Autonomous mapping robot using odometry and sonar sensors

The AUTONOMOUS MAPPING ROBOT (AMR) was developed with the aim of contracting a prototype of a robot that could generate a 2D map of a given environment using an array of ultrasonic sensors commonly known as sonars. To fulfill this, the group has employed the use of several devices that can send and receive data via Inter-IC Bus (I C). I C, pronounced as I-squared-C is a way that integrated circuitry communicates with each other without physical connection. The IC used for the components is PICI6F87. The most important component for fulfilling the objective is the SRF08 ultrasonic sensor. Five of them are strategically arranged around the robot\u27s platform to optimally get distances from the obstacles around the environment. To get the robot\u27s coordinates at any given time, a magnetic compass based on the Earth\u27s magnetic field (CMPSO3) and the encoders built-in on the EMG30 motors are used. The heart of the robot lies on the motor controller MD23. It acts as the 5V power supply as well as the data (SDA) and clock (SCL) connection between all the other devices and the CM02 transmitter. Connected to the PC is the RF04 receiver completing the loop. All the data gathered are passed to the PC via the telemetry pair where all the processing happens, both commanding the robot and generating the 2D map of the environment. AMR runs a repetitive cycle of getting distances from obstacles nearby, basing it in its current location, plotting the data gathered to generate a portion of the map and finally, planning for subsequent action

The Community Health Assessment Program in the Philippines (CHAP-P) diabetes health promotion program for low- to middle-income countries: study protocol for a cluster randomized controlled trial

Abstract Background Type 2 diabetes is increasing globally, with the highest burden in low- to middle-income countries (LMICs) such as the Philippines. Developing effective interventions could improve detection, prevention, and treatment of diabetes. The Cardiovascular Health Awareness Program (CHAP), an evidence-based Canadian intervention, may be an appropriate model for LMICs due to its low cost, ease of implementation, and focus on health promotion and disease prevention. The primary aim of this study is to adapt the CHAP model to a Philippine context as the Community Health Assessment Program in the Philippines (CHAP-P) and evaluate the effect of CHAP-P on glycated hemoglobin (HbA1c) compared to a random sample of community residents in control communities. Methods Six-month, 26-community (13 intervention, 13 control) parallel cluster randomized controlled trial in Zamboanga Peninsula, an Administrative Region in the southern Philippines. Criteria for community selection include: adequate political stability, connection with local champions, travel feasibility, and refrigerated space for materials. The community-based intervention, CHAP-P sessions, are volunteer-led group sessions with chronic condition assessment, blood pressure monitoring, and health education. Three participant groups will be involved: 1) Random sample of community participants aged 40 or older, 100 per community (1300 control, 1300 intervention participants total); 2) Community members aged 40 years or older who attended at least one CHAP-P session; 3) Community health workers and staff facilitating sessions. Primary outcome: mean difference in HbA1c at 6 months in intervention group individuals compared to control. Secondary outcomes: modifiable risk factors, health utilization and access (individual); diabetes detection and management (cluster). Evaluation also includes community process evaluation and cost-effectiveness analysis. Discussion CHAP has been shown to be effective in a Canadian setting. Individual components of CHAP-P have been piloted locally and shown to be acceptable and feasible. This study will improve understanding of how best to adapt this model to an LMIC setting, in order to maximize prevention, detection, and management of diabetes. Results may inform policy and practice in the Philippines and have the potential to be applied to other LMICs. Trial registration ClinicalTrials.gov ( NCT03481335 ), registered March 29, 2018