Inferior canaliculi punctal granuloma of the lacrimal system: a case report

Pyogenic granuloma of the eyes usually occurs after ocular surgery or inflammation related to the eyes, itself. This lesion is commonly related to procedures associated with chalazia, strabismus, or even enucleation. However, the incidence of pyogenic granuloma that arises directly from the lower canaliculi of the nasolacrimal system is rare and not being extensively reported. We report a case of an elderly lady who presented with pyogenic granuloma post EDCR with silicone stenting for left nasolacrimal duct obstruction. She presented with persistent left eye epiphora following procedure. The unusual site for pyogenic granuloma and it occurrence after EDCR raise the possibility that the condition is related to previous procedure and the material being used

Assessment of the Potential Occurrence of Dry Period in the Long Term for Pahang State, Malaysia

The interference of climate circulation and continuous rising of surface temperature every year has caused the atmosphere composition change which gives serious impact to water resource management. Pahang is among of the affected states by El Nino that hit Malaysia in recent years which led to water depletion at several water plants. Based on the current situation, this study focuses on 1) simulate the average rain pattern using statistical downscaling; 2) identify the severity index and dry duration occurrence in the catchment area. Predicting potential changes in the climate events is important to evaluate the level of climate change in the critical region. Therefore, the integration of Statistical Downscaling Model (SDSM) and Standard Precipitation Index (SPI) have been conducted to study the potential occurrence of the dry period due to climate change for year 2020s and year 2050s. The results reveal that the dry condition is high during the mid-year. The lowest SPI value is estimated to reach -2.2 which can be classified as extreme. The potential dry period is expected to increase 2.5% and 3.3% in 2020 and 2050, respectively

An Approach of Fuzzy Logic H∞ Filter in Mobile Robot Navigation Considering Non-Gaussian Noise

This chapter has presented an analysis of H∞ filter‐based mobile robot navigation with fuzzy logic to tolerate in non‐Gaussian noise conditions. The technique exploits the information obtained through H∞ filter measurement innovation to reduce the noises or the uncertainties during mobile robot observations. The simulation results depicted that the proposed technique has improved the mobile robot estimation as well as any landmark being observed. Different aspects such as γ values, noise parameters, intermittent measurement data lost and finite escape time issues are also analysed to investigate their effects in estimation. Different fuzzy logic design configurations were also studied to achieve better estimation results. As demonstrated in this work, fuzzy logic offers reliable estimation results compared to the conventional technique

A Solution to Partial Observability in Extended Kalman Filter Mobile Robot Navigation

Partial observability in EKF based mobile robot navigation is investigated in this paper to find a solution that can prevent erroneous estimation. By only considering certain landmarks in an environment, the computational cost in mobile robot can be reduced but with an increase of uncertainties to the system. This is known as suboptimal condition of the system. Fuzzy Logic technique is proposed to ensure that the estimation achieved desired performance even though some of the landmarks were excluded for references. The Fuzzy Logic is applied to the measurement innovation of Kalman Filter to correct the positions of both mobile robot and any observed landmarks during observations. The simulation results shown that the proposed method is capable to secure reliable estimation results even a number of landmarks being excluded from Kalman Filter update process in both Gaussian and non-Gaussian noise conditions

Assessment on the climate change impact using CMIP6

The impact of global warming is resulting in flood, land slide, soil erosion and drought that are anticipated to become more intense and frequent. The history record shows that the flood has been occur repeatedly in this study area. The study of future climate needs to be done to a greater extent as a planning for the infrastructure and as mitigation actions on flood based on the future climate. The aims of this study, to ascertain the climate projection by CMIP6 are compatible to be subjected for the future climate and to identify the trend of future climate projection in Kemaman, Terengganu. The comprehensive study of future climate that using CMIP6 that consist of SSPs help in providing a clear explanation of future society's socio-economic appraisal in assessment modelling. The Sen's Slope Test were used to analyze the trend of future climate projection in this study area. In this study, we found out that the trend of future rainfall is increasing with the positive values of Sen's Slope Test. Study shows that the Sen's Slope Test values for eight (8) stations in Kemaman, which is Ban Ho, Hulu Jabor, Rumah Pam Paya Kempian, JPS Kemaman, Klinik Bidan Kg Ibok, SK Kemasek, Jambatan Tebak, and Jambatan Air Putih are 2.381, 1.158, 1.333, 1.252, 2.293, 1.06, 3.113, and 1.961 respectively. The frequency and intensity of forecasting rainfall also increasing compared to the historical data. In conclusion, the proper planning and mitigation action need to be done to minimize the losses that happen due to climate changes impacts

