Non-iterative RGB-D-inertial Odometry

This paper presents a non-iterative solution to RGB-D-inertial odometry system. Traditional odometry methods resort to iterative algorithms which are usually computationally expensive or require well-designed initialization. To overcome this problem, this paper proposes to combine a non-iterative front-end (odometry) with an iterative back-end (loop closure) for the RGB-D-inertial SLAM system. The main contribution lies in the novel non-iterative front-end, which leverages on inertial fusion and kernel cross-correlators (KCC) to match point clouds in frequency domain. Dominated by the fast Fourier transform (FFT), our method is only of complexity $\mathcal{O}(n\log{n})$, where $n$ is the number of points. Map fusion is conducted by element-wise operations, so that both time and space complexity are further reduced. Extensive experiments show that, due to the lightweight of the proposed front-end, the framework is able to run at a much faster speed yet still with comparable accuracy with the state-of-the-arts

Objectively measured physical activity of Vietnamese adults with type 2 diabetes: Opportunities to intervene

Objectives: To objectively determine and compare the physical activity (PA) levels of adults newly diagnosed with type 2 diabetes (T2D) and adults without T2D in Vietnam using an accelerometer. Methods: A total of 120 participants with newly diagnosed T2D and 120 adults without T2D were recruited from a large hospital in Hanoi, the capital city of Vietnam. All participants wore an ActiGraph GT3X accelerometer for at least 5 days, including 1 weekend day. Freedson cut-off points were used to estimate different intensities of PA. In addition, comparisons between groups were made with respect to achieving the World Health Organization (WHO) and International Diabetes Federation (IDF) recommended PA guidelines. Results: Men with T2D had significantly lower levels of PA than men without T2D. The respective multivariable-adjusted mean values of daily step count, daily light-intensity, moderate-intensity, and moderate-to-vigorous-intensity PA were approximately 14%, 19%, and 22% lower in the men with T2D than in their non-T2D counterparts. However, women with T2D accumulated a greater number of steps per day than women without T2D. Only 59.2% of the adults with T2D met the minimum recommended level of PA (WHO and IDF), compared to 74.2% of adults without T2D (p<0.05). After adjusting for potential confounders, participants with T2D experienced 50.0% significantly lower odds of achieving PA recommendations. Conclusions: Vietnamese men with T2D were less physically active than those without T2D, and adults with T2D were less likely to meet PA guidelines. The results suggest a need for integrating PA into the self-management of this chronic condition

Exploiting Idioms and Proverbs of Vietnamese Regions in Teaching Mathematics in Primary Schools

Mathematics and idioms, as well as proverbs, all reflect the laws of life. At the same time, primary school children may have heard idioms and proverbs before attending school. Therefore, there are many possibilities to exploit and apply idioms and proverbs in teaching mathematics in primary schools. This study aims to identify appropriate situations and apply idioms and proverbs in different regions of Vietnam to teaching mathematics. The researchers selected 1155 expressions related to mathematics from many typical pieces of research on idioms and proverbs in Vietnam. After surveying 1822 teachers three times in many provinces and cities in all 3 regions of Vietnam: the North, the Central and the South, the researchers have classified the data according to the criteria from closed to open-ended questions. The results show a prominent level of interest (level 4/5) of all teachers participating in the survey, and there is no difference in the effectiveness in the three regions, but there is a clear difference in regions in using idioms and proverbs. Particularly, identifying situations to teach geometric and quantitative knowledge, as well as probability and statistics, allows one to apply idioms and proverbs at a high level. It is concluded that if idioms and proverbs from Vietnamese regions are appropriately selected and applied in teaching mathematics in primary schools, they will contribute to improving students' mathematical ability and preserving the national cultural heritage. Doi: 10.28991/ESJ-2022-SIED-015 Full Text: PD

Genomic serotyping, clinical manifestations, and antimicrobial resistance of non-typhoidal Salmonella gastroenteritis in hospitalized children in Ho Chi Minh City, Vietnam

Nontyphoidal Salmonella (NTS) are among the most common etiological agents of diarrheal diseases worldwide and have become the most commonly detected bacterial pathogen in children hospitalized with diarrhea in Vietnam. Aiming to better understand the epidemiology, serovar distribution, antimicrobial resistance (AMR), and clinical manifestation of NTS gastroenteritis in Vietnam, we conducted a clinical genomics investigation of NTS isolated from diarrheal children admitted to one of three tertiary hospitals in Ho Chi Minh City. Between May 2014 and April 2016, 3,166 children hospitalized with dysentery were recruited into the study; 478 (∼15%) children were found to be infected with NTS by stool culture. Molecular serotyping of the 450 generated genomes identified a diverse collection of serogroups (B, C1, C2 to C3, D1, E1, G, I, K, N, O, and Q); however, Salmonella enterica serovar Typhimurium was the most predominant serovar, accounting for 41.8% (188/450) of NTS isolates. We observed a high prevalence of AMR to first-line treatments recommended by WHO, and more than half (53.8%; 242/450) of NTS isolates were multidrug resistant (MDR; resistant to ≥3 antimicrobial classes). AMR gene detection positively correlated with phenotypic AMR testing, and resistance to empirical antimicrobials was associated with a significantly longer hospitalization (0.91 days; P = 0.04). Our work shows that genome sequencing is a powerful epidemiological tool to characterize the serovar diversity and AMR profiles in NTS. We propose a revaluation of empirical antimicrobials for dysenteric diarrhea and endorse the use of whole-genome sequencing for sustained surveillance of NTS internationally

Pathogenic Escherichia coli Possess Elevated Growth Rates under Exposure to Sub-Inhibitory Concentrations of Azithromycin.

