"},{id:"170524",title:"Dr.",name:"Lorena",middleName:null,surname:"García-González",slug:"lorena-garcia-gonzalez",fullName:"Lorena García-González"},{id:"170525",title:"Dr.",name:"Rafael Ivan",middleName:null,surname:"Puente-Lee",slug:"rafael-ivan-puente-lee",fullName:"Rafael Ivan Puente-Lee"}]},{id:"45996",doi:"10.5772/57227",title:"Pharmacological and Immunological Properties of Wasp Venom",slug:"pharmacological-and-immunological-properties-of-wasp-venom",totalDownloads:3404,totalCrossrefCites:1,totalDimensionsCites:9,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"Yashad Dongol, B L Dhananjaya, Rakesh Kumar Shrestha and Gopi\nAryal",authors:[{id:"98312",title:"Dr.",name:"B.L.",middleName:null,surname:"Dhananjaya",slug:"b.l.-dhananjaya",fullName:"B.L. Dhananjaya"},{id:"169708",title:"Mr.",name:"Yashad",middleName:null,surname:"Dongol",slug:"yashad-dongol",fullName:"Yashad Dongol"},{id:"169709",title:"Dr.",name:"Rakesh Kumar",middleName:null,surname:"Shrestha",slug:"rakesh-kumar-shrestha",fullName:"Rakesh Kumar Shrestha"},{id:"169710",title:"Dr.",name:"Gopi",middleName:null,surname:"Aryal",slug:"gopi-aryal",fullName:"Gopi Aryal"}]},{id:"46129",doi:"10.5772/57206",title:"Pharmacology of Adenosine Receptors and Their Signaling Role in Immunity and Inflammation",slug:"pharmacology-of-adenosine-receptors-and-their-signaling-role-in-immunity-and-inflammation",totalDownloads:3510,totalCrossrefCites:3,totalDimensionsCites:9,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"Fernanda da Rocha Lapa, Sérgio José Macedo Júnior, Murilo Luiz\nCerutti and Adair Roberto Soares Santos",authors:[{id:"169718",title:"Dr.",name:"Adair",middleName:null,surname:"Santos",slug:"adair-santos",fullName:"Adair Santos"}]},{id:"46653",doi:"10.5772/58552",title:"Anticancer Drug — Friend or Foe",slug:"anticancer-drug-friend-or-foe",totalDownloads:7958,totalCrossrefCites:2,totalDimensionsCites:9,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"Tuğba Taşkın-Tok and Sivakumar Gowder",authors:[{id:"118572",title:"Dr.",name:"Sivakumar Joghi",middleName:null,surname:"Thatha Gowder",slug:"sivakumar-joghi-thatha-gowder",fullName:"Sivakumar Joghi Thatha Gowder"}]}],mostDownloadedChaptersLast30Days:[{id:"45996",title:"Pharmacological and Immunological Properties of Wasp Venom",slug:"pharmacological-and-immunological-properties-of-wasp-venom",totalDownloads:3404,totalCrossrefCites:1,totalDimensionsCites:9,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"Yashad Dongol, B L Dhananjaya, Rakesh Kumar Shrestha and Gopi\nAryal",authors:[{id:"98312",title:"Dr.",name:"B.L.",middleName:null,surname:"Dhananjaya",slug:"b.l.-dhananjaya",fullName:"B.L. Dhananjaya"},{id:"169708",title:"Mr.",name:"Yashad",middleName:null,surname:"Dongol",slug:"yashad-dongol",fullName:"Yashad Dongol"},{id:"169709",title:"Dr.",name:"Rakesh Kumar",middleName:null,surname:"Shrestha",slug:"rakesh-kumar-shrestha",fullName:"Rakesh Kumar Shrestha"},{id:"169710",title:"Dr.",name:"Gopi",middleName:null,surname:"Aryal",slug:"gopi-aryal",fullName:"Gopi Aryal"}]},{id:"46653",title:"Anticancer Drug — Friend or Foe",slug:"anticancer-drug-friend-or-foe",totalDownloads:7958,totalCrossrefCites:2,totalDimensionsCites:9,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"Tuğba Taşkın-Tok and Sivakumar Gowder",authors:[{id:"118572",title:"Dr.",name:"Sivakumar Joghi",middleName:null,surname:"Thatha Gowder",slug:"sivakumar-joghi-thatha-gowder",fullName:"Sivakumar Joghi Thatha Gowder"}]},{id:"46643",title:"Drug Abuse, Addiction and Dependence",slug:"drug-abuse-addiction-and-dependence",totalDownloads:2606,totalCrossrefCites:2,totalDimensionsCites:3,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"Alewu Benjamin and Nosiri Chidi",authors:[{id:"32403",title:"Dr.",name:"Benjamin",middleName:null,surname:"Alewu",slug:"benjamin-alewu",fullName:"Benjamin Alewu"}]},{id:"46629",title:"Effect of Vitamins, Amino Acids and Phyto-Active Biomolecules on Aspergillus flavus in Poultry Production",slug:"effect-of-vitamins-amino-acids-and-phyto-active-biomolecules-on-aspergillus-flavus-in-poultry-produc",totalDownloads:2893,totalCrossrefCites:1,totalDimensionsCites:1,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"S.A. Bolu, N. Elelu, R.N. Ahmed, F.E. Solaojo, K.F. Daramola, V.S.\nOmotosho, A.G. Atitebi and M. Afeni",authors:[{id:"92457",title:"Dr.",name:"Stephen",middleName:null,surname:"Bolu",slug:"stephen-bolu",fullName:"Stephen Bolu"},{id:"169711",title:"Dr.",name:"Solaojo",middleName:null,surname:"Foluke",slug:"solaojo-foluke",fullName:"Solaojo Foluke"},{id:"169712",title:"Dr.",name:"Elelu",middleName:null,surname:"Nusy",slug:"elelu-nusy",fullName:"Elelu Nusy"},{id:"170587",title:"Ms.",name:"Afeni",middleName:null,surname:"Mary",slug:"afeni-mary",fullName:"Afeni Mary"},{id:"170588",title:"Dr.",name:"Ahmed",middleName:null,surname:"Risikat",slug:"ahmed-risikat",fullName:"Ahmed Risikat"},{id:"170589",title:"Ms.",name:"Kafayat",middleName:null,surname:"Daramola",slug:"kafayat-daramola",fullName:"Kafayat Daramola"},{id:"170590",title:"Mr.",name:"Adeyinka",middleName:null,surname:"Atitebi",slug:"adeyinka-atitebi",fullName:"Adeyinka Atitebi"},{id:"170591",title:"Mr.",name:"Omotosho",middleName:null,surname:"Victor",slug:"omotosho-victor",fullName:"Omotosho Victor"}]},{id:"46129",title:"Pharmacology of Adenosine Receptors and Their Signaling Role in Immunity and Inflammation",slug:"pharmacology-of-adenosine-receptors-and-their-signaling-role-in-immunity-and-inflammation",totalDownloads:3510,totalCrossrefCites:3,totalDimensionsCites:9,abstract:null,book:{id:"3853",slug:"pharmacology-and-therapeutics",title:"Pharmacology and Therapeutics",fullTitle:"Pharmacology and Therapeutics"},signatures:"Fernanda da Rocha Lapa, Sérgio José Macedo Júnior, Murilo Luiz\nCerutti and Adair Roberto Soares Santos",authors:[{id:"169718",title:"Dr.",name:"Adair",middleName:null,surname:"Santos",slug:"adair-santos",fullName:"Adair Santos"}]}],onlineFirstChaptersFilter:{topicId:"1189",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:129,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:105,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:2,numberOfUpcomingTopics:1,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:"6",text:"It is great to work with the IntechOpen to produce a worthwhile collection of research that also becomes a great educational resource and guide for future research endeavors.",author:{id:"259298",name:"Edward",surname:"Narayan",institutionString:null,profilePictureURL:"https://mts.intechopen.com/storage/users/259298/images/system/259298.jpeg",slug:"edward-narayan",institution:{id:"3",name:"University of Queensland",country:{id:null,name:"Australia"}}}},{id:"13",text:"The collaboration with and support of the technical staff of IntechOpen is fantastic. The whole process of submitting an article and editing of the submitted article goes extremely smooth and fast, the number of reads and downloads of chapters is high, and the contributions are also frequently cited.",author:{id:"55578",name:"Antonio",surname:"Jurado-Navas",institutionString:null,profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRisIQAS/Profile_Picture_1626166543950",slug:"antonio-jurado-navas",institution:{id:"720",name:"University of Malaga",country:{id:null,name:"Spain"}}}}]},series:{item:{id:"13",title:"Veterinary Medicine and Science",doi:"10.5772/intechopen.73681",issn:"2632-0517",scope:"Paralleling similar advances in the medical field, astounding advances occurred in Veterinary Medicine and Science in recent decades. These advances have helped foster better support for animal health, more humane animal production, and a better understanding of the physiology of endangered species to improve the assisted reproductive technologies or the pathogenesis of certain diseases, where animals can be used as models for human diseases (like cancer, degenerative diseases or fertility), and even as a guarantee of public health. Bridging Human, Animal, and Environmental health, the holistic and integrative “One Health” concept intimately associates the developments within those fields, projecting its advancements into practice. This book series aims to tackle various animal-related medicine and sciences fields, providing thematic volumes consisting of high-quality significant research directed to researchers and postgraduates. It aims to give us a glimpse into the new accomplishments in the Veterinary Medicine and Science field. By addressing hot topics in veterinary sciences, we aim to gather authoritative texts within each issue of this series, providing in-depth overviews and analysis for graduates, academics, and practitioners and foreseeing a deeper understanding of the subject. Forthcoming texts, written and edited by experienced researchers from both industry and academia, will also discuss scientific challenges faced today in Veterinary Medicine and Science. In brief, we hope that books in this series will provide accessible references for those interested or working in this field and encourage learning in a range of different topics.",coverUrl:"https://cdn.intechopen.com/series/covers/13.jpg",latestPublicationDate:"June 17th, 2022",hasOnlineFirst:!0,numberOfPublishedBooks:11,editor:{id:"38652",title:"Prof.",name:"Rita",middleName:null,surname:"Payan-Carreira",slug:"rita-payan-carreira",fullName:"Rita Payan-Carreira",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRiFPQA0/Profile_Picture_1614601496313",biography:"Rita Payan Carreira earned her Veterinary Degree from the Faculty of Veterinary Medicine in Lisbon, Portugal, in 1985. She obtained her Ph.D. in Veterinary Sciences from the University of Trás-os-Montes e Alto Douro, Portugal. After almost 32 years of teaching at the University of Trás-os-Montes and Alto Douro, she recently moved to the University of Évora, Department of Veterinary Medicine, where she