Streamlines for Motion Planning in Underwater Currents

Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning over hundreds of kilometres in complicated flows. The idea is to search a reduced space of control inputs that consists of stream functions whose level sets, or streamlines, optimally connect two given points. Such stream functions are generated by superimposing a control input onto the underlying current flow. A streamline represents the resulting path that a vehicle would follow as it is carried along by the current given that control input. We provide rigorous analysis that shows how our method avoids exhaustive search of the control space, and demonstrate simulated examples in complicated flows including a traversal along the east coast of Australia, using actual current predictions, between Sydney and Brisbane.Comment: 7 pages, 4 figures, accepted to IEEE ICRA 2019. Copyright 2019 IEE

Clean Hydrocarbon Refrigerant Explosion Hazards

Explosion hazards are fire safety concerns resulting from the development of clean hydrocarbon refrigerants (environmental friendly flammable refrigerants) to reduce the emission of substances with high global warning potential. Several clean hydrocarbon refrigerants are flammable with propane. Explosion hazards due to flammable refrigerant leakage from refrigerators put inside a small cupboard may give a concentration higher than its lowest flammability. A small amount of ignition energy can ignite the flammable gas to give combustion. Limiting the pressure development in a small cupboard will result in deflagration, and then transition to detonation. Since the compositions of many of environmental friendly flammable refrigerants are not disclosed and odourless, it is very difficult to assess their hazard upon leakage. This study reveals that the hidden hazard of environmental friendly flammable refrigerants would lead to serious consequences using earlier experimental studies on explosion. This is a big problem taking time to solve. Indoor aerodynamics would affect the mixing between leaked refrigerant with air in the room. Appropriate ventilation should be provided to avoid keeping the heavier explosive gas at lower levels. Different ventilation modes with air inlets and outlets at high and low positions should be considered. Use of environmental friendly flammable refrigerants and the ways in protecting against possible explosion hazards for refrigerators commonly put in kitchen cupboards in small rooms, inter alia, economy-class hotel rooms, small apartments, or subdivided units in densely populated cities, such as Hong Kong have to be watched. At the moment, fire safety management must be enhanced to address the problem

Six-Digit Stroke-based Chinese Input Method

Abstract-During the last three decades, more than one thousand Chinese input methods have been developed. However, people are still looking for better input methods in terms of easy to use, easy to remember, high input speed and small keypad implementation on handheld devices. The well-known strokebased Chinese input method using only five basic stroke types could achieve low learning curve and small numeric keypad implementation but its input speed is limited for complex Chinese characters with a lot of strokes. To tackle this problem, simplified stroke-based Chinese character and phrase coding methods using (3+3) rules are proposed in this paper. The proposed method only uses the first 3 stroke codes and the last 3 stroke codes to represent the first and last radical information of the character for achieving lower average code length and higher hit rate of first character on the candidate list. To further enhance the input speed, a very user-friendly (3+3) phrase coding rule is also proposed for inputting Chinese phrases in terms of 2-character, 3-character and long-character phrases. Three special key assignment designs are developed for practical implementation of the proposed Chinese character and phrase input method using conventional QWERTY keyboard, PC's numeric keypad and mobile phone 12-key keypad. Experimental results have shown that the proposed character coding can achieve lower average code length and higher Hit Rate of First Character as compared with conventional stroke-based method and some well-known Chinese input methods. The proposed coding rules are also very easy to use and remember

Hong Kong dentists' preparedness for medical emergency in dental clinics

Aim: The aim of this study was to investigate the Hong Kong dentists’ and dental clinics’ preparedness for medical emergency in the dental clinic. Methods: Two custom designed questionnaires were developed, one for dentists and another for dental clinics, to collect the required information. The sampling frame for participants was the list of registered dentists published by the Hong Kong Dental Council on its website in January 2016. A total of 434 dentists and 143 dental clinics were selected from the list by systematic random sampling. The latter sample was supplemented by 10 randomly selected government dental clinics. The questionnaires were mailed the selected dentists together with a cover letter and a stamped return envelope. A reminder letter and another copy of the questionnaire were sent out two weeks after the first mailing. Results: 167 (38%) completed dentist questionnaires and 53 (35%) clinic questionnaires were collected. Most of the respondent dentists had some deficient knowledge on basic life support (BLS), their mean score was 3.5 out of a maximum of 5. Most (>60%) of the respondents thought they were competent in performing medical emergency procedures except giving intravenous injection. Moreover, most (>60%) of them held positive attitude towards having immediate availability of essential medical emergency equipment and drugs in their clinic. Dentists who were more recent graduates, those with postgraduate qualifications, and those who work with accompaniment generally had higher mean BLS knowledge scores. In the dental clinics, the most commonly kept medical emergency equipment/drug was instant glucose (70%) and followed by antihistamine (62%). Only a quarter of the clinics were equipped with AED, and 45% were equipped with oxygen cylinder. For 8 out of the 11 items, a higher proportion of the bigger clinics (>2 dental chairs) than the smaller clinics had the medical emergency equipment/drug available (Chi-square test, p<0.05). Conclusion: Hong Kong dentists have a moderate level of knowledge on BLS which should be enhanced through regular attendance at CE courses. Their knowledge level is affected by a number of their background and professional activities factors. Most dental clinics in Hong Kong have only few of the essential medical emergency equipment and drugs while the larger clinics are better equipped than the smaller clinics.published_or_final_versio

