Soft Robotic Link with Controllable Transparency for Vision-based Tactile and Proximity Sensing

Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal sensing/perception, so that the robots could have better awareness of the surrounding environment, as well as to respond properly to humans' action/intention. This paper introduces a novel soft robotic link, named ProTac, that possesses multiple sensing modes: tactile and proximity sensing, based on computer vision and a functional material. These modalities come from a layered structure of a soft transparent silicon skin, a polymer dispersed liquid crystal (PDLC) film, and reflective markers. Here, the PDLC film can switch actively between the opaque and the transparent state, from which the tactile sensing and proximity sensing can be obtained by using cameras solely built inside the ProTac link. In this paper, inference algorithms for tactile proximity perception are introduced. Evaluation results of two sensing modalities demonstrated that, with a simple activation strategy, ProTac link could effectively perceive useful information from both approaching and in-contact obstacles. The proposed sensing device is expected to bring in ultimate solutions for design of robots with softness, whole-body and multimodal sensing, and safety control strategies.Comment: Submitted to RoboSoft 2023 for review. Final content subjected to chang

Network-Aided Intelligent Traffic Steering in 6G O-RAN: A Multi-Layer Optimization Framework

To enable an intelligent, programmable and multi-vendor radio access network (RAN) for 6G networks, considerable efforts have been made in standardization and development of open RAN (O-RAN). So far, however, the applicability of O-RAN in controlling and optimizing RAN functions has not been widely investigated. In this paper, we jointly optimize the flow-split distribution, congestion control and scheduling (JFCS) to enable an intelligent traffic steering application in O-RAN. Combining tools from network utility maximization and stochastic optimization, we introduce a multi-layer optimization framework that provides fast convergence, long-term utility-optimality and significant delay reduction compared to the state-of-the-art and baseline RAN approaches. Our main contributions are three-fold: i) we propose the novel JFCS framework to efficiently and adaptively direct traffic to appropriate radio units; ii) we develop low-complexity algorithms based on the reinforcement learning, inner approximation and bisection search methods to effectively solve the JFCS problem in different time scales; and iii) the rigorous theoretical performance results are analyzed to show that there exists a scaling factor to improve the tradeoff between delay and utility-optimization. Collectively, the insights in this work will open the door towards fully automated networks with enhanced control and flexibility. Numerical results are provided to demonstrate the effectiveness of the proposed algorithms in terms of the convergence rate, long-term utility-optimality and delay reduction.Comment: 15 pages, 10 figures. A short version will be submitted to IEEE GLOBECOM 202

Vietnamese people’s well-being during the COVID- 19 pandemic: an online survey

Background: The COVID-19 pandemic, alongside the restrictive measures implemented for its control, may considerably affect people’s lives particularly vulnerable persons such as children, elderly and people with underlying diseases. This study aimed to assess the well-being of Vietnamese people after COVID-19 lockdown measures were lifted and life gradually returned to normal in Vietnam. Methods: An online survey was organized from 21 st to 25 th April 2020 among Vietnamese residents aged 18 and over. Data were collected concerning the participants’ health status, COVID-19 preventive behaviour, and consequences of the preventive measures. The WHO-5 Well-Being Index was used to score participants’ well-being. Results: A total of 1922 responses were analyzed (mean age was 31 years; range: 18-76). Factors associated with a high well-being score included older age, eating healthy food, practising physical exercise, working from home, and adherence to the COVID-19 preventive measures. Female participants, persons worried about their relatives’ health, and smokers were more likely to have a low well-being score. Conclusions: The Vietnamese people continued to follow COVID-19 preventive measures even after the lockdown was lifted. Most respondents scored high on the well-being scale. However, the emergence of a new COVID-19 outbreak with an epicenter in Da Nang city is expected to increase public anxiety and mental health problems. It is clear that together with preventive measures, developing strategies to guarantee the well-being of the Vietnamese people’s is equally important

A long range, energy efficient internet of things based drought monitoring system

The climate change and global warning have been appeared as an emerging issue in recent decades. In which, the drought problem has been influenced on economics and life condition in Vietnam. In order to solve this problem, in this paper, we have designed and deployed a long range and energy efficient drought monitoring based on IoT (Internet of Things) for real time applications. After being tested in the real condition, the proposed system has proved its high dependability and effectiveness. The system is promising to become a potential candidate to solve the drought problem in Vietnam

