A Portable Active Binocular Robot Vision Architecture for Scene Exploration

We present a portable active binocular robot vision archi- tecture that integrates a number of visual behaviours. This vision archi- tecture inherits the abilities of vergence, localisation, recognition and si- multaneous identification of multiple target object instances. To demon- strate the portability of our vision architecture, we carry out qualitative and comparative analysis under two different hardware robotic settings, feature extraction techniques and viewpoints. Our portable active binoc- ular robot vision architecture achieved average recognition rates of 93.5% for fronto-parallel viewpoints and, 83% percentage for anthropomorphic viewpoints, respectively

Interactive Perception based on Gaussian Process Classification Applied to Household Object Recognition & Sorting

No abstract available

Interactive Perception Based on Gaussian Process Classification for House-Hold Objects Recognition and Sorting

We present an interactive perception model for object sorting based on Gaussian Process (GP) classification that is capable of recognizing objects categories from point cloud data. In our approach, FPFH features are extracted from point clouds to describe the local 3D shape of objects and a Bag-of-Words coding method is used to obtain an object-level vocabulary representation. Multi-class Gaussian Process classification is employed to provide and probable estimation of the identity of the object and serves a key role in the interactive perception cycle – modelling perception confidence. We show results from simulated input data on both SVM and GP based multi-class classifiers to validate the recognition accuracy of our proposed perception model. Our results demonstrate that by using a GP-based classifier, we obtain true positive classification rates of up to 80%. Our semi-autonomous object sorting experiments show that the proposed GP based interactive sorting approach outperforms random sorting by up to 30% when applied to scenes comprising configurations of household objects

On the Calibration of Active Binocular and RGBD Vision Systems for Dual-Arm Robots

This paper describes a camera and hand-eye calibration methodology for integrating an active binocular robot head within a dual-arm robot. For this purpose, we derive the forward kinematic model of our active robot head and describe our methodology for calibrating and integrating our robot head. This rigid calibration provides a closedform hand-to-eye solution. We then present an approach for updating dynamically camera external parameters for optimal 3D reconstruction that are the foundation for robotic tasks such as grasping and manipulating rigid and deformable objects. We show from experimental results that our robot head achieves an overall sub millimetre accuracy of less than 0.3 millimetres while recovering the 3D structure of a scene. In addition, we report a comparative study between current RGBD cameras and our active stereo head within two dual-arm robotic testbeds that demonstrates the accuracy and portability of our proposed methodology

Electronic Tuning of Zinc Oxide by Direct Fabrication of Chromium (Cr) incorporated photoanodes for Visible-light driven Water Splitting Applications

This is the final version. Available on open access from Nature Research via the DOI in this recordHerein, we report the synthesis of Cr incorporated ZnO sheets arrays microstructures and construction of photoelectrode through a direct aerosol assisted chemical vapour deposition (AACVD) method. The as-prepared Cr incorporated ZnO microstructures were characterized by transmission electron microscopy, scanning electron microscopy, energy dispersive X-ray spectroscopy, powdered X-ray spectroscopy, X-ray photoelectron spectroscopy and UV-Vis diffused reflectance spectroscopy. The Cr incorporation in ZnO red shifted the optical band gap of as-prepared photoanodes. The 15% Cr incorporation in ZnO has shown enhanced PEC performance. The AACVD method provides an efficient in situ incorporation approach for the manipulation of morphological aspects, phase purity, and band structure of photoelectrodes for an enhanced PEC performance.Higher Education Commission of PakistanUniversity of Mancheste

Operationalization of bi-directional screening for tuberculosis and diabetes in private sector healthcare clinics in Karachi, Pakistan

Background: Many countries are facing overlapping epidemics of tuberculosis (TB) and diabetes mellitus (DM). Diabetes increases the overall risk of developing Tuberculosis (TB) and contributes to adverse treatment outcomes. Active screening for both diseases can reduce TB transmission and prevent the development of complications of DM. We investigated bi-directional TB-DM screening in Karachi, Pakistan, a country that ranks fifth among high TB burden countries, and has the seventh highest country burden for DM.Methods: Between February to November 2014, community-based screeners identified presumptive TB and DM through verbal screening at private health clinics. Individuals with presumptive TB were referred for a chest X-ray and Xpert MTB/RIF. Presumptive DM cases had random blood glucose (RBS) tested. All individuals with bacteriologically positive TB were referred for diabetes testing (RBS). All pre-diabetics and diabetics were referred for a chest X-ray and Xpert MTB/RIF test. The primary outcomes of this study were uptake of TB and DM testing.Results: A total of 450,385 individuals were screened, of whom 18,109 had presumptive DM and 90,137 had presumptive TB. 14,550 of these individuals were presumptive for both DM and TB. The uptake of DM testing among those with presumptive diabetes was 26.1% while the uptake of TB testing among presumptive TB cases was 5.9%. Despite efforts to promote bi-directional screening of TB and DM, the uptake of TB testing among pre-diabetes and diabetes cases was only 4.7%, while the uptake of DM testing among MTB positive cases was 21.8%.Conclusion: While a high yield for TB was identified among pre-diabetics and diabetics along with a high yield of DM among individuals diagnosed with TB, there was a low uptake of TB testing amongst presumptive TB patients who were recorded as pre-diabetic or diabetic. Bi-directional screening for TB and DM which includes the integration of TB diagnostics, DM screening and TB-DM treatment within existing health care programs will need to address the operational challenges identified before implementing this as a strategy in public health programs

