Vision-Based Virtual Using Gesture Recognition for Robotic Platform Control.

The aim of this research is to build a robust image-based virtual input for robotic platform control

Review of sliding mode control application in autonomous underwater vehicles

973-984This paper presents a review of sliding mode control for autonomous underwater vehicles (AUVs). The AUVs are used under water operating in the presence of uncertainties (due to hydrodynamics coefficients) and external disturbances (due to water currents, waves, etc.). Sliding mode controller is one of the nonlinear robust controllers which is robust towards uncertainties, parameter variations and external disturbances. The evolution of sliding mode control in motion control studies of autonomous underwater vehicles is summarized throughout for the last three decades. The performance of the controller is examined based on the chattering reduction, accuracy (steady state error reduction), and robustness against perturbation. The review on sliding mode control for AUVs provides insights for readers to design new techniques and algorithms, to enhance the existing family of sliding mode control strategies into a new one or to merge and re-supervise the control techniques with other control strategies, in which, the aim is to obtain good controller design for AUVs in terms of great performance, stability and robustness

Nonlinear robust integral sliding super-twisting sliding mode control application in autonomous underwater glider

1016-1027The design of a robust controller is a challenging task due to nonlinear behaviour of the glider and surround environment. This paper presents design and simulation of nonlinear robust integral super-twisting sliding mode control for controlling the longitudinal plane of an autonomous underwater glider (AUG). The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations for pitching angle and net buoyancy of the longitudinal plane of an AUG. The algorithm is designed based on integral sliding mode control and super-twisting sliding mode control. The performance of the proposed controller is compared to original integral sliding mode and original super-twisting algorithm. The simulation results have shown that the proposed controller demonstrates satisfactory performance and also reduces the chattering effect and control effort

Reconfigurable multi-legs robot for pipe inspection: Design and gait movement

1132-1144This paper focuses on studies on reconfigurable multi-legs robotic system. The aim of this paper is to identify and acquire findings on how multi-legs robot can walk, climb vertical pipe and walk along the horizontal pipe after climbing. Three degrees of freedom (3DOF) multi-legs robot is designed and built to replace human involvement either at hazardous pipeline or to check on vertical and horizontal pipes. The robot system is tested to climb the vertical pipe and then move along horizontal pipe for inspection or other purposes. This can reduce the cost and percentage of human risk exposure during inspection on outer pipe. This multi-legs robot has more movement gaits compared to wheeled robot, but in terms of speed, wheeled robot possesses greater advantages. Therefore, this system design has combination of both wheel and multiple legs ensure that the to system has higher stability, more gait movement, and higher speed manoeuvrability. The gaits analysis for the system movement includes angle of the legs to move and selection of certain legs to perform a given operation, either walking, climbing or hanging. The target result is the system able to climb 500 mm height with 85 mm radius pipe. The potential applications for the system are: (i) to move along either on surface or underwater pipe and (ii) to be equipped with ultrasonic sensor to inspect the pipe.</em

Development and storage stability of fish strudel

Awareness of health and nutrition of fish has led the food industry to development of fishery-based ready-to-eat products. In this study seven filling materials based on 60-70 - 80% fish mince from 7 local fish species ‘i.e.’ Talang Queen fish (Scomberoides commersonnianus), oriental sole (Brachirus orientalis), Barred sickle fish (Drepane longimana), Big eye Croaker (Pennahia anea), Japanese threadfin bream (Nemipterus japonicas), javelin grunter (pomadasys kaakan) and Indian mackerel (Rastrelliger kanagurta) were formulated and applied for developing fish strudels. A 9-point hedonic scale ranging from 1 (extremely dislike) to 9 (extremely like) was used for screening the acceptance of the prototypes. A 3-component D-optimal Mixture Design was also applied to optimize the fish strudel formulation. Preliminary experiments were done to identify the high-impact ingredients, which had a high effect on the sensory quality when their levels (%) were changed. The results indicated that fish strudel containing 60% Talang Queen fish (Scomberoides commersonnianus) mince in the filling materials had significantly higher liking in odor, flavor, and overall acceptability than the other prototypes. So it was selected for quality changes study. Product's characteristics and stability were studied during 6-month storage at -18 °C. The fish strudel packed in a polyethylene sealed bag was stable during the storage period. The peroxide and TVBN values remained low. The results in this paper provide important information for companies planning to develop convenience food from low value fish. Furthermore, development of strudel filled with fish mince/ flesh could be an effective way to enhance nutritional and functional value of such products. The products could be used as a nutritious snack especially for kids which could be a means of increasing fish consumption

Temporal trends of infective endocarditis in North America from 2000 to 2017 – a systematic review

Objectives To examine temporal changes of infective endocarditis (IE) incidence and epidemiology in North America. Patients and Methods A systematic review was conducted at Mayo Clinic, Rochester. Ovid EBM Reviews™, Ovid Embase™, Ovid Medline™, Scopus™, and Web of Science™ were searched for studies published between January 1, 2000 and May 31, 2020. Four referees independently reviewed all studies, and those that reported a population-based incidence of IE in patients aged 18 years and older in North America were included. Results Of 8,588 articles screened, 14 were included. Overall, IE incidence remained largely unchanged throughout the study period, except for two studies that demonstrated a rise in incidence after 2014. Five studies reported temporal trends of injection drug use (IDU) prevalence among IE patients with a notable increase in prevalence observed. Staphylococcus aureus was the most common pathogen in 7 of 9 studies that included microbiologic findings. In-patient mortality ranged from 3.7-14.4%, while the percentage of patients who underwent surgery ranged from 6.4-16.0%. Conclusion Overall incidence of IE has remained stable among the 14 population-based investigations in North America identified in our systematic review. Standardization of study design for future population-based investigations have been highlighted for use in subsequent systematic reviews of IE

ARIA 2016: Care pathways implementing emerging technologies for predictive medicine in rhinitis and asthma across the life cycle

The Allergic Rhinitis and its Impact on Asthma (ARIA) initiative commenced during a World Health Organization workshop in 1999. The initial goals were (1) to propose a new allergic rhinitis classification, (2) to promote the concept of multi-morbidity in asthma a