Biocompatible chitosan-functionalized upconverting nanocomposites

Simultaneous integration of photon emission and biocompatibility into nanoparticles is an interesting strategy to develop applications of advanced optical materials. In this work, we present the synthesis of biocompatible optical nanocomposites from the combination of near-infrared luminescent lanthanide nanoparticles and water-soluble chitosan. NaYF4:Yb,Er upconverting nanocrystal guests and water-soluble chitosan hosts are prepared and integrated together into biofunctional optical composites. The control of aqueous dissolution, gelation, assembly, and drying of NaYF4:Yb,Er nanocolloids and chitosan liquids allowed us to design novel optical structures of spongelike aerogels and beadlike microspheres. Well-defined shape and near-infrared response lead upconverting nanocrystals to serve as photon converters to couple with plasmonic gold (Au) nanoparticles. Biocompatible chitosan-stabilized Au/NaYF4:Yb,Er nanocomposites are prepared to show their potential use in biomedicine as we find them exhibiting a half-maximal effective concentration (EC50) of 0.58 mg mL–1 for chitosan-stabilized Au/NaYF4:Yb,Er nanorods versus 0.24 mg mL–1 for chitosan-stabilized NaYF4:Yb,Er after 24 h. As a result of their low cytotoxicity and upconverting response, these novel materials hold promise to be interesting for biomedicine, analytical sensing, and other applications

Prevalence and Associated Factors of Erectile Dysfunction among Married Men in Vietnam

BackgroundSexuality is an essential part of life; however, erectile dysfunction (ED) has been one of the most common complaints among men with sexual health issues all over the world. ED includes dysfunction in erection and penile erectile pain. In Vietnam, ED is a subject a not readily discussed. Thus, relatively little is known about ED among Vietnamese men.AimsTo identify the prevalence of ED and its associated variables and the need for treatment of ED among married men in Vietnam.MethodsThis was a cross-sectional study. A total sample size included 746 married men, aged 20–60 years, living in four representative wards of the Hue City and randomly selected by systematic sampling methods. Respondents completed a self-reported questionnaire. The International Index of Erectile Function (IIEF-5) scale was used to determine ED severity, and the Depression Anxiety Stress Scales (DASS-21) was used to measure depression, anxiety, and stress. Quality of life was assessed using the WHO Quality of Life score (WHOQoL). A multivariate logistic regression model was used to determine the relationships between independent variables and ED.ResultsMean age of married men was 44.3 ± 8.7. Two-thirds (66.9%) of respondents experienced ED symptoms. In terms of severity, 40.8% reported mild ED; 20.3% mild–moderate ED; 5.0% moderate ED; and 0.8% severe ED. Depression, anxiety, and stress problems were 5.0, 3.6, and 2.8%, respectively. One-third (33.1%) of the respondents reported having low quality of life, and 32.6% reported having medium quality of life. The vast majority (86.9%) had consensual sex with their wives/partners. Variables associated with increased IIEF-5 score were increased WHOQoL score, increased body mass index (BMI), religion, and no consumption of alcohol. Increasing age, disease history, increased anxiety, and no consensual sex with their wife/partner were associated with a lower IIEF-5 score. If experiencing ED, 55.5% would seek help from medical doctors, 55.1% discussed it with their wives/partners, and 23.1% turned to their friends for help.ConclusionThe prevalence of ED was high, although only 5.8% experienced moderate to severe ED. The key factors associated with ED were age, religion, disease history, BMI, alcohol consumption, anxiety, quality of life, and consensual sex with their wives/partners. Sexual health education should be more specifically targeted for men, including the provision of local sexual health-care services for men

Spectral Efficiency Analysis of Hybrid Relay-Reflecting Intelligent Surface-Assisted Cell-Free Massive MIMO Systems

A cell-free (CF) massive multiple-input-multiple-output (mMIMO) system can provide uniform spectral efficiency (SE) with simple signal processing. On the other hand, a recently introduced technology called hybrid relay-reflecting intelligent surface (HR-RIS) can customize the physical propagation environment by simultaneously reflecting and amplifying radio waves in preferred directions. Thus, it is natural that incorporating HR-RIS into CF mMIMO can be a symbiotic convergence of these two technologies for future wireless communications. This motivates us to consider an HR-RIS-aided CF mMIMO system to utilize their combined benefits. We first model the uplink/downlink channels and derive the minimum-mean-square-error estimate of the effective channels. We then present a comprehensive analysis of SE performance of the considered system. Specifically, we derive closed-form expressions for the uplink and downlink SE. The results reveal important observations on the performance gains achieved by HR-RISs compared to conventional systems. The presented analytical results are also valid for conventional CF mMIMO systems and those aided by passive reconfigurable intelligent surfaces. Such results play an important role in designing new transmission strategies and optimizing HR-RIS-aided CF mMIMO systems. Finally, we provide extensive numerical results to verify the analytical derivations and the effectiveness of the proposed system design under various settings

