The availability of essential medicines in primary health centres in Indonesia:achievements and challenges across the archipelago

Background:Indonesia is making significant strides toward achieving universal health coverage, which involves providing free access to essential medicines. This study examines the availability of essential medicine in primary health centres (PHCs) across Indonesia, the reasons why medicines are unavailable, and the extent to which communities have access to alternative dispensing points.Methods:Enumerators visited each of the 9831 PHCs in all 514 districts to assess the availability of 60 essential medicines and identify reasons for any absent medicines. We correlated the results with the national village census to assess the relationship between availability, poverty, and access to alternative dispensing points.Findings:Medicine availability varied greatly. The median availability for 17 priority medicines was 82%, while 58% of the broader selection of 60 essential medicines was present. The availability of maternal and childcare medicines was highest (73%) and lowest for mental health (42%). The main reasons for absence were that medicines were deemed unnecessary (46%) or not supplied (38%). The Java/Bali region had the highest medicines availability, and rural areas in Eastern Indonesia had the lowest. In these districts, the population is financially struggling, most dependent on free medicines from public providers, and had the least access to alternative dispensing points.Interpretation:The availability of priority medicines in PHCs is relatively high, while public-paid prices are low by international standards. To improve availability of all essential medicines, the government should prioritize areas with the highest need, increase funding for PHCs in remote areas, and implement transparent monitoring of medicines availability.Funding:Indonesian Government

The availability of essential medicines in primary health centres in Indonesia:achievements and challenges across the archipelago

Background:Indonesia is making significant strides toward achieving universal health coverage, which involves providing free access to essential medicines. This study examines the availability of essential medicine in primary health centres (PHCs) across Indonesia, the reasons why medicines are unavailable, and the extent to which communities have access to alternative dispensing points.Methods:Enumerators visited each of the 9831 PHCs in all 514 districts to assess the availability of 60 essential medicines and identify reasons for any absent medicines. We correlated the results with the national village census to assess the relationship between availability, poverty, and access to alternative dispensing points.Findings:Medicine availability varied greatly. The median availability for 17 priority medicines was 82%, while 58% of the broader selection of 60 essential medicines was present. The availability of maternal and childcare medicines was highest (73%) and lowest for mental health (42%). The main reasons for absence were that medicines were deemed unnecessary (46%) or not supplied (38%). The Java/Bali region had the highest medicines availability, and rural areas in Eastern Indonesia had the lowest. In these districts, the population is financially struggling, most dependent on free medicines from public providers, and had the least access to alternative dispensing points.Interpretation:The availability of priority medicines in PHCs is relatively high, while public-paid prices are low by international standards. To improve availability of all essential medicines, the government should prioritize areas with the highest need, increase funding for PHCs in remote areas, and implement transparent monitoring of medicines availability.Funding:Indonesian Government

Geometric Savitzky-Golay Filtering of Noisy Rotations on SO(3) with Simultaneous Angular Velocity and Acceleration Estimation

International audienceThis paper focuses on the problem of smoothing a rotation trajectory corrupted by noise, while simultaneouslyestimating its corresponding angular velocity and angular acceleration. To this end, we develop a geometric version ofthe Savitzky-Golay filter on SO(3) that avoids following the conventional practice of first converting the rotation trajectoryinto Euler-like angles, performing the filtering in this new set of local coordinates, and finally converting the resultback on SO(3). In particular, the estimation of the angular acceleration requires the computation of the right-trivializedsecond covariant derivative of the exponential map on SO(3) with respect to the (+) Cartan-Schouten connection. We providean explicit expression for this derivative, creating a link to seemingly unrelated existing results concerning the first derivativeof the exponential map on SE(3). A numerical example is provided in which we demonstrate the effectiveness andstraightforward applicability of the proposed approach. An open implementation of the new geometric Savitzky-Golay filteris also provided

Data underlying the publication: Validating Rigid-Body Dynamics Simulators on Real-World Data for Robotic Tossing Applications

Collection used to support all archives stored in the 4TU Research Data repository that are associated to the paper: "Validating Rigid-Body Dynamics Simulators on Real-World Data for Robotic Tossing Applications". The archives are also listed in the TU/e Impact-Aware Robotics Database accessible via the URL https://www.impact-aware-robotics-database.tue.nl/ The above URL provides additional search functionalities to explore the content of each dataset contained in the collection and it is intended to be used as the main access point for general users

