A Doorway Detection and Direction (3Ds) System for Social Robots via a Monocular Camera

In this paper, we propose a novel algorithm to detect a door and its orientation in indoor settings from the view of a social robot equipped with only a monocular camera. The challenge is to achieve this goal with only a 2D image from a monocular camera. The proposed system is designed through the integration of several modules, each of which serves a special purpose. The detection of the door is addressed by training a convolutional neural network (CNN) model on a new dataset for Social Robot Indoor Navigation (SRIN). The direction of the door (from the robot’s observation) is achieved by three other modules: Depth module, Pixel-Selection module, and Pixel2Angle module, respectively. We include simulation results and real-time experiments to demonstrate the performance of the algorithm. The outcome of this study could be beneficial in any robotic navigation system for indoor environments

Attracting international postgraduate students: the pulling factors

A university has to carry out various marketing strategies and efforts to recruit international students as many as possible in order to fulfil one of the criteria for a world–class university status. However, to attract quality candidates with the desirable profile is becoming increasingly difficult especially when the university has to compete internationally and nationally with the existing and new emerging universities. This paper discusses the findings of a study carried out to establish the factors considered by international students before they decided to come to Universiti Teknologi Malaysia for their postgraduate studies. A total sample of 896 international students from various fields of studies for three different intakes was used in the study. The result shows that the main factors considered by them are the availability of the programme, reputation, the conduciveness of the campus environment for teaching and learning, and the location of the university. Most of them agreed that internet and education fairs or expositions are effective marketing medium for the recruitment of international students. This study provides an evidence–based framework to be considered by the University in formulating strategies and efforts to become a global player in higher education

Interaction between Pasteurella multocida B: 2 and its derivatives with bovine aortic endothelial cell (BAEC)

Background: Pasteurella multocida B:2 causes bovine haemorrhagic septicaemia (HS), leading to rapid fatalities in cattle and buffaloes. An attenuated derivative of P. multocida B:2 GDH7, was previously constructed through mutation of the gdhA gene and proved to be an effective live attenuated vaccine for HS. Currently, only two potential live attenuated vaccine candidates for HS are being reported; P. multocida B:2 GDH7 and P. multocida B:2 JRMT12. This study primarily aims to investigate the potential of P. multocida B:2 GDH7 strain as a delivery vehicle for DNA vaccine for future multivalent applications. Results: An investigation on the adherence, invasion and intracellular survival of bacterial strains within the bovine aortic endothelial cell line (BAEC) were carried out. The potential vaccine strain, P. multocida B:2 GDH7, was significantly better (p ≤ 0.05) at adhering to and invading BAEC compared to its parent strain and to P. multocida B:2 JRMT12 and survived intracellularly 7 h post treatment, with a steady decline over time. A dual reporter plasmid, pSRGM, which enabled tracking of bacterial movement from the extracellular environment into the intracellular compartment of the mammalian cells, was subsequently transformed into P. multocida B:2 GDH7. Intracellular trafficking of the vaccine strain, P. multocida B:2 GDH7 was subsequently visualized by tracking the reporter proteins via confocal laser scanning microscopy (CLSM). Conclusions: The ability of P. multocida B:2 GDH7 to model bactofection represents a possibility for this vaccine strain to be used as a delivery vehicle for DNA vaccine for future multivalent protection in cattle and buffaloes

Fungal Sinusitis with Intracranial Extension in Immuno-competent Patients: Surgical Planning According to Relation to Eloquent Neurovascular Structures