Improving Covariance Matrix Diagonalization in SLAM of Mobile Robot

Diagonalization of covariance matrix through eigenvalue approach in extended Kalman Filter (EKF)-based simultaneous localization and mapping (SLAM) of mobile robot has been studied, as one of the possible approaches in reducing complexity hence computational cost of the system. However, the estimation is seemed to be too optimistic, and further investigation need to be conducted. In this paper, the effect on addition of Pseudo elements in the diagonalization process is investigated. It is evaluated at the updated state covariance matrix of EKF-based SLAM. It is found that the additional of pseudo components in diagonal matrix can improve the covariance matrix and lower the computational complexity. This finding has been proved through simulation

Analysis of Climate Variability and Trends in The Context of Climate Changes: Case Study in Terengganu

Uncertainty of climate extreme nowadays causes an alteration in the local climate trend and variability. Terengganu, Malaysia recorded series of extreme drought and flood events throughout a year affected by North-East monsoon which will change the next climate pattern. Thus, it will affecting the long-term planning and sustainability that related to the water resources in the long-term. The objective of this study was to analyse the trend changes of rainfall and temperature at Kuala Terengganu, Malaysia due to climate changes impact. The trends changes were analysed using Man-Kendall and Sen’s Slope. The climate projection result shows the annual mean temperature is expected to have decreasing trend until end of century. However Mar to June are expected to bit higher than historical reach to 29oC by RCP8.5. Then it will be dropped to 24oC (-5% from historical) during Northeast monsoon. Consistent to the annual rainfall, it was expected to have increasing trend over time. The highest increasing trend was expected to occur on Nov to Dec more than 40% by RCP8.5

Data Association Analysis In Simultaneous Localization And Mapping Problem

This paper examines the data association issues in Simultaneous Localization and Mapping Problem on two different techniques. Data association determines the system  efficiency and there are limited numbers of papers attempts to analyze the conditions. Two filters namely the Extended Kalman Filter(EKF) and H∞ Filters are considered in this paper to improved the estimation results of both mobile robot and the environment locations. The updated state covariance is modified to obtain better performance compared to its original state. The simulation results have shown consistency and lower percentage of errors for the proposed technique. However, there are certain cases that showing the updated state covariance becomes unstable and yields erroneous results especially for EKF. Hence, further works are expected to be carried for this matter

Analysis of Climate Variability and Trends in The Context of Climate Changes: Case Study in Terengganu

Uncertainty of climate extreme nowadays causes an alteration in the local climate trend and variability. Terengganu, Malaysia recorded series of extreme drought and flood events throughout a year affected by North-East monsoon which will change the next climate pattern. Thus, it will affecting the long-term planning and sustainability that related to the water resources in the long-term. The objective of this study was to analyse the trend changes of rainfall and temperature at Kuala Terengganu, Malaysia due to climate changes impact. The trends changes were analysed using Man-Kendall and Sen’s Slope. The climate projection result shows the annual mean temperature is expected to have decreasing trend until end of century. However Mar to June are expected to bit higher than historical reach to 29oC by RCP8.5. Then it will be dropped to 24oC (-5% from historical) during Northeast monsoon. Consistent to the annual rainfall, it was expected to have increasing trend over time. The highest increasing trend was expected to occur on Nov to Dec more than 40% by RCP8.5

Effect of Magnetic Graphene Oxide on Heavy Oil Demulsification

Chemical demulsification is the most efficient demulsification approach that can attain the desired separation efficiency and meet the environmental regulation standards whilst impose minimal economic burden on the petroleum industry. However, current demulsification methods using chemical demulsifiers suffer from significant secondary pollution, particularly after the demulsification process. Therefore, in this work, magnetic graphene oxide (MGO) was synthesized by a one-step co-precipitation method from graphene oxide (GO). The properties of MGO were then characterized by X-ray diffraction and Fourier transform infrared. MGO was successfully synthesized and used as the demulsifier for diluted heavy oil emulsions. Different MGO concentrations (40, 80, 120, 160, and 200 ppm) were used at different water cuts (20:80, 30:70, 40:60, 50:50, and 60:40 v/v%). Demulsification tests using the bottle test method indicated that MGO could separate the emulsions up to 99.98% efficiency due to the high surface area-to-volume ratio of nanoparticles and magnetic features, which enhanced the adsorptive capacity for separating water from the oil. The residual oil content in the separated water was then analyzed by an ultraviolet-visible spectrophotometer. The oil concentration in the separated water reduced to 398.8 mg/ml, corresponding to a demulsification efficiency of 99.98% observed at 40 ppm MGO concentration. The interfacial tension of the emulsions during demulsification was also analyzed, where the interfacial tension decreased with increasing MGO concentration