Anorectal malformations (ARM) remain a significant birth defect with geographic variation in incidence, individual phenotypes and regional geographic subtypes. Although early studies indicated a low incidence in Black patients, there is a great paucity of knowledge as to the types, frequency and incidence of ARMs encountered in the African continent and their associated anomalies. Current evidence suggests a significant clinical load. This study set out to evaluate ARM in Southern and other parts of Africa to define the clinical load of ARM. We retrospectively collected data on 1,401 ARM patients from six South African Paediatric Surgical units plus representative samples from five other African countries from West, Central and Southern Africa. Data included ethnic group, age, gender as well as the anatomical pathology, classification and presence or absence of associated anomalies. ARM lesions classified by the Wingspread classification plus an analysis of fistula position was carried out in evaluable cases for purposes of comparison. South African centres reported a higher prevalence of cloacae and vestibular fistulae, whereas rectovaginal, recto prostatic and anorectal malformation without fistula were more prevalent in the Northern African group. 76% of 1,401 patients were ethnically Black African [gender ratio = 2 (vs gender ratio 1.38 overall)] and 49.8% were "low" lesions (Wingspread classification). High or intermediate lesions were mostly males (72%). Anal stenosis was most prevalent in black males and non-Black females. Fistulae were identified in 95% with 682 (52%) being low (perineal/covered anus/vestibular) fistulae. Perineal fistulae had a male predilection (n = 260; 20%), whereas vestibular fistulas (n = 416; 32%) was strikingly frequent in black females (55%). Of the remainder, 15 fistulae were rectovesical (1.2%), 544 recto-urethral or prostatic (42%), 16 recto-vaginal (1.2%). In addition, there were 43 cloacal lesions (3.3%). Isolated rare ARM anomalies included "Pouch" colon (2) and H-type fistula (2). Isolated lesions occurred in 81% but 163 associated anomalies were identified in 114 patients. These included chromosomal lesions (10), genito-urinary anomalies (50), genital (16), cardiac (31), skeletal anomalies (33), gastro-intestinal malformations (28). Other anomalies included CNS anomalies (14), anterior abdominal wall defects (2) and facial (8) abnormalities and neuroblastoma (1). The ARM is not uncommon in Black African populations and constitutes a significant clinical load to surgical practice in Africa. Ethnic differences appear to exist and vestibular fistulae predominate in black females. Cloaca (3.3%) did appear to be more prevalent. Isolated lesions are frequent but the types of associated anomalies appear similar to other series except chromosomal syndromes. This study illustrates the need for more objective data from developing countries to assess geographical differences.

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This paper describes a type of mobile robot with a spherical shape designed to act as a platform to carry sensing devices or actuators in an environment where the conditions are harsh and the stability of the mechanical platform is critical. A remotely controlled internal unit drives the spherical robot. The paper focuses on the design and motion control of a robot with a spherical shape. The developed control modules are implemented in digital programmable logic devices, using a hardware description language named VHDL. The digital hardware controls multiple devices: a multichannel analogue-to-digital (A/D) converter, a pair of radio-frequency (RF ) modules and four radio-controlled (R/C ) servos. The robot motion is modelled by a con guration space function using the path curvature. The motion controller was designed to drive the robot to the desired path using control based on the path curvature. Because of the lack of a special steering mechanism, the robot steers only by controlling the displacement of its centre of gravity.

Autonomous sailboats are robotic vessels that use wind energy for propulsion and control the sails and rudders without human intervention. The use of autonomous sailboats for ocean sampling has been tentatively proposed before, but there have been minor efforts towards the development and deployment of actual prototypes, due to a number of technical limitations and significant risks of operation. Currently, most of the limitations have been surpassed, with the availability of extremely low power electronics, flexible computational systems, reliable communication devices and high performance renewable power sources. At the same time, some of the major risks have been mitigated, allowing this emerging technology to become an effective tool for a wide range of applications in real scenarios. We illustrate some of these scenarios and we describe the status of the current efforts being made to develop operational prototypes.

Over recent years, there has been an increase in popularity of the acquisition of dermoscopic skin lesion images using mobile devices, more specifically using the smartphone camera. The demand for self-care and telemedicine solutions requires suitable methods to guide and evaluate the acquired images’ quality in order to improve the monitoring of skin lesions. In this work, a system for automated focus assessment of dermoscopic images was developed using a feature-based machine learning approach. The system was designed to guide the user throughout the acquisition process by means of a preview image validation approach that included artifact detection and focus validation, followed by the image quality assessment of the acquired picture. This paper also introduces two different datasets, dermoscopic skin lesions and artifacts, which were collected using different mobile devices to develop and test the system. The best model for automatic preview assessment attained an overall accuracy of 77.9% while focus assessment of the acquired picture reached a global accuracy of 86.2%. These findings were validated by implementing the proposed methodology within an android application, demonstrating promising results as well as the viability of the proposed solution in a real life scenario.

Autonomous sailing robots are a relatively new technology for oceanographic missions, targeting at long term presence in the ocean by using wind as the main source of propulsion. This paper addresses the navigation performance of FASt, an autonomous sailboat being developed in Porto, Portugal, since 2008. A series of results selected from various sea trials illustrate the accuracy of navigation and the maneuvering ability.The paper provides some quantitative performance in downwind, sidewind and upwind trajectories, with various environmental conditions. It also addresses the ability to stay within a watch circle of a few tens of meters, during the station keeping maneuver.