Network-Aided Intelligent Traffic Steering in 6G O-RAN: A Multi-Layer Optimization Framework

peer reviewedTo enable an intelligent, programmable and multi-vendor radio access network (RAN) for 6G networks, considerable efforts have been made in standardization and development of open RAN (O-RAN). So far, however, the applicability of O-RAN in controlling and optimizing RAN functions has not been widely investigated. In this paper, we jointly optimize the flow-split distribution, congestion control and scheduling (JFCS) to enable an intelligent traffic steering application in O-RAN. Combining tools from network utility maximization and stochastic optimization, we introduce a multi-layer optimization framework that provides fast convergence, long-term utility-optimality and significant delay reduction compared to the state-of-the-art and baseline RAN approaches. Our main contributions are three-fold: i ) we propose the novel JFCS framework to efficiently and adaptively direct traffic to appropriate radio units; ii ) we develop low-complexity algorithms based on the reinforcement learning, inner approximation and bisection search methods to effectively solve the JFCS problem in different time scales; and iii ) the rigorous theoretical performance results are analyzed to show that there exists a scaling factor to improve the tradeoff between delay and utility-optimization. Collectively, the insights in this work will open the door towards fully automated networks with enhanced control and flexibility. Numerical results are provided to demonstrate the effectiveness of the proposed algorithms in terms of the convergence rate, long-term utility-optimality and delay reduction

ĐẶC ĐIỂM SINH HỌC SINH SẢN CỦA NGÁN (AUSTRIELLA CORRUGATA) TẠI VÙNG TRIỀU VEN BIỂN TỈNH QUẢNG NINH

360 samples of mud clam (Austriella corrugata) were collected in the intertidal zone of Quang Ninh province city from January 2015 to December 2015 for this study. The results showed that the gonad of female is black, that of male is milky white. The spawning season is from mid April to early September and the peak of spawning occurs from early June to early August. In spawning season, ratio of male/female is toward balance. In other months, rate of male is dominant in the population. Hermaphroditism occurs in the mud clam with a small percentage (from 3.3% to 10%) in the breeding season, in group with size of more than 40 mm. The length of mud clam at first sexual maturity is over 30 mm and the weight is over 20 g. The average absolute fecundity (Fa) is 960,680 eggs/individual. Development of mud clam larvae goes through main stages: Veliger, Umbo and Spat. Our findings contribute information to the planning of the artificial seed production, conservation and sustainable development of mud clam native resource.Kết quả phân tích 360 mẫu ngán (A. corrugata) thu tại các khu vực nơi có ngán phân bố thuộc vùng triều ven biển tỉnh Quảng Ninh từ tháng 1/2015 đến tháng 12/2015 cho thấy: Tuyến sinh dục ngán đực có màu trắng sữa, ngán cái có màu đen thẫm. Mùa vụ sinh sản của ngán hàng năm được xác định từ giữa tháng 4 đến đầu tháng 9, mùa sinh sản tập trung từ đầu tháng 6 đến đầu tháng 8. Ở các tháng tromg năm, tỷ lệ con đực luôn chiếm ưu thế so với con cái trong quần đàn ngán. Vào mùa sinh sản tỷ lệ đực cái cân bằng. Ngán lưỡng tính xuất hiện với tỷ lệ nhỏ (3,3 - 10%) vào mùa sinh sản và ở nhóm kích thước lớn hơn 40 mm. Ngán thành thục sinh dục lần đầu khi chiều dài đạt trên 30 mm, khối lượng trên 20 g. Sức sinh sản tuyệt đối giao động từ 340.690  - 2.090.000 trứng/cá thể, trung bình đạt 960.680 trứng/cá thể. Ấu trùng của ngán phát triển trải qua các giai đoạn chính: Ấu trùng chữ D, ấu trùng đỉnh vỏ và ấu trùng chân bò. Sau đó, ngán phát triển thành con non. Kết quả nghiên cứu góp phần cung cấp cơ sở khoa học cho việc xây dựng kế hoạch sản xuất giống nhân tạo, bảo vệ và phát triển bền vững nguồn lợi ngán tại địa phương