Robust adaptive controller for wheel mobile robot with disturbances and wheel slips

In this paper an observer based adaptive control algorithm is built for wheel mobile robot (WMR) with considering the system uncertainties, input disturbances, and wheel slips. Firstly, the model of the kinematic and dynamic loops is shown with presence of the disturbances and system uncertainties. Next, the adaptive controller for nonlinear mismatched disturbance systems based on the disturbances observer is presented in detail. The controller includes two parts, the first one is for the stability purpose and the later is for the disturbances compensation. After that this control scheme is applied for both two loops of the system. In this paper, the stability of the closed system which consists of two control loops and the convergence of the observers is mathematically analysed based on the Lyapunov theory. Moreover, the proposed model does not require the complex calculation so it is easy for the implementation. Finally, the simulation model is built for presented method and the existed one to verify the correctness and the effectiveness of the proposed scheme. The simulation results show that the introduced controller gives the good performances even that the desired trajectory is complicated and the working condition is hard

Factors influencing performance of public hospitals: The case of Vietnam

This paper presents an empirical investigation to identify the effects of different factors on the performance of North western public hospitals in Vietnam. Data were collected by using questionnaire delivered to 426 participants drawing from 42 public hospitals in the Northwest provinces of Vietnam. The study used correlation regression to determine the effects of different factors on the performance of the hospitals. The study used balanced score card method to study the effects of non-financial along with financial factors on the performance of the hospitals. The results show that financial figures were the most important factors influencing on the performance of the hospitals followed by customer, mission, internal process, training and staff development. Based on the research results, some key recommendations were proposed aiming to improve the performance of the public hospitals in Vietnam

CSA: Thực hành nông nghiệp thông minh với khí hậu ở Việt Nam

During the last five years, Vietnam has been one of the countries most affected by climate change. Severe typhoons, flooding, cold spells, salinity intrusion, and drought have affected agriculture production across the country, from upland to lowland regions. Fortunately for Vietnam, continuous work in developing climate-smart agriculture has been occurring in research organizations and among innovative farmers and entrepreneurs. Application of various CSA practices and technologies to adapt to the impact of climate change in agriculture production have been expanding. However, there is a need to accelerate the scaling process of these practices and technologies in order to ensure growth of agriculture production and food security, increase income of farmers, make farming climate resilient, and contribute to global climate change mitigation. This book aims to provide basic information to researchers, managers, and technicians and extentionists at different levels on what CSA practices and technologies can be up scaled in different locations in Vietnam

Village Baseline Study – Site Analysis Report Ma village-Yen Binh district, Vietnam

Ma village, Vinh Kien commune, Yen Binh district, Yen Bai province has been selected to be one of Climate Smart Villages (CSVs) under the CGIAR Research Program on Climate Change, Agriculture and Food Security (CCAFS) in Southeast Asia. The village baseline survey (VBS) of Ma village, was therefore conducted as part of the baseline effort. This VBS aimed to provide baseline information at the village level about some basic indicators of natural resource utilization, organizational landscapes, and information networks for weather and agricultural information, which can be compared across sites and monitored over time. The study was conducted using the method developed and provided by CCAFS. The study’s findings show that Ma Village is rich and diverse in natural resources. There are three main resources of vital importance for the local people livelihoods, namely farmland, forest and water resources. However, improper exploitation and management have caused negative impacts on these resources. As mentioned by farmers, in the past, farmland of the village used to be very fertile, but has now become severely degraded due to overexploitation and improper management. Regarding forest resources: before 1980s, natural forests existed in large areas and consisted of valuable timber and wild animals. Today, much of the forest area has been converted to production forests or to food crop production land. Water resources, including lakes, rivers and streams have been severely polluted with pollutants from processing cassava, wood and also from animal husbandry and crop production. Degradation of water, farmland and forest resources are causing increasing challenges to agricultural production and also to other human activities. Results of farmer group discussions also demonstrate that there are 34 organizations operating in the village. Most of them are governmental. Very few are private or non-governmental organizations. The number of organizations involving in food security accounts for nearly 50%, the figure for those involving food crisis is 41.6% and in natural resources management is 25%. Those organizations working in food security and food crisis focus mainly on providing support (financial, seed and agricultural inputs) to local farmers to implement some production activities. Insufficient attention and input spent for sustainable development by these 34 organizations, especially those working in the area of natural resources management, could be one of the main reasons for the degradation and erosion of natural resources. There was no activity supporting Ma Village to develop production systems which can respond well to climate change. The study findings however show that local people are very flexible and creative, especially in exploitation of information. Among media channels, television is the most popular. Nevertheless, organizations, in particular, extension networks, Farmers’ Union, local authorities, etc., also have an important role in information dissemination. Exploitation of information from the internet and mobile phones has also been given attention, but mostly by young people only

