Estimation and prediction of the vehicle's motion basedon visual odometry and Kalman filter

Proceeding of: 14th International Conference, ACIVS 2012, Brno, Czech Republic, September 4-7, 2012The movement of the vehicle is an useful information for different applications, such as driver assistant systems or autonomous vehicles. This information can be known by different methods, for instance, by using a GPS or by means of the visual odometry. However, there are some situations where both methods do not work correctly. For example, there are areas in urban environments where the signal of the GPS is not available, as tunnels or streets with high buildings. On the other hand, the algorithms of computer vision are affected by outdoor environments, and the main source of difficulties is the variation in the ligthing conditions. A method to estimate and predict the movement of the vehicle based on visual odometry and Kalman filter is explained in this paper. The Kalman filter allows both filtering and prediction of vehicle motion, using the results from the visual odometry estimation.This work was also supported by Spanish Government through the CICYT projects FEDORA (Grant TRA2010-20255-C03-01), Driver Distraction Detector System (Grant TRA2011-29454-C03-02) and by CAM through the projects SEGVAUTO-II.Publicad

Exploring the application of laparoscopic surgery in removing calcium deposits in the human body

In this work, we will explore the application of laparoscopic surgery in removing calcium deposits, highlighting its benefits and potential challenges

Modelling and optimising of crude oil desalting process

The history of crude oil desalting/dehydration plant (DDP) has been marked in progressive phases-the simple gravity settling phase, the chemical treatment phase, the electrical enhancement phase and the dilution water phase. In recent times, the proper cachet would be the control-optimisation phase marked by terms such as "DDP process control", "desalter optimisation control" or "DDP automating technology". Another less perceptible aspect, but nonetheless important, has been both a punch listing of traditional plant boundaries and a grouping of factors that play the essential roles in a desalting/dehydration plant (DDP). Nowadays, modelling and optimising of a DDP performance has become more apparent in petroleum and chemical engineering, which has been traditionally concerned with production and refinery processing industries. Today's desalting/dehydration technology finds itself as an important factor in such diverse areas as petroleum engineering, environmental concerns, and advanced technology materials. The movement into these areas has created a need not only for sources useful for professionals but also for gathering relevant information essential in improving product quality and its impact on health, safety and environmental (HSE) aspects. All of the foregoing, clearly establishes the need for a comprehensive knowledge of DDP and emulsion theories, process modelling and optimisation techniques. The main objective of this work is to model and qualitatively optimise a desalting/dehydration plant. In due course, the contents of this thesis will cover in depth both the basic areas of emulsion treatment fundamentals, modelling desalting/dehydration processes and optimising the performance of desalting plants. In addition, emphasis is also placed on more advanced topics such as optimisation technology and process modifications. At the results and recommendation stage, the theme of this work-optimising desalting/dehydration plant will practically be furnished in an applicable scheme. Finally, a significant compendium of figures and experimental data are presented. This thesis, therefore, essentially presents the research and important principles of desalting/dehydration systems. It also gives the oil industry a wide breadth of important information presented in a concise and focused manner. In search of data quality and product on-line-improvement, this combination will be a powerful tool for operators and professionals in a decision support environment.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Surgical site infection after gastrointestinal surgery in high-income, middle-income, and low-income countries: a prospective, international, multicentre cohort study

