Optimistic Motion Planning Using Recursive Sub- Sampling: A New Approach to Sampling-Based Motion Planning

Sampling-based motion planning in the field of robot motion planning has provided an effective approach to finding path for even high dimensional configuration space and with the motivation from the concepts of sampling based-motion planners, this paper presents a new sampling-based planning strategy called Optimistic Motion Planning using Recursive Sub-Sampling (OMPRSS), for finding a path from a source to a destination sanguinely without having to construct a roadmap or a tree. The random sample points are generated recursively and connected by straight lines. Generating sample points is limited to a range and edge connectivity is prioritized based on their distances from the line connecting through the parent samples with the intention to shorten the path. The planner is analysed and compared with some sampling strategies of probabilistic roadmap method (PRM) and the experimental results show agile planning with early convergence

Linear Temporal Logic-based Mission Planning

In this paper, we describe the Linear Temporal Logic-based reactive motion planning. We address the problem of motion planning for mobile robots, wherein the goal specification of planning is given in complex environments. The desired task specification may consist of complex behaviors of the robot, including specifications for environment constraints, need of task optimality, obstacle avoidance, rescue specifications, surveillance specifications, safety specifications, etc. We use Linear Temporal Logic to give a representation for such complex task specification and constraints. The specifications are used by a verification engine to judge the feasibility and suitability of plans. The planner gives a motion strategy as output. Finally a controller is used to generate the desired trajectory to achieve such a goal. The approach is tested using simulations on the LTLMoP mission planning tool, operating over the Robot Operating System. Simulation results generated using high level planners and low level controllers work simultaneously for mission planning and controlling the physical behavior of the robot

Use of Modular Neural Network for Heart Disease

The medical field is very versatile field and one of the interested research areas for the scientist. It deals with many medical disease problems starting with the diagnosis of the disease, preventing from the disease and treatment for the disease. There are various types of medical disease and accordingly various types of treatment methods. In this paper we mostly concern about the diagnosis of the heart disease. Mainly two types of the diagnosis method are used one is manual and other is automatic diagnosis which consists of diagnosis of disease with the help of intelligent expert system. In this paper the modular neural network is used to diagnosis the heart disease. The attributes are divided and given to the two neural network models Backpropagation Neural Network (BPNN) and Radial Basis Function Neural Network (RBFNN) for training and testing. The two integration techniques are used two integrate the results and provide the final training accuracy and testing accuracy. The modular neural network with probabilistic product method gave an accuracy of 87.02% over training data and 85.88% over testing accuracy and with probabilistic product method gave an accuracy of 89.72% over training data and 84.70% over testing accuracy, which was experimentally determined to be better than monolithic neural networks

Management of chyle leak in right side neck dissection: a rare case and review of literature (a case report)

Chyle leak is a well-recognized iatrogenic thoracic duct injury but a rare and serious complication of head and neck surgery affecting 1-2.5% of head and neck surgery dissections. It is potentially a life-threatening condition and management may be problematic and prolonged. Here we presented a rare case report of right sided chyle leak with its surgical management and review of literature. A 56-year-old patient with a complain of non-healing ulcer in the right buccal vestibule in the last 1-2 months reported to the outpatient department (OPD). After complete preoperative profile and counseling patient's consent was taken and wide local excision of lesion was done with bite composite resection with right hemimandibulectomy and maxillary alveolectomy till pterygoid plates, with right side selective neck dissection, level I-III followed by reconstruction with right side pectoralis major myofascial flap. Then the patient was on 5 days octreotide therapy. Regular post-operative follow-up was taken and no leak was noted further. In case of a chyle leak early diagnosis and aggressive treatment is essential to avoid local and systemic complications that prolong hospitalization