teaches in the field of Animal Reproduction and Clinics. Her primary research areas include the molecular markers of the endometrial cycle and the embryo–maternal interaction, including oxidative stress and the reproductive physiology and disorders of sexual development, besides the molecular determinants of male and female fertility. She often supervises students preparing their master's or doctoral theses. She is also a frequent referee for various journals.",institutionString:null,institution:{name:"University of Évora",institutionURL:null,country:{name:"Portugal"}}},editorTwo:null,editorThree:null},subseries:{paginationCount:6,paginationItems:[{id:"19",title:"Animal Science",coverUrl:"https://cdn.intechopen.com/series_topics/covers/19.jpg",editor:{id:"259298",title:"Dr.",name:"Edward",middleName:null,surname:"Narayan",slug:"edward-narayan",fullName:"Edward Narayan",profilePictureURL:"https://mts.intechopen.com/storage/users/259298/images/system/259298.jpeg",biography:"Dr. Edward Narayan graduated with Ph.D. degree in Biology from the University of the South Pacific and pioneered non-invasive reproductive and stress endocrinology tools for amphibians - the novel development and validation of non-invasive enzyme immunoassays for the evaluation of reproductive hormonal cycle and stress hormone responses to environmental stressors. \nDr. Narayan leads the Stress Lab (Comparative Physiology and Endocrinology) at the University of Queensland. A dynamic career research platform which is based on the thematic areas of comparative vertebrate physiology, stress endocrinology, reproductive endocrinology, animal health and welfare, and conservation biology. \nEdward has supervised 40 research students and published over 60 peer reviewed research.",institutionString:null,institution:{name:"University of Queensland",institutionURL:null,country:{name:"Australia"}}},editorTwo:null,editorThree:null,editorialBoard:[{id:"258334",title:"Dr.",name:"Carlos Eduardo",middleName:null,surname:"Fonseca-Alves",slug:"carlos-eduardo-fonseca-alves",fullName:"Carlos Eduardo Fonseca-Alves",profilePictureURL:"https://mts.intechopen.com/storage/users/258334/images/system/258334.jpg",institutionString:null,institution:{name:"Universidade Paulista",institutionURL:null,country:{name:"Brazil"}}},{id:"191123",title:"Dr.",name:"Juan José",middleName:null,surname:"Valdez-Alarcón",slug:"juan-jose-valdez-alarcon",fullName:"Juan José Valdez-Alarcón",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bSBfcQAG/Profile_Picture_1631354558068",institutionString:"Universidad Michoacana de San Nicolás de Hidalgo",institution:{name:"Universidad Michoacana de San Nicolás de Hidalgo",institutionURL:null,country:{name:"Mexico"}}},{id:"161556",title:"Dr.",name:"Maria Dos Anjos",middleName:null,surname:"Pires",slug:"maria-dos-anjos-pires",fullName:"Maria Dos Anjos Pires",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bS8q2QAC/Profile_Picture_1633432838418",institutionString:null,institution:{name:"University of Trás-os-Montes and Alto Douro",institutionURL:null,country:{name:"Portugal"}}},{id:"209839",title:"Dr.",name:"Marina",middleName:null,surname:"Spinu",slug:"marina-spinu",fullName:"Marina Spinu",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRLXpQAO/Profile_Picture_1630044895475",institutionString:null,institution:{name:"University of Agricultural Sciences and Veterinary Medicine of Cluj-Napoca",institutionURL:null,country:{name:"Romania"}}},{id:"92185",title:"Dr.",name:"Sara",middleName:null,surname:"Savic",slug:"sara-savic",fullName:"Sara Savic",profilePictureURL:"https://mts.intechopen.com/storage/users/92185/images/system/92185.jfif",institutionString:'Scientific Veterinary Institute "Novi Sad"',institution:{name:'Scientific Veterinary Institute "Novi Sad"',institutionURL:null,country:{name:"Serbia"}}}]},{id:"20",title:"Animal Nutrition",coverUrl:"https://cdn.intechopen.com/series_topics/covers/20.jpg",editor:{id:"175967",title:"Dr.",name:"Manuel",middleName:null,surname:"Gonzalez Ronquillo",slug:"manuel-gonzalez-ronquillo",fullName:"Manuel Gonzalez Ronquillo",profilePictureURL:"https://mts.intechopen.com/storage/users/175967/images/system/175967.png",biography:"Dr. Manuel González Ronquillo obtained his doctorate degree from the University of Zaragoza, Spain, in 2001. He is a research professor at the Faculty of Veterinary Medicine and Animal Husbandry, Autonomous University of the State of Mexico. He is also a level-2 researcher. He received a Fulbright-Garcia Robles fellowship for a postdoctoral stay at the US Dairy Forage Research Center, Madison, Wisconsin, USA in 2008–2009. He received grants from Alianza del Pacifico for a stay at the University of Magallanes, Chile, in 2014, and from Consejo Nacional de Ciencia y Tecnología (CONACyT) to work in the Food and Agriculture Organization’s Animal Production and Health Division (AGA), Rome, Italy, in 2014–2015. He has collaborated with researchers from different countries and published ninety-eight journal articles. He teaches various degree courses in zootechnics, sheep production, and agricultural sciences and natural resources.\n\nDr. Ronquillo’s research focuses on the evaluation of sustainable animal diets (StAnD), using native resources of the region, decreasing carbon footprint, and applying meta-analysis and mathematical models for a better understanding of animal production.",institutionString:null,institution:{name:"Universidad Autónoma del Estado de México",institutionURL:null,country:{name:"Mexico"}}},editorTwo:null,editorThree:null,editorialBoard:[{id:"175762",title:"Dr.",name:"Alfredo J.",middleName:null,surname:"Escribano",slug:"alfredo-j.-escribano",fullName:"Alfredo J. Escribano",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRGnzQAG/Profile_Picture_1633076636544",institutionString:"Consultant and Independent Researcher in Industry Sector, Spain",institution:null},{id:"310962",title:"Dr.",name:"Amlan",middleName:"Kumar",surname:"Patra",slug:"amlan-patra",fullName:"Amlan Patra",profilePictureURL:"https://mts.intechopen.com/storage/users/310962/images/system/310962.jpg",institutionString:null,institution:{name:"West Bengal University of Animal and Fishery Sciences",institutionURL:null,country:{name:"India"}}},{id:"216995",title:"Prof.",name:"Figen",middleName:null,surname:"Kırkpınar",slug:"figen-kirkpinar",fullName:"Figen Kırkpınar",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRMzxQAG/Profile_Picture_1625722918145",institutionString:null,institution:{name:"Ege University",institutionURL:null,country:{name:"Turkey"}}}]},{id:"28",title:"Animal Reproductive Biology and Technology",coverUrl:"https://cdn.intechopen.com/series_topics/covers/28.jpg",editor:{id:"177225",title:"Prof.",name:"Rosa Maria Lino Neto",middleName:null,surname:"Pereira",slug:"rosa-maria-lino-neto-pereira",fullName:"Rosa Maria Lino Neto Pereira",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bS9wkQAC/Profile_Picture_1624519982291",biography:"Rosa Maria Lino Neto Pereira (DVM, MsC, PhD and) is currently a researcher at the Genetic Resources and Biotechnology Unit of the National Institute of Agrarian and Veterinarian Research (INIAV, Portugal). She is the head of the Reproduction and Embryology Laboratories and was lecturer of Reproduction and Reproductive Biotechnologies at Veterinary Medicine Faculty. She has over 25 years of experience working in reproductive biology and biotechnology areas with a special emphasis on embryo and gamete cryopreservation, for research and animal genetic resources conservation, leading research projects with several peer-reviewed papers. Rosa Pereira is member of the ERFP-FAO Ex situ Working Group and of the Management Commission of the Portuguese Animal Germplasm Bank.",institutionString:"The National Institute for Agricultural and Veterinary Research. Portugal",institution:null},editorTwo:null,editorThree:null,editorialBoard:[{id:"90066",title:"Dr.",name:"Alexandre",middleName:"Rodrigues",surname:"Silva",slug:"alexandre-silva",fullName:"Alexandre Silva",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRt8pQAC/Profile_Picture_1622531020756",institutionString:null,institution:{name:"Universidade Federal Rural do Semi-Árido",institutionURL:null,country:{name:"Brazil"}}},{id:"176987",title:"Ph.D.",name:"María-José",middleName:"Carrascosa",surname:"Argente",slug:"maria-jose-argente",fullName:"María-José Argente",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bS9vOQAS/Profile_Picture_1630330499537",institutionString:null,institution:{name:"Miguel Hernandez University",institutionURL:null,country:{name:"Spain"}}},{id:"321396",title:"Prof.",name:"Muhammad Subhan",middleName:null,surname:"Qureshi",slug:"muhammad-subhan-qureshi",fullName:"Muhammad Subhan Qureshi",profilePictureURL:"https://mts.intechopen.com/storage/users/321396/images/system/321396.jpg",institutionString:null,institution:{name:"University of Agriculture",institutionURL:null,country:{name:"Pakistan"}}},{id:"183723",title:"Dr.",name:"Xiaojun",middleName:null,surname:"Liu",slug:"xiaojun-liu",fullName:"Xiaojun Liu",profilePictureURL:"https://mts.intechopen.com/storage/users/183723/images/system/183723.jpg",institutionString:null,institution:null}]}]},overviewPageOFChapters:{paginationCount:10,paginationItems:[{id:"82380",title:"Evolution of Parasitism and Pathogenic Adaptations in Certain Medically Important Fungi",doi:"10.5772/intechopen.105206",signatures:"Gokul Shankar Sabesan, Ranjit Singh AJA, Ranjith Mehenderkar and Basanta Kumar Mohanty",slug:"evolution-of-parasitism-and-pathogenic-adaptations-in-certain-medically-important-fungi",totalDownloads:3,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Fungal Infectious Diseases - Annual Volume 2022",coverURL:"https://cdn.intechopen.com/books/images_new/11400.jpg",subseries:{id:"4",title:"Fungal Infectious Diseases"}}},{id:"82367",title:"Spatial