Height and body-mass index trajectories of school-aged children and adolescents from 1985 to 2019 in 200 countries and territories: a pooled analysis of 2181 population-based studies with 65 million participants

Summary Background Comparable global data on health and nutrition of school-aged children and adolescents are scarce. We aimed to estimate age trajectories and time trends in mean height and mean body-mass index (BMI), which measures weight gain beyond what is expected from height gain, for school-aged children and adolescents. Methods For this pooled analysis, we used a database of cardiometabolic risk factors collated by the Non-Communicable Disease Risk Factor Collaboration. We applied a Bayesian hierarchical model to estimate trends from 1985 to 2019 in mean height and mean BMI in 1-year age groups for ages 5–19 years. The model allowed for non-linear changes over time in mean height and mean BMI and for non-linear changes with age of children and adolescents, including periods of rapid growth during adolescence. Findings We pooled data from 2181 population-based studies, with measurements of height and weight in 65 million participants in 200 countries and territories. In 2019, we estimated a difference of 20 cm or higher in mean height of 19-year-old adolescents between countries with the tallest populations (the Netherlands, Montenegro, Estonia, and Bosnia and Herzegovina for boys; and the Netherlands, Montenegro, Denmark, and Iceland for girls) and those with the shortest populations (Timor-Leste, Laos, Solomon Islands, and Papua New Guinea for boys; and Guatemala, Bangladesh, Nepal, and Timor-Leste for girls). In the same year, the difference between the highest mean BMI (in Pacific island countries, Kuwait, Bahrain, The Bahamas, Chile, the USA, and New Zealand for both boys and girls and in South Africa for girls) and lowest mean BMI (in India, Bangladesh, Timor-Leste, Ethiopia, and Chad for boys and girls; and in Japan and Romania for girls) was approximately 9–10 kg/m2. In some countries, children aged 5 years started with healthier height or BMI than the global median and, in some cases, as healthy as the best performing countries, but they became progressively less healthy compared with their comparators as they grew older by not growing as tall (eg, boys in Austria and Barbados, and girls in Belgium and Puerto Rico) or gaining too much weight for their height (eg, girls and boys in Kuwait, Bahrain, Fiji, Jamaica, and Mexico; and girls in South Africa and New Zealand). In other countries, growing children overtook the height of their comparators (eg, Latvia, Czech Republic, Morocco, and Iran) or curbed their weight gain (eg, Italy, France, and Croatia) in late childhood and adolescence. When changes in both height and BMI were considered, girls in South Korea, Vietnam, Saudi Arabia, Turkey, and some central Asian countries (eg, Armenia and Azerbaijan), and boys in central and western Europe (eg, Portugal, Denmark, Poland, and Montenegro) had the healthiest changes in anthropometric status over the past 3·5 decades because, compared with children and adolescents in other countries, they had a much larger gain in height than they did in BMI. The unhealthiest changes—gaining too little height, too much weight for their height compared with children in other countries, or both—occurred in many countries in sub-Saharan Africa, New Zealand, and the USA for boys and girls; in Malaysia and some Pacific island nations for boys; and in Mexico for girls. Interpretation The height and BMI trajectories over age and time of school-aged children and adolescents are highly variable across countries, which indicates heterogeneous nutritional quality and lifelong health advantages and risks

