Cooperative simultaneous localization and mapping framework

This research work is a contribution to develop a framework for cooperative simultaneous localization and mapping with multiple heterogeneous mobile robots. The presented research work contributes in two aspects of a team of heterogeneous mobile robots for cooperative map building. First it provides a mathematical framework for cooperative localization and geometric features based map building. Secondly it proposes a software framework for controlling, configuring and managing a team of heterogeneous mobile robots. Since mapping and pose estimation are very closely related to each other, therefore, two novel sensor data fusion techniques are also presented, furthermore, various state of the art localization and mapping techniques and mobile robot software frameworks are discussed for an overview of the current development in this research area. The mathematical cooperative SLAM formulation probabilistically solves the problem of estimating the robots state and the environment features using Kalman filter. The software framework is an effort toward the ongoing standardization process of the cooperative mobile robotics systems. To enhance the efficiency of a cooperative mobile robot system the proposed software framework addresses various issues such as different communication protocol structure for mobile robots, different sets of sensors for mobile robots, sensor data organization from different robots, monitoring and controlling robots from a single interface. The present work can be applied to number of applications in various domains where a priori map of the environment is not available and it is not possible to use global positioning devices to find the accurate position of the mobile robot. Therefore the mobile robot(s) has to rely on building the map of its environment and using the same map to find its position and orientation relative to the environment. The exemplary areas for applying the proposed SLAM technique are Indoor environments such as warehouse management, factory floors for parts assembly line, mapping abandoned tunnels, disaster struck environment which are missing maps, under see pipeline inspection, ocean surveying, military applications, planet exploration and many others. These applications are some of many and are only limited by the imagination.Diese Forschungsarbeit ist ein Beitrag zur Entwicklung eines Framework für kooperatives SLAM mit heterogenen, mobilen Robotern. Die präsentierte Forschungsarbeit trägt in zwei Aspekten in einem Team von heterogenen, mobilen Robotern bei. Erstens stellt es einen mathematischen Framework für kooperative Lokalisierung und geometrisch basierende Kartengenerierung bereit. Zweitens schlägt es einen Softwareframework zur Steuerung, Konfiguration und Management einer Gruppe von heterogenen mobilen Robotern vor. Da Kartenerstellung und Poseschätzung miteinander stark verbunden sind, werden zwei neuartige Techniken zur Sensordatenfusion präsentiert. Weiterhin werden zum Stand der Technik verschiedene Techniken zur Lokalisierung und Kartengenerierung sowie Softwareframeworks für die mobile Robotik diskutiert um einen Überblick über die aktuelle Entwicklung in diesem Forschungsbereich zu geben. Die mathematische Formulierung des SLAM Problems löst das Problem der Roboterzustandsschätzung und der Umgebungmerkmale durch Benutzung eines Kalman filters. Der Softwareframework ist ein Beitrag zum anhaltenden Standardisierungsprozess von kooperativen, mobilen Robotern. Um die Effektivität eines kooperativen mobilen Robotersystems zu verbessern enthält der vorgeschlagene Softwareframework die Möglichkeit die Kommunikationsprotokolle flexibel zu ändern, mit verschiedenen Sensoren zu arbeiten sowie die Möglichkeit die Sensordaten verschieden zu organisieren und verschiedene Roboter von einem Interface aus zu steuern. Die präsentierte Arbeit kann in einer Vielzahl von Applikationen in verschiedenen Domänen benutzt werden, wo eine Karte der Umgebung nicht vorhanden ist und es nicht möglich ist GPS Daten zur präzisen Lokalisierung eines mobilen Roboters zu nutzen. Daher müssen die mobilen Roboter sich auf die selbsterstellte Karte verlassen und die selbe Karte zur Bestimmung von Position und Orientierung relativ zur Umgebung verwenden. Die exemplarischen Anwendungen der vorgeschlagenen SLAM Technik sind Innenraumumgebungen wie Lagermanagement, Fabrikgebäude mit Produktionsstätten, verlassene Tunnel, Katastrophengebiete ohne aktuelle Karte, Inspektion von Unterseepipelines, Ozeanvermessung, Militäranwendungen, Planetenerforschung und viele andere. Diese Anwendungen sind einige von vielen und sind nur durch die Vorstellungskraft limitiert