Antimicrobial resistance (AMR) has been identified by the World Health Organization (WHO) as one of the ten major threats to global health. Advances in technology, including whole-genome sequencing, have provided new insights into the origin and mechanisms of AMR. However, our understanding of the short-term impact of antimicrobial pressure and resistance on the physiology of bacterial populations is limited. We aimed to investigate morphological and physiological responses of clinical isolates of E. coli under short-term exposure to key antimicrobials. We performed whole-genome sequencing on twenty-seven E. coli isolates isolated from children with sepsis to evaluate their AMR gene content. We assessed their antimicrobial susceptibility profile and measured their growth dynamics and morphological characteristics under exposure to varying concentrations of ciprofloxacin, ceftriaxone, tetracycline, gentamicin, and azithromycin. AMR was common, with all organisms resistant to at least one antimicrobial; a total of 81.5% were multi-drug-resistant (MDR). We observed an association between resistance profile and morphological characteristics of the E. coli over a three-hour exposure to antimicrobials. Growth dynamics experiments demonstrated that resistance to tetracycline promoted the growth of E. coli under antimicrobial-free conditions, while resistance to the other antimicrobials incurred a fitness cost. Notably, antimicrobial exposure heterogeneously suppressed bacterial growth, but sub-MIC concentrations of azithromycin increased the maximum growth rate of the clinical isolates. Our results outline complex interactions between organism and antimicrobials and raise clinical concerns regarding exposure of sub-MIC concentrations of specific antimicrobials

PHÁT HIỆN MỘT SỐ THUỐC HẠ GLUCOSE MÁU TRỘN LẪN TRONG CHẾ PHẨM DƯỢC LIỆU BẰNG PHƯƠNG PHÁP SẮC KÝ LỎNG HIỆU NĂNG CAO (HPLC)

Circular No. 10/2021/TT-BYT stipulated that several hypoglycemic drugs, such as metformin hydrochloride, are prohibited from adulterating medicinal herbal preparations. Therefore, this study aims to develop a procedure to detect five hypoglycemic drugs, including metformin hydrochloride, glibenclamide, gliclazide, glimepiride, and glipizide, adulterated in herbal preparations by using the high-performance liquid chromatography (HPLC) method. The chromatographic program includes the methanol:phosphate buffer pH 3 mobile phase 70/30 (v/v), chromatographic column C18 (250 × 4.6 mm, 5 μm), and analysis time of 25 minutes. The procedure has high specificity, accuracy and precision, according to AOAC. We detected six herbal products reacting positively with glibenclamide and one with both metformin hydrochloride and glibenclamide.Thông tư số 10/2021/TT-BYT quy định một số thuốc hạ glucose máu, như metformin hydroclorid, là các chất cấm trộn lẫn trong chế phẩm có nguồn gốc từ dược liệu. Do đó, mục tiêu nghiên cứu này là xây dựng quy trình phát hiện năm loại hoạt chất hạ glucose máu, gồm metformin hydroclorid, glibenclamid, gliclazid, glimepirid và glipizid, trộn lẫn trong chế phẩm có nguồn gốc dược liệu bằng phương pháp sắc ký lỏng hiệu năng cao (HPLC). Chúng tôi đã xây dựng được chương trình sắc ký gồm hệ pha động methanol:đệm phosphat pH 3 với tỷ lệ 30/70 (v/v), cột sắc ký C18 (250 × 4,6 mm, 5 μm), và thời gian phân tích 25 phút. Phương pháp thẩm định có tính đặc hiệu cao, độ đúng, độ lặp lại và độ tái lặp cao, đạt yêu cầu theo AOAC. Chúng tôi đã phát hiện bảy mẫu chế phẩm dược liệu dương tính trong đó sáu mẫu dương tính với glibenclamid và một mẫu dương tính đồng thời với metformin và glibenclamid

Clinical implications of reduced susceptibility to fluoroquinolones in paediatric Shigella sonnei and Shigella flexneri infections.