Background: Surgical site infection (SSI) is one of the most common infections associated with health care, but its importance as a global health priority is not fully understood. We quantified the burden of SSI after gastrointestinal surgery in countries in all parts of the world. Methods: This international, prospective, multicentre cohort study included consecutive patients undergoing elective or emergency gastrointestinal resection within 2-week time periods at any health-care facility in any country. Countries with participating centres were stratified into high-income, middle-income, and low-income groups according to the UN's Human Development Index (HDI). Data variables from the GlobalSurg 1 study and other studies that have been found to affect the likelihood of SSI were entered into risk adjustment models. The primary outcome measure was the 30-day SSI incidence (defined by US Centers for Disease Control and Prevention criteria for superficial and deep incisional SSI). Relationships with explanatory variables were examined using Bayesian multilevel logistic regression models. This trial is registered with ClinicalTrials.gov, number NCT02662231. Findings: Between Jan 4, 2016, and July 31, 2016, 13 265 records were submitted for analysis. 12 539 patients from 343 hospitals in 66 countries were included. 7339 (58·5%) patient were from high-HDI countries (193 hospitals in 30 countries), 3918 (31·2%) patients were from middle-HDI countries (82 hospitals in 18 countries), and 1282 (10·2%) patients were from low-HDI countries (68 hospitals in 18 countries). In total, 1538 (12·3%) patients had SSI within 30 days of surgery. The incidence of SSI varied between countries with high (691 [9·4%] of 7339 patients), middle (549 [14·0%] of 3918 patients), and low (298 [23·2%] of 1282) HDI (p < 0·001). The highest SSI incidence in each HDI group was after dirty surgery (102 [17·8%] of 574 patients in high-HDI countries; 74 [31·4%] of 236 patients in middle-HDI countries; 72 [39·8%] of 181 patients in low-HDI countries). Following risk factor adjustment, patients in low-HDI countries were at greatest risk of SSI (adjusted odds ratio 1·60, 95% credible interval 1·05–2·37; p=0·030). 132 (21·6%) of 610 patients with an SSI and a microbiology culture result had an infection that was resistant to the prophylactic antibiotic used. Resistant infections were detected in 49 (16·6%) of 295 patients in high-HDI countries, in 37 (19·8%) of 187 patients in middle-HDI countries, and in 46 (35·9%) of 128 patients in low-HDI countries (p < 0·001). Interpretation: Countries with a low HDI carry a disproportionately greater burden of SSI than countries with a middle or high HDI and might have higher rates of antibiotic resistance. In view of WHO recommendations on SSI prevention that highlight the absence of high-quality interventional research, urgent, pragmatic, randomised trials based in LMICs are needed to assess measures aiming to reduce this preventable complication

Фармацевтическое производство в Йемене: реальности и стремления

The impact of strategic choices made in the Yemeni pharmaceutical industries sector on its competitive advantages is investigated in this paper, as it is regarded as a leading industrial sector and plays an important role in the development of the Yemeni economy, meeting the needs of the local market at a reasonable price, and protecting and promoting society's public health.Исследовано влияние стратегического выбора, сделанного в секторе фармацевтической промышленности Йемена, на его конкурентные преимущества, поскольку он считается ведущим промышленным сектором и играет важную роль в развитии йеменской экономики, удовлетворяя потребности местного рынка в лекарствах по доступной цене, а также в защите и укреплении общественного здоровья йеменских граждан

Stereo visual odometry in urban environments based on detecting ground features

publisher: Elsevier articletitle: Stereo visual odometry in urban environments based on detecting ground features journaltitle: Robotics and Autonomous Systems articlelink: http://dx.doi.org/10.1016/j.robot.2016.03.004 content_type: article copyright: © 2016 Elsevier B.V. All rights reserved.publisher: Elsevier articletitle: Stereo visual odometry in urban environments based on detecting ground features journaltitle: Robotics and Autonomous Systems articlelink: http://dx.doi.org/10.1016/j.robot.2016.03.004 content_type: article copyright: © 2016 Elsevier B.V. All rights reserved

Response Surface Methodology (RSM) implementation in zro particles reinforced aluminium chips by Hot Equal Channel Pressing (ECAP)

