A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators

This paper proposes a nonlinear variable gain Proportional-Derivative (PD) controller that exhibits self-constructing and self-learning capabilities. In this method, the conventional linear PD controller is augmented with a nonlinear variable PD gain control signal using a dynamic structural network. The dynamic structural network known as Growing Multi-Experts etwork grows in time by placing hidden nodes in regions of the state space visited by the system during operation. This results in a network that is "economic" in terms of network sileo The proposed approach enhances the adaptability of conventional PD controller while preserving its' linear structure. Based on the simulation study on variable load and friction compensation, the fast adaptation is shown to be able to compensate the non-linearity and the uncertainty in the robotic system

Fuzzy Logic Based Perceptual Image Hashing Algorithm in Malaysian Banknotes Detection System for the Visually Impaired

Visually impaired persons have difficulty in business that dealing with banknote. This paper proposed a Malaysian banknotes detection system using image processing technology and fuzzy logic algorithm for the visually impaired. The Malaysian banknote reader will first capture the inserted banknote image, sending it to the cloud server for image processing via Wi-Fi medium. The cloud server is established to receive the banknote image sending from the banknote reader, processing them using perceptual hashing based image searching and fuzzy logic algorithm, then return the detected banknote’s value results back to the banknote reader. The banknote reader will display the results in terms of voice message played on the mini speaker attached on it, to allow visually impaired persons knowing the banknote’s value. This hardware mechanism reduces the size and costs for the banknote reader carried by the visually impaired persons. Experimental results showed that this Malaysian banknotes detection system reached an accuracy beyond 95% by running test on 600 different worn, torn and new Malaysian banknotes. After the banknote image being taken by the banknote reader’s camera, the system able to detect the banknote value in about 480 mili-seconds to 560 mili-seconds for a single sided banknote recognition. The banknotes detection speed was also comparable with human observers reading banknotes, with the response of 1.0908 second per banknote slight difference reading time. The IoT and image processing concepts were successfully blended and it provides an alternative to aid the visually impaired person their daily business transaction activities in a better way

Fuzzy Logic Weighted Averaging Algorithm for Malaysian Banknotes Reader Featuring Counterfeit Detection

This paper proposed a novel fuzzy logic weighted averaging (FLWA) algorithm in image processing techniques to detect counterfeit Malaysian banknotes. Image acquisition techniques on banknote position detection and re-adjustment, image pre-processing techniques, feature extraction methods on Malaysian banknotes’ watermarks are also covered in the paper. The FLWA Algorithm has the advantage of a much simpler model since it is a human guidance learning algorithm that does not require enrolment process to get the specific weights for each security feature. Each security feature is treated with equal weight. The experimental results also shown that FLWA model also outperform the MobileNet model and VGG16 model in Malaysian banknotes’ counterfeit detection. It has a distinct advantage over earlier or current banknote counterfeit detection techniques in that it adopted the known watermarks features, with known machine learning techniques to identify real Malaysian banknotes and detect those counterfeit Malaysian banknotes

Association of social isolation with health status among community-dwelling Chinese older adults living with homecare services: a cross-sectional survey in Hong Kong

BackgroundDefined as having few social relationships or infrequent social contact with family, friends, and the community, social isolation is a public health crisis. We aimed to evaluate the prevalence of social isolation and explore the association between social isolation and health status among community-dwelling Chinese Older Adults living with homecare services.MethodsThis is a cross-sectional survey with a structured questionnaire conducted among older adults aged ≥60 in the Central Kowloon District of Hong Kong during 2017–2018. Social isolation was assessed by the Lubben Social Network Scale-6 and a score less than 12 was defined as socially isolated. Six aspects of health status including fall risk, cognitive function, depression, activities of daily living (ADL), instrumental activities of daily living (IADL), and functional mobility were measured by standardized instruments. Multi-criteria decision analysis (MCDA) was applied to estimate an index to represent the overall health status of the respondents. Multivariate logistic/linear regression models were applied to examine the associations between social isolation and health status after adjusting the sociodemographic characteristics.ResultsAmong the 1,616 participants included in this analysis, the mean age was 80.9 years, 66.3% were female and 41.4% were identified as socially isolated. Compared with the non-isolated group, the socially isolated group had higher proportions of males, divorced or unmarried, ever smoking and drinking, living alone, and living in public housing without religion. After adjusting for confounders, the odds ratios (OR) comparing the socially isolated vs. non-isolated groups were 2.52 (95%CI: 1.79, 3.56) for high fall risk, 1.51 (1.17, 1.94) for cognitive impairment, and 1.78 (1.31, 2.43) for depression. The socially isolated group increased the odds of abnormal ADL, IADL, and functional mobility by 105–150%, and decreased the overall health score by 5.30 (3.42, 7.18).ConclusionWe demonstrated the association of social isolation with poorer physical function and mental health and overall health status among the community-dwelling Chinese older adults living with homecare services. These findings provided new knowledge about the association of social isolation with both physical and mental function for daily living even for those receiving an integrated homecare service in the community. It implies that an unmet healthcare need existed when comparing the service scope of the current homecare services in the community. It also highlighted the need for targeted prevention and intervention initiatives among community-dwelling old adults to alleviate social isolation for better health and good functioning in the community