Human Activity Recognition in Real-Times Environments using Skeleton Joints

In this research work, we proposed a most effective noble approach for Human activity recognition in real-time environments. We recognize several distinct dynamic human activity actions using kinect. A 3D skeleton data is processed from real-time video gesture to sequence of frames and getter skeleton joints (Energy Joints, orientation, rotations of joint angles) from selected setof frames. We are using joint angle and orientations, rotations information from Kinect therefore less computation required. However, after extracting the set of frames we implemented several classification techniques Principal Component Analysis (PCA) with several distance based classifiers and Artificial Neural Network (ANN) respectively with some variants for classify our all different gesture models. However, we conclude that use very less number of frame (10-15%) for train our system efficiently from the entire set of gesture frames. Moreover, after successfully completion of our classification methods we clinch an excellent overall accuracy 94%, 96% and 98% respectively. We finally observe that our proposed system is more useful than comparing to other existing system, therefore our model is best suitable for real-time application such as in video games for player action/gesture recognition

Polyaniline Chromium Nitrate Composites: Influence of Chromium Nitrate on Conductivity and Thermal Stability of Polyaniline

Thermal stability and electrical conductivity are the key to the technological feasibility and sustainability of conductingpolymers (CPs) and their composites in real-time applications. Notably, the impact of filler loading on above mentionedparameters of CPs needs to be examined and addressed with facile and easily accessible techniques. In the present study,Polyaniline (PANI) /chromium nitrate composites have been prepared via in situ polymerization of aniline through thechemical oxidative polymerization route. After that, the conductivity and thermal stability of PANI have been investigated atdifferent weight percentage loadings of chromium nitrate viz 5, 10, 20, and 40 % in the composite materials.The morphological and structural analysis of the pristine and composite samples were executed with Scanning electronmicroscopy (SEM), Fourier transforms infrared (FTIR) spectroscopy, and X-ray diffraction (XRD) techniques. Thermalanalysis of proposed composites is carried out using the thermogravimetric analysis (TGA) method to evaluate variouskinetic parameters. The TGA thermogram and different calculated parameters revealed that the composites were morethermally stable than pristine PANI and that the composite having 20 wt % of chromium nitrate is thermally the most stable.The DC electrical conductivity data shows that PANI loaded with 20% chromium nitrate has the highest conductivity. Thisincrement in conductivity and thermal stability of the composites opens the path for many applications, such as sensors andelectronics

Mapping geographical inequalities in access to drinking water and sanitation facilities in low-income and middle-income countries, 2000-17

Background: Universal access to safe drinking water and sanitation facilities is an essential human right, recognised in the Sustainable Development Goals as crucial for preventing disease and improving human wellbeing. Comprehensive, high-resolution estimates are important to inform progress towards achieving this goal. We aimed to produce high-resolution geospatial estimates of access to drinking water and sanitation facilities. Methods: We used a Bayesian geostatistical model and data from 600 sources across more than 88 low-income and middle-income countries (LMICs) to estimate access to drinking water and sanitation facilities on continuous continent-wide surfaces from 2000 to 2017, and aggregated results to policy-relevant administrative units. We estimated mutually exclusive and collectively exhaustive subcategories of facilities for drinking water (piped water on or off premises, other improved facilities, unimproved, and surface water) and sanitation facilities (septic or sewer sanitation, other improved, unimproved, and open defecation) with use of ordinal regression. We also estimated the number of diarrhoeal deaths in children younger than 5 years attributed to unsafe facilities and estimated deaths that were averted by increased access to safe facilities in 2017, and analysed geographical inequality in access within LMICs. Findings: Across LMICs, access to both piped water and improved water overall increased between 2000 and 2017, with progress varying spatially. For piped water, the safest water facility type, access increased from 40·0% (95% uncertainty interval [UI] 39·4–40·7) to 50·3% (50·0–50·5), but was lowest in sub-Saharan Africa, where access to piped water was mostly concentrated in urban centres. Access to both sewer or septic sanitation and improved sanitation overall also increased across all LMICs during the study period. For sewer or septic sanitation, access was 46·3% (95% UI 46·1–46·5) in 2017, compared with 28·7% (28·5–29·0) in 2000. Although some units improved access to the safest drinking water or sanitation facilities since 2000, a large absolute number of people continued to not have access in several units with high access to such facilities (>80%) in 2017. More than 253 000 people did not have access to sewer or septic sanitation facilities in the city of Harare, Zimbabwe, despite 88·6% (95% UI 87·2–89·7) access overall. Many units were able to transition from the least safe facilities in 2000 to safe facilities by 2017; for units in which populations primarily practised open defecation in 2000, 686 (95% UI 664–711) of the 1830 (1797–1863) units transitioned to the use of improved sanitation. Geographical disparities in access to improved water across units decreased in 76·1% (95% UI 71·6–80·7) of countries from 2000 to 2017, and in 53·9% (50·6–59·6) of countries for access to improved sanitation, but remained evident subnationally in most countries in 2017. Interpretation: Our estimates, combined with geospatial trends in diarrhoeal burden, identify where efforts to increase access to safe drinking water and sanitation facilities are most needed. By highlighting areas with successful approaches or in need of targeted interventions, our estimates can enable precision public health to effectively progress towards universal access to safe water and sanitation

