Implementation of extended kalman filter for localization of ambulance robot

This paper focuses on the implementation of the Extended Kalman Filter for indoor localization of a semi-autonomous Ambulance Robot system named Ambubot. The system is designed to reduce the response time for lay rescuers to locate an Automated External Defibrillator (AED) during sudden cardiac arrest events. To achieve this objective, the robot is equipped with an AED, and the Extended Kalman Filter is utilized for optimal indoor localization. The filter is implemented using data from the robot’s Inertial Measurement Unit, which comprises 9 Degrees of Freedom. The paper provides an explicit description of the performance of the Extended Kalman Filter in estimating the position of Ambubot, and demonstrates that the proposed approach is effective in accurately determining and estimating the robot’s position in unknown indoor environments. The results suggest that the proposed method is a promising solution for improving survival rates in cardiac arrest cases, and may have potential applications in other fields where accurate indoor localization is required

Two-and-a-half Order Score-based Model for Solving 3D Ill-posed Inverse Problems

Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) are crucial technologies in the field of medical imaging. Score-based models have proven to be effective in addressing different inverse problems encountered in CT and MRI, such as sparse-view CT and fast MRI reconstruction. However, these models face challenges in achieving accurate three dimensional (3D) volumetric reconstruction. The existing score-based models primarily focus on reconstructing two dimensional (2D) data distribution, leading to inconsistencies between adjacent slices in the reconstructed 3D volumetric images. To overcome this limitation, we propose a novel two-and-a-half order score-based model (TOSM). During the training phase, our TOSM learns data distributions in 2D space, which reduces the complexity of training compared to directly working on 3D volumes. However, in the reconstruction phase, the TOSM updates the data distribution in 3D space, utilizing complementary scores along three directions (sagittal, coronal, and transaxial) to achieve a more precise reconstruction. The development of TOSM is built on robust theoretical principles, ensuring its reliability and efficacy. Through extensive experimentation on large-scale sparse-view CT and fast MRI datasets, our method demonstrates remarkable advancements and attains state-of-the-art results in solving 3D ill-posed inverse problems. Notably, the proposed TOSM effectively addresses the inter-slice inconsistency issue, resulting in high-quality 3D volumetric reconstruction.Comment: 10 pages, 13 figure

CitySpec with Shield: A Secure Intelligent Assistant for Requirement Formalization

An increasing number of monitoring systems have been developed in smart cities to ensure that the real-time operations of a city satisfy safety and performance requirements. However, many existing city requirements are written in English with missing, inaccurate, or ambiguous information. There is a high demand for assisting city policymakers in converting human-specified requirements to machine-understandable formal specifications for monitoring systems. To tackle this limitation, we build CitySpec, the first intelligent assistant system for requirement specification in smart cities. To create CitySpec, we first collect over 1,500 real-world city requirements across different domains (e.g., transportation and energy) from over 100 cities and extract city-specific knowledge to generate a dataset of city vocabulary with 3,061 words. We also build a translation model and enhance it through requirement synthesis and develop a novel online learning framework with shielded validation. The evaluation results on real-world city requirements show that CitySpec increases the sentence-level accuracy of requirement specification from 59.02% to 86.64%, and has strong adaptability to a new city and a new domain (e.g., the F1 score for requirements in Seattle increases from 77.6% to 93.75% with online learning). After the enhancement from the shield function, CitySpec is now immune to most known textual adversarial inputs (e.g., the attack success rate of DeepWordBug after the shield function is reduced to 0% from 82.73%). We test the CitySpec with 18 participants from different domains. CitySpec shows its strong usability and adaptability to different domains, and also its robustness to malicious inputs.Comment: arXiv admin note: substantial text overlap with arXiv:2206.0313

High-Energy Extracorporeal Shock Wave for Early Stage Osteonecrosis of the Femoral Head: A Single-Center Case Series

Our retrospective study assessed the effects of treatment of early stage ONFH with extracorporeal shock wave therapy. 335 patients (528 hips) were treated with shockwave therapy in our institution. Each patient underwent two sessions. The hips were divided into two groups according to whether the lateral pillar of the femoral head (LPFH) was preserved: LPFH and non-LPFH groups. Patients were followed up at 3, 6, and 12 months after the treatment. Most of the patients (83.9% hips) demonstrated pain reduction and improved mobility of the treated joint (visual analogue scale score, P=0.00006; Harris hip score, P=0.00091). During the follow-up period, 16 hips failed following femoral head collapse and required hip arthroplasty (2 hips in LPFH group and 14 hips in non-LPFH group). The lesion size decreased after ESWT. However, the differences were statistically not significant (LPFH group, P=0.091; non-LPFH group, P=0.087). A significant reduction in bone marrow edema was observed after treatment (LPFH group, P=0.007; non-LPFH group, P=0.016). High-energy extracorporeal shock wave therapy resulted in considerable improvement in early stage ONFH, which can effectively relieve pain and improve the function of the hip

Carbon-assisted growth and high visible-light optical reflectivity of amorphous silicon oxynitride nanowires