Superior visible-light assisted water splitting performance by Fe incorporated ZnO photoanodes

This is the author accepted manuscript. The final version is available from Elsevier via the DOI in this recordTransition metal ion incorporation has been emerged as an effective stratagem to enhance the performance of metal oxide photoanodes. In the present work, we design and fabricate the plain ZnO and (2, 5, 10 and 15%) Fe incorporated ZnO photoanodes by aerosol assisted chemical vapor deposition (AACVD) method. The 15% Fe incorporated ZnO photoanode displayed excellent photocurrent density of 4.6 mA/cm2 at 0.7 VAg/AgCl with photo conversion efficiency of 2.4%, which is 159 times higher than pure ZnO photoanode (0.028 mA/cm2). The obtained results are remarkably superior to the previous results. Furthermore, the Fe incorporated photoelectrodes have also shown good stability. The excellent photoelectrochemical performance of Fe incorporated ZnO showed red shift in band edge with relative decrease in the band gap energy compared to pure ZnO. The demonstration of this simple method for the deposition of Fe incorporated ZnO to fabricate highly efficient photoanode for the PEC water splitting can easily be applied to other similar systems.Higher Education Commission of Pakista

Impact of integrating mental health services within existing tuberculosis treatment facilities

From SAGE Publishing via Jisc Publications RouterHistory: received 2020-11-19, accepted 2021-04-01, epub 2021-04-27Publication status: PublishedIntroduction:: Depression and anxiety among tuberculosis (TB) patients can adversely affect TB treatment adherence and completion. Aim:: We studied whether integrating mental health services into existing TB treatment programs would reduce symptoms of depression and anxiety and improve treatment completion among patients with drug-susceptible TB. Methods:: Integrated practice units (IPUs) for TB and mental health were established within six existing TB treatment facilities in Karachi, Pakistan. Patients were screened for depression and anxiety and, if symptomatic, offered a mental health intervention consisting of at least four counseling sessions. We measured changes in reported levels of depression and anxiety symptoms from baseline following completion of counseling sessions, and rates of TB treatment completion. Results:: Between February 2017 and June 2018, 3500 TB patients were screened for depression and anxiety. 1057 (30.2%) symptomatic patients received a baseline adherence session. 1012 enrolled for a mental health intervention received at least 1 counseling session. 522 (51.5%) reported no symptoms after four to six sessions. Symptomatic patients who completed at least four counseling sessions had higher rates of TB treatment completion than those who did not (92.9% vs 75.1%; p < 0.0001). Conclusion:: Mental health interventions integrated within TB programs can help reduce symptoms of depression and anxiety and improve TB treatment completion

Is general inpatient obstetrics and gynaecology evidence-based? A survey of practice with critical review of methodological issues

BACKGROUND: To examine the rates of evidence-supported care provided in an obstetrics-gynaecology unit. METHODS: The main diagnosis-intervention set was established for a sample of 325 consecutive inpatient admissions in 1998–99 in a prospective study in a UK tertiary care centre. A comprehensive literature search was conducted to obtain the evidence supporting the intervention categorised according to the following hierarchy: Grade A, care supported by evidence from randomised controlled trials; Grade B, care supported by evidence from controlled observational studies and convincing non-randomised evidence; and Grade C, care without substantial research evidence. RESULTS: Of the 325 admissions, in 135 (42%) the quality of care was based on Grade A evidence, in 157 (48%) it was based on Grade B evidence, and in 33 (10%) it was based on Grade C evidence. The patterns of care were not different amongst patients sampled in 1998 and 1999. CONCLUSION: A significant majority (90%) of obstetric and gynaecological care was found to be supported by substantial research evidence