Development of Multi-Robotic Arm System for Sorting System Using Computer Vision

This paper develops a multi-robotic arm system and a stereo vision system to sort objects in the right position according to size and shape attributes. The robotic arm system consists of one master and three slave robots associated with three conveyor belts. Each robotic arm is controlled by a robot controller based on a microcontroller. A master controller is used for the vision system and communicating with slave robotic arms using the Modbus RTU protocol through an RS485 serial interface. The stereo vision system is built to determine the 3D coordinates of the object. Instead of rebuilding the entire disparity map, which is computationally expensive, the centroids of the objects in the two images are calculated to determine the depth value. After that, we can calculate the 3D coordinates of the object by using the formula of the pinhole camera model. Objects are picked up and placed on a conveyor branch according to their shape. The conveyor transports the object to the location of the slave robot. Based on the size attribute that the slave robot receives from the master, the object is picked and placed in the right position. Experiment results reveal the effectiveness of the system. The system can be used in industrial processes to reduce the required time and improve the performance of the production line

Concrete beams using seawater and sea sand reinforced with steel and GFRP rebars exposed to marine environment: An experimental study

Using fresh water and river sand in concrete mix composition makes a lot of negative impacts on resources and the environment while the source of sea sand and sea water is abundant and less harmful to the environment. However, sea sand and seawater in concrete can cause severe corrosion of the reinforcement, reducing the durability and bearing capacity of the structure. This paper illustrates the results of a comparative study on the flexural behavior of six corroded seawater sea-sand concrete (SWSSC) beams. The corrosion process of two concrete beams reinforced with traditional steel bars and four concrete beams reinforced with a combination of glass fiber reinforced polymer (GFRP) and steel bars was coupled by the effect of seawater exposure and sustained load. It was found that after exposure to a marine environment during the period of 60 months the GFRP bar retains surface integrity, meanwhile, the steel bars were significantly corroded with a cross-sectional area loss of approximately 13.93%. The decrease in bending stiffness, yield load, and ultimate load of the RC beams was found due to the deterioration of SWSSC and corrosion of steel bars.

Concrete beams using seawater and sea sand reinforced with steel and GFRP rebars exposed to marine environment: An experimental study

Using fresh water and river sand in concrete mix composition makes a lot of negative impacts on resources and the environment while the source of sea sand and sea water is abundant and less harmful to the environment. However, sea sand and seawater in concrete can cause severe corrosion of the reinforcement, reducing the durability and bearing capacity of the structure. This paper illustrates the results of a comparative study on the flexural behavior of six corroded seawater sea-sand concrete (SWSSC) beams. The corrosion process of two concrete beams reinforced with traditional steel bars and four concrete beams reinforced with a combination of glass fiber reinforced polymer (GFRP) and steel bars was coupled by the effect of seawater exposure and sustained load. It was found that after exposure to a marine environment during the period of 60 months the GFRP bar retains surface integrity, meanwhile, the steel bars were significantly corroded with a cross-sectional area loss of approximately 13.93%. The decrease in bending stiffness, yield load, and ultimate load of the RC beams was found due to the deterioration of SWSSC and corrosion of steel bars.

The Correlation between the Structures of the Nasal Tip on the Ultrasound and the Anthropometry of the Nose in Vietnamese

BACKGROUND: Nowadays, there are few types of research held in Vietnam to investigate the anthropometric index of the nose as well as analysis the structure of nasal tip on ultrasound to identify the relationship between these parameters. AIM: determine the relationship between the height and the width of the nasal tip and the structures constructed these areas by anthropometric and ultrasound measurement. METHODS: a descriptive study in Thanh Van Hospital from December 2017 to April 2019. RESULTS: There were 94 women (62.7%), and 56 men (37.3%) and the average age were 33.6 years old. The height and width of the nasal tip are 10.1 mm and 21.7 mm, respectively. Through the ultrasound, the thickness of the adipose tissues is 3 mm. The width of the interdomal fat pad is 6.5 mm and the distance between two tip point is 5.6 mm. There are the relationships between the distance of two tip points and the width of the tip (r = 0.341), and the width of the interdomal fat pad (r = 0.72). There is also the correlation between the width of the nasal tip with the distance of two tip points (r = 0.46) and the height of the tip with the thickness of the interdomal fat pad (r = 1.23). CONCLUSION: The thickness of the interdomal fat affects the height of the tip, and the distance of two tip points influences the width of the tip

Research on Macroanatomic and Histologic Characteristics of the Lower Lateral Nasal Cartilages in Vietnamese