Procjena različitih razina Bacillus sp. (HCYL03) fitaze u brojlera hranjenih obrocima na bazi kukuruza i soje s niskim udjelom nefitatnog fosfora

The objective of the present study was to evaluate the impact of various levels of phytase derived from Bacillus sp. (HCYL03) in corn-soy diets fed to broilers. Experimental treatments included a positive control (PC) with a calculated non-phytate phosphorus (nPP) level of 4.0g/kg for the 35 days of trial. The negative control (NC) diet included a reduction in nPP to 3.0g/kg during the experiment, and commercially available phytase (@500FTU/kg), as well as new bacterial phytase added to the NC diet in increasing amounts of 500, 800, and 1100FTU/kg. Treatment effects on growth performance, the apparent digestibility of P, tibia mineralization, and Ca and P status in blood plasma were evaluated on day 35. The NC diet decreased feed intake (P<0.05), body weight gain (BWG) (P<0.05), and improved feed conversion ratio (FCR) (P<0.05) compared to the PC. Phytase addition improved all growth parameters. Birds fed the NC diet displayed lower (P<0.05) digestibility of P, reduced (P<0.05) tibial mineralization, and decreased (P<0.05) P and Ca concentrations in blood plasma compared to birds fed the PC diet. Improvements in digestibility of P, tibia mineralization, and mineral contents in blood plasma were observed with phytase addition. High level inclusion of phytase (1100FTU/kg) yielded the greatest improvement in bird performance, nutrient digestibility, and bone mineralization in the NC group and low levels of phytase treatments. It may be concluded that inorganic P incorporated in the normal-nPP diet of chickens could be effectively replaced by a Bacillus sp. (HCYL03) phytase diet without any adverse effect on the performance and nutrient use of broilers.Cilj istraživanja bio je procijeniti utjecaj različitih razina fitaze izdvojene iz Bacillus sp. (HCYL03) i dodane u obroke od kukuruza i soje kojima se hrane brojleri. Istraživanje je uključilo pozitivnu kontrolu (PC) s izračunatom razinom nefitatnog fosfora (nPP) od 4,0 g/kg tijekom 35 dana trajanja istraživanja. Prehrana brojlera u negativnoj kontroli (NC) uključila je smanjenje nPP-a na 3,0 g/kg tijekom trajanja pokusa, komercijalno dostupnu fitazu (@500FTU/kg), kao i novu bakterijsku fitazu dodanu NC prehrani, u količini koja se povećavala na 500, 800 i 1100 FTU/kg. Učinci na rast, probavljivost fosfora, mineralizaciju tibije i razinu kalcija i fosfora u krvnoj plazmi procijenjeni su 35. dan pokusa. U skupini NC smanjeni su unos hrane (P<0,05) i prirast tjelesne mase (BWG) (P<0,05), dok je stopa konverzije hrane povećana (FCR) (P<0,05) u usporedbi sa skupinom PC. Dodatak fitaze pozitivno je utjecao na sve pokazatelje rasta. Brojleri u skupini NC pokazali su manju probavljivost fosfora (P<0,05), smanjenu mineralizaciju tibije (P<0,05) te smanjenu količinu fosfora i kalcija (P<0,05) u krvnoj plazmi u usporedbi s brojlerima iz skupine PC. Utvrđeno je da dodatak fitaze poboljšava probavljivost fosfora, mineralizaciju tibije i sadržaj minerala u krvnoj plazmi. Dodatak veće količine fitaze (1100 FTU/kg) rezultirao je najvećim poboljšanjem u istraženim svojstvima brojlera, probavljivosti hrane i mineralizaciji kosti u skupini NC. Zaključeno je da bi se anorganski fosfor uključen u uobičajenu nPP prehranu pilića mogao učinkovito zamijeniti Bacillus sp. (HCYL03) fitazom, bez štetnih učinaka na prehranu i svojstva brojlera

