Changes of benthic macroinvertebrates in Thi Vai River and Cai Mep Estuaries under polluted conditions with industrial wastewater

The pollution on the Thi Vai River has been spreading out rapidly over the two lasted decades caused by the wastewater from the industrial parks in the left bank of Thi Vai River and Cai Mep Estuaries. The evaluation of the benthic macroinvertebrate changes was very necessary to identify the consequences of the industrial wastewater on water quality and aquatic ecosystem of Thi Vai River and Cai Mep Estuaries. In this study, the variables of benthic macroinvertebrates and water quality were investigated in Thi Vai River and Cai Mep Estuaries, Southern Vietnam. The monitoring data of benthic macroinvertebrates and water quality parameters covered the period from 1989 to 2015 at 6 sampling sites in Thi Vai River and Cai Mep Estuaries. The basic water quality parameters were also tested including pH, dissolved oxygen (DO), total nitrogen, and total phosphorus. The biodiversity indices of benthic macroinvertebrates were applied for water quality assessment. The results showed that pH ranged from 6.4 – 7.6 during the monitoring. The DO concentrations were in between 0.20 – 6.70 mg/L. The concentrations of total nitrogen and total phosphorous ranged from 0.03 – 5.70 mg/L 0.024 – 1.380 mg/L respectively. Macroinvertebrate community in the study area consisted of 36 species of polychaeta, gastropoda, bivalvia, and crustacea, of which, species of polychaeta were dominant in species number. The benthic macroinvertebartes density ranged from 0 – 2.746 individuals/m2 with the main dominant species of Neanthes caudata, Prionospio malmgreni, Paraprionospio pinnata, Trichochaeta carica, Maldane sarsi, Capitella capitata, Terebellides stroemi, Euditylia polymorpha, Grandidierella lignorum, Apseudes vietnamensis. The biodiversity index values during the monitoring characterized for aquatic environmental conditions of mesotrophic to polytrophic. Besides, species richness positively correlated with DO, total nitrogen, and total phosphorus. The results confirmed the advantage of using benthic macroinvertebrates and their indices for water quality assessment

Digital Twins for Marine Operations: A Brief Review on Their Implementation

While the concept of a digital twin to support maritime operations is gaining attention for predictive maintenance, real-time monitoring, control, and overall process optimization, clarity on its implementation is missing in the literature. Therefore, in this review we show how different authors implemented their digital twins, discuss our findings, and finally give insights on future research directions.Comment: Submitte

An NMPC-ECBF Framework for Dynamic Motion Planning and Execution in vision-based Human-Robot Collaboration

To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication inside a heterogeneous environment (robots, humans, and equipment). The proposed approach takes advantage of the prediction capabilities of nonlinear model predictive control (NMPC) to execute a safe path planning based on feedback from a vision system. In order to satisfy the requirement of real-time path planning, an embedded solver based on a penalty method is applied. However, due to tight sampling times NMPC solutions are approximate, and hence the safety of the system cannot be guaranteed. To address this we formulate a novel safety-critical paradigm with an exponential control barrier function (ECBF) used as a safety filter. We also design a simple human-robot collaboration scenario using V-REP to evaluate the performance of the proposed controller and investigate whether integrating human pose prediction can help with safe and efficient collaboration. The robot uses OptiTrack cameras for perception and dynamically generates collision-free trajectories to the predicted target interactive position. Results for a number of different configurations confirm the efficiency of the proposed motion planning and execution framework. It yields a 19.8% reduction in execution time for the HRC task considered

Research and Development of the Pupil Identification and Warning System using AI-IoT

Currently, pupils being left in the classroom, in the house or in the car is happening a lot, causing unintended incidents. The reason is that parents or caregivers of pupils go through busy and tiring working hours, so they accidentally leave pupils in the car, indoors, or forget to pick up students at school. In this paper, we developed an algorithm to recognize students who use neural networks and warn managers, testing on a model integrated Raspberry Pi 4 kit programmed on Python in combination with cameras, sim modules, and actuators to detect and alert abandoned pupils to the manager to take timely remedial measures and avoid unfortunate circumstances. With the ability to manage students, the system collects and processes images and data on student information for artificial intelligence (AI) systems to recognize when operating. The system of executive structures serves to warn when students are left in the car, in the classroom, or in the house to avoid unintended incidents or safety risks