Deep Learning Obstacle Detection and Avoidance for Powered Wheelchair

Depth sensors like RGB-D cameras, LiDARs and laser scanners are widely investigated in research for Smart Wheelchair (SW) to carry out navigation, localization and ob-stacle detection and avoidance tasks. These sensors are costly compared to monocular camera sensor. A single off-the-shelf camera can be an economically efficient sensor to achieve obstacle detection and avoidance. We present in this paper a single camera based obstacle detection and avoidance method without using any 3D information. It is a novel vision-only system for wheelchair obstacle detection and avoidance that uses a Raspberry Pi along with Raspberry Pi camera. The obstacles are detected using a deep learning model built on MobileNetV2 SSD. The model is retrained using a dedicated dataset that was built for this purpose. Bounding boxes are used to mark detected obstacles; and feed them as features to the image space obstacle avoidance module. Figure 1 depicts internal view of what does the system see and an abstract description of our system's functionality. © 2022 IEEE

Counterexample Guided Abstraction Refinement Algorithm for Propositional Circumscription

Circumscription is a representative example of a nonmonotonic reasoning inference technique. Circumscription has often been studied for first order theories, but its propositional version has also been the subject of extensive research, having been shown equivalent to extended closed world assumption (ECWA). Moreover, entailment in propositional circumscription is a well-known example of a decision problem in the second level of the polynomial hierarchy. This paper proposes a new Boolean Satisfiability (SAT)-based algorithm for entailment in propositional circumscription that explores the relationship of propositional circumscription to minimal models. The new algorithm is inspired by ideas commonly used in SAT-based model checking, namely counterexample guided abstraction refinement. In addition, the new algorithm is refined to compute the theory closure for generalized close world assumption (GCWA). Experimental results show that the new algorithm can solve problem instances that other solutions are unable to solve

Lysine Scanning of Arg10-Teixobactin. Deciphering the Role of Hydrophobic and Hydrophilic Residues.

Teixobactin is a recently discovered antimicrobial cyclodepsipeptide with good activity against Gram positive bacteria. Taking Arg10-teixobactin as a reference, where the nonproteinogenic residue l-allo-enduracididine was substituted by arginine, a lysine scan was performed to identify the importance of keeping the balance between hydrophilic and hydrophobic amino acids for the antimicrobial activities of this peptide family. Thus, the substitution of four isoleucine residues present in the natural sequence by lysine led to a total loss of activity. On the other hand, the substitution of the polar noncharged residues and alanine by lysine allowed us to keep and in some cases to improve the antimicrobial activity

Kinetic Study for Ultrasonic assisted Membrane Anaerobic System (UMAS) Treating Decanter Palm Oil Mill Effluent (POME) / Mansor U.Q.A....[et al.]

The discharge of Palm Oil Mill Effluent (POME) to river or sewage causes serious environmental problem and the use of Ultrasonic-assisted Membrane Anaerobic System (UMAS) is recommended as a solution. However, further use of UMAS in treating POME tends to give blockage on the membrane surface. Monod Model kinetic parameters of control, reacted and permeate samples of POME which contribute to membrane fouling were investigated. In this study, the treatment was operated in 5 hours at which three hours treatment was with ultrasonic application. The results show that the permeate sample has the lowest maximum specific growth rate, μmax which indicates the higher amount of biomass in UMAS reactor. The amount of biomass in UMAS was increased by using ultrasonic application which prevents the membrane from fouling problem. Therefore, it is recommended to employ UMAS in POME treatments

Association of kidney function with effectiveness of procalcitonin-guided antibiotic treatment:A patient-level meta-analysis from randomized controlled trials

Patients with impaired kidney function have a significantly slower decrease of procalcitonin (PCT) levels during infection. Our aim was to study PCT-guided antibiotic stewardship and clinical outcomes in patients with impairments of kidney function as assessed by creatinine levels measured upon hospital admission. We pooled and analyzed individual data from 15 randomized controlled trials who were randomly assigned to receive antibiotic therapy based on a PCT-algorithms or based on standard of care. We stratified patients on the initial glomerular filtration rate (GFR, ml/min/1.73 m2) in three groups (GFR >90 [chronic kidney disease; CKD 1], GFR 15-89 [CKD 2-4] and GFR0.05). This individual patient data meta-analysis confirms that the use of PCT in patients with impaired kidney function, as assessed by admission creatinine levels, is associated with shorter antibiotic courses and lower mortality rates

The Cholecystectomy As A Day Case (CAAD) Score: A Validated Score of Preoperative Predictors of Successful Day-Case Cholecystectomy Using the CholeS Data Set