Survey of oral hygiene behaviour, knowledge and oral hygiene status among Hong Kong adults : a pilot study

Objectives: To study the correlation between oral health behaviour and knowledge with respect to the oral hygiene status of Hong Kong Chinese adults. Materials and methods: Subject selection was by convenience sampling. A total of four outreach visits were arranged in March 2015. The participants’ oral health behavior and knowledge were evaluated through a self-reported questionnaire, while existing oral conditions were recorded following clinical examination using Visible Plaque Index (VPI) and Gingival Bleeding Index (GBI). Data analysis was carried out using SPSS on results obtained from the questionnaire as well as clinical examination. Results: A total of 147 subjects participated in this research project, of which 72% (103/147) were female while 28% (44/147) were male. Male subjects had statistically significantly higher mean VPI scores compared to female subjects interproximally, buccally and lingually (t-test, p<0.05). Furthermore, there exists a statistically significant negative correlation between oral health knowledge score (mean = 9.3, SD = 3.1) and VPI score (Pearson correlation test, p=0.025). Subjects who agreed accumulation of plaque or bacteria as a contributing factor to caries and periodontal diseases are statistically significantly lower than subjects who disagreed this statement in terms of mean VPI scores (53% vs 63%, t-test, p<0.05). Conclusion: Participants with better oral health knowledge who also recognized accumulation of plaque or bacteria as one of the contributing factors to dental caries and periodontal disease had better oral hygiene levels in terms of VPI.published_or_final_versio

Guidelines for the use and interpretation of assays for monitoring autophagy (4th edition)1.

In 2008, we published the first set of guidelines for standardizing research in autophagy. Since then, this topic has received increasing attention, and many scientists have entered the field. Our knowledge base and relevant new technologies have also been expanding. Thus, it is important to formulate on a regular basis updated guidelines for monitoring autophagy in different organisms. Despite numerous reviews, there continues to be confusion regarding acceptable methods to evaluate autophagy, especially in multicellular eukaryotes. Here, we present a set of guidelines for investigators to select and interpret methods to examine autophagy and related processes, and for reviewers to provide realistic and reasonable critiques of reports that are focused on these processes. These guidelines are not meant to be a dogmatic set of rules, because the appropriateness of any assay largely depends on the question being asked and the system being used. Moreover, no individual assay is perfect for every situation, calling for the use of multiple techniques to properly monitor autophagy in each experimental setting. Finally, several core components of the autophagy machinery have been implicated in distinct autophagic processes (canonical and noncanonical autophagy), implying that genetic approaches to block autophagy should rely on targeting two or more autophagy-related genes that ideally participate in distinct steps of the pathway. Along similar lines, because multiple proteins involved in autophagy also regulate other cellular pathways including apoptosis, not all of them can be used as a specific marker for bona fide autophagic responses. Here, we critically discuss current methods of assessing autophagy and the information they can, or cannot, provide. Our ultimate goal is to encourage intellectual and technical innovation in the field

Designer carbon nanotubes for contaminant removal in water and wastewater: A critical review

The search for effective materials for environmental cleanup is a scientific and technological issue of paramount importance. Among various materials, carbon nanotubes (CNTs) possess unique physicochemical, electrical, and mechanical properties that make them suitable for potential applications as environmental adsorbents, sensors, membranes, and catalysts. Depending on the intended application and the chemical nature of the target contaminants, CNTs can be designed through specific functionalization or modification processes. Designer CNTs can remarkably enhance contaminant removal efficiency and facilitate nanomaterial recovery and regeneration. An increasing number of CNT-based materials have been used to treat diverse organic, inorganic, and biological contaminants. These success stories demonstrate their strong potential in practical applications, including wastewater purification and desalination. However, CNT-based technologies have not been broadly accepted for commercial use due to their prohibitive cost and the complex interactions of CNTs with other abiotic and biotic environmental components. This paper presents a critical review of the existing literature on the interaction of various contaminants with CNTs in water and soil environments. The preparation methods of various designer CNTs (surface functionalized and/or modified) and the functional relationships between their physicochemical characteristics and environmental uses are discussed. This review will also help to identify the research gaps that must be addressed for enhancing the commercial acceptance of CNTs in the environmental remediation industry