NAVIGATION STRATEGY FOR MOBILE ROBOT BASED ON COMPUTER VISION AND YOLOV5 NETWORK IN THE UNKNOWN ENVIRONMENT

Intelligent mobile robots must possess the ability to navigate in complex environments. The field of mobile robot navigation is continuously evolving, with various technologies being developed. Deep learning has gained attention from researchers, and numerous navigation models utilizing deep learning have been proposed. In this study, the YOLOv5 model is utilized to identify objects to aid the mobile robot in determining movement conditions. However, the limitation of deep learning models being trained on insufficient data, leading to inaccurate recognition in unforeseen scenarios, is addressed by introducing an innovative computer vision technology that detects lanes in real-time. Combining the deep learning model with computer vision technology, the robot can identify different types of objects, allowing it to estimate distance and adjust speed accordingly. Additionally, the paper investigates the recognition reliability in varying light intensities. The findings of this study offer promising directions for future breakthroughs in mobile robot navigatio

Fuzzy gain scheduling control apply to an RC Hovercraft

The Fuzzy Gain Scheduling (FGS) methodology for tuning the Proportional – Integral – Derivative (PID) traditional controller parameters by scheduling controlled gains in different phases, is a simple and effective application both in industries and real-time complex models while assuring the high achievements over pass decades, is proposed in this article. The Fuzzy logic rules of the triangular membership functions are exploited on-line to verify the Gain Scheduling of the Proportional – Integral – Derivative controller gains in different stages because it can minimize the tracking control error and utilize the Integral of Time Absolute Error (ITAE) minima criterion of the controller design process. For that reason, the controller design could tune the system model in the whole operation time to display the efficiency in tracking error. It is then implemented in a novel Remote Controlled (RC) Hovercraft motion models to demonstrate better control performance in comparison with the PID conventional controller

Comparative analysis of root transcriptomes from two contrasting drought-responsive Williams 82 and DT2008 soybean cultivars under normal and dehydration conditions

The economically important DT2008 and the model Williams 82 (W82) soybean cultivars were reported to have differential drought-tolerant degree to dehydration and drought, which was associated with root trait. Here, we used 66K Affymetrix Soybean Array GeneChip to compare the root transcriptomes of DT2008 and W82 seedlings under normal, as well as mild (2h treatment) and severe (10h treatment) dehydration conditions. Out of the 38172 soybean genes annotated with high confidence, 822 (2.15%) and 632 (1.66%) genes showed altered expression by dehydration in W82 and DT2008 roots, respectively, suggesting that a larger machinery is required to be activated in the drought-sensitive W82 cultivar to cope with the stress. We also observed that long-term dehydration period induced expression change of more genes in soybean roots than the short-term one, independently of the genotypes. Furthermore, our data suggest that the higher drought tolerability of DT2008 might be attributed to the higher number of genes induced in DT2008 roots than in W82 roots by early dehydration, and to the expression changes of more genes triggered by short-term dehydration than those by prolonged dehydration in DT2008 roots vs. W82 roots. Differentially expressed genes (DEGs) that could be predicted to have a known function were further analyzed to gain a basic understanding on how soybean plants respond to dehydration for their survival. The higher drought tolerability of DT2008 vs. W82 might be attributed to differential expression in genes encoding osmoprotectant biosynthesis-, detoxification- or cell wall-related proteins, kinases, transcription factors and phosphatase 2C proteins. This research allowed us to identify genetic components that contribute to the improved drought tolerance of DT2008, as well as provide a useful genetic resource for in-depth functional analyses that ultimately leads to development of soybean cultivars with improved tolerance to drought

All-dielectric Metamaterial for Electromagnetically-induced Transparency in Optical Region

Metamaterial (MM) is emerging as a promising approach to manipulate electromagnetic waves, spanning from radio frequency to the optical region. In this paper, we employ an effect called electromagnetically-induced transparency (EIT) in all-dielectric MM structures to create a narrow transparent window in opaque broadband of the optical region (580-670 nm). Using dielectric materials instead of metals can mitigate the large non-radiative ohmic loss on the metal surface. The unit-cell of MM consists of Silicon (Si) bars on Silicon dioxide (SiO$_{2}$) substrate, in which two bars are directed horizontally and one bar is directed vertically. By changing the relative position and dimension of the Si bars, the EIT effect could be achieved. The optical properties of the proposed MM are investigated numerically using the finite difference method with commercial software Computer Simulation Technology (CST). Then, characteristic parameters of MM exhibiting EIT effect (EIT-MM), including Q-factor, group delay, are calculated to evaluate the applicability of EIT-MM to sensing and light confinement

Transcriptome Analyses of a Salt-Tolerant Cytokinin-Deficient Mutant Reveal Differential Regulation of Salt Stress Response by Cytokinin Deficiency