Program community policing pasukan polis di zaman darurat

Pelaksanaan Program Kepolisan Masyarakat atau lebih dikenali sebagai Community Policing dijalankan oleh pihak polis semasa menghadapi ancaman keganasan yang ditimbulkan oleh Parti Komunis Malaya(PKM) di era Darurat Pertama dari 1948 sehingga 1960 ternyata berkesan dalam usaha menarik sokongan masyarakat supaya bersama Pasukan Polis menyokong kerajaan melawan komunis. Undang-Undang Darurat diisytiharkan di Tanah Melayu oleh Sir Edward Gent pada 16 Jun 1948 ekoran peristiwa pembunuhan tiga orang eropah di dua buah ladang di Sungai Siput, Perak telah diperluaskan ke seluruh negara bila ancaman bersenjata PKM semakin memuncak.Pasukan Polis telah menjalankan pelbagai strategi untuk memenangi hati dan perasaan masyarakat supaya sentiasa di belakang kerajaan dan tidak sesekali memberi sokongan kepada sebarang kegiatan pengganas.Rancangan Briggs yang melibatkan penempatan semula masyarakat khususnya masyarakat Cina yang tinggal di pinggir hutan di mana mereka mudah didekati oleh gerila PKM bagi mendapatkan sebarang maklumat serta bantuan makanan serta ubat-ubatan, program ini ternyata memberi impak yang baik dalam usaha memutuskan hubungan masyarakat dengan kumpulan pengganas selain dari satu jalan untuk merapatkan talian kerjasama antara masyarakat dengan pihak polis.Pada 1949, pasukan sukarela polis khas yang dianggotai oleh bangsa Cina ditubuhkan dikenali sebagai ‘Chinese Special Anti-Bandit Volunteer Special Constable’ juga dikenali sebagai ‘Kwangsai’ dalam bahasa Mandarin merupakan satu jalan bagi merapatkan polis dengan masyarakat.Kempen Bulan Melawan Penjahat atau lebih dikenali sebagai ‘Anti Bandit Month’ di seluruh Tanah Melayu pada 26 Feb hingga 2 April 1950 pula menyatukan rakyat supaya bersatu bersamasama kerajaan menghapuskan gerila komunis. Turut dijalankan ‘Community Listening Program’ bagi mendekatkan rakyat dengan informasi kerajaan mengenai berita serta perkembangan semasa darurat selain turut diselitkan dengan agenda propaganda supaya rakyat tidak memberi sebarang bantuan atau sokongan kepada gerila PKM. Risalah pengampunan beramai-ramai secara terbuka dalam pelbagai bahasa kepada pengganas komunis di hutan serta ahli Min Yuen yang dikenali sebagai ‘Pas Akuan Keselamatan’ turut melibatkan peranan Pasukan Polis.Hakikatnya Program Community Policing berjaya menarik rakyat menyokong kerajaan menentang komunis dan Darurat diisytiharkan tamat sepenuhnya pada 31 Julai 1960

Accuracy of MRI in Diagnosis of Invasive Placenta by Taking Per Operative Findings as Gold Standard

Objective: To assess the diagnostic accuracy of magnetic resonance imaging (MRI) in detecting invasive placentas using per-operative findings as the gold standard.Methodology: A prospective cross-sectional study was conducted in the diagnostic radiology department of KRL General Hospital Islamabad during Oct 2019 to Sep 2021. Sixty prenatal individuals were identified as having a high risk of invasive placenta and underwent MRI (Phillips 1.5 T) to confirm the diagnosis. A trainee radiologist and a consultant radiologist reviewed the images. The MRI's sensitivity, specificity, positive predictive value, negative predictive value, and accuracy was calculated using a 2×2 contingency tables. Results: Ten cases of invasive placenta were detected postoperatively (gold standard). The MRI had a sensitivity of 90%, a specificity of 93%, a positive predictive value of 90%, a negative predictive value of 90%, and an accuracy of 92.3 percent, respectively. Conclusion: The study concluded that magnetic resonance imaging (MRI) offers a good diagnostic accuracy and is a reproducible technology for prenatal identification of invasive placentas

