Geometry-Aware Coverage Path Planning for Depowdering on Complex 3D Surfaces

This paper presents a new approach to obtaining nearly complete coverage paths (CP) with low overlapping on 3D general surfaces using mesh models. The CP is obtained by segmenting the mesh model into a given number of clusters using constrained centroidal Voronoi tessellation (CCVT) and finding the shortest path from cluster centroids using the geodesic metric efficiently. We introduce a new cost function to harmoniously achieve uniform areas of the obtained clusters and a restriction on the variation of triangle normals during the construction of CCVTs. Here, we utilize the planned VPs as cleaning configurations to perform residual powder removal in additive manufacturing using manipulator robots. The self-occlusion of VPs and ensuring collision-free robot configurations are addressed by integrating a proposed optimization-based strategy to find a set of candidate rays for each VP into the motion planning phase. CP planning benchmarks and physical experiments are conducted to demonstrate the effectiveness of the proposed approach. We show that our approach can compute the CPs and VPs of various mesh models with a massive number of triangles within a reasonable time.Comment: 8 pages, 8 figure

Agroforestry with contour planting of grass contributes to terrace formation and conservation of soil and nutrients on sloping land

In hilly areas, agroforestry can be a more sustainable way of producing food and other products and services than agriculture based on sole-cropping. However, research is needed to evaluate and quantify formation of natural terraces in agroforestry and their contribution to soil conservation. This study quantified natural terrace formation and examined its role in reducing soil and nutrient losses during early stages of agroforestry with fruit trees, contour grass strips and maize or coffee in agroforestry systems on sloping land in northwest Vietnam. Two agroforestry systems, comprising longan (Dimocarpus longan L.)-mango (Mangifera indica L.)-maize (Zea mays L.)-guinea grass (Panicum maximum Jacq.) (fruit-maize-AF) and son tra (Docynia indica (Wall.) Decne.)-coffee (Coffea arabica L.)-guinea grass (fruit-coffee-AF) were compared with sole-cropped maize (sole-maize) and sole-cropped coffee (sole-coffee), respectively. Terrace formation was evaluated over five years using erosion pins placed above grass strips and the volume of terrace formed was estimated. Soil and nutrient losses were quantified using soil traps. The results showed that terraces formed as the systems developed, through gradual deposition of soil sediment above the living grass strips and trees. Accumulated soil sedimentation above the grass strips during the five-year study period raised the soil surface by 4.0 cm in fruit-maize-AF and 4.2 cm in fruit-coffee-AF, and the volume of terraces generated by the grass strips was 0.26 and 0.43 m3/m respectively. The fruit-maize-AF and fruit-coffee-AF systems significantly reduced losses of soil, soil organic carbon (SOC) and associated nutrients (N, P, K) compared with sole-maize and sole-coffee already in the first two years, while the reductions were greater from year 3 onwards. On average across experiments and years, the agroforestry systems reduced soil, SOC, N, P and K losses by 27–76%, 21–78%, 20–82%, 24–82% and 22–84%, respectively. These findings show that agroforestry with fruit trees, grass strips and crops could be a useful management practice and viable option for sustainable agricultural systems on sloping land, by reducing soil (and carbon and nutrient) losses through terrace formation

Primary Evaluation on Growth Performances of Stress Negative Piétrain Pigs Raised in Hai Phong Province of Vietnam

peer reviewedThe present study was carried out on 19 stress negative Piétrain pigs (Pietrain ReHal), consisting of 13 gilts and 6 young boars imported from Belgium, raised in the livestock farm of Dong Hiep (Hai Phong) in order to evaluate growth performances and their adaptability in the North of Vietnam. Results showed that the average body weight of the whole herd at 2, 4, 5.5, and 8.5 months old was 19.05, 51.05, 85.82, and 119.47 kg, respectively. During the growing periods, except the first stage, the male grew faster than the female and the pigs of the CT genotype grew faster than those of CC genotype although the difference was not significant (P>0.05). The average daily gain (ADG) was 528.56 grams for the whole herd. The ADG was higher for the male (546.48 grams) than for the female (520.29 grams), and its was higher for the CT than the CC, but the difference was not statistically significant (P>0.05). The feed conversion ratio (FCR) was 2.69 kg. The estimated lean percentage at 8.5 months old was 64.08%. The results indicate that Piétrain stress negative pigs could develop well on the farm conditions in Hai Phong, Vietnam

Spatiotemporal evolution of SARS-CoV-2 Alpha and Delta variants during large nationwide outbreak of COVID-19, Vietnam, 2021

We analyzed 1,303 SARS-CoV-2 whole-genome sequences from Vietnam, and found the Alpha and Delta variants were responsible for a large nationwide outbreak of COVID-19 in 2021. The Delta variant was confined to the AY.57 lineage and caused >1.7 million infections and >32,000 deaths. Viral transmission was strongly affected by nonpharmaceutical interventions

