Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter

This paper presents the design of a control model to navigate the differential mobile robot to reach the desired destination from an arbitrary initial pose. The designed model is divided into two stages: the state estimation and the stabilization control. In the state estimation, an extended Kalman filter is employed to optimally combine the information from the system dynamics and measurements. Two Lyapunov functions are constructed that allow a hybrid feedback control law to execute the robot movements. The asymptotical stability and robustness of the closed loop system are assured. Simulations and experiments are carried out to validate the effectiveness and applicability of the proposed approach.Comment: arXiv admin note: text overlap with arXiv:1611.07112, arXiv:1611.0711

Extensive ethnolinguistic diversity in Vietnam reflects multiple sources of genetic diversity

Vietnam features extensive ethnolinguistic diversity and occupies a key position in Mainland Southeast Asia (MSEA). Yet, the genetic diversity of Vietnam remains relatively unexplored, especially with genome-wide data, because previous studies have focused mainly on the majority Kinh group. Here we analyze newly-generated genome-wide SNP data for the Kinh and 21 additional ethnic groups in Vietnam, encompassing all five major language families in MSEA. In addition to analyzing the allele and haplotype sharing within the Vietnamese groups, we incorporate published data from both nearby modern populations and ancient samples for comparison. In contrast to previous studies that suggested a largely indigenous origin for Vietnamese genetic diversity, we find that Vietnamese ethnolinguistic groups harbor multiple sources of genetic diversity that likely reflect different sources for the ancestry associated with each language family. However, linguistic diversity does not completely match genetic diversity: there have been extensive interactions between the Hmong-Mien and Tai-Kadai groups; different Austro-Asiatic groups show different affinities with other ethnolinguistic groups; and we identified a likely case of cultural diffusion in which some Austro-Asiatic groups shifted to Austronesian languages during the past 2,500 years. Overall, our results highlight the importance of genome-wide data from dense sampling of ethnolinguistic groups in providing new insights into the genetic diversity and history of an ethnolinguistically-diverse region, such as Vietnam

The paternal and maternal genetic history of Vietnamese populations

Vietnam exhibits great cultural and linguistic diversity, yet the genetic history of Vietnamese populations remains poorly understood. Previous studies focused mostly on the majority Kinh group, and thus the genetic diversity of the many other groups has not yet been investigated. Here we analyze complete mtDNA genome sequences and ~2.3 Mb sequences of the male-specific portion of the Y chromosome from the Kinh and 16 minority populations, encompassing all five language families present in Vietnam. We find highly variable levels of diversity within and between groups that do not correlate with either geography or language family. In particular, the Mang and Sila have undergone recent, independent bottlenecks, while the majority group, Kinh, exhibits low levels of differentiation with other groups. The two Austronesian-speaking groups, Giarai and Ede, show a potential impact of matrilocality on their patterns of variation. Overall, we find that isolation, coupled with limited contact involving some groups, has been the major factor influencing the genetic structure of Vietnamese populations, and that there is substantial genetic diversity that is not represented by the Kinh

Prevalence of gestational diabetes mellitus in eastern and southeastern Asia: A systematic review and meta-analysis

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Aim. To review the prevalence of gestational diabetes mellitus (GDM) in Eastern and Southeastern Asia. Methods. We systematically searched for observational studies on GDM prevalence from January 2000 to December 2016. Inclusion criteria were original English papers, with full texts published in peer-reviewed journals. The quality of included studies was evaluated using the guidelines of the National Health and Medical Research Council, Australia. Fixed effects and random effects models were used to estimate the summary prevalence of GDM and the corresponding 95% confidence intervals (CI). Results. A total of 4415 papers were screened, and 48 studies with 63 GDM prevalence observations were included in the final review. The pooled prevalence of GDM was 10.1% (95% CI: 6.5%–15.7%), despite substantial variations across nations. The prevalence of GDM in lower- or upper-middle income countries was about 64% higher than in their high-income counterparts. Moreover, the one-step screening method was twice more likely to be used in diagnosing GDM when compared to the two-step screening procedure. Conclusions. The prevalence of GDM in Eastern and Southeastern Asia was high and varied among and within countries. There is a need for international uniformity in screening strategies and diagnostic criteria for GDM

Maximal LpL^p-regularity for stochastic evolution equations

We prove maximal $L^p$-regularity for the stochastic evolution equation \{{aligned} dU(t) + A U(t)\, dt& = F(t,U(t))\,dt + B(t,U(t))\,dW_H(t), \qquad t\in [0,T], U(0) & = u_0, {aligned}. under the assumption that $A$ is a sectorial operator with a bounded $H^\infty$-calculus of angle less than $\frac12\pi$ on a space $L^q(\mathcal{O},\mu)$. The driving process $W_H$ is a cylindrical Brownian motion in an abstract Hilbert space $H$. For $p\in (2,\infty)$ and $q\in [2,\infty)$ and initial conditions $u_0$ in the real interpolation space \XAp we prove existence of unique strong solution with trajectories in L^p(0,T;\Dom(A))\cap C([0,T];\XAp), provided the non-linearities F:[0,T]\times \Dom(A)\to L^q(\mathcal{O},\mu) and B:[0,T]\times \Dom(A) \to \g(H,\Dom(A^{\frac12})) are of linear growth and Lipschitz continuous in their second variables with small enough Lipschitz constants. Extensions to the case where $A$ is an adapted operator-valued process are considered as well. Various applications to stochastic partial differential equations are worked out in detail. These include higher-order and time-dependent parabolic equations and the Navier-Stokes equation on a smooth bounded domain \OO\subseteq \R^d with $d\ge 2$. For the latter, the existence of a unique strong local solution with values in (H^{1,q}(\OO))^d is shown.Comment: Accepted for publication in SIAM Journal on Mathematical Analysi