Background Day-case surgery is associated with significant patient and cost benefits. However, only 43% of cholecystectomy patients are discharged home the same day. One hypothesis is day-case cholecystectomy rates, defined as patients discharged the same day as their operation, may be improved by better assessment of patients using standard preoperative variables. Methods Data were extracted from a prospectively collected data set of cholecystectomy patients from 166 UK and Irish hospitals (CholeS). Cholecystectomies performed as elective procedures were divided into main (75%) and validation (25%) data sets. Preoperative predictors were identified, and a risk score of failed day case was devised using multivariate logistic regression. Receiver operating curve analysis was used to validate the score in the validation data set. Results Of the 7426 elective cholecystectomies performed, 49% of these were discharged home the same day. Same-day discharge following cholecystectomy was less likely with older patients (OR 0.18, 95% CI 0.15–0.23), higher ASA scores (OR 0.19, 95% CI 0.15–0.23), complicated cholelithiasis (OR 0.38, 95% CI 0.31 to 0.48), male gender (OR 0.66, 95% CI 0.58–0.74), previous acute gallstone-related admissions (OR 0.54, 95% CI 0.48–0.60) and preoperative endoscopic intervention (OR 0.40, 95% CI 0.34–0.47). The CAAD score was developed using these variables. When applied to the validation subgroup, a CAAD score of ≤5 was associated with 80.8% successful day-case cholecystectomy compared with 19.2% associated with a CAAD score >5 (p < 0.001). Conclusions The CAAD score which utilises data readily available from clinic letters and electronic sources can predict same-day discharges following cholecystectomy

The globalisation of Western advertising A case study of the impact of imported advertising on cultural values in Malaysia

SIGLEAvailable from British Library Document Supply Centre-DSC:DXN052931 / BLDSC - British Library Document Supply CentreGBUnited Kingdo

Chemical cellulation technique for lightweight clay bricks

Lightweight clay bricks were produced using a chemical cellulation technique from a residual soil of high clay content, mostly non-crystalling. The cellulation technique introduces cells into the material during the mixing stage as a result of the chemical reaction between aluminium powder and quicklime, which liberates hydrogen gas. The technique also requires the use of sodium silicate to achieve a proper cellulated structure. The mechanisms of reaction of the abovementioned chemicals with each other as well as with the raw material were investigated. Engineering properties of the fired product, namely compressive strength, bulk density, water absorption, and volumetric shrinkage, were determined and compared with solid bricks prepared in the laboratory. Based on the results of the study, a mechanism for the cellulation process, though complex, is postulated. The process is a combination of chemical reaction between the chemical additives used and the response of the soil to the chemicals or to the reaction products. The study also reveals the possibility of producing lightweight clay bricks, mostly of loadbearing performance, using the residual soil

Analisis Kemampuan Pemahaman Konsep Matematis Siswa SMP Negeri 1 Kota Ternate pada Materi Persamaan Linear Satu Variabel

Tujuan penelitian ini adalah untuk mendeskripsikan kemampuan pemahaman konsep matematis siswa SMP Negeri 1 Kota Ternate pada materi persamaan linear satu variabel. Jenis penelitian yang digunakan dalam penelitian ini adalah penelitian kombinasi, yaitu menggabungkan antara metode kuantitatif dan kualitatif secara bersama-sama dalam suatu kegiatan penelitian, sehingga diperoleh data yang lebih komprehensif, valid, reliabel, dan obyektif.  Stategi penelitian kombinasi yang digunakan adalah stategi transformatif konkuren. Subjek dalam penelitian ini adalah siswa kelas VII-J SMP Negeri 1 Kota Ternate Tahun Ajaran 2020/2021 yang berjumlah 3 siswa. Teknik pengumpulan data yang digunakan dalam penelitian adalah tes, wawancara, dan dokumentasi. Hasil penelitian ini juga menunjukkan bahwa subjek yang kemampuan pemahaman konsep matematis tinggi untuk indikator  menyatakan ulang sebuah konsep dapat menyatakan ulang sebuah konsep dengan tepat, indikator  menyajikan konsep dalam berbagai bentuk representasi matematis dapat menyajikan sebuah konsep dalam bentuk representasi matematis dengan benar dan lengkap,  dan indikator  mengaplikasikan konsep atau algoritma pada pemecahan masalah dapat mengaplikasikan rumus sesuai prosedur dalam menyelesaikan soal pemecahan masalah tetapi masih ada kesalahan. Subjek yang kemampuan pemahaman konsep matematis sedang untuk indikator menyatakan ulang sebuah konsep dapat menyatakan ulang konsep dengan tepat, indikator menyajikan konsep dalam berbagai bentuk representasi matematis dapat menyajikan sebuah konsep dalam bentuk representasi matematis namun kurang lengkap, dan tidak menjawab pada indikator mengaplikasikan konsep atau algoritma pada pemecahan masalah tidak menjawab. Subjek yang kemampuan pemahaman konsep matematis rendah untuk indikator menyatakan ulang sebuah konsep dapat menyatakan ulang sebuah konsep dengan tepat, tidak menjawab pada indikator menyajikan konsep dalam berbagai bentuk representasi matematis, dan tidak menjawab pada indikator mengaplikasikan konsep atau algoritma pada pemecahan masalah