The cooperation and coordination in multi-robot systems is a popular topic in the field of robotics and artificial intelligence, thanks to its important role in solving problems that are better solved by several robots compared to a single robot. Cooperative hunting is one of the important problems that exist in many areas such as military and industry, requiring cooperation between robots in order to accomplish the hunting process effectively. This paper proposed a cooperative hunting strategy for a multi-robot system based on wolf swarm algorithm (WSA) and artificial potential field (APF) in order to hunt by several robots a dynamic target whose behavior is unexpected. The formation of the robots within the multi-robot system contains three types of roles: the leader, the follower, and the antagonist. Each role is characterized by a different cognitive behavior. The robots arrive at the hunting point accurately and rapidly while avoiding static and dynamic obstacles through the artificial potential field algorithm to hunt the moving target. Simulation results are given in this paper to demonstrate the validity and the effectiveness of the proposed strategy.

Objective To compare the degree of efficiency between density gradient centrifugation (DGC) method and an extended horizontal swim-up (SU) method.Methods A total of 97 couples undergoing in vitro fertilization were enrolled in the study. Semen samples were divided into three aliquots and treated using DGC, extended horizontal SU, and combined methods. DNA fragmentation and chromatin decondensation were detected in native semen samples and their three corresponding aliquots. The corresponding mature oocytes of each semen sample were divided into two sibling cultures. The first sibling culture was microinjected with semen pellets from DGC, and the second sibling culture was microinjected with semen pellets from the combination of both methods. Fertilization rate and embryonic development were assessed at day 3.Results DNA fragmentation and chromatin decondensation was significantly low in DGC and extended horizontal SU samples; however, the rates of DNA fragmentation and chromatin decondensation were significantly lower in extended horizontal SU samples than in DGC samples. The lowest rates of DNA fragmentation and chromatin decondensation corresponded to the samples treated with both methods. The highest rates of DNA fragmentation and chromatin decondensation corresponded to the samples treated with DGC. No significant difference was found in the fertilization rate or day 3 embryos between sibling cultures.Conclusion The combination of DGC and the extended horizontal SU techniques is best for giving the lowest rates of sperm DNA fragmentation and chromatin decondensation.

Male infertility count for almost 30% of the total cases of infertility. Male infertility can be caused by several and various factors such as environmental, genetics and hormonal factors. Male infertility can be diagnosed through semen sample analysis; a fresh semen sample can indicate different semen abnormalities. A semen sample can indicate Azoospermia, Cryptozoospermia (Co) or Severe Oligozoospermia (ESO), who can cause infertility in male. It is challenging for an andrologist to distinguish between ESO and CO in clinic diagnose since both of them show no sperm in the sample in the initial sample test. In Cryptozoospermia or Severe Oligozoospermia, cryopreservation plays a significant part in preserving male fertility by freezing the individual sperm.

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The main effects of insulin resistance in the pathogenesis of PCOS, strategies to reduce insulin and improve reproductive parameters in PCOS patients and should be recommended for all overweight and obese patients, and the effects of insulin resistance on the results of IVF or sperm injection were examined. Intracytoplasmic (ICSI) in women with PCOS. Insulin sensitivity was measured by continuous glucose infusion with a form evaluation test (CIGMA). Insulin-resistant (n = 26) and non-insulin-resistant (n = 30) women with PCOS underwent a total of 100 cycles of long-term down-regulation with poserilin acetate, stimulation with recombinant human FSH, and IVF or ICSI. And the ovarian stimulation period for hormone tests. The insulin-resistant and non-insulin-resistant women had similar concentrations of FSH, LH, testosterone, and androstenedione during stimulation, but the insulin-resistant women had hyperinsulinemia and low concentrations of globulin associated with sex hormones. The insulin-resistant women also had low concentrations of estradiol during stimulation and required higher FSH doses, but these differences disappeared after controlling for higher body weight in the insulin-resistant group of women. Insulin resistance was neither associated with hormone levels nor with IVF outcomes. Obesity, regardless of insulin resistance, is associated with relative gonadal resistance, necessary to confirm these findings. In conclusion, it has been shown that reducing insulin resistance improves the ovulation rate in PCOS patients, but there is strong evidence to maintain the usefulness of insulin-causing drugs as a treatment option.