Large amounts of amorphous silicon oxynitride nanowires have been synthesized on silicon wafer through carbon-assisted vapor-solid growth avoiding the contamination from metallic catalysts. These nanowires have the length of up to 100 μm, with a diameter ranging from 50 to 150 nm. Around 3-nm-sized nanostructures are observed to be homogeneously distributed within a nanowire cross-section matrix. The unique configuration might determine the growth of ternary amorphous structure and its special splitting behavior. Optical properties of the nanowires have also been investigated. The obtained nanowires were attractive for their exceptional whiteness, perceived brightness, and optical brilliance. These nanowires display greatly enhanced reflection over the whole visible wavelength, with more than 80% of light reflected on most of the wavelength ranging from 400 to 700 nm and the lowest reflectivity exceeding 70%, exhibiting performance superior to that of the reported white beetle. Intense visible photoluminescence is also observed over a broad spectrum ranging from 320 to 500 nm with two shoulders centered at around 444 and 468 nm, respectively

HairStep: Transfer Synthetic to Real Using Strand and Depth Maps for Single-View 3D Hair Modeling

In this work, we tackle the challenging problem of learning-based single-view 3D hair modeling. Due to the great difficulty of collecting paired real image and 3D hair data, using synthetic data to provide prior knowledge for real domain becomes a leading solution. This unfortunately introduces the challenge of domain gap. Due to the inherent difficulty of realistic hair rendering, existing methods typically use orientation maps instead of hair images as input to bridge the gap. We firmly think an intermediate representation is essential, but we argue that orientation map using the dominant filtering-based methods is sensitive to uncertain noise and far from a competent representation. Thus, we first raise this issue up and propose a novel intermediate representation, termed as HairStep, which consists of a strand map and a depth map. It is found that HairStep not only provides sufficient information for accurate 3D hair modeling, but also is feasible to be inferred from real images. Specifically, we collect a dataset of 1,250 portrait images with two types of annotations. A learning framework is further designed to transfer real images to the strand map and depth map. It is noted that, an extra bonus of our new dataset is the first quantitative metric for 3D hair modeling. Our experiments show that HairStep narrows the domain gap between synthetic and real and achieves state-of-the-art performance on single-view 3D hair reconstruction.Comment: CVPR 2023 Highlight, project page: https://paulyzheng.github.io/research/hairstep

Deformation-induced homogenization of the multi-phase senary high-entropy alloy MoNbTaTiVZr processed by high-pressure torsion

Dendritic microstructures are frequently observed in as-solidified refractory high-entropy alloys (RHEAs), and their homogenization typically requires a long-term heat treatment at extremely high temperatures. High-pressure torsion (HPT) has been shown to be capable of mixing immiscible systems at room temperature, and therefore represents a promising technique for homogenizing dendritic RHEAs. In this work, the as-solidified RHEA MoNbTaTiVZr was processed up to 40 revolutions by HPT. It was found that the dendritic microstructure was eliminated, resulting in a chemical homogeneity at a von Mises equivalent shear strain of about 400. The study of deformation mechanism showed an initial strain localization, followed by a co-deformation of the dendritic and interdendritic regions. In the co-deformation step, the Zr-rich interdendritic region gradually disappeared. The deformation-induced mixing also led to the formation of an ultra-fine grained (UFG) microstructure, exhibiting a grain size of approximately 50 nm. The microhardness increased from 500 HV in the as-solidified to 675 HV in the homogenized UFG state. The underlying mechanisms responsible for the microhardness enhancement, such as grain refinement and solid solution strengthening, were also discussed

Phase-contrast imaging with synchrotron hard X-ray reveals the effect of icariin on bone tissue morphology and microstructure in rabbits with early glucocorticoid-induced osteonecrosis of the femoral head

Background: Phase-contrast imaging (PCI) with synchrotron hard X-ray was used to observe the changes in bone tissue morphology and microstructure in rabbit models of early glucocorticoid-induced osteonecrosis of the femoral head (ONFH), and to evaluate the intervention effect of Icariin.Methods: Fifty mature New Zealand rabbits (weighing 2.5–3.0 kg) were randomly divided into a control group (n = 10), a glucocorticoid group (n = 20), and an Icariin group (n = 20). The glucocorticoid group and the Icariin group were sequentially injected with lipopolysaccharide (LPS) and methylprednisolone (MPS) to establish a glucocorticoid-induced ONFH animal model. The Icariin group was given Icariin solution when methylprednisolone was injected for the first time, and the control group and glucocorticoid group were given the same amount of normal saline. Animals were sacrificed after 6 weeks, and bilateral femoral head specimens were taken for research. The right femoral head was observed by PCI with synchrotron hard X-ray technology, and the left femoral head was verified by Micro-CT scanning and HE staining.Results: Forty-three animals (nine in the control group, sixteen in the glucocorticoid group, and eighteen in the Icariin group) were included in the study. PCI with synchrotron hard X-ray revealed that the trabecular bone in the glucocorticoid group was thinned, broken, and structurally damaged, whereas the trabecular bone in the Icariin group had normal volume, thickness, and a relatively intact structure. Micro-CT scan reconstruction and HE staining were used to verify the reliability of this technique in identifying osteonecrosis.Conclusion: The effects of Icariin were observed in an early glucocorticoid-induced ONFH rabbit model using PCI with synchrotron hard X-ray. Icariin weakens the destructive effect of glucocorticoids on bone tissue structure, improves bone tissue morphology, and stabilizes bone microstructure. This technique may provide a definitive, non-invasive alternative to histological examination for the diagnosis of early ONFH