Variation and Factors Associated with Unsuppressed HIV Viral Load among Women in an HIV Hyperendemic Area of KwaZulu-Natal, South Africa",doi:"10.5772/intechopen.105547",signatures:"Adenike O. Soogun, Ayesha B.M. Kharsany, Temesgen Zewotir and Delia North",slug:"spatial-variation-and-factors-associated-with-unsuppressed-hiv-viral-load-among-women-in-an-hiv-hype",totalDownloads:9,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"HIV-AIDS - Updates, Perspectives and Applications",coverURL:"https://cdn.intechopen.com/books/images_new/11575.jpg",subseries:{id:"6",title:"Viral Infectious Diseases"}}},{id:"82193",title:"Enterococcal Infections: Recent Nomenclature and emerging trends",doi:"10.5772/intechopen.104792",signatures:"Kavita Raja",slug:"enterococcal-infections-recent-nomenclature-and-emerging-trends",totalDownloads:6,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Streptococcal Infections",coverURL:"https://cdn.intechopen.com/books/images_new/10828.jpg",subseries:{id:"3",title:"Bacterial Infectious Diseases"}}},{id:"82207",title:"Management Strategies in Perinatal HIV",doi:"10.5772/intechopen.105451",signatures:"Kayla Aleshire and Rima Bazzi",slug:"management-strategies-in-perinatal-hiv",totalDownloads:7,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"HIV-AIDS - Updates, Perspectives and Applications",coverURL:"https://cdn.intechopen.com/books/images_new/11575.jpg",subseries:{id:"6",title:"Viral Infectious Diseases"}}}]},overviewPagePublishedBooks:{paginationCount:13,paginationItems:[{type:"book",id:"6667",title:"Influenza",subtitle:"Therapeutics and Challenges",coverURL:"https://cdn.intechopen.com/books/images_new/6667.jpg",slug:"influenza-therapeutics-and-challenges",publishedDate:"September 19th 2018",editedByType:"Edited by",bookSignature:"Shailendra K. Saxena",hash:"105e347b2d5dbbe6b593aceffa051efa",volumeInSeries:1,fullTitle:"Influenza - Therapeutics and Challenges",editors:[{id:"158026",title:"Prof.",name:"Shailendra K.",middleName:null,surname:"Saxena",slug:"shailendra-k.-saxena",fullName:"Shailendra K. Saxena",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRET3QAO/Profile_Picture_2022-05-10T10:10:26.jpeg",biography:"Professor Dr. Shailendra K. Saxena is a vice dean and professor at King George's Medical University, Lucknow, India. His research interests involve understanding the molecular mechanisms of host defense during human viral infections and developing new predictive, preventive, and therapeutic strategies for them using Japanese encephalitis virus (JEV), HIV, and emerging viruses as a model via stem cell and cell culture technologies. His research work has been published in various high-impact factor journals (Science, PNAS, Nature Medicine) with a high number of citations. He has received many awards and honors in India and abroad including various Young Scientist Awards, BBSRC India Partnering Award, and Dr. JC Bose National Award of Department of Biotechnology, Min. of Science and Technology, Govt. of India. Dr. Saxena is a fellow of various international societies/academies including the Royal College of Pathologists, United Kingdom; Royal Society of Medicine, London; Royal Society of Biology, United Kingdom; Royal Society of Chemistry, London; and Academy of Translational Medicine Professionals, Austria. He was named a Global Leader in Science by The Scientist. He is also an international opinion leader/expert in vaccination for Japanese encephalitis by IPIC (UK).",institutionString:"King George's Medical University",institution:{name:"King George's Medical University",institutionURL:null,country:{name:"India"}}}]},{type:"book",id:"7064",title:"Current Perspectives in Human Papillomavirus",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/7064.jpg",slug:"current-perspectives-in-human-papillomavirus",publishedDate:"May 2nd 2019",editedByType:"Edited by",bookSignature:"Shailendra K. Saxena",hash:"d92a4085627bab25ddc7942fbf44cf05",volumeInSeries:2,fullTitle:"Current Perspectives in Human Papillomavirus",editors:[{id:"158026",title:"Prof.",name:"Shailendra K.",middleName:null,surname:"Saxena",slug:"shailendra-k.-saxena",fullName:"Shailendra K. Saxena",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRET3QAO/Profile_Picture_2022-05-10T10:10:26.jpeg",biography:"Professor Dr. Shailendra K. Saxena is a vice dean and professor at King George's Medical University, Lucknow, India. His research interests involve understanding the molecular mechanisms of host defense during human viral infections and developing new predictive, preventive, and therapeutic strategies for them using Japanese encephalitis virus (JEV), HIV, and emerging viruses as a model via stem cell and cell culture technologies. His research work has been published in various high-impact factor journals (Science, PNAS, Nature Medicine) with a high number of citations. He has received many awards and honors in India and abroad including various Young Scientist Awards, BBSRC India Partnering Award, and Dr. JC Bose National Award of Department of Biotechnology, Min. of Science and Technology, Govt. of India. Dr. Saxena is a fellow of various international societies/academies including the Royal College of Pathologists, United Kingdom; Royal Society of Medicine, London; Royal Society of Biology, United Kingdom; Royal Society of Chemistry, London; and Academy of Translational Medicine Professionals, Austria. He was named a Global Leader in Science by The Scientist. He is also an international opinion leader/expert in vaccination for Japanese encephalitis by IPIC (UK).",institutionString:"King George's Medical University",institution:{name:"King George's Medical University",institutionURL:null,country:{name:"India"}}}]},{type:"book",id:"7123",title:"Current Topics in Neglected Tropical Diseases",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/7123.jpg",slug:"current-topics-in-neglected-tropical-diseases",publishedDate:"December 4th 2019",editedByType:"Edited by",bookSignature:"Alfonso J. Rodriguez-Morales",hash:"61c627da05b2ace83056d11357bdf361",volumeInSeries:3,fullTitle:"Current Topics in Neglected Tropical Diseases",editors:[{id:"131400",title:"Prof.",name:"Alfonso J.",middleName:null,surname:"Rodriguez-Morales",slug:"alfonso-j.-rodriguez-morales",fullName:"Alfonso J. Rodriguez-Morales",profilePictureURL:"https://mts.intechopen.com/storage/users/131400/images/system/131400.png",biography:"Dr. Rodriguez-Morales is an expert in tropical and emerging diseases, particularly zoonotic and vector-borne diseases (especially arboviral diseases). He is the president of the Travel Medicine Committee of the Pan-American Infectious Diseases Association (API), as well as the president of the Colombian Association of Infectious Diseases (ACIN). He is a member of the Committee on Tropical Medicine, Zoonoses, and Travel Medicine of ACIN. He is a vice-president of the Latin American Society for Travel Medicine (SLAMVI) and a Member of the Council of the International Society for Infectious Diseases (ISID). Since 2014, he has been recognized as a Senior Researcher, at the Ministry of Science of Colombia. He is a professor at the Faculty of Medicine of the Fundacion Universitaria Autonoma de las Americas, in Pereira, Risaralda, Colombia. He is an External Professor, Master in Research on Tropical Medicine and International Health, Universitat de Barcelona, Spain. He is also a professor at the Master in Clinical Epidemiology and Biostatistics, Universidad Científica del Sur, Lima, Peru. In 2021 he has been awarded the “Raul Isturiz Award” Medal of the API. Also, in 2021, he was awarded with the “Jose Felix Patiño” Asclepius Staff Medal of the Colombian Medical College, due to his scientific contributions to COVID-19 during the pandemic. He is currently the Editor in Chief of the journal Travel Medicine and Infectious Diseases. His Scopus H index is 47 (Google Scholar H index, 68).",institutionString:"Institución Universitaria Visión de las Américas, Colombia",institution:null}]},{type:"book",id:"7839",title:"Malaria",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/7839.jpg",slug:"malaria",publishedDate:"December 11th 2019",editedByType:"Edited by",bookSignature:"Fyson H. Kasenga",hash:"91cde4582ead884cb0f355a19b67cd56",volumeInSeries:4,fullTitle:"Malaria",editors:[{id:"86725",title:"Dr.",name:"Fyson",middleName:"Hanania",surname:"Kasenga",slug:"fyson-kasenga",fullName:"Fyson Kasenga",profilePictureURL:"https://mts.intechopen.com/storage/users/86725/images/system/86725.jpg",biography:"Dr. Kasenga is a graduate of Tumaini University, Kilimanjaro Christian Medical College, Moshi, Tanzania and Umeå University, Sweden. He obtained a Master’s degree in Public Health and PhD in Public Health and Epidemiology. He has a background in Clinical Medicine and has taken courses at higher diploma levels in public health from University of Transkei, Republic of South Africa, and African Medical and Research Foundation (AMREF) in Nairobi, Kenya. Dr. Kasenga worked in different places in and outside Malawi, and has held various positions, such as Licensed Medical Officer, HIV/AIDS Programme Officer, HIV/AIDS resource person in the International Department of Diakonhjemet College, Oslo, Norway. He also managed an Integrated HIV/AIDS Prevention programme for over 5 years. He is currently working as a Director for the Health Ministries Department of Malawi Union of the Seventh Day Adventist Church. Dr. Kasenga has published over 5 articles on HIV/AIDS issues focusing on Prevention of Mother to Child Transmission of HIV (PMTCT), including a book chapter on HIV testing counseling (currently in press). Dr. Kasenga is married to Grace and blessed with three children, a son and two daughters: Happy, Lettice and Sungani.",institutionString:"Malawi Adventist University",institution:{name:"Malawi Adventist