In recent years, the interest on solid-state recycling of aluminum chips increases over the years due to the less energy consumption of the process. This research studies the quantitative effects of preheating temperature and volume fraction of Zirconium Dioxide when it is reinforced to the Aluminum alloy AA6061 on its mechanical properties. The parameters of the experiment are preheating temperature and volume fraction of ZrO . Temperature are varied between 450 and 550 ℃ according to the boundary parameters. The volume fraction of ZrO consists of 5, 10 and 15% of the reinforcement. Increasing the volume fraction of ZrO correlates with the increase of mechanical and physical properties. Design of Experimental with factorial design was implemented to analyse the magnitude of response on the mechanical properties from the variable of parameters. The preheating temperature was revealed to be the most significant factor affecting the yield strength and the microhardness of the composite followed by the volume fraction of ZrO . It is revealed that the most optimum temperature is 550 ℃ and the optimum percentage of volume fraction is 9.28%. Both highest microhardness and yield strength were obtained from these optimum temperatures. Scanning Electron Microscope (SEM) revealed on how elongation in Zirconia chips is affected by the amount of ZrO reinforcement. Energy Dispersive Spectroscopy (EDS) analysis performed revealed on the arbitrary weight out of total weight for every element in the composite such as Al, Zr, O and Si

Hiperobesity v/s morbid obesity: A comparative study Hiperobesidad y obesidad mórbida: Estudio comparative

Introduction: Bariatric surgery is effective and safe in treating obese patients with BMI &gt; 40, however, higher preoperative weight could increases morbidity and mortality. Aim: To describe and compare the perioperative and mid term outcomes between hiperobese and morbidly obese patients submitted to gastric bypass. Material and Method: A prospective study of hiperobese patients submitted to gastric bypass over the past 10 years. We analyzed clinical characteristics, perioperative morbimortality and resolution of comorbidities. The results were compared with a group of morbidly obese patients matched by age and sex. Results: 146 hiperobese were operated and compared with 165 morbidly obese patients. 66.8% were female and the average age of the total group was 39.9 ± 12.4 years, with no significant differences between groups by sex and age. The average BMI was 53 and 44.4 respectively. 21.5% had diabetes mellitus 2, 39.5% hypertension, 31% dislipidemia and 8.4% osteoarthritis, with no

Traditional knowledge of wild edible plants used in Palestine (Northern West Bank): A comparative study

<p>Abstract</p> <p>Background</p> <p>A comparative food ethnobotanical study was carried out in fifteen local communities distributed in five districts in the Palestinian Authority, PA (northern West Bank), six of which were located in Nablus, two in Jenin, two in Salfit, three in Qalqilia, and two in Tulkarm. These are among the areas in the PA whose rural inhabitants primarily subsisted on agriculture and therefore still preserve the traditional knowledge on wild edible plants.</p> <p>Methods</p> <p>Data on the use of wild edible plants were collected for one-year period, through informed consent semi-structured interviews with 190 local informants. A semi-quantitative approach was used to document use diversity, and relative importance of each species.</p> <p>Results and discussion</p> <p>The study recorded 100 wild edible plant species, seventy six of which were mentioned by three informants and above and were distributed across 70 genera and 26 families. The most significant species include <it>Majorana syriaca, Foeniculum vulgare, Malvasylvestris</it>, <it>Salvia fruticosa, Cyclamen persicum, Micromeria fruticosa, Arum palaestinum, Trigonella foenum-graecum</it>, <it>Gundelia tournefortii</it>, and <it>Matricaria aurea</it>. All the ten species with the highest mean cultural importance values (mCI), were cited in all five areas. Moreover, most were important in every region. A common cultural background may explain these similarities. One taxon (<it>Majoranasyriaca</it>) in particular was found to be among the most quoted species in almost all areas surveyed. CI values, as a measure of traditional botanical knowledge, for edible species in relatively remote and isolated areas (Qalqilia, and Salfit) were generally higher than for the same species in other areas. This can be attributed to the fact that local knowledge of wild edible plants and plant gathering are more spread in remote or isolated areas.</p> <p>Conclusion</p> <p>Gathering, processing and consuming wild edible plants are still practiced in all the studied Palestinian areas. About 26 % (26/100) of the recorded wild botanicals including the most quoted and with highest mCI values, are currently gathered and utilized in all the areas, demonstrating that there are ethnobotanical contact points among the various Palestinian regions. The habit of using wild edible plants is still alive in the PA, but is disappearing. Therefore, the recording, preserving, and infusing of this knowledge to future generations is pressing and fundamental.</p