Safety and efficacy of fluoxetine on functional outcome after acute stroke (AFFINITY): a randomised, double-blind, placebo-controlled trial

Background Trials of fluoxetine for recovery after stroke report conflicting results. The Assessment oF FluoxetINe In sTroke recoverY (AFFINITY) trial aimed to show if daily oral fluoxetine for 6 months after stroke improves functional outcome in an ethnically diverse population. Methods AFFINITY was a randomised, parallel-group, double-blind, placebo-controlled trial done in 43 hospital stroke units in Australia (n=29), New Zealand (four), and Vietnam (ten). Eligible patients were adults (aged ≥18 years) with a clinical diagnosis of acute stroke in the previous 2–15 days, brain imaging consistent with ischaemic or haemorrhagic stroke, and a persisting neurological deficit that produced a modified Rankin Scale (mRS) score of 1 or more. Patients were randomly assigned 1:1 via a web-based system using a minimisation algorithm to once daily, oral fluoxetine 20 mg capsules or matching placebo for 6 months. Patients, carers, investigators, and outcome assessors were masked to the treatment allocation. The primary outcome was functional status, measured by the mRS, at 6 months. The primary analysis was an ordinal logistic regression of the mRS at 6 months, adjusted for minimisation variables. Primary and safety analyses were done according to the patient's treatment allocation. The trial is registered with the Australian New Zealand Clinical Trials Registry, ACTRN12611000774921. Findings Between Jan 11, 2013, and June 30, 2019, 1280 patients were recruited in Australia (n=532), New Zealand (n=42), and Vietnam (n=706), of whom 642 were randomly assigned to fluoxetine and 638 were randomly assigned to placebo. Mean duration of trial treatment was 167 days (SD 48·1). At 6 months, mRS data were available in 624 (97%) patients in the fluoxetine group and 632 (99%) in the placebo group. The distribution of mRS categories was similar in the fluoxetine and placebo groups (adjusted common odds ratio 0·94, 95% CI 0·76–1·15; p=0·53). Compared with patients in the placebo group, patients in the fluoxetine group had more falls (20 [3%] vs seven [1%]; p=0·018), bone fractures (19 [3%] vs six [1%]; p=0·014), and epileptic seizures (ten [2%] vs two [<1%]; p=0·038) at 6 months. Interpretation Oral fluoxetine 20 mg daily for 6 months after acute stroke did not improve functional outcome and increased the risk of falls, bone fractures, and epileptic seizures. These results do not support the use of fluoxetine to improve functional outcome after stroke

Geometry-aware coverage path planning for depowdering on complex 3D surfaces

This paper presents a new approach to obtaining nearly complete coverage paths (CP) with low overlapping on 3D general surfaces using mesh models. The CP is obtained by segmenting the mesh model into a given number of clusters using constrained centroidal Voronoi tessellation (CCVT) and finding the shortest path from cluster centroids using the geodesic metric efficiently. We introduce a new cost function to harmoniously achieve uniform areas of the obtained clusters and a restriction on the variation of triangle normals during the construction of CCVTs. The obtained clusters can be used to construct high-quality viewpoints (VP) for visual coverage tasks. Here, we utilize the planned VPs as cleaning configurations to perform residual powder removal in additive manufacturing using manipulator robots. The self-occlusion of VPs and ensuring collision-free robot configurations are addressed by integrating a proposed optimization-based strategy to find a set of candidate rays for each VP into the motion planning phase. CP planning benchmarks and physical experiments are conducted to demonstrate the effectiveness of the proposed approach. We show that our approach can compute the CPs and VPs of various mesh models with a massive number of triangles within a reasonable time.This work was supported in part by Industry Alignment Fund - Industry Collaboration Projects (IAF-ICP) under Grant RIE2020, in part by Funding Initiative, and in part by the cash and in-kind contribution from the industry partner, HP Inc., through the HP-NTU Digital Manufacturing Corporate Lab

Tracking Control of Uncertain Surface Vessels with Global Finite-Time Convergence

This paper investigates an innovative control technique for uncertain surface vessels working in enhanced sea states to guarantee global finite-time convergence. First, a new finite-time backstepping approach is investigated. However, the effects of the uncertainties and disturbances reduce the closed-loop performance and prevent the global finite-time convergence of the system. In order to estimate these effects, an innovative finite-time disturbance observer is taken into consideration. The combination between the finite-time backstepping approach and the finite-time disturbance estimation creates a control system providing finite-time convergence of the system. The proposed approach is then tested on a tracking control problem for a surface vessel. The simulation results unveil the innovation of the proposed approach compared with existing ones