University",institutionURL:null,country:{name:"Malawi"}}}]}]},openForSubmissionBooks:{},onlineFirstChapters:{paginationCount:23,paginationItems:[{id:"82392",title:"Nanomaterials as Novel Biomarkers for Cancer Nanotheranostics: State of the Art",doi:"10.5772/intechopen.105700",signatures:"Hao Yu, Zhihai Han, Cunrong Chen and Leisheng Zhang",slug:"nanomaterials-as-novel-biomarkers-for-cancer-nanotheranostics-state-of-the-art",totalDownloads:2,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Biotechnology - Biosensors, Biomaterials and Tissue Engineering - Annual Volume 2022",coverURL:"https://cdn.intechopen.com/books/images_new/11405.jpg",subseries:{id:"9",title:"Biotechnology - Biosensors, Biomaterials and Tissue Engineering"}}},{id:"82184",title:"Biological Sensing Using Infrared SPR Devices Based on ZnO",doi:"10.5772/intechopen.104562",signatures:"Hiroaki Matsui",slug:"biological-sensing-using-infrared-spr-devices-based-on-zno",totalDownloads:4,totalCrossrefCites:0,totalDimensionsCites:0,authors:[{name:"Hiroaki",surname:"Matsui"}],book:{title:"Biosignal Processing",coverURL:"https://cdn.intechopen.com/books/images_new/11153.jpg",subseries:{id:"7",title:"Bioinformatics and Medical Informatics"}}},{id:"82122",title:"Recent Advances in Biosensing in Tissue Engineering and Regenerative Medicine",doi:"10.5772/intechopen.104922",signatures:"Alma T. Banigo, Chigozie A. Nnadiekwe and Emmanuel M. Beasi",slug:"recent-advances-in-biosensing-in-tissue-engineering-and-regenerative-medicine",totalDownloads:13,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Biosignal Processing",coverURL:"https://cdn.intechopen.com/books/images_new/11153.jpg",subseries:{id:"7",title:"Bioinformatics and Medical Informatics"}}},{id:"82080",title:"The Clinical Usefulness of Prostate Cancer Biomarkers: Current and Future Directions",doi:"10.5772/intechopen.103172",signatures:"Donovan McGrowder, Lennox Anderson-Jackson, Lowell Dilworth, Shada Mohansingh, Melisa Anderson Cross, Sophia Bryan, Fabian Miller, Cameil Wilson-Clarke, Chukwuemeka Nwokocha, Ruby Alexander-Lindo and Shelly McFarlane",slug:"the-clinical-usefulness-of-prostate-cancer-biomarkers-current-and-future-directions",totalDownloads:14,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Cancer Bioinformatics",coverURL:"https://cdn.intechopen.com/books/images_new/10661.jpg",subseries:{id:"7",title:"Bioinformatics and Medical Informatics"}}},{id:"82005",title:"Non-Invasive Approach for Glucose Detection in Urine Quality using Its Image Analysis",doi:"10.5772/intechopen.104791",signatures:"Anton Yudhana, Liya Yusrina Sabila, Arsyad Cahya Subrata, Hendriana Helda Pratama and Muhammad Syahrul Akbar",slug:"non-invasive-approach-for-glucose-detection-in-urine-quality-using-its-image-analysis",totalDownloads:4,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Biosignal Processing",coverURL:"https://cdn.intechopen.com/books/images_new/11153.jpg",subseries:{id:"7",title:"Bioinformatics and Medical Informatics"}}},{id:"81778",title:"Influence of Mechanical Properties of Biomaterials on the Reconstruction of Biomedical Parts via Additive Manufacturing Techniques: An Overview",doi:"10.5772/intechopen.104465",signatures:"Babatunde Olamide Omiyale, Akeem Abiodun Rasheed, Robinson Omoboyode Akinnusi and Temitope Olumide Olugbade",slug:"influence-of-mechanical-properties-of-biomaterials-on-the-reconstruction-of-biomedical-parts-via-add",totalDownloads:9,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Biotechnology - Biosensors, Biomaterials and Tissue Engineering - Annual Volume 2022",coverURL:"https://cdn.intechopen.com/books/images_new/11405.jpg",subseries:{id:"9",title:"Biotechnology - Biosensors, Biomaterials and Tissue Engineering"}}},{id:"81751",title:"NanoBioSensors: From Electrochemical Sensors Improvement to Theranostic Applications",doi:"10.5772/intechopen.102552",signatures:"Anielle C.A. Silva, Eliete A. Alvin, Lais S. de Jesus, Caio C.L. de França, Marílya P.G. da Silva, Samaysa L. Lins, Diógenes Meneses, Marcela R. Lemes, Rhanoica O. Guerra, Marcos V. da Silva, Carlo J.F. de Oliveira, Virmondes Rodrigues Junior, Renata M. Etchebehere, Fabiane C. de Abreu, Bruno G. Lucca, Sanívia A.L. Pereira, Rodrigo C. Rosa and Noelio O. Dantas",slug:"nanobiosensors-from-electrochemical-sensors-improvement-to-theranostic-applications",totalDownloads:12,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Biosignal Processing",coverURL:"https://cdn.intechopen.com/books/images_new/11153.jpg",subseries:{id:"7",title:"Bioinformatics and Medical Informatics"}}},{id:"81766",title:"Evolution of Organoids in Oncology",doi:"10.5772/intechopen.104251",signatures:"Allen Thayakumar Basanthakumar, Janitha Chandrasekhar Darlybai and Jyothsna Ganesh",slug:"evolution-of-organoids-in-oncology",totalDownloads:14,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Organoids",coverURL:"https://cdn.intechopen.com/books/images_new/11430.jpg",subseries:null}},{id:"81678",title:"Developmental Studies on Practical Enzymatic Phosphate Ion Biosensors and Microbial BOD Biosensors, and New Insights into the Future Perspectives of These Biosensor Fields",doi:"10.5772/intechopen.104377",signatures:"Hideaki Nakamura",slug:"developmental-studies-on-practical-enzymatic-phosphate-ion-biosensors-and-microbial-bod-biosensors-a",totalDownloads:5,totalCrossrefCites:0,totalDimensionsCites:0,authors:[{name:"Hideaki",surname:"Nakamura"}],book:{title:"Biosignal Processing",coverURL:"https://cdn.intechopen.com/books/images_new/11153.jpg",subseries:{id:"7",title:"Bioinformatics and Medical Informatics"}}},{id:"81547",title:"Organoids and Commercialization",doi:"10.5772/intechopen.104706",signatures:"Anubhab Mukherjee, Aprajita Sinha, Maheshree Maibam, Bharti Bisht and Manash K. Paul",slug:"organoids-and-commercialization",totalDownloads:51,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Organoids",coverURL:"https://cdn.intechopen.com/books/images_new/11430.jpg",subseries:null}}]},subseriesFiltersForOFChapters:[{caption:"Biotechnology - Biosensors, Biomaterials and Tissue Engineering",value:9,count:2,group:"subseries"},{caption:"Bioinformatics and Medical Informatics",value:7,count:17,group:"subseries"}],publishedBooks:{paginationCount:13,paginationItems:[{type:"book",id:"7102",title:"Pneumonia",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/7102.jpg",slug:"pneumonia",publishedDate:"May 11th 2022",editedByType:"Edited by",bookSignature:"Nima Rezaei",hash:"9fd70142814192dcec58a176749f1b60",volumeInSeries:13,fullTitle:"Pneumonia",editors:[{id:"116250",title:"Dr.",name:"Nima",middleName:null,surname:"Rezaei",slug:"nima-rezaei",fullName:"Nima Rezaei",profilePictureURL:"https://mts.intechopen.com/storage/users/116250/images/system/116250.jpg",institutionString:"Tehran University of Medical Sciences",institution:{name:"Tehran University of Medical Sciences",institutionURL:null,country:{name:"Iran"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"9615",title:"Chikungunya Virus",subtitle:"A Growing Global Public Health Threat",coverURL:"https://cdn.intechopen.com/books/images_new/9615.jpg",slug:"chikungunya-virus-a-growing-global-public-health-threat",publishedDate:"February 9th 2022",editedByType:"Edited by",bookSignature:"Jean Engohang-Ndong",hash:"c960d94a63867dd12a8ab15176a3ff06",volumeInSeries:12,fullTitle:"Chikungunya Virus - A Growing Global Public Health Threat",editors:[{id:"180733",title:"Dr.",name:"Jean",middleName:null,surname:"Engohang-Ndong",slug:"jean-engohang-ndong",fullName:"Jean Engohang-Ndong",profilePictureURL:"https://mts.intechopen.com/storage/users/180733/images/system/180733.png",institutionString:"Kent State University",institution:{name:"Kent State University",institutionURL:null,country:{name:"United States of America"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"9619",title:"Epstein-Barr Virus",subtitle:"New Trends",coverURL:"https://cdn.intechopen.com/books/images_new/9619.jpg",slug:"epstein-barr-virus-new-trends",publishedDate:"December 22nd 2021",editedByType:"Edited by",bookSignature:"Emmanuel Drouet",hash:"a2128c53becb6064589570cbe8d976f8",volumeInSeries:11,fullTitle:"Epstein-Barr Virus - New Trends",editors:[{id:"188773",title:"Prof.",name:"Emmanuel",middleName:null,surname:"Drouet",slug:"emmanuel-drouet",fullName:"Emmanuel Drouet",profilePictureURL:"https://mts.intechopen.com/storage/users/188773/images/system/188773.png",institutionString:null,institution:{name:"Grenoble Alpes University",institutionURL:null,country:{name:"France"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"9525",title:"Insights Into Drug Resistance in Staphylococcus aureus",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/9525.jpg",slug:"insights-into-drug-resistance-in-staphylococcus-aureus",publishedDate:"December 8th 2021",editedByType:"Edited by",bookSignature:"Amjad Aqib",hash:"98bb6c1ddb067da67185c272f81c0a27",volumeInSeries:10,fullTitle:"Insights Into Drug Resistance in Staphylococcus aureus",editors:[{id:"229220",title:"Dr.",name:"Amjad",middleName:"Islam",surname:"Aqib",slug:"amjad-aqib",fullName:"Amjad Aqib",profilePictureURL:"https://mts.intechopen.com/storage/users/229220/images/system/229220.png",institutionString:"Cholistan University of Veterinary and Animal Sciences",institution:null}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"9614",title:"Advances in Candida albicans",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/9614.jpg",slug:"advances-in-candida-albicans",publishedDate:"November 17th 2021",editedByType:"Edited by",bookSignature:"Xinhui Wang",hash:"31d6882518ca749b12715266eed0a018",volumeInSeries:9,fullTitle:"Advances in Candida albicans",editors:[{id:"296531",title:"Dr.",name:"Xinhui",middleName:null,surname:"Wang",slug:"xinhui-wang",fullName:"Xinhui Wang",profilePictureURL:"https://mts.intechopen.com/storage/users/296531/images/system/296531.jpg",institutionString:"Qinghai Normal University",institution:{name:"University of Luxembourg",institutionURL:null,country:{name:"Luxembourg"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"9528",title:"Current Topics and Emerging Issues in Malaria Elimination",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/9528.jpg",slug:"current-topics-and-emerging-issues-in-malaria-elimination",publishedDate:"July 21st 2021",editedByType:"Edited by",bookSignature:"Alfonso J. Rodriguez-Morales",hash:"7f178329cc42e691efe226b32f14e2ea",volumeInSeries:8,fullTitle:"Current Topics and Emerging Issues in Malaria Elimination",editors:[{id:"131400",title:"Prof.",name:"Alfonso J.",middleName:null,surname:"Rodriguez-Morales",slug:"alfonso-j.