Lightweight Monocular Depth Estimation via Token-Sharing Transformer

Depth estimation is an important task in various robotics systems and applications. In mobile robotics systems, monocular depth estimation is desirable since a single RGB camera can be deployable at a low cost and compact size. Due to its significant and growing needs, many lightweight monocular depth estimation networks have been proposed for mobile robotics systems. While most lightweight monocular depth estimation methods have been developed using convolution neural networks, the Transformer has been gradually utilized in monocular depth estimation recently. However, massive parameters and large computational costs in the Transformer disturb the deployment to embedded devices. In this paper, we present a Token-Sharing Transformer (TST), an architecture using the Transformer for monocular depth estimation, optimized especially in embedded devices. The proposed TST utilizes global token sharing, which enables the model to obtain an accurate depth prediction with high throughput in embedded devices. Experimental results show that TST outperforms the existing lightweight monocular depth estimation methods. On the NYU Depth v2 dataset, TST can deliver depth maps up to 63.4 FPS in NVIDIA Jetson nano and 142.6 FPS in NVIDIA Jetson TX2, with lower errors than the existing methods. Furthermore, TST achieves real-time depth estimation of high-resolution images on Jetson TX2 with competitive results.Comment: ICRA 202

A MACHINE-LEARNING-BASED GAIT ESTIMATION FROM THE FOOT ARCH PARAMETERS MEASURED BY A FOOT SCANNING SYSTEM

The purpose of this study is to develop a machine-learning-based regressor to estimate the gait-related parameters from the foot characteristics extracted by a foot scanning system. A fully-connected feed-forward neural network model was used to predict the gait parameters. The inputs of the model were the foot arch features and body anthropometric data, while the outputs of the model were the spatiotemporal gait parameters of the regular walking. The performance of the model was verified showing the accuracy of 95% or higher confirming the facts that foot features are dominant factors to estimate personalized gait patterns. In conclusion, the gait pattern can be easily assessed by measuring the foot depth-image from the foot scanner without using complex and expensive traditional methods if the data pools are significantly increased

Controlled manipulation of oxygen vacancies using nanoscale flexoelectricity

Oxygen vacancies, especially their distribution, are directly coupled to the electromagnetic properties of oxides and related emergent functionalities that have implication in device applications. Here using a homoepitaxial strontium titanate thin film, we demonstrate a controlled manipulation of the oxygen vacancy distribution using the mechanical force from a scanning probe microscope tip. By combining Kelvin probe force microscopy imaging and phase-field simulations, we show that oxygen vacancies can move under a stress-gradient-induced depolarisation field. When tailored, this nanoscale flexoelectric effect enables a controlled spatial modulation. In motion, the scanning probe tip thereby deterministically reconfigures the spatial distribution of vacancies. The ability to locally manipulate oxygen vacancies on-demand provides a tool for the exploration of mesoscale quantum phenomena, and engineering multifunctional oxide devices.Comment: 35 pages, Main text and the supplementary information combine

Pengaruh Ekstrak Jahe Merah (Zingiber Officinale Roscoe Var. Rubrum) Terhadap Kadar Mda Serum Tikus Setelah Terpapar Asap Rokok

