Steering Angle Prediction Techniques for Autonomous Ground Vehicles: A Review

Unintentional lane departure accidents are one of the biggest reasons for the causalities that occur due to human errors. By incorporating lane-keeping features in vehicles, many accidents can be avoided. The lane-keeping system operates by auto-steering the vehicle in order to keep it within the desired lane, despite of changes in road conditions and other interferences. Accurate steering angle prediction is crucial to keep the vehicle within the road boundaries, which is a challenging task. The main difficulty in this regard is to identify the drivable road area on heterogeneous road types varying in color, texture, illumination conditions, and lane marking types. This strenuous problem can be addressed by two approaches, namely, 'computer-vision-based approach' and 'imitation-learning-based approach'. To the best of our knowledge, at present, there is no such detailed review study covering both the approaches and their related optimization techniques. This comprehensive review attempts to provide a clear picture of both approaches of steering angle prediction in the form of step by step procedures. The taxonomy of steering angle prediction has been presented in the paper for a better comprehension of the problem. We have also discussed open research problems at the end of the paper to help the researchers of this area to discover new research horizons

A novel single gene deletion (-αMAL3.5) giving rise to silent α thalassemia carrier removing the entire HBA2 gene observed in two Chinese patients with Hb H disease: case report of two probands

We report a novel deletion at the HBA2 presented with Hb H disease in two Malaysian- Chinese patients. The two unrelated probands were diagnosed with Hb H disease in a primary hematological screening for thalassemia. Results from routine molecular analysis with gap-polymerase chain reaction (PCR) method revealed a genotype asynchrony with the observed clinical presentation. Subsequent DNA analysis using a battery of molecular methods such as gap-PCR, multiplex ligation dependent probe amplification, DNA sequencing, confirmed the presence of a novel deletion in both the index cases removing the entire α2 globin gene. We have designated the deletion as (‒αMAL3.5). Hematological indices and clinical findings suggest that the deletion has an α+ phenotype. The molecular process of this deletion is the result from misalignment and unequal crossover event between the duplicated homologous Y-boxes within the α globin gene cluster. Uncharacterized deletions, single nucleotide polymorphism and other nucleotide indels at the primer binding sites may impede the optimum condition for its annealing and extension and therefore may invalidate the gap-PCR obscuring the real genotype

Distributed semantic analytics using the SANSA stack

A major research challenge is to perform scalable analysis of large-scale knowledge graphs to facilitate applications like link prediction, knowledge base completion and reasoning. Analytics methods which exploit expressive structures usually do not scale well to very large knowledge bases, and most analytics approaches which do scale horizontally (i.e., can be executed in a distributed environment) work on simple feature-vector-based input. This software framework paper describes the ongoing Semantic Analytics Stack (SANSA) project, which supports expressive and scalable semantic analytics by providing functionality for distributed computing on RDF data

Medicinal Biospecificity of Ginger and Its Efficacious Bioactive Compounds in the Context of Its Biological Activities Against Predominant Health Issues: Current Study and New Avenues

There is a multitude of life-threatening and widespread health issues worldwide, regarding weak immunity, severe inflammation, viral infections, bacterial infections as well as antimicrobial resistance (AMR), high free radicals generation, and cancer. Ginger, a perennial plant of the Zingiberaceae family with several authentic nutritional and medicinal values used in many countries as traditional medicine. That is why, the study was designed to highlight recent studies about medicinally most efficacious bio-active compounds of ginger along their biological significance related to immuno-stimulatory, anti-inflammatory, anti-viral, anti-bacterial, anti-oxidant, and anti-cancer effects. Our study also recognized future gaps in research. The study included professional research data under duration from 2001-2022 appearing in books and scholarly journals, collected from scientific database platforms via PubMed, Web of Science, Google Scholar, Springer Nature, Science Direct and Scopus. The present study includes the medicinal effects of almost 44 most influential ginger compounds like phenolics, terpenoids, flavonoids, and vinyllyl ketonic compounds etc. Our results revealed the strong alleviating effects of gingerols, shogaols, paradols, and polyphenols. Moreover, the ginger essential oil has proven to be very effective both for antiviral and antibacterial activity. However, no data is available in previous literature for components of ginger involved in immuno-stimulatory, effects. There is also a need to explore components for antibacterial activity. However, research has been conducted on ginger for only a few viruses despite its strong alleviating effects. Besides this, more study is needed to comprehend the comprehensive mechanism of action (especially at the molecular level) regarding the anti-bacterial and anti-viral activity of ginger and its constituents

The tale of sansa spark

We demonstrate the open-source Semantic Analytics Stack (SANSA), which can perform scalable analysis of large-scale knowledge graphs to facilitate applications such as link prediction, knowledge base completion and reasoning. The motivation behind this work lies in the lack of scalable methods for analytics which exploit expressive structures underlying semantically structured knowledge bases. The demonstration is based on the BigDataEurope technical platform, which utilizes Docker technology. We present various examples of using SANSA in the form of interactive Spark notebooks, which are executed with Apache Zeppelin. The technical platform and the notebooks are available on SANSA Github and can be deployed on any Docker-enabled host, locally or in a Docker Swarm cluster

Partial substitution of exogenously applied phosphatic fertilizers by phosphate solubilizing bacteria in maize under calcareous soil

Phosphorus (P) availability is the major constrain in obtaining optimum crop yield in calcareous soils due to its precipitation as dicalcium and octacalcium phosphate by reacting with Ca+2 and Mg+2. Therefore, we explored the role of phosphate solubilizing bacteria (without and with PSB @ 2 kg ha−1) in optimizing maize yield and P availability from soluble and insoluble P sources applied @ of 100 kg P2O5 into calcareous soil. PSB inoculation significantly improved maize plant height (5.6%), 1,000 grain weight (11%), dry matter (7.5%), stover (10.8%) and grain yield (6.8%), plant P concentration (10.1%) and uptake (18.6%), extractable P (3.1%), agronomic (48%) and uptake (53%) P use efficiency over uninoculated plots. Phosphorus application significantly improved maize yield, soil health and agronomic P use efficiency (4.84 times over control); however, its impact was more pronounced when applied as 50% P each from farmyard manure (FYM) and single super phosphate (SSP). On the basis of overall performance, the sources were ranked as 50% FYM + 50% SSP >50% rock phosphate (RP) + 50% SSP > 100% SSP > 75% FYM + 25% SSP > 75% RP +25% SSP > 100% FYM > 100 RP > control. Interactively, a significant and maximum increased over absolute control in most of the soil and plant tested characteristics were observed when 100 kg P2O5 ha−1 was supplemented 50% each as FYM and SSP along with PSB inoculation which was followed by 50% P each as FYM and SSP demonstrating that PSB were effective in enhancing RP solubilization under calcareous soil. Maximum value cost ratio of 3.1 was observed for 50% P each as FYM and SSP + PSB which was similar to 100% P as FYM + PSB and 75% FYM+ 25% SSP + PSB. Therefore, in calcareous soil P shall be amended 50% each as organic and mineral sources with PSB for its efficient utilization and obtaining optimum yield of maize