Soil destruction by abiotic environmental conditions, such as high salinity, has resulted in dramatic losses of arable land, giving rise to the need of studying mechanisms of plant adaptation to salt stress aimed at creating salt-tolerant plants. Recently, it has been reported that cytokinins (CKs) regulate plant environmental stress responses through two-component systems. A decrease in endogenous CK levels could enhance salt and drought stress tolerance. Here, we have investigated the global transcriptional change caused by a reduction in endogenous CK content under both normal and salt stress conditions. Ten-day-old Arabidopsis thaliana wild-type (WT) and CK-deficient ipt1,3,5,7 plants were transferred to agar plates containing either 0 mM (control) or 200 mM NaCl and maintained at normal growth conditions for 24 h. Our experimental design allowed us to compare transcriptome changes under four conditions: WT-200 mM vs. WT-0 mM, ipt1,3,5,7-0 mM vs. WT-0 mM, ipt1,3,5,7-200 mM vs. ipt1,3,5,7-0 mM and ipt1,3,5,7-200 mM vs. WT-200 mM NaCl. Our results indicated that the expression of more than 10% of all of the annotated Arabidopsis genes was altered by CK deficiency under either normal or salt stress conditions when compared to WT. We found that upregulated expression of many genes encoding either regulatory proteins, such as NAC, DREB and ZFHD transcription factors and the calcium sensor SOS3, or functional proteins, such as late embryogenesis-abundant proteins, xyloglucan endo-transglycosylases, glycosyltransferases, glycoside hydrolases, defensins and glyoxalase I family proteins, may contribute to improved salt tolerance of CK-deficient plants. We also demonstrated that the downregulation of photosynthesis-related genes and the upregulation of several NAC genes may cause the altered morphological phenotype of CK-deficient plants. This study highlights the impact of CK regulation on the well-known stress-responsive signaling pathways, which regulate plant adaptation to high salinity as well as other environmental stresses

EmbryosFormer: Deformable Transformer and Collaborative Encoding-Decoding for Embryos Stage Development Classification

The timing of cell divisions in early embryos during the In-Vitro Fertilization (IVF) process is a key predictor of embryo viability. However, observing cell divisions in Time-Lapse Monitoring (TLM) is a time-consuming process and highly depends on experts. In this paper, we propose EmbryosFormer, a computational model to automatically detect and classify cell divisions from original time-lapse images. Our proposed network is designed as an encoder-decoder deformable transformer with collaborative heads. The transformer contracting path predicts per-image labels and is optimized by a classification head. The transformer expanding path models the temporal coherency between embryo images to ensure monotonic non-decreasing constraint and is optimized by a segmentation head. Both contracting and expanding paths are synergetically learned by a collaboration head. We have benchmarked our proposed EmbryosFormer on two datasets: a public dataset with mouse embryos with 8-cell stage and an in-house dataset with human embryos with 4-cell stage. Source code: https://github.com/UARK-AICV/Embryos.Comment: Accepted at WACV 202

Live Poultry Exposures, Hong Kong and Hanoi, 2006

Since 1997, the largest epidemic of highly pathogenic avian influenza (H5N1) ever recorded has caused 172 human and several billion bird deaths. Recently administered questionnaires determined that live poultry exposures have declined by ≈63% in Hong Kong since 2004 and that, in Vietnam, domestic backyard exposures to poultry are likely more important than retail exposures

Performance analysis of multihop full-duplex NOMA systems with imperfect interference cancellation and near-field path-loss

Outage probability (OP) and potential throughput (PT) of multihop full-duplex (FD) nonorthogonal multiple access (NOMA) systems are addressed in the present paper. More precisely, two metrics are derived in the closed-form expressions under the impact of both imperfect successive interference cancellation (SIC) and imperfect self-interference cancellation. Moreover, to model short transmission distance from the transmit and receive antennae at relays, the near-field path-loss is taken into consideration. Additionally, the impact of the total transmit power on the performance of these metrics is rigorously derived. Furthermore, the mathematical framework of the baseline systems is provided too. Computer-based simulations via the Monte Carlo method are given to verify the accuracy of the proposed framework, confirm our findings, and highlight the benefits of the proposed systems compared with the baseline one.Web of Science231art. no. 52

Ecological and behavioural risk factors of scrub typhus in central Vietnam: a case‑control study

Background: The risk factors for scrub typhus in Vietnam remain unknown. Scrub typhus caused by Orientia tsutsugamushi often presents as an undifferentiated febrile illness and remains under appreciated due to the limited availability of diagnostic tests. This tropical rickettsial illness is increasingly recognized as an important cause of non-malaria acute undifferentiated fever in Asia. This study aimed to investigate behavioural and ecological related risk factors of scrub typhus to prevent this potentially life-threatening disease in Vietnam. Methods: We conducted a clinical hospital-based active surveillance study, and a retrospective residence-enrolment date-age-matched case-control study in Khanh Hoa province, Vietnam, from August 2018 to March 2020. Clinical examinations, polymerase chain reaction and enzyme-linked immunosorbent assay IgM tests were applied to define cases and controls. All enrolled participants filled out a questionnaire including demographic socio-economic status, personal behaviors/protective equipment, habitat connections, land use, and possible exposure to the vector. Multivariable conditional logistic regression was used to define the scrub typhus associated risk factors. Results: We identified 44 confirmed cases and matched them with 152 controls. Among cases and controls, the largest age group was the 41-50 years old and males accounted for 61.4% and 42.8%, respectively. There were similarities in demographic characteristics between the two groups, with the exception of occupation. Several factors were significantly associated with acquisition of scrub typhus, including sitting/laying directly on household floor [adjusted OR (aOR) = 4.9, 95% CI: 1.6-15.1, P = 0.006], household with poor sanitation/conditions (aOR = 7.9, 95% CI: 1.9-32.9, P = 0.005), workplace environment with risk (aOR = 3.0, 95% CI: 1.2-7.6, P = 0.020), always observing mice around home (aOR = 3.7, 95% CI: 1.4-9.9, P = 0.008), and use of personal protective equipment in the field (aOR = 0.4, 95% CI: 0.1-1.1, P = 0.076). Conclusions: Ecological and household hygiene-related factors were more associated with scrub typhus infection,than individual-level exposure activities in the hyper-endemic area. These findings support local education and allow people to protect themselves from scrub typhus, especially in areas with limitations in diagnostic capacit