-rodriguez-morales",fullName:"Alfonso J. Rodriguez-Morales",profilePictureURL:"https://mts.intechopen.com/storage/users/131400/images/system/131400.png",institutionString:"Institución Universitaria Visión de las Américas, Colombia",institution:null}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"9613",title:"Dengue Fever in a One Health Perspective",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/9613.jpg",slug:"dengue-fever-in-a-one-health-perspective",publishedDate:"October 28th 2020",editedByType:"Edited by",bookSignature:"Márcia Aparecida Sperança",hash:"77ecce8195c11092230b4156df6d83ff",volumeInSeries:7,fullTitle:"Dengue Fever in a One Health Perspective",editors:[{id:"176579",title:"Dr.",name:"Márcia Aparecida",middleName:null,surname:"Sperança",slug:"marcia-aparecida-speranca",fullName:"Márcia Aparecida Sperança",profilePictureURL:"https://mts.intechopen.com/storage/users/176579/images/system/176579.jpg",institutionString:null,institution:{name:"Universidade Federal do ABC",institutionURL:null,country:{name:"Brazil"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"7981",title:"Overview on Echinococcosis",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/7981.jpg",slug:"overview-on-echinococcosis",publishedDate:"April 22nd 2020",editedByType:"Edited by",bookSignature:"Fethi Derbel and Meriem Braiki",hash:"24dee9209f3fd6b7cd28f042da0076f0",volumeInSeries:6,fullTitle:"Overview on Echinococcosis",editors:[{id:"62900",title:"Prof.",name:"Fethi",middleName:null,surname:"Derbel",slug:"fethi-derbel",fullName:"Fethi Derbel",profilePictureURL:"https://mts.intechopen.com/storage/users/62900/images/system/62900.jpeg",institutionString:"Clinique les Oliviers",institution:null}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"7887",title:"Hepatitis B and C",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/7887.jpg",slug:"hepatitis-b-and-c",publishedDate:"April 8th 2020",editedByType:"Edited by",bookSignature:"Luis Rodrigo",hash:"8dd6dab483cf505d83caddaeaf497f2c",volumeInSeries:5,fullTitle:"Hepatitis B and C",editors:[{id:"73208",title:"Prof.",name:"Luis",middleName:null,surname:"Rodrigo",slug:"luis-rodrigo",fullName:"Luis Rodrigo",profilePictureURL:"https://mts.intechopen.com/storage/users/73208/images/system/73208.jpg",institutionString:"University of Oviedo",institution:{name:"University of Oviedo",institutionURL:null,country:{name:"Spain"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"7839",title:"Malaria",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/7839.jpg",slug:"malaria",publishedDate:"December 11th 2019",editedByType:"Edited by",bookSignature:"Fyson H. Kasenga",hash:"91cde4582ead884cb0f355a19b67cd56",volumeInSeries:4,fullTitle:"Malaria",editors:[{id:"86725",title:"Dr.",name:"Fyson",middleName:"Hanania",surname:"Kasenga",slug:"fyson-kasenga",fullName:"Fyson Kasenga",profilePictureURL:"https://mts.intechopen.com/storage/users/86725/images/system/86725.jpg",institutionString:"Malawi Adventist University",institution:{name:"Malawi Adventist University",institutionURL:null,country:{name:"Malawi"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"7123",title:"Current Topics in Neglected Tropical Diseases",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/7123.jpg",slug:"current-topics-in-neglected-tropical-diseases",publishedDate:"December 4th 2019",editedByType:"Edited by",bookSignature:"Alfonso J. Rodriguez-Morales",hash:"61c627da05b2ace83056d11357bdf361",volumeInSeries:3,fullTitle:"Current Topics in Neglected Tropical Diseases",editors:[{id:"131400",title:"Prof.",name:"Alfonso J.",middleName:null,surname:"Rodriguez-Morales",slug:"alfonso-j.-rodriguez-morales",fullName:"Alfonso J. Rodriguez-Morales",profilePictureURL:"https://mts.intechopen.com/storage/users/131400/images/system/131400.png",institutionString:"Institución Universitaria Visión de las Américas, Colombia",institution:null}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null},{type:"book",id:"7064",title:"Current Perspectives in Human Papillomavirus",subtitle:null,coverURL:"https://cdn.intechopen.com/books/images_new/7064.jpg",slug:"current-perspectives-in-human-papillomavirus",publishedDate:"May 2nd 2019",editedByType:"Edited by",bookSignature:"Shailendra K. Saxena",hash:"d92a4085627bab25ddc7942fbf44cf05",volumeInSeries:2,fullTitle:"Current Perspectives in Human Papillomavirus",editors:[{id:"158026",title:"Prof.",name:"Shailendra K.",middleName:null,surname:"Saxena",slug:"shailendra-k.-saxena",fullName:"Shailendra K. Saxena",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRET3QAO/Profile_Picture_2022-05-10T10:10:26.jpeg",institutionString:"King George's Medical University",institution:{name:"King George's Medical University",institutionURL:null,country:{name:"India"}}}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null}]},subseriesFiltersForPublishedBooks:[{group:"subseries",caption:"Bacterial Infectious Diseases",value:3,count:2},{group:"subseries",caption:"Parasitic Infectious Diseases",value:5,count:4},{group:"subseries",caption:"Viral Infectious Diseases",value:6,count:7}],publicationYearFilters:[{group:"publicationYear",caption:"2022",value:2022,count:2},{group:"publicationYear",caption:"2021",value:2021,count:4},{group:"publicationYear",caption:"2020",value:2020,count:3},{group:"publicationYear",caption:"2019",value:2019,count:3},{group:"publicationYear",caption:"2018",value:2018,count:1}],authors:{paginationCount:229,paginationItems:[{id:"318170",title:"Dr.",name:"Aneesa",middleName:null,surname:"Moolla",slug:"aneesa-moolla",fullName:"Aneesa Moolla",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/318170/images/system/318170.png",biography:"Dr. Aneesa Moolla has extensive experience in the diverse fields of health care having previously worked in dental private practice, at the Red Cross Flying Doctors association, and in healthcare corporate settings. She is now a lecturer at the University of Witwatersrand, South Africa, and a principal researcher at the Health Economics and Epidemiology Research Office (HE2RO), South Africa. Dr. Moolla holds a Ph.D. in Psychology with her research being focused on mental health and resilience. In her professional work capacity, her research has further expanded into the fields of early childhood development, mental health, the HIV and TB care cascades, as well as COVID. She is also a UNESCO-trained International Bioethics Facilitator.",institutionString:"University of the Witwatersrand",institution:{name:"University of the Witwatersrand",country:{name:"South Africa"}}},{id:"419588",title:"Ph.D.",name:"Sergio",middleName:"Alexandre",surname:"Gehrke",slug:"sergio-gehrke",fullName:"Sergio Gehrke",position:null,profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0033Y000038WgMKQA0/Profile_Picture_2022-06-02T11:44:20.jpg",biography:"Dr. Sergio Alexandre Gehrke is a doctorate holder in two fields. The first is a Ph.D. in Cellular and Molecular Biology from the Pontificia Catholic University, Porto Alegre, Brazil, in 2010 and the other is an International Ph.D. in Bioengineering from the Universidad Miguel Hernandez, Elche/Alicante, Spain, obtained in 2020. In 2018, he completed a postdoctoral fellowship in Materials Engineering in the NUCLEMAT of the Pontificia Catholic University, Porto Alegre, Brazil. He is currently the Director of the Postgraduate Program in Implantology of the Bioface/UCAM/PgO (Montevideo, Uruguay), Director of the Cathedra of Biotechnology of the Catholic University of Murcia (Murcia, Spain), an Extraordinary Full Professor of the Catholic University of Murcia (Murcia, Spain) as well as the Director of the private center of research Biotecnos – Technology and Science (Montevideo, Uruguay). Applied biomaterials, cellular and molecular biology, and dental implants are among his research interests. He has published several original papers in renowned journals. In addition, he is also a Collaborating Professor in several Postgraduate programs at different universities all over the world.",institutionString:null,institution:{name:"Universidad Católica San Antonio de Murcia",country:{name:"Spain"}}},{id:"342152",title:"Dr.",name:"Santo",middleName:null,surname:"Grace Umesh",slug:"santo-grace-umesh",fullName:"Santo Grace Umesh",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/342152/images/16311_n.jpg",biography:null,institutionString:null,institution:{name:"SRM Dental College",country:{name:"India"}}},{id:"333647",title:"Dr.",name:"Shreya",middleName:null,surname:"Kishore",slug:"shreya-kishore",fullName:"Shreya Kishore",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/333647/images/14701_n.jpg",biography:"Dr. Shreya Kishore completed her Bachelor in Dental Surgery in Chettinad Dental College and Research Institute, Chennai, and her Master of Dental Surgery (Orthodontics) in Saveetha Dental College, Chennai. She is also Invisalign certified. She’s working as a Senior Lecturer in the Department of Orthodontics, SRM Dental College since November 2019. She is actively involved in teaching orthodontics to the undergraduates and the postgraduates. Her clinical research topics include new orthodontic brackets, fixed appliances and TADs. She’s published 4 articles in well renowned indexed journals and has a published patency of her own. Her private practice is currently limited to orthodontics and works as a consultant in various clinics.",institutionString:null,institution:{name:"SRM Dental College",country:{name:"India"}}},{id:"323731",title:"Prof.",name:"Deepak M.",middleName:"Macchindra",surname:"Vikhe",slug:"deepak-m.