A Big Data Smart Agricultural System: Recommending Optimum Fertilisers For Crops

Nutrients are important to promote plant growth and nutrient deficiency is the primary factor limiting crop production. However, excess fertilisers can also have a negative impact on crop quality and yield, cause an increase in pollution and decrease producer profit. Hence, determining the suitable quantities of fertiliser for every crop is very useful. Currently, the agricultural systems with internet of things make very large data volumes. Exploiting agricultural Big Data will help to extract valuable information. However, designing and implementing a large scale agricultural data warehouse are very challenging. The data warehouse is a key module to build a smart crop system to make proficient agronomy recommendations. In our paper, an electronic agricultural record (EAR) is proposed to integrate many separate datasets into a unified dataset. Then, to store and manage the agricultural Big Data, we built an agricultural data warehouse based on Hive and Elasticsearch. Finally, we applied some statistical methods based on our data warehouse to extract fertiliser information such as a case study. These statistical methods propose the recommended quantities of fertiliser components across a wide range of environmental and crop management conditions, such as nitrogen (N), phosphorus (P) and potassium (K) for the top ten most popular crops in EU

Maximum nullity and zero forcing of circulant graphs

The zero forcing number of a graph has been applied to communication complexity, electrical powergrid monitoring, and some inverse eigenvalue problems. It is well-known that the zero forcing number of agraph provides a lower bound on the minimum rank of a graph. In this paper we bound and characterizethe zero forcing number of various circulant graphs, including families of bipartite circulants, as well as allcubic circulants. We extend the de nition of the Möbius ladder to a type of torus product to obtain boundson the minimum rank and the maximum nullity on these products. We obtain equality for torus products byemploying orthogonal Hankel matrices. In fact, in every circulant graph for which we have determined thesenumbers, the maximum nullity equals the zero forcing number. It is an open question whether this holds forall circulant graphs

Low dietary intakes of essential nutrients during pregnancy in Vietnam

Inadequate intake of nutrients during pregnancy has been associated with poor pregnancy and infant outcomes; however, evidence remains limited in low-resource settings in Asia. This paper assessed food, macronutrient, and micronutrient intakes among 1944 Vietnamese pregnant women. Dietary information was collected via an interviewer-administered food frequency questionnaire, and nutrient intakes were estimated using the Vietnamese food composition tables. The levels of nutrient intakes were evaluated against the Vietnamese recommended nutrient intakes (RNI) for pregnancy. The diet profiles were reported as means and percentages. The average daily food intakes across socio-demographic factors were compared using ANOVA, with adjustment for multiple comparisons by the Tukey–Kramer test. Rice, fruits, and vegetables were the main food sources consumed. The mean energy intake was 2004 kcal/day with 15.9%, 31.8%, and 52.2% of energy deriving from proteins, fats, and carbohydrates, respectively. Just over half of the women did not meet the RNI for total energy intake. The intakes of essential micronutrients including folate, calcium, iron, and zinc were below the RNI, and almost all pregnant women failed to meet the recommendations for these micronutrients. The associations of maternal age, education, and pre-pregnancy body mass index with nutrient intakes varied across the nutrient subgroups. Targeted programs are needed to improve nutrient intakes in Vietnamese pregnant women

The Taurus Boundary of Stellar/Substellar (TBOSS) Survey II. Disk Masses from ALMA Continuum Observations

We report 885$\mu$m ALMA continuum flux densities for 24 Taurus members spanning the stellar/substellar boundary, with spectral types from M4 to M7.75. Of the 24 systems, 22 are detected at levels ranging from 1.0-55.6 mJy. The two non-detections are transition disks, though other transition disks in the sample are detected. Converting ALMA continuum measurements to masses using standard scaling laws and radiative transfer modeling yields dust mass estimates ranging from $\sim$0.3-20M$_{\oplus}$. The dust mass shows a declining trend with central object mass when combined with results from submillimeter surveys of more massive Taurus members. The substellar disks appear as part of a continuous sequence and not a distinct population. Compared to older Upper Sco members with similar masses across the substellar limit, the Taurus disks are brighter and more massive. Both Taurus and Upper Sco populations are consistent with an approximately linear relationship in $M_{dust}$ to $M_{star}$, although derived power-law slopes depend strongly upon choices of stellar evolutionary model and dust temperature relation. The median disk around early M-stars in Taurus contains a comparable amount of mass in small solids as the average amount of heavy elements in Kepler planetary systems on short-period orbits around M-dwarf stars, with an order of magnitude spread in disk dust mass about the median value. Assuming a gas:dust ratio of 100:1, only a small number of low-mass stars and brown dwarfs have a total disk mass amenable to giant planet formation, consistent with the low frequency of giant planets orbiting M-dwarfs.Comment: 41 pages and 32 figures, with all tables and appendices presented here in their entirety. Accepted for publication in AJ (November 26, 2017