An Ultra Fast Semantic Segmentation Model for AMR’s Path Planning

Computer vision plays a significant role in mobile robot navigation due to the abundance of information extracted from digital images. On the basis of the captured images, mobile robots determine their location and proceed to the desired destination. Obstacle avoidance still requires a complex sensor system with a high computational efficiency requirement due to the complexity of the environment. This research provides a real-time solution to the issue of extracting corridor scenes from a single image. Using an ultra-fast semantic segmentation model to reduce the number of training parameters and the cost of computation. In addition, the mean Intersection over Union (mIoU) is 89%, and the high accuracy is 95%. To demonstrate the viability of the prosed method, the simulation results are contrasted to those of contemporary techniques. Finally, the authors employ the segmented image to construct the frontal view of the mobile robot in order to determine the available free areas for mobile robot path planning tasks

A Secured, Multilevel Face Recognition based on Head Pose Estimation, MTCNN and FaceNet

Artificial Intelligence and IoT have always attracted a lot of attention from scholars and researchers because of their high applicability, which make them a typical technology of the Fourth Industrial Revolution. The hallmark of AI is its self-learning ability, which enables computers to predict and analyze complex data such as bio data (fingerprints, irises, and faces), voice recognition, text processing. Among those application, the face recognition is under intense research due to the demand in users’ identification. This paper proposes a new, secured, two-step solution for an identification system that uses MTCNN and FaceNet networks enhanced with head pose estimation of the users. The model's accuracy ranges from 92% to 95%, which make it competitive with recent research to demonstrate the system's usability

The application of A/O-MBR system for domestic wastewater treatment in Hanoi: Research Article

The study aims to investigate an appropriate wastewater treatment process to treat domestic wastewater in Hanoi City which contain low-strength for COD (120-200 mg/L) but high in nitrogen content (10-40 mg/L). A lab scale anoxic-oxic system with a hollow fiber-Membrane Separation Bioreactor was operated at a flow rate of 5-10 L/h over a period of 150 days. The reactor was operated at different sludge recirculation rates. The MBR maintained relatively constant transmembrane pressure. During 150 days of reactor operation, treated water quality have COD of around 20 mg/L, NH4-N of less than 1 mg/L, NO3-N of less than 5 mg/L. The system shows good and stable efficiency for organic matter and nitrogen removal without adding an external carbon source and coagulants. The results based on the study indicated that the proposed process configuration has potential to treat the low-strength wastewater in Hanoi.Mục tiêu của nghiên cứu là đề xuất được một công nghệ hiệu quả và phù hợp để xử lý nước thải sinh họat ở các đô thị của Việt nam, là loại nước thải được thu gom từ hệ thống thoát nước chung có nồng độ chất hữu cơ thấp (COD 120-200 mg/l) nhưng hàm lượng chất dinh dưỡng như Nitơ, Phốt pho khá cao (T-N: 10-40 mg/L). Chúng tôi đã nghiên cứu và vận hành chạy thử mô hình xử lý sinh học yếm khí - kỵ khí (AO) kết hợp với màng vi lọc ở quy mô mô hình phòng thí nghiệm (công suất 5-10 L/h) ở các chế độ công suất bùn tuần hoàn khác nhau. Kết quả xử lý trong thời gian 5 tháng vận hành mô hình cho thấy chất lượng nước thải sau xử lý có hàm lượng COD nhỏ hơn 20 mg/L, NH4-N nhỏ hơn 1 mg/L, NO3-N nhỏ hơn 5 mg/L. Hiệu suất xử lý chất hữu cơ và chất dinh dưỡng rất ổn định và hệ thống không phải sử dụng các nguồn bổ sung chất hữu cơ hay các hóa chất trợ lắng như các công nghệ đang áp dụng. Kết quả cho thấy công nghệ AO kết hợp màng vi lọc có khả năng áp dụng thực tế, phù hợp với những nơi có quỹ đất nhỏ, chất lượng nước sau xử lý rất cao có thể phục vụ cho mục đích tái sử dụng

Posterior Sub-Tenon Triamcinolone Injection for Chronic Macular Oedema Associated With Non-Ischemic Branch or Central Retinal Vein Occlusion