-vikhe",fullName:"Deepak M. Vikhe",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/323731/images/13613_n.jpg",biography:"Dr Deepak M.Vikhe .\n\n\t\n\tDr Deepak M.Vikhe , completed his Masters & PhD in Prosthodontics from Rural Dental College, Loni securing third rank in the Pravara Institute of Medical Sciences Deemed University. He was awarded Dr.G.C.DAS Memorial Award for Research on Implants at 39th IPS conference Dubai (U A E).He has two patents under his name. He has received Dr.Saraswati medal award for best research for implant study in 2017.He has received Fully funded scholarship to Spain ,university of Santiago de Compostela. He has completed fellowship in Implantlogy from Noble Biocare. \nHe has attended various conferences and CDE programmes and has national publications to his credit. His field of interest is in Implant supported prosthesis. Presently he is working as a associate professor in the Dept of Prosthodontics, Rural Dental College, Loni and maintains a successful private practice specialising in Implantology at Rahata.\n\nEmail: drdeepak_mvikhe@yahoo.com..................",institutionString:null,institution:{name:"Pravara Institute of Medical Sciences",country:{name:"India"}}},{id:"204110",title:"Dr.",name:"Ahmed A.",middleName:null,surname:"Madfa",slug:"ahmed-a.-madfa",fullName:"Ahmed A. Madfa",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/204110/images/system/204110.jpg",biography:"Dr. Madfa is currently Associate Professor of Endodontics at Thamar University and a visiting lecturer at Sana'a University and University of Sciences and Technology. He has more than 6 years of experience in teaching. His research interests include root canal morphology, functionally graded concept, dental biomaterials, epidemiology and dental education, biomimetic restoration, finite element analysis and endodontic regeneration. Dr. Madfa has numerous international publications, full articles, two patents, a book and a book chapter. Furthermore, he won 14 international scientific awards. Furthermore, he is involved in many academic activities ranging from editorial board member, reviewer for many international journals and postgraduate students' supervisor. Besides, I deliver many courses and training workshops at various scientific events. Dr. Madfa also regularly attends international conferences and holds administrative positions (Deputy Dean of the Faculty for Students’ & Academic Affairs and Deputy Head of Research Unit).",institutionString:"Thamar University",institution:null},{id:"210472",title:"Dr.",name:"Nermin",middleName:"Mohammed Ahmed",surname:"Yussif",slug:"nermin-yussif",fullName:"Nermin Yussif",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/210472/images/system/210472.jpg",biography:"Dr. Nermin Mohammed Ahmed Yussif is working at the Faculty of dentistry, University for October university for modern sciences and arts (MSA). Her areas of expertise include: periodontology, dental laserology, oral implantology, periodontal plastic surgeries, oral mesotherapy, nutrition, dental pharmacology. She is an editor and reviewer in numerous international journals.",institutionString:"MSA University",institution:null},{id:"204606",title:"Dr.",name:"Serdar",middleName:null,surname:"Gözler",slug:"serdar-gozler",fullName:"Serdar Gözler",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/204606/images/system/204606.jpeg",biography:"Dr. Serdar Gözler has completed his undergraduate studies at the Marmara University Faculty of Dentistry in 1978, followed by an assistantship in the Prosthesis Department of Dicle University Faculty of Dentistry. Starting his PhD work on non-resilient overdentures with Assoc. Prof. Hüsnü Yavuzyılmaz, he continued his studies with Prof. Dr. Gürbüz Öztürk of Istanbul University Faculty of Dentistry Department of Prosthodontics, this time on Gnatology. He attended training programs on occlusion, neurology, neurophysiology, EMG, radiology and biostatistics. In 1982, he presented his PhD thesis \\Gerber and Lauritzen Occlusion Analysis Techniques: Diagnosis Values,\\ at Istanbul University School of Dentistry, Department of Prosthodontics. As he was also working with Prof. Senih Çalıkkocaoğlu on The Physiology of Chewing at the same time, Gözler has written a chapter in Çalıkkocaoğlu\\'s book \\Complete Prostheses\\ entitled \\The Place of Neuromuscular Mechanism in Prosthetic Dentistry.\\ The book was published five times since by the Istanbul University Publications. Having presented in various conferences about occlusion analysis until 1998, Dr. Gözler has also decided to use the T-Scan II occlusion analysis method. Having been personally trained by Dr. Robert Kerstein on this method, Dr. Gözler has been lecturing on the T-Scan Occlusion Analysis Method in conferences both in Turkey and abroad. Dr. Gözler has various articles and presentations on Digital Occlusion Analysis methods. He is now Head of the TMD Clinic at Prosthodontic Department of Faculty of Dentistry , Istanbul Aydın University , Turkey.",institutionString:"Istanbul Aydin University",institution:{name:"Istanbul Aydın University",country:{name:"Turkey"}}},{id:"240870",title:"Ph.D.",name:"Alaa Eddin Omar",middleName:null,surname:"Al Ostwani",slug:"alaa-eddin-omar-al-ostwani",fullName:"Alaa Eddin Omar Al Ostwani",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/240870/images/system/240870.jpeg",biography:"Dr. Al Ostwani Alaa Eddin Omar received his Master in dentistry from Damascus University in 2010, and his Ph.D. in Pediatric Dentistry from Damascus University in 2014. Dr. Al Ostwani is an assistant professor and faculty member at IUST University since 2014. \nDuring his academic experience, he has received several awards including the scientific research award from the Union of Arab Universities, the Syrian gold medal and the international gold medal for invention and creativity. Dr. Al Ostwani is a Member of the International Association of Dental Traumatology and the Syrian Society for Research and Preventive Dentistry since 2017. He is also a Member of the Reviewer Board of International Journal of Dental Medicine (IJDM), and the Indian Journal of Conservative and Endodontics since 2016.",institutionString:"International University for Science and Technology.",institution:{name:"Islamic University of Science and Technology",country:{name:"India"}}},{id:"42847",title:"Dr.",name:"Belma",middleName:null,surname:"Işik Aslan",slug:"belma-isik-aslan",fullName:"Belma Işik Aslan",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/42847/images/system/42847.jpg",biography:"Dr. Belma IşIk Aslan was born in 1976 in Ankara-TURKEY. After graduating from TED Ankara College in 1994, she attended to Gazi University, Faculty of Dentistry in Ankara. She completed her PhD in orthodontic education at Gazi University between 1999-2005. Dr. Işık Aslan stayed at the Providence Hospital Craniofacial Institude and Reconstructive Surgery in Michigan, USA for three months as an observer. She worked as a specialist doctor at Gazi University, Dentistry Faculty, Department of Orthodontics between 2005-2014. She was appointed as associate professor in January, 2014 and as professor in 2021. Dr. Işık Aslan still works as an instructor at the same faculty. She has published a total of 35 articles, 10 book chapters, 39 conference proceedings both internationally and nationally. Also she was the academic editor of the international book 'Current Advances in Orthodontics'. She is a member of the Turkish Orthodontic Society and Turkish Cleft Lip and Palate Society. She is married and has 2 children. Her knowledge of English is at an advanced level.",institutionString:"Gazi University Dentistry Faculty Department of Orthodontics",institution:null},{id:"178412",title:"Associate Prof.",name:"Guhan",middleName:null,surname:"Dergin",slug:"guhan-dergin",fullName:"Guhan Dergin",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/178412/images/6954_n.jpg",biography:"Assoc. Prof. Dr. Gühan Dergin was born in 1973 in Izmit. He graduated from Marmara University Faculty of Dentistry in 1999. He completed his specialty of OMFS surgery in Marmara University Faculty of Dentistry and obtained his PhD degree in 2006. In 2005, he was invited as a visiting doctor in the Oral and Maxillofacial Surgery Department of the University of North Carolina, USA, where he went on a scholarship. Dr. Dergin still continues his academic career as an associate professor in Marmara University Faculty of Dentistry. He has many articles in international and national scientific journals and chapters in books.",institutionString:null,institution:{name:"Marmara University",country:{name:"Turkey"}}},{id:"178414",title:"Prof.",name:"Yusuf",middleName:null,surname:"Emes",slug:"yusuf-emes",fullName:"Yusuf Emes",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/178414/images/6953_n.jpg",biography:"Born in Istanbul in 1974, Dr. Emes graduated from Istanbul University Faculty of Dentistry in 1997 and completed his PhD degree in Istanbul University faculty of Dentistry Department of Oral and Maxillofacial Surgery in 2005. He has papers published in international and national scientific journals, including research articles on implantology, oroantral fistulas, odontogenic cysts, and temporomandibular disorders. Dr. Emes is currently working as a full-time academic staff in Istanbul University faculty of Dentistry Department of Oral and Maxillofacial Surgery.",institutionString:null,institution:{name:"Istanbul