A Recent Approach towards Fluidic Microstrip Devices and Gas Sensors: A Review

This paper aims to review some of the available tunable devices with emphasis on the techniques employed, fabrications, merits, and demerits of each technique. In the era of fluidic microstrip communication devices, versatility and stability have become key features of microfluidic devices. These fluidic devices allow advanced fabrication techniques such as 3D printing, spraying, or injecting the conductive fluid on the flexible/rigid substrate. Fluidic techniques are used either in the form of loading components, switching, or as the radiating/conducting path of a microwave component such as liquid metals. The major benefits and drawbacks of each technology are also emphasized. In this review, there is a brief discussion of the most widely used microfluidic materials, their novel fabrication/patterning methods

Perkhidmatan Sokongan Penyelidikan Perpustakaan Semasa Pandemik Covid-19 : Pengalaman Perpustakaan Universiti Sains Malaysia

Penularan pandemik Covid-19 yang melanda pada penghujung Disember 2019 telah memberikan impak yang sangat besar kepada kehidupan masyarakat dunia. Ia menukar gaya hidup dan cara kerja masyarakat dalam sektor politik, sosial, dan ekonomi termasuk juga sektor pendidikan. Perpustakaan USM sebagai perpustakaan akademik yang menyokong USM selaku Universiti Penyelidikan juga perlu mengadaptasi pelbagai kaedah baharu bagi memastikan perkhidmatannya sampai kepada pengguna. Berpaksikan kepada slogan "Information at Your Doorstep", pelbagai inisiatif dan inovasi telah dilaksanakan oleh pustakawan bagi menyokong aktiviti pengajaran, pembelajaran, penyelidikan dan perundingan agar sentiasa berjalan lancar. Perkhidmatan pendidikan pengguna, sokongan penyelidikan, perkhidmatan perbekalan artikel dan pengurusan data penyelidikan telah ditransformasikan perkhidmatan sepenuhnya secara dalam talian. Perhubungan dan komunikasi antara perpustakaan dan pengguna juga menggunakan aplikasi dalam talian yang tersedia bagi mendekatkan dan memberi ruang penyampaian perkhidmatan secara terus kepada pengguna. Semua inisiatif dan inovasi penyampaian yang telah dilaksanakan ini tidak lain bertujuan bagi memastikan Perpustakaan USM kekal relevan di setiap masa, situasi dan keadaan

The Establishment Of Strategic Program In Research Support Service (SPIRESS) In USM Library

Along with the modernization, Malaysia Higher Learning Institutions (HLIs) have implemented multiple kinds of transformation plans. Currently, there is a comprehensive transformation plan written in Malaysia Education Blueprint 2015-2025 (Higher Education) (MEB) (HE) as a guideline for Higher Learning Institutions (HLIs), Polytechnics and Community Colleges. Hence, the HLIs Libraries or known as Academic Libraries were intangibly pressured to perform new roles and services in order to fulfil the future demands in the rapid pace of Research and Development (R&D) landscape. This paper shares Universiti Sains Malaysia (USM) Library’s experience in developing the new service segments called Strategic Program in Research Support Service (SPiReSS). The introduction of SPiReSS was intended to facilitate students and academicians research activities. Five service segments were introduced namely as Mendeley, Easy-to-Write with Microsoft (MS) Word, Open Access Publication, Google Drive, and Google Scholar. This paper described comprehensively on how the USM Library implement the SPiReSS project especially in terms of developing the service model, enhance the Academic Librarians capabilities, analyzing the participants’ feedback, and explain the types of challenges the Academic Librarians encounter. The SPiReSS project has triggered the interest of HLIs community especially in USM. Due to the remarkable result, the SPiReSS project should create more service segments in order to substantially supporting the research activities in HLIs

The Establishment Of Strategic Program In Research Support Service (SPIRESS) In USM Library