IAM Archive containing impact experiments with a Franka Emika Panda robot

I.AM. archive as part of the Impact-Aware Robotics Archives Collection. This archive contains recordings of experiments where a Franka Emika Panda robot with a metal spherical end-effector is impacting a metal plate. The purpose of these experiments is to evaluate the limits of the robotic arm upon impact. The involved contact is between the robot and the environment, which in these recordings are a Franka Emika Panda robot and a metal plate (ImpactPlane002), respectively. All the recordings in the archive were performed at Franka Emika GmbH, Munich, Germany. More information about the dataset, the objects, and the environments used, can be found on https://impact-aware-robotics-database.tue.nl/.  </p

I.AM. archive containing long-range tossing experiments for Trajectory Based Parameter Identification of Box007

I.AM. archive as part of the Impact-Aware Robotics Archives Collection. This archive contains recordings of experiments that are executed under the scenario of TOSS. In these recordings, Box007 is manually tossed on a stationary conveyor belt. The purpose of these experiments is to obtain data for trajectory based parameter identification as part of a modeling framework. This modeling framework is used within the H2020 I.AM. project (www.i-am-project.eu) to predict the end pose of a certain box on a conveyor belt, after it is tossed. This means that the involved contact is between the object and the environment, which in these recordings are Box007 and a conveyor, respectively. All the recordings in the archive were performed at the Innovation Lab of Vanderlande, located within the TU/e campus. More information can be found on https://impact-aware-robotics-database.tue.nl/

I.AM. archive containing long-range tossing experiments for Trajectory Based Parameter Identification of Box009

I.AM. archive as part of the Impact-Aware Robotics Archives Collection. This archive contains recordings of experiments that are executed under the scenario of TOSS. In these recordings, Box009 is manually tossed on a stationary conveyor belt. The purpose of these experiments is to obtain data for trajectory based parameter identification as part of a modeling framework. This modeling framework is used within the H2020 I.AM. project (www.i-am-project.eu) to predict the end pose of a certain box on a conveyor belt, after it is tossed. This means that the involved contact is between the object and the environment, which in these recordings are Box009 and a conveyor, respectively. All the recordings in the archive were performed at the Innovation Lab of Vanderlande, located within the TU/e campus. More information can be found on https://impact-aware-robotics-database.tue.nl/

I.AM. archive containing long-range tossing experiments for Trajectory Based Parameter Identification of Box009

I.AM. archive as part of the Impact-Aware Robotics Archives Collection. This archive contains recordings of experiments that are executed under the scenario of TOSS. In these recordings, Box009 is manually tossed on a stationary conveyor belt. The purpose of these experiments is to obtain data for trajectory based parameter identification as part of a modeling framework. This modeling framework is used within the H2020 I.AM. project (www.i-am-project.eu) to predict the end pose of a certain box on a conveyor belt, after it is tossed. This means that the involved contact is between the object and the environment, which in these recordings are Box009 and a conveyor, respectively. All the recordings in the archive were performed at the Innovation Lab of Vanderlande, located within the TU/e campus. More information can be found on https://impact-aware-robotics-database.tue.nl/

Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion during Release

International audienceSuction grippers are the most common pick-andplace end effectors used in industry. However, there is little literature on creating and validating models to predict their force interaction with objects in dynamic conditions. In this paper, we study the interaction dynamics of an active vacuum suction gripper during the vertical release of an object. Object and suction cup motions are recorded using a motion capture system. As the object's mass is known and can be changed for each experiment, a study of the object's motion can lead to an estimate of the interaction force generated by the suction gripper. We show that, by learning this interaction force, it is possible to accurately predict the object's vertical motion as a function of time. This result is the first step toward 3D motion prediction when releasing an object from a suction gripper

Archive containing experiments with a drone impacting a rigid wall with the purpose of parameter identification

Archive as part of the Impact-Aware Robotics Archives Collection. This archive contains recordings of experiments where a drone (CrazyFlie001) is crashed into a rigid wall (ImpactPlane001). In these recordings, CrazyFlie001 slides down from a slide, enters free flight, and then crashes into a wall. The purpose of these experiments is to perform velocity based parameter identification of the contact parameters in a nonsmooth modeling framework. The involved contact is between the object and the environment, which in these recordings are a drone (CrazyFlie001) and a rigid wall (ImpactPlane001), respectively. All the recordings in the archive were performed at the Robotics field of the Robotics Lab, located in the Impuls building at the TU/e campus. More information about the dataset, the objects, and the environments used, can be found on https://impact-aware-robotics-database.tue.nl/