University",country:{name:"Turkey"}}},{id:"192229",title:"Ph.D.",name:"Ana Luiza",middleName:null,surname:"De Carvalho Felippini",slug:"ana-luiza-de-carvalho-felippini",fullName:"Ana Luiza De Carvalho Felippini",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/192229/images/system/192229.jpg",biography:null,institutionString:"University of São Paulo",institution:{name:"University of Sao Paulo",country:{name:"Brazil"}}},{id:"256851",title:"Prof.",name:"Ayşe",middleName:null,surname:"Gülşen",slug:"ayse-gulsen",fullName:"Ayşe Gülşen",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/256851/images/9696_n.jpg",biography:"Dr. Ayşe Gülşen graduated in 1990 from Faculty of Dentistry, University of Ankara and did a postgraduate program at University of Gazi. \nShe worked as an observer and research assistant in Craniofacial Surgery Departments in New York, Providence Hospital in Michigan and Chang Gung Memorial Hospital in Taiwan. \nShe works as Craniofacial Orthodontist in Department of Aesthetic, Plastic and Reconstructive Surgery, Faculty of Medicine, University of Gazi, Ankara Turkey since 2004.",institutionString:"Univeristy of Gazi",institution:null},{id:"255366",title:"Prof.",name:"Tosun",middleName:null,surname:"Tosun",slug:"tosun-tosun",fullName:"Tosun Tosun",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/255366/images/7347_n.jpg",biography:"Graduated at the Faculty of Dentistry, University of Istanbul, Turkey in 1989;\nVisitor Assistant at the University of Padua, Italy and Branemark Osseointegration Center of Treviso, Italy between 1993-94;\nPhD thesis on oral implantology in University of Istanbul and was awarded the academic title “Dr.med.dent.”, 1997;\nHe was awarded the academic title “Doç.Dr.” (Associated Professor) in 2003;\nProficiency in Botulinum Toxin Applications, Reading-UK in 2009;\nMastership, RWTH Certificate in Laser Therapy in Dentistry, AALZ-Aachen University, Germany 2009-11;\nMaster of Science (MSc) in Laser Dentistry, University of Genoa, Italy 2013-14.\n\nDr.Tosun worked as Research Assistant in the Department of Oral Implantology, Faculty of Dentistry, University of Istanbul between 1990-2002. \nHe worked part-time as Consultant surgeon in Harvard Medical International Hospitals and John Hopkins Medicine, Istanbul between years 2007-09.\u2028He was contract Professor in the Department of Surgical and Diagnostic Sciences (DI.S.C.), Medical School, University of Genova, Italy between years 2011-16. \nSince 2015 he is visiting Professor at Medical School, University of Plovdiv, Bulgaria. \nCurrently he is Associated Prof.Dr. at the Dental School, Oral Surgery Dept., Istanbul Aydin University and since 2003 he works in his own private clinic in Istanbul, Turkey.\u2028\nDr.Tosun is reviewer in journal ‘Laser in Medical Sciences’, reviewer in journal ‘Folia Medica\\', a Fellow of the International Team for Implantology, Clinical Lecturer of DGZI German Association of Oral Implantology, Expert Lecturer of Laser&Health Academy, Country Representative of World Federation for Laser Dentistry, member of European Federation of Periodontology, member of Academy of Laser Dentistry. Dr.Tosun presents papers in international and national congresses and has scientific publications in international and national journals. He speaks english, spanish, italian and french.",institutionString:null,institution:{name:"Istanbul Aydın University",country:{name:"Turkey"}}},{id:"171887",title:"Prof.",name:"Zühre",middleName:null,surname:"Akarslan",slug:"zuhre-akarslan",fullName:"Zühre Akarslan",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/171887/images/system/171887.jpg",biography:"Zühre Akarslan was born in 1977 in Cyprus. She graduated from Gazi University Faculty of Dentistry, Ankara, Turkey in 2000. \r\nLater she received her Ph.D. degree from the Oral Diagnosis and Radiology Department; which was recently renamed as Oral and Dentomaxillofacial Radiology, from the same university. \r\nShe is working as a full-time Associate Professor and is a lecturer and an academic researcher. \r\nHer expertise areas are dental caries, cancer, dental fear and anxiety, gag reflex in dentistry, oral medicine, and dentomaxillofacial radiology.",institutionString:"Gazi University",institution:{name:"Gazi University",country:{name:"Turkey"}}},{id:"256417",title:"Associate Prof.",name:"Sanaz",middleName:null,surname:"Sadry",slug:"sanaz-sadry",fullName:"Sanaz Sadry",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/256417/images/8106_n.jpg",biography:null,institutionString:null,institution:null},{id:"272237",title:"Dr.",name:"Pinar",middleName:"Kiymet",surname:"Karataban",slug:"pinar-karataban",fullName:"Pinar Karataban",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/272237/images/8911_n.png",biography:"Assist.Prof.Dr.Pınar Kıymet Karataban, DDS PhD \n\nDr.Pınar Kıymet Karataban was born in Istanbul in 1975. After her graduation from Marmara University Faculty of Dentistry in 1998 she started her PhD in Paediatric Dentistry focused on children with special needs; mainly children with Cerebral Palsy. She finished her pHD thesis entitled \\'Investigation of occlusion via cast analysis and evaluation of dental caries prevalance, periodontal status and muscle dysfunctions in children with cerebral palsy” in 2008. She got her Assist. Proffessor degree in Istanbul Aydın University Paediatric Dentistry Department in 2015-2018. ın 2019 she started her new career in Bahcesehir University, Istanbul as Head of Department of Pediatric Dentistry. In 2020 she was accepted to BAU International University, Batumi as Professor of Pediatric Dentistry. She’s a lecturer in the same university meanwhile working part-time in private practice in Ege Dental Studio (https://www.egedisklinigi.com/) a multidisciplinary dental clinic in Istanbul. Her main interests are paleodontology, ancient and contemporary dentistry, oral microbiology, cerebral palsy and special care dentistry. She has national and international publications, scientific reports and is a member of IAPO (International Association for Paleodontology), IADH (International Association of Disability and Oral Health) and EAPD (European Association of Pediatric Dentistry).",institutionString:null,institution:null},{id:"202198",title:"Dr.",name:"Buket",middleName:null,surname:"Aybar",slug:"buket-aybar",fullName:"Buket Aybar",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/202198/images/6955_n.jpg",biography:"Buket Aybar, DDS, PhD, was born in 1971. She graduated from Istanbul University, Faculty of Dentistry, in 1992 and completed her PhD degree on Oral and Maxillofacial Surgery in Istanbul University in 1997.\nDr. Aybar is currently a full-time professor in Istanbul University, Faculty of Dentistry Department of Oral and Maxillofacial Surgery. She has teaching responsibilities in graduate and postgraduate programs. Her clinical practice includes mainly dentoalveolar surgery.\nHer topics of interest are biomaterials science and cell culture studies. She has many articles in international and national scientific journals and chapters in books; she also has participated in several scientific projects supported by Istanbul University Research fund.",institutionString:null,institution:null},{id:"260116",title:"Dr.",name:"Mehmet",middleName:null,surname:"Yaltirik",slug:"mehmet-yaltirik",fullName:"Mehmet Yaltirik",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/260116/images/7413_n.jpg",biography:"Birth Date 25.09.1965\r\nBirth Place Adana- Turkey\r\nSex Male\r\nMarrial Status Bachelor\r\nDriving License Acquired\r\nMother Tongue Turkish\r\n\r\nAddress:\r\nWork:University of Istanbul,Faculty of Dentistry, Department of Oral Surgery and Oral Medicine 34093 Capa,Istanbul- TURKIYE",institutionString:null,institution:null},{id:"172009",title:"Dr.",name:"Fatma Deniz",middleName:null,surname:"Uzuner",slug:"fatma-deniz-uzuner",fullName:"Fatma Deniz Uzuner",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/172009/images/7122_n.jpg",biography:"Dr. Deniz Uzuner was born in 1969 in Kocaeli-TURKEY. After graduating from TED Ankara College in 1986, she attended the Hacettepe University, Faculty of Dentistry in Ankara. \nIn 1993 she attended the Gazi University, Faculty of Dentistry, Department of Orthodontics for her PhD education. After finishing the PhD education, she worked as orthodontist in Ankara Dental Hospital under the Turkish Government, Ministry of Health and in a special Orthodontic Clinic till 2011. Between 2011 and 2016, Dr. Deniz Uzuner worked as a specialist in the Department of Orthodontics, Faculty of Dentistry, Gazi University in Ankara/Turkey. In 2016, she was appointed associate professor. Dr. Deniz Uzuner has authored 23 Journal Papers, 3 Book Chapters and has had 39 oral/poster presentations. She is a member of the Turkish Orthodontic Society. Her knowledge of English is at an advanced level.",institutionString:null,institution:null},{id:"332914",title:"Dr.",name:"Muhammad Saad",middleName:null,surname:"Shaikh",slug:"muhammad-saad-shaikh",fullName:"Muhammad Saad Shaikh",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Jinnah Sindh Medical University",country:{name:"Pakistan"}}},{id:"315775",title:"Dr.",name:"Feng",middleName:null,surname:"Luo",slug:"feng-luo",fullName:"Feng Luo",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Sichuan University",country:{name:"China"}}},{id:"423519",title:"Dr.",name:"Sizakele",middleName:null,surname:"Ngwenya",slug:"sizakele-ngwenya",fullName:"Sizakele Ngwenya",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"University of the Witwatersrand",country:{name:"South Africa"}}},{id:"419270",title:"Dr.",name:"Ann",middleName:null,surname:"Chianchitlert",slug:"ann-chianchitlert",fullName:"Ann Chianchitlert",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Walailak