The 3D model control of image processing

Telerobotics studies remote control of distant robots by a human operator using supervisory or direct control. Even if the robot manipulators has vision or other senses, problems arise involving control, communications, and delay. The communication delays that may be expected with telerobots working in space stations while being controlled from an Earth lab have led to a number of experiments attempting to circumvent the problem. This delay in communication is a main motivating factor in moving from well understood instantaneous hands-on manual control to less well understood supervisory control; the ultimate step would be the realization of a fully autonomous robot. The 3-D model control plays a crucial role in resolving many conflicting image processing problems that are inherent in resolving in the bottom-up approach of most current machine vision processes. The 3-D model control approach is also capable of providing the necessary visual feedback information for both the control algorithms and for the human operator

Instrumentation and robotic image processing using top-down model control

A top-down image processing scheme is described. A three-dimensional model of a robotic working environment, with robot manipulators, workpieces, cameras, and on-the-scene visual enhancements is employed to control and direct the image processing, so that rapid, robust algorithms act in an efficient manner to continually update the model. Only the model parameters are communicated, so that savings in bandwidth are achieved. This image compression by modeling is especially important for control of space telerobotics. The background for this scheme lies in an hypothesis of human vision put forward by the senior author and colleagues almost 20 years ago - the Scanpath Theory. Evidence was obtained that repetitive sequences of saccadic eye movements, the scanpath, acted as the checking phase of visual pattern recognition. Further evidence was obtained that the scanpaths were apparently generated by a cognitive model and not directly by the visual image. This top-down theory of human vision was generalized in some sense to the frame in artificial intelligence. Another source of the concept arose from bioengineering instrumentation for measuring the pupil and eye movements with infrared video cameras and special-purpose hardware

Tracing sediment transport and bed regime in Nha Trang Bay

Three spatial structure groups of radionuclides in U and Th series, 210Pb-excess and 137Cs, and 40K were found based on analyzing temporal and spatial datum of their content by factor analysis with oblique rotation in Nhatrang bay. U and Th spatial structure with their contours decreased toward the offshore, ran longshore and divided seawater of bay into two parts with strong gradient on both sides. Inside part located from center of Nhatrang bay toward the seashore with three main deposit centers of their contents higher than 23 Bq/kg.dry for 238U and 40 Bq/kg.dry for 232Th, indicated unstability of shoreline. Almost sediments coming from river extended toward the offshore, were stopped and transported toward southeastern. The outside part was less than above mentioned content. The boundary line between two parts superposed with the constantly limit line of turbid plume in the rainy season. Direct influence of the continental runoff was limited by the 9 Bq/kg.dry contour of 238U, 19 Bq/kg.dry contour of 232Th. Longshore current was a predominant process whereas lateral transport as sifting and winnowing process of finer grains in sediments of Nhatrang bay. Areas that had very low content of 137Cs and 210 Pb-excess adjoining shoreline showed areas being eroded. Accumulation of 137Cs and 210 Pbexcess nearby river mouth characterized for fine compositions of sediments controlled by seasonal plumes and sites further toward the south indicated finer materials transported from river and accumulated in lack of hydrodynamic process. Near shore accumulation of 40K revealed the sediments there originated from bed erosion

GHZ-type and W-type entangled coherent states: generation and Bell-type inequality tests without photon counting

We study GHZ-type and W-type three-mode entangled coherent states. Both the types of entangled coherent states violate Mermin's version of the Bell inequality with threshold photon detection (i.e., without photon counting). Such an experiment can be performed using linear optics elements and threshold detectors with significant Bell violations for GHZ-type entangled coherent states. However, to demonstrate Bell-type inequality violations for W-type entangled coherent states, additional nonlinear interactions are needed. We also propose an optical scheme to generate W-type entangled coherent states in free-traveling optical fields. The required resources for the generation are a single-photon source, a coherent state source, beam splitters, phase shifters, photodetectors, and Kerr nonlinearities. Our scheme does not necessarily require strong Kerr nonlinear interactions, i.e., weak nonlinearities can be used for the generation of the W-type entangled coherent states. Furthermore, it is also robust against inefficiencies of the single-photon source and the photon detectors.Comment: 8 pages, 5 figures, to be published in Phys. Rev.