Barriers to effective discharge planning: a qualitative study investigating the perspectives of frontline healthcare professionals

<p>Abstract</p> <p>Background</p> <p>Studies have shown that effective discharge planning is one of the key factors related to the quality of inpatient care and unnecessary hospital readmission. The perception and understanding of hospital discharge by health professionals is important in developing effective discharge planning. The aims of this present study were to explore the perceived quality of current hospital discharge from the perspective of health service providers and to identify barriers to effective discharge planning in Hong Kong.</p> <p>Methods</p> <p>Focus groups interviews were conducted with different healthcare professionals who were currently responsible for coordinating the discharge planning process in the public hospitals. The discussion covered three main areas: current practice on hospital discharge, barriers to effective hospital discharge, and suggested structures and process for an effective discharge planning system.</p> <p>Results</p> <p>Participants highlighted that there was no standardized hospital-wide discharge planning and policy-driven approach in public health sector in Hong Kong. Potential barriers included lack of standardized policy-driven discharge planning program, and lack of communication and coordination among different health service providers and patients in both acute and sub-acute care provisions which were identified as mainly systemic issues. Improving the quality of hospital discharge was suggested, including a multidisciplinary approach with clearly identified roles among healthcare professionals. Enhancement of health professionals' communication skills and knowledge of patient psychosocial needs were also suggested.</p> <p>Conclusions</p> <p>A systematic approach to develop the structure and key processes of the discharge planning system is critical in ensuring the quality of care and maximizing organization effectiveness. In this study, important views on barriers experienced in hospital discharge were provided. Suggestions for building a comprehensive, system-wide, and policy-driven discharge planning process with clearly identified staff roles were raised. Communication and coordination across various healthcare parties and provisions were also suggested to be a key focus.</p

Unplanned readmission rates, length of hospital stay, mortality, and medical costs of ten common medical conditions: a retrospective analysis of Hong Kong hospital data

<p>Abstract</p> <p>Background</p> <p>Studies on readmissions attributed to particular medical conditions, especially heart failure, have generally not addressed the factors associated with readmissions and the implications for health outcomes and costs. This study aimed to investigate the factors associated with 30-day unplanned readmission for 10 common conditions and to determine the cost implications.</p> <p>Methods</p> <p>This population-based retrospective cohort study included patients admitted to all public hospitals in Hong Kong in 2007. The sample consisted of 337,694 hospitalizations in Internal Medicine. The disease-specific risk-adjusted odd ratio (OR), length of stay (LOS), mortality and attributable medical costs for the year were examined for unplanned readmissions for 10 medical conditions, namely malignant neoplasms, heart diseases, cerebrovascular diseases, pneumonia, injury and poisoning, nephritis and nephrosis, diabetes mellitus, chronic liver disease and cirrhosis, septicaemia, and aortic aneurysm.</p> <p>Results</p> <p>The overall unplanned readmission rate was 16.7%. Chronic liver disease and cirrhosis had the highest OR (1.62, 95% confidence interval (CI) 1.39-1.87). Patients with cerebrovascular disease had the longest LOS, with mean acute and rehabilitation stays of 6.9 and 3.0 days, respectively. Malignant neoplasms had the highest mortality rate (30.8%) followed by aortic aneurysm and pneumonia. The attributed medical cost of readmission was highest for heart disease (US$3 199 418, 95$2 579 443-803 393).</p> <p>Conclusions</p> <p>Our findings showed variations in readmission rates and mortality for different medical conditions which may suggest differences in the quality of care provided for various medical conditions. In-hospital care, comprehensive discharge planning, and post-discharge community support for patients need to be reviewed to improve the quality of care and patient health outcomes.</p