University",country:{name:"Thailand"}}},{id:"419271",title:"Dr.",name:"Diane",middleName:null,surname:"Selvido",slug:"diane-selvido",fullName:"Diane Selvido",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Walailak University",country:{name:"Thailand"}}},{id:"419272",title:"Dr.",name:"Irin",middleName:null,surname:"Sirisoontorn",slug:"irin-sirisoontorn",fullName:"Irin Sirisoontorn",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Walailak University",country:{name:"Thailand"}}},{id:"355660",title:"Dr.",name:"Anitha",middleName:null,surname:"Mani",slug:"anitha-mani",fullName:"Anitha Mani",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"SRM Dental College",country:{name:"India"}}},{id:"355612",title:"Dr.",name:"Janani",middleName:null,surname:"Karthikeyan",slug:"janani-karthikeyan",fullName:"Janani Karthikeyan",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"SRM Dental College",country:{name:"India"}}},{id:"334400",title:"Dr.",name:"Suvetha",middleName:null,surname:"Siva",slug:"suvetha-siva",fullName:"Suvetha Siva",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"SRM Dental College",country:{name:"India"}}}]}},subseries:{item:{id:"22",type:"subseries",title:"Applied Intelligence",keywords:"Machine Learning, Intelligence Algorithms, Data Science, Artificial Intelligence, Applications on Applied Intelligence",scope:"This field is the key in the current industrial revolution (Industry 4.0), where the new models and developments are based on the knowledge generation on applied intelligence. The motor of the society is the industry and the research of this topic has to be empowered in order to increase and improve the quality of our lives.",coverUrl:"https://cdn.intechopen.com/series_topics/covers/22.jpg",hasOnlineFirst:!0,hasPublishedBooks:!0,annualVolume:11418,editor:{id:"27170",title:"Prof.",name:"Carlos",middleName:"M.",surname:"Travieso-Gonzalez",slug:"carlos-travieso-gonzalez",fullName:"Carlos Travieso-Gonzalez",profilePictureURL:"https://mts.intechopen.com/storage/users/27170/images/system/27170.jpeg",biography:"Carlos M. Travieso-González received his MSc degree in Telecommunication Engineering at Polytechnic University of Catalonia (UPC), Spain in 1997, and his Ph.D. degree in 2002 at the University of Las Palmas de Gran Canaria (ULPGC-Spain). He is a full professor of signal processing and pattern recognition and is head of the Signals and Communications Department at ULPGC, teaching from 2001 on subjects on signal processing and learning theory. His research lines are biometrics, biomedical signals and images, data mining, classification system, signal and image processing, machine learning, and environmental intelligence. He has researched in 52 international and Spanish research projects, some of them as head researcher. He is co-author of 4 books, co-editor of 27 proceedings books, guest editor for 8 JCR-ISI international journals, and up to 24 book chapters. He has over 450 papers published in international journals and conferences (81 of them indexed on JCR – ISI - Web of Science). He has published seven patents in the Spanish Patent and Trademark Office. He has been a supervisor on 8 Ph.D. theses (11 more are under supervision), and 130 master theses. He is the founder of The IEEE IWOBI conference series and the president of its Steering Committee, as well as the founder of both the InnoEducaTIC and APPIS conference series. He is an evaluator of project proposals for the European Union (H2020), Medical Research Council (MRC, UK), Spanish Government (ANECA, Spain), Research National Agency (ANR, France), DAAD (Germany), Argentinian Government, and the Colombian Institutions. He has been a reviewer in different indexed international journals (<70) and conferences (<250) since 2001. He has been a member of the IASTED Technical Committee on Image Processing from 2007 and a member of the IASTED Technical Committee on Artificial Intelligence and Expert Systems from 2011. \n\nHe has held the general chair position for the following: ACM-APPIS (2020, 2021), IEEE-IWOBI (2019, 2020 and 2020), A PPIS (2018, 2019), IEEE-IWOBI (2014, 2015, 2017, 2018), InnoEducaTIC (2014, 2017), IEEE-INES (2013), NoLISP (2011), JRBP (2012), and IEEE-ICCST (2005)\n\nHe is an associate editor of the Computational Intelligence and Neuroscience Journal (Hindawi – Q2 JCR-ISI). He was vice dean from 2004 to 2010 in the Higher Technical School of Telecommunication Engineers at ULPGC and the vice dean of Graduate and Postgraduate Studies from March 2013 to November 2017. He won the “Catedra Telefonica” Awards in Modality of Knowledge Transfer, 2017, 2018, and 2019 editions, and awards in Modality of COVID Research in 2020.\n\nPublic References:\nResearcher ID http://www.researcherid.com/rid/N-5967-2014\nORCID https://orcid.org/0000-0002-4621-2768 \nScopus Author ID https://www.scopus.com/authid/detail.uri?authorId=6602376272\nScholar Google https://scholar.google.es/citations?user=G1ks9nIAAAAJ&hl=en \nResearchGate https://www.researchgate.net/profile/Carlos_Travieso",institutionString:null,institution:{name:"University of Las Palmas de Gran Canaria",institutionURL:null,country:{name:"Spain"}}},editorTwo:null,editorThree:null,series:{id:"14",title:"Artificial Intelligence",doi:"10.5772/intechopen.79920",issn:"2633-1403"},editorialBoard:[{id:"13633",title:"Prof.",name:"Abdelhamid",middleName:null,surname:"Mellouk",slug:"abdelhamid-mellouk",fullName:"Abdelhamid Mellouk",profilePictureURL:"https://mts.intechopen.com/storage/users/13633/images/1567_n.jpg",institutionString:null,institution:{name:"Paris 12 Val de Marne University",institutionURL:null,country:{name:"France"}}},{id:"109268",title:"Dr.",name:"Ali",middleName:null,surname:"Al-Ataby",slug:"ali-al-ataby",fullName:"Ali Al-Ataby",profilePictureURL:"https://mts.intechopen.com/storage/users/109268/images/7410_n.jpg",institutionString:null,institution:{name:"University of Liverpool",institutionURL:null,country:{name:"United Kingdom"}}},{id:"3807",title:"Dr.",name:"Carmelo",middleName:"Jose Albanez",surname:"Bastos-Filho",slug:"carmelo-bastos-filho",fullName:"Carmelo Bastos-Filho",profilePictureURL:"https://mts.intechopen.com/storage/users/3807/images/624_n.jpg",institutionString:null,institution:{name:"Universidade de Pernambuco",institutionURL:null,country:{name:"Brazil"}}},{id:"38850",title:"Dr.",name:"Efren",middleName:null,surname:"Gorrostieta Hurtado",slug:"efren-gorrostieta-hurtado",fullName:"Efren Gorrostieta Hurtado",profilePictureURL:"https://mts.intechopen.com/storage/users/38850/images/system/38850.jpg",institutionString:null,institution:{name:"Autonomous University of Queretaro",institutionURL:null,country:{name:"Mexico"}}},{id:"239041",title:"Prof.",name:"Yang",middleName:null,surname:"Yi",slug:"yang-yi",fullName:"Yang Yi",profilePictureURL:"https://mts.intechopen.com/storage/users/239041/images/system/239041.jpeg",institutionString:"Virginia Tech",institution:{name:"Virginia Tech",institutionURL:null,country:{name:"United States of America"}}}]},onlineFirstChapters:{paginationCount:1,paginationItems:[{id:"81321",title:"Velocity Planning via Model-Based Reinforcement Learning: Demonstrating Results on PILCO for One-Dimensional Linear Motion with Bounded Acceleration",doi:"10.5772/intechopen.103690",signatures:"Hsuan-Cheng Liao, Han-Jung Chou and Jing-Sin Liu",slug:"velocity-planning-via-model-based-reinforcement-learning-demonstrating-results-on-pilco-for-one-dime",totalDownloads:3,totalCrossrefCites:0,totalDimensionsCites:0,authors:null,book:{title:"Applied Intelligence - Annual Volume 2022",coverURL:"https://cdn.intechopen.com/books/images_new/11418.jpg",subseries:{id:"22",title:"Applied Intelligence"}}}]},publishedBooks:{},testimonialsList:[{id:"18",text:"It was great publishing with IntechOpen, the process was straightforward and I had support all along.",author:{id:"71579",name:"Berend",surname:"Olivier",institutionString:"Utrecht University",profilePictureURL:"https://mts.intechopen.com/storage/users/71579/images/system/71579.png",slug:"berend-olivier",institution:{id:"253",name:"Utrecht University",country:{id:null,name:"Netherlands"}}}},{id:"27",text:"The opportunity to work with a prestigious publisher allows for the possibility to collaborate with more research groups interested in animal nutrition, leading to the development of new feeding strategies and food valuation while being more sustainable with the environment, allowing more readers to learn about the subject.",author:{id:"175967",name:"Manuel",surname:"Gonzalez Ronquillo",institutionString:null,profilePictureURL:"https://mts.intechopen.com/storage/users/175967/images/system/175967.png",slug:"manuel-gonzalez-ronquillo",institution:{id:"6221",name:"Universidad Autónoma del Estado de México",country:{id:null,name:"Mexico"}}}},{id:"8",text:"I work with IntechOpen for a number of reasons: their professionalism, their mission in support of Open Access publishing, and the quality of their peer-reviewed publications, but also because they believe in equality.",author:{id:"202192",name:"Catrin",surname:"Rutland",institutionString:null,profilePictureURL:"https://mts.intechopen.com/storage/users/202192/images/system/202192.png",slug:"catrin-rutland",institution:{id:"134",name:"University of Nottingham",country:{id:null,name:"United Kingdom"}}}}]},submityourwork:{pteSeriesList:[],lsSeriesList:[],hsSeriesList:[],sshSeriesList:[],subseriesList:[],annualVolumeBook:{},thematicCollection:[],selectedSeries:null,selectedSubseries:null},seriesLanding:{item:null},libraryRecommendation:{success:null,errors:{},institutions:[]},route:{name:"profile.detail",path:"/profiles/138713",hash:"",query:{},params:{id:"138713"},fullPath:"/profiles/138713",meta:{},from:{name:null,path:"/",hash:"",query:{},params:{},fullPath:"/",meta:{}}}},function(){var m;(m=document.currentScript||document.scripts[document.scripts.length-1]).parentNode.removeChild(m)}()