Stakeholder Delphi-perception analysis on impacts and responses of acid rain on agricultural ecosystems in the Vietnamese upland

Vietnam is one of most vulnerable countries to acid rain in Asia. In the Vietnamese Northern Mountains, acid rainwater affects negatively to local agricultural ecosystems. This paper analyzes how major agricultural stakeholders living in the mountains assess the impacts of acid rain and their responses on agricultural ecosystems. A two-round Stakeholder Delphi combined with the pressure-state-response (PSR) model allows ranking effects, mitigation and adaptation measures. Eight themes, 14 sub-themes, and 35 indicators for acid rain are structured in the PSR model. The results show that deforestation and rainfall variability relate to changes in the concentrations of acid ions in rainwater. Energy consumption in the industry and transportation, chemical fertilizer use in agriculture, and air pollution from neighboring areas contribute significantly to acid rain. Acid rain affects agriculture and decreases crop yields, causes arable land loss, reduces nutrients and organic matter, and accumulates heavy metals. Panel members perceive that applying local knowledge in agricultural practices, rational energy use, promotion of integrated agricultural policies, and changing farmer behaviors are measures to mitigate acid rain and its adverse effects. The results contribute to a vision on local adaptation actions and policy to foster the capacity and the resilience of major local group

The genetic diversity and evolutionary history of hepatitis C virus in Vietnam

AbstractVietnam has a unique history in association with foreign countries, which may have resulted in multiple introductions of the alien HCV strains to mix with those indigenous ones. In this study, we characterized the HCV sequences in Core-E1 and NS5B regions from 236 Vietnamese individuals. We identified multiple HCV lineages; 6a, 6e, 6h, 6k, 6l, 6o, 6p, and two novel variants may represent the indigenous strains; 1a was probably introduced from the US; 1b and 2a possibly originated in East Asia; while 2i, 2j, and 2m were likely brought by French explorers. We inferred the evolutionary history for four major subtypes: 1a, 1b, 6a, and 6e. The obtained Bayesian Skyline Plots (BSPs) consistently showed the rapid HCV population growth from 1955 to 1963 until 1984 or after, corresponding to the era of the Vietnam War. We also estimated HCV growth rates and reconstructed phylogeographic trees for comparing subtypes 1a, 1b, and HCV-2

A unique spinodal region in asymmetric nuclear matter

Asymmetric nuclear matter at sub-saturation densities is shown to present only one type of instabilities. The associated order parameter is dominated by the isoscalar density and so the transition is of liquid-gas type. The instability goes in the direction of a restoration of the isospin symmetry leading to a fractionation phenomenon. These conclusions are model independent since they can be related to the general form of the asymmetry energy. They are illustrated using density functional approaches.Comment: 4 pages, 5 figures, to appear in Phys. Rev.

Application of AHP algorithm on power distribution of load shedding in island microgrid

This paper proposes a method of load shedding in a microgrid system operated in an Island Mode, which is disconnected with the main power grid and balanced loss of the electrical power. This proposed method calculates the minimum value of the shed power with reference to renewable energy sources such as wind power generator, solar energy and the ability to control the frequency of the generator to restore the frequency to the allowable range and reduce the amount of load that needs to be shed. Computing the load importance factor (LIF) using AHP algorithm supports to determine the order of which load to be shed. The damaged outcome of load shedding, thus, will be noticeably reduced. The experimental results of this proposed method is demonstrated by simulating on IEEE 16-Bus microgrid system with six power sources

Mapping for engagement: setting up a community based participatory research project to reach underserved communities at risk for Hepatitis C in Ho Chi Minh City, Vietnam

Background: Approximately 1. 07 million people in Vietnam are infected with hepatitis C virus (HCV). To address this epidemic, the South East Asian Research Collaborative in Hepatitis (SEARCH) launched a 600-patient cohort study and two clinical trials, both investigating shortened treatment strategies for chronic HCV infection with direct-acting antiviral drugs. We conducted ethnographic research with a subset of trial participants and found that the majority were aware of HCV infection and its implications and were motivated to seek treatment. However, people who inject drugs (PWID), and other groups at risk for HCV were under-represented, although injecting drug use is associated with high rates of HCV. Material and Methods: We designed a community-based participatory research (CBPR) study to engage in dialogues surrounding HCV and other community-prioritized health issues with underserved groups at risk for HCV in Ho Chi Minh City. The project consists of three phases: situation analysis, CBPR implementation, and dissemination. In this paper, we describe the results of the first phase (i.e., the situation analysis) in which we conducted desk research and organized stakeholder mapping meetings with representatives from local non-government and community-based organizations where we used participatory research methods to identify and analyze key stakeholders working with underserved populations. Results: Twenty six institutions or groups working with the key underserved populations were identified. Insights about the challenges and dynamics of underserved communities were also gathered. Two working groups made up of representatives from the NGO and CBO level were formed. Discussion: Using the information provided by local key stakeholders to shape the project has helped us to build solid relationships, give the groups a sense of ownership from the early stages, and made the project more context specific. These steps are not only important preliminary steps for participatory studies but also for other research that takes place within the communities

Screening and management of viral hepatitis and hepatocellular carcinoma in Mongolia: results from a survey of Mongolian physicians from all major provinces of Mongolia

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