Integration of Real-Time Semantic Building Map Updating with Adaptive Monte Carlo Localization (AMCL) for Robust Indoor Mobile Robot Localization

A robot can accurately localize itself and navigate in an indoor environment based on information about the operating environment, often called a world or a map. While typical maps describe structural layouts of buildings, the accuracy of localization is significantly affected by non-structural building elements and common items, such as doors, appliances, and furniture. This study enhances the robustness and accuracy of indoor robot localization by dynamically updating the semantic building map with non-structural elements detected by sensors. We propose modified Adaptive Monte Carlo Localization (AMCL), integrating object recognition and map updating into the traditional probabilistic localization. With the proposed approach, a robot can automatically correct errors caused by non-structural elements by updating a semantic building map reflecting the current state of the environment. Evaluations in kidnapped robot and traditional localization scenarios indicate that more accurate and robust pose estimation can be achieved with the map updating capability

ViPER+: Vehicle Pose Estimation Using Ultra-Wideband Radios for Automated Construction Safety Monitoring

Pose estimation of heavy construction equipment is the key technology for real-time safety monitoring in road construction sites where heavy equipment and workers on foot collaborate in proximity. Ultra-wideband (UWB) radios hold great promise among various sensing technologies for providing accurate object localization in indoor and outdoor environments. However, in a road construction environment with heavy vehicles and equipment, the performance of UWB radios drastically declines because of blockages in the transmission signal between the transmitter and receiver causing Non-Line of Sight (NLOS) situations. To address this deficiency, our study presents a real-time pose estimating system called ViPER+ that can overcome NLOS situations and accurately determine the boundary of heavy construction equipment with multiple UWB tags attached to the surface of the equipment. To remove the impact of NLOS signals, we introduced an input correction method prior to localization to correct the input of the localization algorithm. Evaluation of ViPER+ in a real construction environment indicates that embedding NLOS detection technique in UWB-based pose estimation resulted in 40% improvements in location accuracy and 25% improvement in update rate compared to its previous implementation (ViPER)

African BIM Report 2020

While it may seem like the adoption of Building Information Modelling (BIM) across Africa is slow-paced, the increasing advocacy efforts from various stakeholders is now resulting in a widespread drive for implementation and deployment. Coupled with the ongoing disruption by the global COVID-19 pandemic, there is now a very high degree of the utilization of digital technologies by construction professionals. As a first of its kind across the continent, the African BIM Report was conceived to provide a continuous review of the state of implementation of BIM by the industry. The report will progressively highlight exceptional projects, industry leaders and research experts across Africa. A pan-African survey will integrate the opinion from a wider range of professionals. As a dynamic, future-focused, and thriving community, BIM Africa is well-positioned to champion the digital transformation of the built industry across Africa. Our approach covers broad industry education, extensive research, professional development and certifications, quality networking and the formulation of locally adapted standards. Our Research and Development Committee comprises of a thriving portfolio of internationally certified and brilliant academic researchers of African descent; the coming together of bright minds to impact their motherland

Management and Outcomes Following Surgery for Gastrointestinal Typhoid: An International, Prospective, Multicentre Cohort Study

Background: Gastrointestinal perforation is the most serious complication of typhoid fever, with a high disease burden in low-income countries. Reliable, prospective, contemporary surgical outcome data are scarce in these settings. This study aimed to investigate surgical outcomes following surgery for intestinal typhoid. Methods: Two multicentre, international prospective cohort studies of consecutive patients undergoing surgery for gastrointestinal typhoid perforation were conducted. Outcomes were measured at 30 days and included mortality, surgical site infection, organ space infection and reintervention rate. Multilevel logistic regression models were used to adjust for clinically plausible explanatory variables. Effect estimates are expressed as odds ratios (ORs) alongside their corresponding 95% confidence intervals. Results: A total of 88 patients across the GlobalSurg 1 and GlobalSurg 2 studies were included, from 11 countries. Children comprised 38.6% (34/88) of included patients. Most patients (87/88) had intestinal perforation. The 30-day mortality rate was 9.1% (8/88), which was higher in children (14.7 vs. 5.6%). Surgical site infection was common, at 67.0% (59/88). Organ site infection was common, with 10.2% of patients affected. An ASA grade of III and above was a strong predictor of 30-day post-operative mortality, at the univariable level and following adjustment for explanatory variables (OR 15.82, 95% CI 1.53–163.57, p = 0.021). Conclusions: With high mortality and complication rates, outcomes from surgery for intestinal typhoid remain poor. Future studies in this area should focus on sustainable interventions which can reduce perioperative morbidity. At a policy level, improving these outcomes will require both surgical and public health system advances

Global economic burden of unmet surgical need for appendicitis

Background There is a substantial gap in provision of adequate surgical care in many low- and middle-income countries. This study aimed to identify the economic burden of unmet surgical need for the common condition of appendicitis. Methods Data on the incidence of appendicitis from 170 countries and two different approaches were used to estimate numbers of patients who do not receive surgery: as a fixed proportion of the total unmet surgical need per country (approach 1); and based on country income status (approach 2). Indirect costs with current levels of access and local quality, and those if quality were at the standards of high-income countries, were estimated. A human capital approach was applied, focusing on the economic burden resulting from premature death and absenteeism. Results Excess mortality was 4185 per 100 000 cases of appendicitis using approach 1 and 3448 per 100 000 using approach 2. The economic burden of continuing current levels of access and local quality was US $92 492 million using approach 1 and$73 141 million using approach 2. The economic burden of not providing surgical care to the standards of high-income countries was $95 004 million using approach 1 and$75 666 million using approach 2. The largest share of these costs resulted from premature death (97.7 per cent) and lack of access (97.0 per cent) in contrast to lack of quality. Conclusion For a comparatively non-complex emergency condition such as appendicitis, increasing access to care should be prioritized. Although improving quality of care should not be neglected, increasing provision of care at current standards could reduce societal costs substantially

Global economic burden of unmet surgical need for appendicitis

Background There is a substantial gap in provision of adequate surgical care in many low- and middle-income countries. This study aimed to identify the economic burden of unmet surgical need for the common condition of appendicitis. Methods Data on the incidence of appendicitis from 170 countries and two different approaches were used to estimate numbers of patients who do not receive surgery: as a fixed proportion of the total unmet surgical need per country (approach 1); and based on country income status (approach 2). Indirect costs with current levels of access and local quality, and those if quality were at the standards of high-income countries, were estimated. A human capital approach was applied, focusing on the economic burden resulting from premature death and absenteeism. Results Excess mortality was 4185 per 100 000 cases of appendicitis using approach 1 and 3448 per 100 000 using approach 2. The economic burden of continuing current levels of access and local quality was US $92 492 million using approach 1 and$73 141 million using approach 2. The economic burden of not providing surgical care to the standards of high-income countries was $95 004 million using approach 1 and$75 666 million using approach 2. The largest share of these costs resulted from premature death (97.7 per cent) and lack of access (97.0 per cent) in contrast to lack of quality. Conclusion For a comparatively non-complex emergency condition such as appendicitis, increasing access to care should be prioritized. Although improving quality of care should not be neglected, increasing provision of care at current standards could reduce societal costs substantially