Latar Belakang: Asap rokok merupakan salah satu sumber radikal bebas. Kadar radikal bebas yang tinggi dapat menyebabkan terjadinya kondisi stres oksidatif dan memicu terjadinya peroksidasi lipid pada membran sel yang akan menghasilkan Malondialdehyde (MDA). Sebenarnya, tubuh mempunyai sejumlah enzim dan zat yang dapat menetralkan radikal bebas yang disebut antioksidan. Kadar radikal bebas yang tinggi dapat menyebabkan antioksidan endogen tidak mampu untuk menetralisir. Kemampuan jahe sebagai antioksidan alami juga tidak terlepas dari kadar komponen fenolik total yang terkandung di dalamnya sehingga memiliki efek protektif yang tinggi dalam menangkal stres oksidatif. Tujuan: Penelitian ini bertujuan untuk mengetahui pengaruh pemberian ekstrak jahe merah terhadap kadar MDA serum tikus setelah terpapar asap rokok. Metode: Penelitian ini merupakan penelitian true experimental dengan desain pre-post test only control group design pada tikus. Perlakuan yang diberikan yaitu dengan pemberian ekstrak jahe merah (Zingiber officinale var. Rubrum) dan pemberian paparan asap rokok pada tikus, sedangkan keluarannya (outcome) adalah kadar MDA serum tikus. Hasil: Pemberian paparan asap rokok pada kelompok 2 meningkatkan kadar MDA serum dibandingkan dengan kelompok 1. Kelompok 3 yang diberikan ekstrak jahe merah 200 mg/kgBB/hari tidak efektif menurunkan kadar MDA serum. Pemberian ekstrak jahe merah menurunkan kadar MDA serum setelah diberikan paparan asap rokok (K4) jika dibandingkan dengan kelompok yang diberikan jahe merah tanpa diberikan paparan asap rokok (K3), penurunan tersebut tidak bermakna secara statistik. Kelompok 4 meningkatkan kadar MDA serum tikus dibandingkan dengan kelompok 2. Kesimpulan: Tidak terdapat pengaruh yang bermakna dari pemberian jahe merah (Zingiber officinale var. Rubrum) terhadap kadar MDA darah tikus setelah terpapar asap rokok

Could Fractional Exhaled Nitric Oxide Test be Useful in Predicting Inhaled Corticosteroid Responsiveness in Chronic Cough? A Systematic Review

© 2016 Background Fractional exhaled nitric oxide (FENO) is a safe and convenient test for assessing T H 2 airway inflammation, which is potentially useful in the management of patients with chronic cough. Objective To summarize the current evidence on the diagnostic usefulness of FENO for predicting inhaled corticosteroid (ICS) responsiveness in patients with chronic cough. Methods A systematic literature review was conducted to identify articles published in peer-reviewed journals up to February 2015, without language restriction. We included studies that reported the usefulness of FENO (index test) for predicting ICS responsiveness (reference standard) in patients with chronic cough (target condition). The data were extracted to construct a 2 × 2 accuracy table. Study quality was assessed with Quality Assessment of Diagnostic Accuracy Studies 2. Results We identified 5 original studies (2 prospective and 3 retrospective studies). We identified considerable heterogeneities in study design and outcome definitions, and thus were unable to perform a meta-analysis. The proportion of ICS responders ranged from 44% to 59%. Sensitivity and specificity ranged from 53% to 90%, and from 63% to 97%, respectively. The reported area under the curve ranged from abou t 0.60 to 0.87; however, studies with a prospective design and a lower prevalence of asthma had lower area under the curve values. None measured placebo effects or objective cough frequency. Conclusions We did not find strong evidence to support the use of FENO tests for predicting ICS responsiveness in chronic cough. Further studies need to have a randomized, placebo-controlled design, and should use validated measurement tools for cough. Standardization would facilitate the development of clinical evidence

Life-Threatening Anaphylactoid Reaction in an Acute Ischemic Stroke Patient With Intravenous rt-PA Thrombolysis, Followed by Successful Intra-Arterial Thrombolysis

An anaphylactoid reaction to recombinant tissue plasminogen activator (rt-PA) is an uncommon but fatal complication. A 39-year-old man was admitted within 1 hour of the onset of a right hemispheric stroke. He was not taking any specific medication, including angiotensin-converting enzyme (ACE) inhibitors. A systemic anaphylactoid reaction developed immediately after rt-PA infusion. However, the symptoms were improved after treatment with a steroid and antihistamine. Subsequent intra-arterial thrombolytic therapy resulted in complete recanalization and clinical improvement. To our knowledge, this is the first report of a life-threatening anaphylactoid reaction after rt-PA treatment followed by successful intra-arterial thrombolytic therapy in a patient who had not taken an ACE inhibitor