Perception architecture exploration for automotive cyber-physical systems

2022 Spring.Includes bibliographical references.In emerging autonomous and semi-autonomous vehicles, accurate environmental perception by automotive cyber physical platforms are critical for achieving safety and driving performance goals. An efficient perception solution capable of high fidelity environment modeling can improve Advanced Driver Assistance System (ADAS) performance and reduce the number of lives lost to traffic accidents as a result of human driving errors. Enabling robust perception for vehicles with ADAS requires solving multiple complex problems related to the selection and placement of sensors, object detection, and sensor fusion. Current methods address these problems in isolation, which leads to inefficient solutions. For instance, there is an inherent accuracy versus latency trade-off between one stage and two stage object detectors which makes selecting an enhanced object detector from a diverse range of choices difficult. Further, even if a perception architecture was equipped with an ideal object detector performing high accuracy and low latency inference, the relative position and orientation of selected sensors (e.g., cameras, radars, lidars) determine whether static or dynamic targets are inside the field of view of each sensor or in the combined field of view of the sensor configuration. If the combined field of view is too small or contains redundant overlap between individual sensors, important events and obstacles can go undetected. Conversely, if the combined field of view is too large, the number of false positive detections will be high in real time and appropriate sensor fusion algorithms are required for filtering. Sensor fusion algorithms also enable tracking of non-ego vehicles in situations where traffic is highly dynamic or there are many obstacles on the road. Position and velocity estimation using sensor fusion algorithms have a lower margin for error when trajectories of other vehicles in traffic are in the vicinity of the ego vehicle, as incorrect measurement can cause accidents. Due to the various complex inter-dependencies between design decisions, constraints and optimization goals a framework capable of synthesizing perception solutions for automotive cyber physical platforms is not trivial. We present a novel perception architecture exploration framework for automotive cyber- physical platforms capable of global co-optimization of deep learning and sensing infrastructure. The framework is capable of exploring the synthesis of heterogeneous sensor configurations towards achieving vehicle autonomy goals. As our first contribution, we propose a novel optimization framework called VESPA that explores the design space of sensor placement locations and orientations to find the optimal sensor configuration for a vehicle. We demonstrate how our framework can obtain optimal sensor configurations for heterogeneous sensors deployed across two contemporary real vehicles. We then utilize VESPA to create a comprehensive perception architecture synthesis framework called PASTA. This framework enables robust perception for vehicles with ADAS requiring solutions to multiple complex problems related not only to the selection and placement of sensors but also object detection, and sensor fusion as well. Experimental results with the Audi-TT and BMW Minicooper vehicles show how PASTA can intelligently traverse the perception design space to find robust, vehicle-specific solutions

Memories of quenches in operator mixing

We work perturbatively with an interacting quantum field theory comprised of two distinct scalar fields. In this theory, we introduce a sudden quench of the mass of one of the scalars at time $t_0$. Also, the quartic interaction between the two scalars is turned on at time $t_{in}$. These break time-translation invariance. In this setup we examine the effects of the relative ordering of $t_0$ and $t_{in}$ on composite operator mixing. We study how such operator mixing affect features of the scalar potential. We find that the late time effective potential can be sensitive enough to the quenches to trigger phase transitions.Comment: 27 pages, 12 figures and 1 tabl

Comparative study of vacuum-assisted closure therapy versus vacuum-assisted closure therapy supplemented with vitamin C in compound wound healing

