Curb-intersection feature based Monte Carlo Localization on urban roads

One of the most prominent features on an urban road is the curb, which defines the boundary of a road surface. An intersection is a junction of two or more roads, appearing where no curb exists. The combination of curb and intersection features and their idiosyncrasies carry significant information about the urban road network that can be exploited to improve a vehicle's localization. This paper introduces a Monte Carlo Localization (MCL) method using the curb-intersection features on urban roads. We propose a novel idea of “Virtual LIDAR” to get the measurement models for these features. Under the MCL framework, above road observation is fused with odometry information, which is able to yield precise localization. We implement the system using a single tilted 2D LIDAR on our autonomous test bed and show robust performance in the presence of occlusion from other vehicles and pedestrians

Curb-intersection feature based Monte Carlo Localization on urban roads

One of the most prominent features on an urban road is the curb, which defines the boundary of a road surface. An intersection is a junction of two or more roads, appearing where no curb exists. The combination of curb and intersection features and their idiosyncrasies carry significant information about the urban road network that can be exploited to improve a vehicle's localization. This paper introduces a Monte Carlo Localization (MCL) method using the curb-intersection features on urban roads. We propose a novel idea of “Virtual LIDAR” to get the measurement models for these features. Under the MCL framework, above road observation is fused with odometry information, which is able to yield precise localization. We implement the system using a single tilted 2D LIDAR on our autonomous test bed and show robust performance in the presence of occlusion from other vehicles and pedestrians

Dynamic mechanical analysis and morphology of petroleum-based and bio-epoxy foams with wood filler

Current challenges highlight the need for polymer research using renewable natural sources as a substitute for petroleum-based polymers. In this study, consequently, the fabrication of green polyurethane (PU) foams and its composites is to be demonstrated dependent on synthesis in the laboratory scale of hydroxylated bio-epoxy (B) and petroleum-based synthetic-epoxy (E), crosslinker and wood fillers. Polyurethane foams were modified with two type of wood fiber fillers, powder (P) and flakes (L) with specific percentage ratios of 0, 5, 10, 15 and 20 %wt. Bio-epoxy (B) and synthetic-epoxy (E) foam and its composite were exposed to UV irradiation for a period of 2000 hours and 4000 hours by UV Whetherometer apparatus. The morphology structure and viscoelastic properties such as storage modulus, E', damping behavior, ta

Targeted Skipping of Human Dystrophin Exons in Transgenic Mouse Model Systemically for Antisense Drug Development

Antisense therapy has recently been demonstrated with great potential for targeted exon skipping and restoration of dystrophin production in cultured muscle cells and in muscles of Duchenne Muscular Dystrophy (DMD) patients. Therapeutic values of exon skipping critically depend on efficacy of the drugs, antisense oligomers (AOs). However, no animal model has been established to test AO targeting human dystrophin exon in vivo systemically. In this study, we applied Vivo-Morpholino to the hDMD/mdx mouse, a transgenic model carrying the full-length human dystrophin gene with mdx background, and achieved for the first time more than 70% efficiency of targeted human dystrophin exon skipping in vivo systemically. We also established a GFP-reporter myoblast culture to screen AOs targeting human dystrophin exon 50. Antisense efficiency for most AOs is consistent between the reporter cells, human myoblasts and in the hDMD/mdx mice in vivo. However, variation in efficiency was also clearly observed. A combination of in vitro cell culture and a Vivo-Morpholino based evaluation in vivo systemically in the hDMD/mdx mice therefore may represent a prudent approach for selecting AO drug and to meet the regulatory requirement

Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator

© Springer Nature Switzerland AG 2019. In this paper, we present a kinematic control and obstacle avoidance for the soft inflatable manipulator which combines pressure and tendons as an actuating mechanism. The position control and obstacle avoidance took inspiration from the phenomena of a magnetic field in nature. The redundancy in the manipulator combined with a planar mobile base is exploited to help the actuators stay under their maximum capability. The navigation algorithm is shown to outperform the potential-field-based navigation in its ability to smoothly and reactively avoid obstacles and reach the goal in simulation scenarios

Utilizing the infrastructure to assist autonomous vehicles in a mobility on demand context