Twelve-month observational study of children with cancer in 41 countries during the COVID-19 pandemic

Introduction Childhood cancer is a leading cause of death. It is unclear whether the COVID-19 pandemic has impacted childhood cancer mortality. In this study, we aimed to establish all-cause mortality rates for childhood cancers during the COVID-19 pandemic and determine the factors associated with mortality. Methods Prospective cohort study in 109 institutions in 41 countries. Inclusion criteria: children <18 years who were newly diagnosed with or undergoing active treatment for acute lymphoblastic leukaemia, non-Hodgkin's lymphoma, Hodgkin lymphoma, retinoblastoma, Wilms tumour, glioma, osteosarcoma, Ewing sarcoma, rhabdomyosarcoma, medulloblastoma and neuroblastoma. Of 2327 cases, 2118 patients were included in the study. The primary outcome measure was all-cause mortality at 30 days, 90 days and 12 months. Results All-cause mortality was 3.4% (n=71/2084) at 30-day follow-up, 5.7% (n=113/1969) at 90-day follow-up and 13.0% (n=206/1581) at 12-month follow-up. The median time from diagnosis to multidisciplinary team (MDT) plan was longest in low-income countries (7 days, IQR 3-11). Multivariable analysis revealed several factors associated with 12-month mortality, including low-income (OR 6.99 (95% CI 2.49 to 19.68); p<0.001), lower middle income (OR 3.32 (95% CI 1.96 to 5.61); p<0.001) and upper middle income (OR 3.49 (95% CI 2.02 to 6.03); p<0.001) country status and chemotherapy (OR 0.55 (95% CI 0.36 to 0.86); p=0.008) and immunotherapy (OR 0.27 (95% CI 0.08 to 0.91); p=0.035) within 30 days from MDT plan. Multivariable analysis revealed laboratory-confirmed SARS-CoV-2 infection (OR 5.33 (95% CI 1.19 to 23.84); p=0.029) was associated with 30-day mortality. Conclusions Children with cancer are more likely to die within 30 days if infected with SARS-CoV-2. However, timely treatment reduced odds of death. This report provides crucial information to balance the benefits of providing anticancer therapy against the risks of SARS-CoV-2 infection in children with cancer

Measuring performance on the Healthcare Access and Quality Index for 195 countries and territories and selected subnational locations: A systematic analysis from the Global Burden of Disease Study 2016