AbstractObjectiveTo evaluate the results of combined neurosurgical and ENT surgical management for patients with fungal sinusitis with intracranial extension.MethodsWe managed 10 cases with fungal sinusitis with intracranial extension. This included 7 females and 3 males. Four patients presented with unilateral proptosis, 2 with deterioration of level of consciousness due to meningitis, 2 with chronic headache, one with epilepsy and one patient presented with trigeminal pain. All cases had long history of chronic headache and nasal obstruction. CT was done in all cases, MR in 8 patients, CT angiography and conventional cerebral angiography in one patient. Surgical intervention was decided according to the relation of the fungal granuloma to eloquent intracranial structures. Endonasal approach alone was used when the granuloma was not related to the optic nerve, internal carotid artery or cavernous sinus (n=3). Combined subfrontal and endonasal approach was used when the granuloma was closely related to one or more of these structures (n=5). Transcranial approach alone was done for 2 patients with isolated sphenoid fungal sinusitis that was associated with a mycotic internal carotid artery aneurysm in one patient and with a temporal lobe abscess in the other. In addition, antifungal treatment was used for 8-12 weeks. Patients were followed up clinically and radiologically for 6-36 month period.ResultsNo morbidity related to the operative procedures was recorded in the study group. One patient died two month post-operatively due to fungal meningitis. In survivors (n=9): headache and nasal obstruction improved, proptosis was corrected, epilepsy and trigeminal pain were controlled by medication. Follow-up CT showed eradication of the fungal granuloma in all survivors. Histopathological results showed mucormycosis (n=2), aspirgillosis (n=4), and no fungus (4 patients).ConclusionTeam work by ENT and neurosurgical staff and early diagnosis are mandatory in the management of fungal sinusitis with intracranial extension in immune-competent patients. Surgical planning according to the relation of fungal granuloma to eloquent neurovascular structures is the corner stone for save removal of granuloma

Investigation of Tensile properties of Bambusa Vulgaris Reinforced Unsaturated Polyester Resin

The investigation of the mechanical behaviour of Bamboo fibre (Bambusa Vulgaris) reinforced unsaturated polyester resin has been carried out in this work. The composites have been fabricated manually using the hand lay-up method. The purpose of the work is to develop a suitable alternative as a replacement for synthetic materials in industries. Five different weight fraction of fibre/matrix have been developed and investigated for their mechanical properties such as tensile strength and tensile modulus in accordance to test standard of ASTM D3039/D3039M-17. The ratio used for bamboo fibre and unsaturated polyester resin is 10:90, 15:85, 20:80 and 25:75. The pulping pre-treatment process was used to extract the fibre. The surface failure of the specimen has been determined from the tensile test and fractography failure is also discussed in this study. The results from this research will provide understanding of bamboo composite properties for future flooring

Dynamic Resource Management in Integrated NOMA Terrestrial-Satellite Networks using Multi-Agent Reinforcement Learning

This study introduces a resource allocation framework for integrated satellite-terrestrial networks to address these challenges. The framework leverages local cache pool deployments and non-orthogonal multiple access (NOMA) to reduce time delays and improve energy efficiency. Our proposed approach utilizes a multi-agent enabled deep deterministic policy gradient algorithm (MADDPG) to optimize user association, cache design, and transmission power control, resulting in enhanced energy efficiency. The approach comprises two phases: User Association and Power Control, where users are treated as agents, and Cache Optimization, where the satellite (Bs) is considered the agent. Through extensive simulations, we demonstrate that our approach surpasses conventional single-agent deep reinforcement learning algorithms in addressing cache design and resource allocation challenges in integrated terrestrial-satellite networks. Specifically, our proposed approach achieves significantly higher energy efficiency and reduced time delays compared to existing methods.Comment: 16, 1

Sedge weeds control in tropical turf using sea water

Research was designed to reduce herbicide use by replacing post emergence herbicides with readily available sea water to control tropical weeds. Results showed that 5 species viz., Cyperus compressus L., Cyperus iria L., Fimbristylis miliaceae Vahl., Fimbristylis ovata J. Kern. and Scirpus juncoides Roxb. were very susceptible and effectively controlled (100%) with 72 dS/m salinity treatment, but. 2 species viz. Cyperus aromaticus Ridley. and Cyperus rotundus L. were extremely tolerant to the salinity level of 72 dS/m