Along with the modernization, Malaysia Higher Learning Institutions (HLIs) have implemented multiple kinds of transformation plans. Currently, there is a comprehensive transformation plan written in Malaysia Education Blueprint 2015-2025 (Higher Education) (MEB) (HE) as a guideline for Higher Learning Institutions (HLIs), Polytechnics and Community Colleges. Hence, the HLIs Libraries or known as Academic Libraries were intangibly pressured to perform new roles and services in order to fulfil the future demands in the rapid pace of Research and Development (R&D) landscape. This paper shares Universiti Sains Malaysia (USM) Library’s experience in developing the new service segments called Strategic Program in Research Support Service (SPiReSS). The introduction of SPiReSS was intended to facilitate students and academicians research activities. Five service segments were introduced namely as Mendeley, Easy-to-Write with Microsoft (MS) Word, Open Access Publication, Google Drive, and Google Scholar. This paper described comprehensively on how the USM Library implement the SPiReSS project especially in terms of developing the service model, enhance the Academic Librarians capabilities, analyzing the participants’ feedback, and explain the types of challenges the Academic Librarians encounter. The SPiReSS project has triggered the interest of HLIs community especially in USM. Due to the remarkable result, the SPiReSS project should create more service segments in order to substantially supporting the research activities in HLIs

Antimicrobial resistance among migrants in Europe: a systematic review and meta-analysis

BACKGROUND: Rates of antimicrobial resistance (AMR) are rising globally and there is concern that increased migration is contributing to the burden of antibiotic resistance in Europe. However, the effect of migration on the burden of AMR in Europe has not yet been comprehensively examined. Therefore, we did a systematic review and meta-analysis to identify and synthesise data for AMR carriage or infection in migrants to Europe to examine differences in patterns of AMR across migrant groups and in different settings. METHODS: For this systematic review and meta-analysis, we searched MEDLINE, Embase, PubMed, and Scopus with no language restrictions from Jan 1, 2000, to Jan 18, 2017, for primary data from observational studies reporting antibacterial resistance in common bacterial pathogens among migrants to 21 European Union-15 and European Economic Area countries. To be eligible for inclusion, studies had to report data on carriage or infection with laboratory-confirmed antibiotic-resistant organisms in migrant populations. We extracted data from eligible studies and assessed quality using piloted, standardised forms. We did not examine drug resistance in tuberculosis and excluded articles solely reporting on this parameter. We also excluded articles in which migrant status was determined by ethnicity, country of birth of participants' parents, or was not defined, and articles in which data were not disaggregated by migrant status. Outcomes were carriage of or infection with antibiotic-resistant organisms. We used random-effects models to calculate the pooled prevalence of each outcome. The study protocol is registered with PROSPERO, number CRD42016043681. FINDINGS: We identified 2274 articles, of which 23 observational studies reporting on antibiotic resistance in 2319 migrants were included. The pooled prevalence of any AMR carriage or AMR infection in migrants was 25·4% (95% CI 19·1-31·8; I2 =98%), including meticillin-resistant Staphylococcus aureus (7·8%, 4·8-10·7; I2 =92%) and antibiotic-resistant Gram-negative bacteria (27·2%, 17·6-36·8; I2 =94%). The pooled prevalence of any AMR carriage or infection was higher in refugees and asylum seekers (33·0%, 18·3-47·6; I2 =98%) than in other migrant groups (6·6%, 1·8-11·3; I2 =92%). The pooled prevalence of antibiotic-resistant organisms was slightly higher in high-migrant community settings (33·1%, 11·1-55·1; I2 =96%) than in migrants in hospitals (24·3%, 16·1-32·6; I2 =98%). We did not find evidence of high rates of transmission of AMR from migrant to host populations. INTERPRETATION: Migrants are exposed to conditions favouring the emergence of drug resistance during transit and in host countries in Europe. Increased antibiotic resistance among refugees and asylum seekers and in high-migrant community settings (such as refugee camps and detention facilities) highlights the need for improved living conditions, access to health care, and initiatives to facilitate detection of and appropriate high-quality treatment for antibiotic-resistant infections during transit and in host countries. Protocols for the prevention and control of infection and for antibiotic surveillance need to be integrated in all aspects of health care, which should be accessible for all migrant groups, and should target determinants of AMR before, during, and after migration. FUNDING: UK National Institute for Health Research Imperial Biomedical Research Centre, Imperial College Healthcare Charity, the Wellcome Trust, and UK National Institute for Health Research Health Protection Research Unit in Healthcare-associated Infections and Antimictobial Resistance at Imperial College London