Background: It is imperative for early and precise management of the compound wound for preventing further complication and delaying definitive management. As we all know superiority of vacuum assisted closure (VAC) therapy in wound management over any other method, but adding vitamin C has been shown to accelerate wound healing, reducing hospital stay, and cost of management and prevention of delaying definitive management of wound due to some conspicuous property of vitamin C that serve as superior adjuvant in wound healing. Methods: A case series of 40 patients who have been inflicted with compound wounds with most following road traffic accidents. We then categorised patients and tried to observe any difference in rate of satisfactorily healing of wound with 20 patients put on VAC therapy alone and other 20 patients put on VAC therapy supplemented with vit C. Results: Patients who were undergoing VAC dressing and supplemented with vitamin C, not only portrayed a better result of wound healing but also reduced the amount of vacuum dressing sittings. Conclusions: It was observed that, in general, patients who were undergoing VAC dressing and supplemented with vitamin C, not only portrayed a better result of wound healing but also reduced amount of vacuum dressing sittings, improved rate of granulation tissue, reduced hospital stay, early definitive fixation of associated fracture and skin grafting and showed superior outcomes in terms of better tissue recovery

A rare case of ribbing disease of the proximal tibia

Ribbing disease is a rare disease that causes bony growths to develop in long bones mostly the lower limbs. It often develops after puberty. The disease also goes by other names like multiple diaphyseal sclerosis. The disorder is caused by discrepancy in the osteoclast regulation process. Here in we report a 28 years old male presenting with a case of ribbing disease of right proximal tibia. A 28 years old male gives history of fall when he was 6 years old i. e., 22 years back. Now patient complaints of pain in right proximal tibia since last 6 months. Pain is of mild nature. It is most likely a case of ribbing disease based on the clinical, radiological findings. Ribbing disease is a disease of exclusion, needs high degree of suspicion for its diagnosis. However, patient should be advised for regular follow ups

A prospective study of the functional outcome of 3 stitch technique in a compound humerus shaft fracture

Background: Intramedullary nailing of compound shaft humerus fractures has been an innovative and surgically friendly technique to deal with extensive soft tissue injury that impedes open reduction and internal fixation. The purpose of this article is to highlight the minimally invasive technique of intramedullary humerus nailing to prevent the perioperative and postoperative complications encountered. A 1 year follow up of all the patients have shown functionally excellent results and good surgical outcome. Methods: We have conducted this prospective study from Jan 2020 to Jan 2022 at DR. D.Y. Patil medical college and hospital. Informed consent from each patient was taken explaining the methods of study and probable complications.  By this 3-stitch technique we have treated 25 adult patients sustaining post traumatic compound humerus shaft fractures by Antegrade humerus nailing. We have included compound injury upto type 3A (Gustilo-Anderson classification). Results: Out of the 25 patients, 23 patients showed functionally excellent outcomes with good compliance to rehabilitation protocol but 2 patients had delayed wound healing of which 1 patient had undergone VAC therapy, which later healed well after a period of 2-3 weeks with sequential dry dressings. None have gone into nonunion. Conclusions: Our study suggests that the 3-stitch technique is a good alternative method compared to external fixators and other various surgical techniques and yields good results with lesser complications and better cosmetic outcomes in compound injuries

A rare case of ulnar nerve calcification in a patient without Hansen’s disease

Ulnar nerve calcification is rarely seen without association with Hansen’s disease. Ulnar nerve arises from brachial plexus within the axilla and is a major peripheral nerve of the upper limb. Its root value is C8-T1. It is one of the superficial nerves and is the most commonly affected nerve in leprosy. Our patient 52 years old female, came to Dr. D. Y. Patil hospital, Nerul casualty with a history of fall in bathroom and complaining of pain in right elbow with no neurological deficit. The radiological investigations confirmed a severely comminuted intra-articular humeral condylar fracture of the right side with a linear calcification seen in soft tissues near the ulnar nerve. It is an idiopathic ulnar nerve calcification of the right side. Hence, ulnar nerve calcification can also be seen in patients without Hansen’s disease

Prospective study of radiological and functional outcomes of humeral mid-shaft fractures by anterior bridge plating technique