The Potential Role of Azadirachta indica

Azadirachta indica A. Juss. (neem, family: Meliaceae) is perhaps the most commonly used traditional medicinal plant of India. In this study we investigated the protective effect of methanolic neem leaves extract (MNLE; 500 mg/Kg bwt) on rats treated with cisplatin (CDDP)-induced hepatotoxicity. Adult rats were randomly divided into four groups. CDDP was given to rats by intraperitoneal injection, while MNLE was given by oral gavage for 5 days after the CDDP injection. The injury and oxidative stress caused by CDDP on the liver and the effect of MNLE were evaluated by measuring (a) histological changes, (b) tissue biochemical oxidant and antioxidant parameters, and (c) investigating apoptosis markers immunohistochemically and by real time PCR. After treatment with MNLE, the histological damage and apoptosis induction caused by cisplatin were improved. Malondialdehyde and nitric oxide were significantly decreased; the antioxidant system, namely, glutathione content, glutathione-S-transferase, glutathione peroxidase, catalase, and superoxide dismutase activities were significantly elevated. In conclusion, MNLE may have a potential role when combined with cisplatin in chemotherapy to alleviate cisplatin-induced damage and oxidative stress in liver

Effect of heat treatment on the tribological performance of electroless quaternary nickel alloy

Heat treatment of nickel-based alloy can increase the alloy’s hardness as well as the wear resistance properties. Nevertheless, the effect of heat treatment on the quaternary Ni alloy coating properties produced from electroless deposition bath is less known due to its composition uniqueness. In this study, Cu and Co are added in the Ni-P alloy matrix using hypophosphite-based Electroless Ni deposition method on mild steel substrate in acidic and alkaline bath. The coatings are then heat treated at 623 K for 3600s. The coatings hardness is measured using microVickers hardness tester and the surface morphology of the coatings are studied using both Scanning Electron Microscope (SEM) and X-ray diffraction (XRD) analysis. X-ray fluorescence (XRF) measurement is used to measure the coatings compositions. The wear behavior of the coatings is also investigated before and after heat treatment using ASTM G-99. The coatings from acidic-based bath produces Ni-Cu-Co-P alloy coating while the alkaline-based bath produces Ni-Co-Cu-P alloy based on XRF analysis. Results show that the hardness increases more than 20% for acidic-based bath and 40% for alkaline-based bath coating. The highest increment is the Ni-Co-Cu-P alloy, from 553.3 HV to 991.3 HV after heat treatment. The grain refinement of the coatings can be observed after heat treatment in SEM observation. This is proved by the XRD measurement results where polycrystalline Ni (111) formation is seen after heat treatment overshadowing the Cu (111) and Co (111) peaks. Ni phosphide species are also formed after the heat treatment. The polycrystalline Ni and the Ni phosphide formation, as well as the existence of Co and Cu in the alloy deposits reduces the wear rate significantly after the heat treatment

Effect of temperature to the properties of sago starch

Recently, the importance of sago starch has increased, as it has become one of the main economically important agricultural crops to the most Southeast Asia countries. In the present work, an analysis on drying process of sago starch (Metroxylon sagu Rottb.) underwent various temperature has been made by using four empirical equations. The main goal of this analysis is to suggest the most accurate equation, in order to model and simulate the mechanical drying of sago starch. The experimental investigations were carried out in a gravity convection lab oven; and ±50g of sago starch (sample heights of 1 cm) was dried through four different temperatures, which were 50, 60, 70 and 80ºC. The effect of drying temperature on the drying kinetics, as well as various qualities attributes of sago starch, such as microstructure, colour and functional properties were investigated. The results suggested that drying temperature has significant effect on sago starch drying kinetic; therefore, drying temperature would be the basis to select drying condition. Meanwhile, it was found that the various drying temperature ranging from 50 to 80ºC affected the product quality especially in term of colour