Copyright © 2018 The Author(s). Published by Elsevier Ltd. Background A key component of achieving universal health coverage is ensuring that all populations have access to quality health care. Examining where gains have occurred or progress has faltered across and within countries is crucial to guiding decisions and strategies for future improvement. We used the Global Burden of Diseases, Injuries, and Risk Factors Study 2016 (GBD 2016) to assess personal health-care access and quality with the Healthcare Access and Quality (HAQ) Index for 195 countries and territories, as well as subnational locations in seven countries, from 1990 to 2016. Methods Drawing from established methods and updated estimates from GBD 2016, we used 32 causes from which death should not occur in the presence of effective care to approximate personal health-care access and quality by location and over time. To better isolate potential effects of personal health-care access and quality from underlying risk factor patterns, we risk-standardised cause-specific deaths due to non-cancers by location-year, replacing the local joint exposure of environmental and behavioural risks with the global level of exposure. Supported by the expansion of cancer registry data in GBD 2016, we used mortality-to-incidence ratios for cancers instead of risk-standardised death rates to provide a stronger signal of the effects of personal health care and access on cancer survival. We transformed each cause to a scale of 0-100, with 0 as the first percentile (worst) observed between 1990 and 2016, and 100 as the 99th percentile (best); we set these thresholds at the country level, and then applied them to subnational locations. We applied a principal components analysis to construct the HAQ Index using all scaled cause values, providing an overall score of 0-100 of personal health-care access and quality by location over time. We then compared HAQ Index levels and trends by quintiles on the Socio-demographic Index (SDI), a summary measure of overall development. As derived from the broader GBD study and other data sources, we examined relationships between national HAQ Index scores and potential correlates of performance, such as total health spending per capita. Findings In 2016, HAQ Index performance spanned from a high of 97·1 (95% UI 95·8-98·1) in Iceland, followed by 96·6 (94·9-97·9) in Norway and 96·1 (94·5-97·3) in the Netherlands, to values as low as 18·6 (13·1-24·4) in the Central African Republic, 19·0 (14·3-23·7) in Somalia, and 23·4 (20·2-26·8) in Guinea-Bissau. The pace of progress achieved between 1990 and 2016 varied, with markedly faster improvements occurring between 2000 and 2016 for many countries in sub-Saharan Africa and southeast Asia, whereas several countries in Latin America and elsewhere saw progress stagnate after experiencing considerable advances in the HAQ Index between 1990 and 2000. Striking subnational disparities emerged in personal health-care access and quality, with China and India having particularly large gaps between locations with the highest and lowest scores in 2016. In China, performance ranged from 91·5 (89·1-93·6) in Beijing to 48·0 (43·4-53·2) in Tibet (a 43·5-point difference), while India saw a 30·8-point disparity, from 64·8 (59·6-68·8) in Goa to 34·0 (30·3-38·1) in Assam. Japan recorded the smallest range in subnational HAQ performance in 2016 (a 4·8-point difference), whereas differences between subnational locations with the highest and lowest HAQ Index values were more than two times as high for the USA and three times as high for England. State-level gaps in the HAQ Index in Mexico somewhat narrowed from 1990 to 2016 (from a 20·9-point to 17·0-point difference), whereas in Brazil, disparities slightly increased across states during this time (a 17·2-point to 20·4-point difference). Performance on the HAQ Index showed strong linkages to overall development, with high and high-middle SDI countries generally having higher scores and faster gains for non-communicable diseases. Nonetheless, countries across the development spectrum saw substantial gains in some key health service areas from 2000 to 2016, most notably vaccine-preventable diseases. Overall, national performance on the HAQ Index was positively associated with higher levels of total health spending per capita, as well as health systems inputs, but these relationships were quite heterogeneous, particularly among low-to-middle SDI countries. Interpretation GBD 2016 provides a more detailed understanding of past success and current challenges in improving personal health-care access and quality worldwide. Despite substantial gains since 2000, many low-SDI and middle- SDI countries face considerable challenges unless heightened policy action and investments focus on advancing access to and quality of health care across key health services, especially non-communicable diseases. Stagnating or minimal improvements experienced by several low-middle to high-middle SDI countries could reflect the complexities of re-orienting both primary and secondary health-care services beyond the more limited foci of the Millennium Development Goals. Alongside initiatives to strengthen public health programmes, the pursuit of universal health coverage hinges upon improving both access and quality worldwide, and thus requires adopting a more comprehensive view - and subsequent provision - of quality health care for all populations