In this paper we describe an autonomous vehicle that aims at providing shared transportation services in a mobility on demand context. As the service is limited to a known urban environment, prior knowledge of the environment can be exploited, as well as existing infrastructure sensors such as security cameras. We argue that utilizing infrastructure sensors yields greater safety of operation and allows reduction in the number of sensors required on-board, hereby reducing the cost of the vehicle. We describe the role that infrastructure sensors can play and show the resulting improved performances of the system, supported by simulation and field experiment results

"Of Mice and Measures": A Project to Improve How We Advance Duchenne Muscular Dystrophy Therapies to the Clinic

A new line of dystrophic mdx mice on the DBA/2J (D2) background has emerged as a candidate to study the efficacy of therapeutic approaches for Duchenne muscular dystrophy (DMD). These mice harbor genetic polymorphisms that appear to increase the severity of the dystropathology, with disease modifiers that also occur in DMD patients, making them attractive for efficacy studies and drug development. This workshop aimed at collecting and consolidating available data on the pathological features and the natural history of these new D2/mdx mice, for comparison with classic mdx mice and controls, and to identify gaps in information and their potential value. The overall aim is to establish guidance on how to best use the D2/mdx mouse model in preclinical studies

Autonomous personal vehicle for the first- and last-mile transportation services

This paper describes an autonomous vehicle testbed that aims at providing the first- and last- mile transportation services. The vehicle mainly operates in a crowded urban environment whose features can be extracted a priori. To ensure that the system is economically feasible, we take a minimalistic approach and exploit prior knowledge of the environment and the availability of the existing infrastructure such as cellular networks and traffic cameras. We present three main components of the system: pedestrian detection, localization (even in the presence of tall buildings) and navigation. The performance of each component is evaluated. Finally, we describe the role of the existing infrastructural sensors and show the improved performance of the system when they are utilized

Color-accurate underwater imaging using perceptual adaptive illumination

Capturing color in water is challenging due to the heavy non-uniform attenuation of light in water across the visible spectrum, which results in dramatic hue shifts toward blue. Yet observing color in water is important for monitoring and surveillance as well as marine biology studies related to species identification, individual and group behavior, and ecosystem health and activity monitoring. Underwater robots are equipped with motor control for large scale transects but they lack sensors that enable capturing color-accurate underwater images. We present a method for color-accurate imaging in water called perceptual adaptive illumination. This method dynamically mixes the illumination of an object in a distance-dependent way using a controllable multi-color light source. The color mix compensates correctly for color loss and results in an image whose color composition is equivalent to rendering the object in air. Experiments were conducted with a color palette in the pool and at three different coral reefs sites, and with an underwater robot collecting image data with the new sensor.United States. Office of Naval Research (Project N000140911051

Knowledge and attitude towards HIV/AIDS among transsexuals in Kuantan, Pahang

Introduction: Lack of knowledge and negative attitude towards HIV/AIDS may be the risk factors for HIV infection among transsexuals. Research on knowledge and attitude towards HIV infection in transsexual communities is very limited at both local and international levels. This study aimed to assess the knowledge and attitude towards HIV infection among the male-to-female transsexual community in Kuantan, Pahang. Methods: A cross-sectional study was carried out from July to August 2014 among 33 male-to-female transsexuals in Kuantan, Pahang. Convenience sampling was used. Participants who gave consent answered a self-administered questionnaire. Data obtained was analyzed with descriptive statistics, χ2-test, and independent sample t test. Results: The majority of the subjects in this study were 29 years and below (48.5%), Muslims (93.9%), and had completed up to secondary education (60.6%). Most of them were sex workers (60.6%), and had relatively low income (no income to RM 3000, mean of RM1528). A total of 87.9% of the subjects demonstrated good knowledge and also positive attitude towards HIV/AIDS. Level of education was significantly associated with scores in knowledge (p=0.01). Conclusions: Despite the positive outcome from this study, misconceptions towards HIV/AIDS still exist among transsexuals. Education and interventions from multiple directions on HIV/AIDS are essential to deliver the correct information to this population, so as to emphasize prevention, early detection, and holistic medical care. Transsexuals also require attention from religious bodies and non-governmental organizations to help them in employment, financial, spiritual, and psycho-social issues