Socializing One Health: an innovative strategy to investigate social and behavioral risks of emerging viral threats

In an effort to strengthen global capacity to prevent, detect, and control infectious diseases in animals and people, the United States Agency for International Development’s (USAID) Emerging Pandemic Threats (EPT) PREDICT project funded development of regional, national, and local One Health capacities for early disease detection, rapid response, disease control, and risk reduction. From the outset, the EPT approach was inclusive of social science research methods designed to understand the contexts and behaviors of communities living and working at human-animal-environment interfaces considered high-risk for virus emergence. Using qualitative and quantitative approaches, PREDICT behavioral research aimed to identify and assess a range of socio-cultural behaviors that could be influential in zoonotic disease emergence, amplification, and transmission. This broad approach to behavioral risk characterization enabled us to identify and characterize human activities that could be linked to the transmission dynamics of new and emerging viruses. This paper provides a discussion of implementation of a social science approach within a zoonotic surveillance framework. We conducted in-depth ethnographic interviews and focus groups to better understand the individual- and community-level knowledge, attitudes, and practices that potentially put participants at risk for zoonotic disease transmission from the animals they live and work with, across 6 interface domains. When we asked highly-exposed individuals (ie. bushmeat hunters, wildlife or guano farmers) about the risk they perceived in their occupational activities, most did not perceive it to be risky, whether because it was normalized by years (or generations) of doing such an activity, or due to lack of information about potential risks. Integrating the social sciences allows investigations of the specific human activities that are hypothesized to drive disease emergence, amplification, and transmission, in order to better substantiate behavioral disease drivers, along with the social dimensions of infection and transmission dynamics. Understanding these dynamics is critical to achieving health security--the protection from threats to health-- which requires investments in both collective and individual health security. Involving behavioral sciences into zoonotic disease surveillance allowed us to push toward fuller community integration and engagement and toward dialogue and implementation of recommendations for disease prevention and improved health security

Extracorporeal Membrane Oxygenation for Severe Acute Respiratory Distress Syndrome associated with COVID-19: An Emulated Target Trial Analysis.

RATIONALE: Whether COVID patients may benefit from extracorporeal membrane oxygenation (ECMO) compared with conventional invasive mechanical ventilation (IMV) remains unknown. OBJECTIVES: To estimate the effect of ECMO on 90-Day mortality vs IMV only Methods: Among 4,244 critically ill adult patients with COVID-19 included in a multicenter cohort study, we emulated a target trial comparing the treatment strategies of initiating ECMO vs. no ECMO within 7 days of IMV in patients with severe acute respiratory distress syndrome (PaO2/FiO2 <80 or PaCO2 ≥60 mmHg). We controlled for confounding using a multivariable Cox model based on predefined variables. MAIN RESULTS: 1,235 patients met the full eligibility criteria for the emulated trial, among whom 164 patients initiated ECMO. The ECMO strategy had a higher survival probability at Day-7 from the onset of eligibility criteria (87% vs 83%, risk difference: 4%, 95% CI 0;9%) which decreased during follow-up (survival at Day-90: 63% vs 65%, risk difference: -2%, 95% CI -10;5%). However, ECMO was associated with higher survival when performed in high-volume ECMO centers or in regions where a specific ECMO network organization was set up to handle high demand, and when initiated within the first 4 days of MV and in profoundly hypoxemic patients. CONCLUSIONS: In an emulated trial based on a nationwide COVID-19 cohort, we found differential survival over time of an ECMO compared with a no-ECMO strategy. However, ECMO was consistently associated with better outcomes when performed in high-volume centers and in regions with ECMO capacities specifically organized to handle high demand. This article is open access and distributed under the terms of the Creative Commons Attribution Non-Commercial No Derivatives License 4.0 (http://creativecommons.org/licenses/by-nc-nd/4.0/)