BACKGROUND: There are recently many studies about the anatomy of lower lateral cartilage (LLC). However, the microanatomic studies to identify the segments of most LLC at the nasal tip in Vietnamese are very rare. AIM: Investigate the macroanatomic and microanatomic characteristics of the LLC and the structures of the nasal tip. METHODS: Descriptive study, 30 cadaver noses fixed by 10% formalin, 2 cadaver noses fixed by HE in 69 Institutes in Vietnam from December 2017 to April 2019. RESULTS: The average length of the medial crus is 12.3 mm on the right and 13.2 mm on the left. The maximum intercrural distance is 10.7 mm. The average length of the dome is 3.7 mm and 3.9 mm on the right and left side separately, with 2 subunits are the domal and lobular segment. The average thickness of the tip points is 1.0 mm. The width of the interdomal and intercrural ligaments are 0.5-fold the height and 2-fold the thickness. The thickness of the interdomal fat pad is 3mm and about 0.5-fold the wide. CONCLUSION: The LLC has 3 parts: intermediate, medial and lateral crus. The microanatomic structures of tip consist of the interdomal ligaments, intercrural ligaments, SMAS and interdomal fat pad

Anatomical Characteristics of Facial Nerve Trunk in Vietnamese Adult Cadavers

BACKGROUND: In medical literature, there are few studies provided a precise and detailed description of the facial nerve rami and its branches. AIM: Identify several practical anatomic landmarks related to the facial nerve main trunk and its rami. METHODS: A descriptive study, 30 cadavers in the anatomy department of UPNT from October 2012 to April 2015. RESULTS: The average distance from the mandibular angle to the division of the facial nerve is 40.8 mm, and is 86.6% from range 36 – 50 mm. There is 86.7% case in which the facial nerve is in the lateral of the retromandibular vein, and there is a significant difference about both sides. Eighty percent of the case has the superior and inferior ramus in the lateral to the retromandibular vein. There are 2 cases in which the superior ramus makes the circle of the vein. Eighty percent of the facial nerve is in the lateral to the external carotid artery. CONCLUSION: The distance from the mandibular to the division of the facial nerve is longer. The relationship between the superior/inferior ramus and the retromandibular vein maybe not the same in both sides. In some cases, it makes the circle of the vein to cause some complication in the parotid gland surgery

SYNTHESIS OF SILVER NANOPARTICLES DOPED IN THE ZEOLITE FRAMEWORK BY CHEMICAL REDUCTION METHOD

ABSTRACT Silver ions (Ag+) were introduced at first into the porous zeolite 4A lattice by an ion-exchange route. And then silver nanoparticles (AgNPs) were synthesized in the zeolite framework by chemical reduction method using hydrazine hydrate (N2H4. H2O) as reducing agent. The synthesized AgNPs/zeolite product was characterized by ultraviolet-visible spectroscopy (UV-vis), X-ray diffraction (XRD), transmission electron microscopy (TEM) and energy dispersive X-ray spectroscopy (EDX). The results showed the maximum absorption wavelength (lmax) of AgNPs/zeolite at 427 nm and the average size of the metallic AgNPs doped in the zeolite of about 30 nm. The synthesis process has been considered as suitable one to prepare AgNPs/zeolite with AgNPs content in zeolite of about 1.2% on large scale. The obtained AgNPs/zeolite product has been used for production of porous ceramic water filters with efficiently bacterial disinfection effect for treatment of drinking water

The Role of Serial NT-ProBNP Level in Prognosis and Follow-Up Treatment of Acute Heart Failure after Coronary Artery Bypass Graft Surgery

BACKGROUND: After coronary artery bypass graft (CABG) surgery, heart failure is still major problem. The valuable marker for it is needed. AIM: Evaluating the role of serial NT-proBNP level in prognosis and follow-up treatment of acute heart failure after CABG surgery. METHODS: The prospective, analytic study evaluated 107 patients undergoing CABG surgery at Ho Chi Minh Heart Institute from October 2012 to June 2014. Collecting data was done at pre- and post-operative days with measuring NT-proBNP levels on the day before operation, 2 hours after surgery, every next 24 h until the 5th day, and in case of acute heart failure occurred after surgery. RESULTS: On the first postoperative day (POD1), the NT-proBNP level demonstrated significant value for AHF with the cut-off point = 817.8 pg/mL and AUC = 0.806. On the second and third postoperative day, the AUC value of NT- was 0.753 and 0.751. It was statistically significant in acute heart failure group almost at POD 1 and POD 2 when analyzed by the doses of dobutamine, noradrenaline, and adrenaline (both low doses and normal doses). CONCLUSION: Serial measurement of NT-proBNP level provides useful prognostic and follow-up treatment information in acute heart failure after CABG surgery