Background: The humerus can be considered the most versatile bone in the human body. Can be successfully approached by a variety of methods for fracture fixation including functional bracing, plating (posterior, lateral, and anterior), and intramedullary nailing (antegrade and retrograde). Notably, many humeral fractures can be successfully managed conservatively due to the wide range of acceptability for reduction. Anterior bridge plating (ABP) which utilizes the minimally invasive approach popularly known as the minimally invasive percutaneous plate osteosynthesis (MIPPO) technique can be said to be the latest entrant in this list. The present study was undertaken to evaluate the efficacy of ABP. Methods: The study was carried out from July 2020 to July 2022 in DR. D. Y. Patil medical college and hospital, Nerul, Navi Mumbai, involving 32 patients who met the selection criteria and were operated at the tertiary care centre. Informed consent was obtained from all the patients for use of their clinical and imaging data. Ethical committee approval was taken. The assessment of the patients was done based on functional and radiological outcomes periodically. Results: Majority of patients belongs to age group 18-25 years (46.87%). Majority of side of injury were found right side (65.62%). In most of the cases, the extent of the displacement of fractures were 2-5 cm (71.87). Conclusions: In conclusion ABP is a very good technique in treating mid-shaft humeral fractures with minimal soft tissue dissection, smaller scars, and early return to overhead activities

Measles delay in India: the role of parents’ behaviour

Background: Objectives were to identify the factors influencing the timeliness of measles immunisation in India, as well as to explore whether parental behaviour in health care seeking facilities varies depending on the gender of child.Methods: A cross-sectional study was undertaken in India using secondary data from the fourth phase of the district level household and facility survey (DLHS 4). To estimate the age-specific coverage rates scientifically and thoroughly Kaplan-Meier survival analysis was applied. The risk factors for delayed measles immunisation were identified by using cox proportional hazard regression model.Results: Individual factors, social factors, awareness, and facilitatory factors all have a significant impact on the timeliness of measles immunisation in India. Additionally, it can also be concluded that in the case of a male child, institutional delivery significantly improves health-seeking behaviour among the parents compared to a female child. Conclusions: Numerous elements like the place of residence, economic position, and caste limit the timeliness of measles immunisation in India. Parents' health-seeking behaviour is also significant in the list of influential factors, like mother’s antenatal visit during pregnancy, the child's place of delivery, and motivation for child immunisation. In India child's gender and birth order discovered to have an impact on measles immunisation timeliness. Furthermore, we discovered that parents' health-seeking behaviour is not gender-neutral, but rather favours male child more.

An Intergenic Region Shared by At4g35985 and At4g35987 in Arabidopsis Thaliana is a Tissue Specific and Stress Inducible Bidirectional Promoter Analyzed in Transgenic Arabidopsis and Tobacco Plants

On chromosome 4 in the Arabidopsis genome, two neighboring genes (calmodulin methyl transferase At4g35987 and senescence associated gene At4g35985) are located in a head-to-head divergent orientation sharing a putative bidirectional promoter. This 1258 bp intergenic region contains a number of environmental stress responsive and tissue specific cis-regulatory elements. Transcript analysis of At4g35985 and At4g35987 genes by quantitative real time PCR showed tissue specific and stress inducible expression profiles. We tested the bidirectional promoter-function of the intergenic region shared by the divergent genes At4g35985 and At4g35987 using two reporter genes (GFP and GUS) in both orientations in transient tobacco protoplast and Agro-infiltration assays, as well as in stably transformed transgenic Arabidopsis and tobacco plants. In transient assays with GFP and GUS reporter genes the At4g35985 promoter (P85) showed stronger expression (about 3.5 fold) compared to the At4g35987 promoter (P87). The tissue specific as well as stress responsive functional nature of the bidirectional promoter was evaluated in independent transgenic Arabidopsis and tobacco lines. Expression of P85 activity was detected in the midrib of leaves, leaf trichomes, apical meristemic regions, throughout the root, lateral roots and flowers. The expression of P87 was observed in leaf-tip, hydathodes, apical meristem, root tips, emerging lateral root tips, root stele region and in floral tissues. The bidirectional promoter in both orientations shows differential up-regulation (2.5 to 3 fold) under salt stress. Use of such regulatory elements of bidirectional promoters showing spatial and stress inducible promoter-functions in heterologous system might be an important tool for plant biotechnology and gene stacking applications