OBJECTIVES: We aimed to quantify the impact of fluoroquinolone resistance on the clinical outcome of paediatric shigellosis patients treated with fluoroquinolones in southern Vietnam. Such information is important to inform therapeutic management for infections caused by this increasingly drug-resistant pathogen, responsible for high morbidity and mortality in young children globally. METHODS: Clinical information and bacterial isolates were derived from a randomized controlled trial comparing gatifloxacin with ciprofloxacin for the treatment of paediatric shigellosis. Time-kill experiments were performed to evaluate the impact of MIC on the in vitro growth of Shigella and Cox regression modelling was used to compare clinical outcome between treatments and Shigella species. RESULTS: Shigella flexneri patients treated with gatifloxacin had significantly worse outcomes than those treated with ciprofloxacin. However, the MICs of fluoroquinolones were not significantly associated with poorer outcome. The presence of S83L and A87T mutations in the gyrA gene significantly increased MICs of fluoroquinolones. Finally, elevated MICs and the presence of the qnrS gene allowed Shigella to replicate efficiently in vitro in high concentrations of ciprofloxacin. CONCLUSIONS: We found that below the CLSI breakpoint, there was no association between MIC and clinical outcome in paediatric shigellosis infections. However, S. flexneri patients had worse clinical outcomes when treated with gatifloxacin in this study regardless of MIC. Additionally, Shigella harbouring the qnrS gene are able to replicate efficiently in high concentrations of ciprofloxacin and we hypothesize that such strains possess a competitive advantage against fluoroquinolone-susceptible strains due to enhanced shedding and transmission

Azithromycin Resistance in Shigella spp. in Southeast Asia.

Infection by Shigella spp. is a common cause of dysentery in Southeast Asia. Antimicrobials are thought to be beneficial for treatment; however, antimicrobial resistance in Shigella spp. is becoming widespread. We aimed to assess the frequency and mechanisms associated with decreased susceptibility to azithromycin in Southeast Asian Shigella isolates and use these data to assess appropriate susceptibility breakpoints. Shigella isolates recovered in Vietnam and Laos were screened for susceptibility to azithromycin (15 μg) by disc diffusion and MIC. Phenotypic resistance was confirmed by PCR amplification of macrolide resistance loci. We compared the genetic relationships and plasmid contents of azithromycin-resistant Shigella sonnei isolates using whole-genome sequences. From 475 available Shigella spp. isolated in Vietnam and Laos between 1994 and 2012, 6/181 S. flexneri isolates (3.3%, MIC ≥ 16 g/liter) and 16/294 S. sonnei isolates (5.4%, MIC ≥ 32 g/liter) were phenotypically resistant to azithromycin. PCR amplification confirmed a resistance mechanism in 22/475 (4.6%) isolates (mphA in 19 isolates and ermB in 3 isolates). The susceptibility data demonstrated the acceptability of the S. flexneri (MIC ≥ 16 g/liter, zone diameter ≤ 15 mm) and S. sonnei (MIC ≥ 32 g/liter, zone diameter ≤ 11 mm) breakpoints with a <3% discrepancy. Phylogenetic analysis demonstrated that decreased susceptibility has arisen sporadically in Vietnamese S. sonnei isolates on at least seven occasions between 2000 and 2009 but failed to become established. While the proposed susceptibility breakpoints may allow better recognition of resistant isolates, additional studies are required to assess the impact on the clinical outcome. The potential emergence of azithromycin resistance highlights the need for alternative options for management of Shigella infections in countries where Shigella is endemic

A Double-blind, Randomized, Placebo-controlled Trial of Lactobacillus acidophilus for the Treatment of Acute Watery Diarrhea in Vietnamese Children.

BACKGROUND: Probiotics are the most frequently prescribed treatment for children hospitalized with diarrhea in Vietnam. We were uncertain of the benefits of probiotics for the treatment of acute watery diarrhea in Vietnamese children. METHODS: We conducted a double-blind, placebo-controlled, randomized trial of children hospitalized with acute watery diarrhea in Vietnam. Children meeting the inclusion criteria (acute watery diarrhea) were randomized to receive either 2 daily oral doses of 2 × 10 CFUs of a local probiotic containing Lactobacillus acidophilus or placebo for 5 days as an adjunct to standard of care. The primary end point was time from the first dose of study medication to the start of the first 24-hour period without diarrhea. Secondary outcomes included the total duration of diarrhea and hospitalization, daily stool frequency, treatment failure, daily fecal concentrations of rotavirus and norovirus, and Lactobacillus colonization. RESULTS: One hundred and fifty children were randomized into each study group. The median time from the first dose of study medication to the start of the first 24-hour diarrhea-free period was 43 hours (interquartile range, 15-66 hours) in the placebo group and 35 hours (interquartile range, 20-68 hours) in the probiotic group (acceleration factor 1.09 [95% confidence interval, 0.78-1.51]; P = 0.62). There was also no evidence that probiotic treatment was efficacious in any of the predefined subgroups nor significantly associated with any secondary end point. CONCLUSIONS: This was a large double-blind, placebo-controlled trial in which the probiotic underwent longitudinal quality control. We found under these conditions that L. acidophilus was not beneficial in treating children with acute watery diarrhea.Supported by The Wellcome Trust and the OAK Foundation. S.B. is funded by a Sir Henry Dale Fellowship from the Wellcome Trust and the Royal Society(100087/Z/12/Z