Aims: To evaluate the effectiveness and safety of Posterior Sub-Tenon (PST) Triamcinolone Acetonide (TA) injection for persistent macular oedema associated with non-ischemic Central Retinal Vein Occlusion (CRVO) or Branch Retinal Vein Occlusion (BRVO) in non-vitrectomized eye. Methods: Fourteen consecutive eyes of 14 patients characterized by macular oedema lasting more than 3 months and with a visual acuity of less than 20/40 were enrolled. Six eyes presented with BRVO, 8 eyes with CRVO. PST injection of 40 mg TA was performed in topical anaesthesia. All patients were phakic, and followed for at least 6 months. Snellen visual acuity converted to LogMAR units and anatomic responses were evaluated before, and at 1, 3, 6, and 12 (if required) months after injections and re-injection considered. Results: In the BRVO group, mean foveal thickness was 548.2±49.50 μm preoperatively, and 452.8±56.2 μm and 280.8±62.5 μm at 1 and 12 month follow-up, respectively. Statistical analysis showed significant differences between preoperative and postoperative measurements (P<.05, paired t test) 3 months after injections. Improvement of visual acuity by at least 0.2 LogMAR was seen in 3(50%) of the 6 eyes. No re-injection was needed. In the CRVO group, mean foveal thickness was 543.7±34.4 μm preoperatively, and 283.0±29.0 μm and 234.8±23.6 μm at 1 and 12 month follow-up, respectively. Statistical analysis showed significant differences between preoperative and postoperative measurements (P<.05, paired t test). Improvement of visual acuity by at least 0.2 LogMAR was seen in 7 eyes (88%). Mean number of re-injection was of 2.1±0.3. Intraocular pressure elevation of 22 mm Hg or higher was found in 2/14 eyes (14%). Cataract progression was noted in 5/14 eyes (36%). Conclusions: PST injection of TA appears to be as safe and effective treatment for chronic macular oedema associated due to both non-ischemic BRVO or CRVO, with a better efficacy in BRVO

Extremely Hot Ambient Temperature and Injury-related Mortality

This pilot study aimed to evaluate the effects of extremely hot ambient temperatures on the total number of fatal injuries. Data were collected from a population-based mortality registry of Thanh Hoa, a province in the North Central region of Vietnam. This study qualified the distributed lag non-linear model and calculated the RR and 95% CI adjusted for long-term trend and absolute humidity. For the entire study population with 3,949 registered deaths due to injuries collected during 2005-2007, after the onset of extremely hot ambient temperatures, an increased risk of death was observed on the 9th day RR (95% CI) = 1.44 (1.06–1.97) and reached the peak on the 12th day RR (95% CI) = 1.58 (1.14–2.17), and at the 15th day RR (95% CI) = 1.49 (1.08–2.06). Men and old adults were identified as the most vulnerable groups. This study confirmed a positive association between hot temperatures and injury-related deaths in the province of 3.6 million people. The findings motivated further investigation into the effect of warm climate changes and the risk of deaths related to other specific causes such as road traffic, work-related injury, and etc

Characterization of Ag-Doped p-Type SnO Thin Films Prepared by DC Magnetron Sputtering

Crystalline structure and optoelectrical properties of silver-doped tin monoxide thin films with different dopant concentrations prepared by DC magnetron sputtering are investigated. The X-ray diffraction patterns reveal that the tetragonal SnO phase exhibits preferred orientations along (101) and (110) planes. Our results indicate that replacing Sn2+ in the SnO lattice with Ag+ ions produces smaller-sized crystallites, which may lead to enhanced carrier scattering at grain boundaries. This causes a deterioration in the carrier mobility, even though the carrier concentration improves by two orders of magnitude due to doping. In addition, the Ag-doped SnO thin films show a p-type semiconductor behavior, with a direct optical gap and decreasing transmittance with increasing Ag dopant concentration

Multivalvular involvement associated with Libman-Sacks endocarditis detected by multimodality imaging: A case report

Libman-Sacks endocarditis accounts for 6–11 percent of systemic lupus erythematosus patients and is associated with varying degrees of valvular dysfunction, increased risk for stroke and transient ischemic attacks, and increased mortality. In previous studies, left-sided valvular Libman-Sacks vegetations were more frequently detected than right sided vegetations; reported cases of bilateral involvement is very rare. A comprehensive clinical assessment and the multimodality imaging is of utmost importance in the management of systemic lupus erythematosus. In this case report, we describe a 31-year-old female patient with uncontrolled systemic lupus erythematosus initially presented with gastrointestinal symptoms but eventually had a vegetation-like structure on the posterior leaflet of the mitral valve which was revealed during routine echocardiography. Two-dimensional/three-dimensional transthoracic and transesophageal echocardiography, cardiac magnetic resonance, and cardiac computed tomography further characterized the mitral valve vegetation and revealed an additional vegetation of the pulmonary valve. Echocardiography remains the cornerstone for the detection of Libman-Sacks vegetations. Cardiac MRI and cardiac CT are useful in characterizing lesion size and effects and may prove particularly helpful in the assessment of right-sided or multivalvular endocarditis. The presence of focal brain lesions on brain MRI prompted antithrombotic therapy