Comparison Method Q-Learning and SARSA for Simulation of Drone Controller using Reinforcement Learning

Nowadays, the advancement of drones is also factored in the development of a world surrounded by technologies. One of the aspects emphasized here is the difficulty of controlling the drone, and the system developed is still under full control by the users as well. Reinforcement Learning is used to enable the system to operate automatically, thus drone will learn the next movement based on the interaction between the agent and the environment. Through this study, Q-Learning and State-Action-Reward-StateAction (SARSA) are used in this study and the comparison of results involving both the performance and effectiveness of the system based on the simulation of both methods can be seen through the analysis. A comparison of both Q-learning and State-ActionReward-State-Action (SARSA) based systems in autonomous drone application was performed for evaluation in this study. According to this simulation process is shows that Q-Learning is a better performance and effective to train the system to achieve desire compared with SARSA algorithm for drone controller

Closed-loop Functional Electrical Stimulation (FES) – cycling rehabilitation with phase control Fuzzy Logic for fatigue reduction control strategies for stroke patients

Functional Electrical Stimulation (FES) cycling, or FES-Cycling, holds great therapeutic potential for individuals with paralysis, such as those with Spinal Cord Injury (SCI), traumatic brain injury, or stroke, aiming to restore mobility. However, the nonlinear nature of the musculoskeletal system poses a significant challenge in controlling FES-Cycling. To address this, an integrated closed-loop phase angle fuzzy-based system was developed. This system offers real-time control by adjusting stimulation intensity (pulse width) within the range of 50 to 200μs while maintaining a constant frequency of 35Hz, thereby ensuring precise pedaling trajectory and cadence patterns. An experimental study involved three healthy individuals (Cases A, B, and C) and one individual with hemiplegia stroke (Case D). Results showed that the proposed system consistently reduced average angle trajectory errors for Cases A, B, and C, with values of 2.6945, 3.2958, and 2.9922 degrees, respectively. Case D, affected by hemiplegia stroke, faced greater challenges and exhibited a higher error of 3.4562 degrees. Fatigue resistance, evaluated through fatigue indices, showed promising results for Cases A, B, and C with values of 0.10778, 0.06866, and 0.04603, respectively. However, Case D experienced higher fatigue (0.2304) due to the unique challenges of hemiplegia stroke. These findings highlight the effectiveness of the proposed control system in optimizing FES-Cycling, particularly for healthy individuals. For individuals with paralysis, like Case D, further research is needed to adapt the system to their specific conditions and cycling patterns. This system holds the potential for enhancing FES-Cycling as a therapeutic strategy and warrants additional investigation and customization for different patient populations

Effects of a high-dose 24-h infusion of tranexamic acid on death and thromboembolic events in patients with acute gastrointestinal bleeding (HALT-IT): an international randomised, double-blind, placebo-controlled trial

Background: Tranexamic acid reduces surgical bleeding and reduces death due to bleeding in patients with trauma. Meta-analyses of small trials show that tranexamic acid might decrease deaths from gastrointestinal bleeding. We aimed to assess the effects of tranexamic acid in patients with gastrointestinal bleeding. Methods: We did an international, multicentre, randomised, placebo-controlled trial in 164 hospitals in 15 countries. Patients were enrolled if the responsible clinician was uncertain whether to use tranexamic acid, were aged above the minimum age considered an adult in their country (either aged 16 years and older or aged 18 years and older), and had significant (defined as at risk of bleeding to death) upper or lower gastrointestinal bleeding. Patients were randomly assigned by selection of a numbered treatment pack from a box containing eight packs that were identical apart from the pack number. Patients received either a loading dose of 1 g tranexamic acid, which was added to 100 mL infusion bag of 0·9% sodium chloride and infused by slow intravenous injection over 10 min, followed by a maintenance dose of 3 g tranexamic acid added to 1 L of any isotonic intravenous solution and infused at 125 mg/h for 24 h, or placebo (sodium chloride 0·9%). Patients, caregivers, and those assessing outcomes were masked to allocation. The primary outcome was death due to bleeding within 5 days of randomisation; analysis excluded patients who received neither dose of the allocated treatment and those for whom outcome data on death were unavailable. This trial was registered with Current Controlled Trials, ISRCTN11225767, and ClinicalTrials.gov, NCT01658124. Findings: Between July 4, 2013, and June 21, 2019, we randomly allocated 12 009 patients to receive tranexamic acid (5994, 49·9%) or matching placebo (6015, 50·1%), of whom 11 952 (99·5%) received the first dose of the allocated treatment. Death due to bleeding within 5 days of randomisation occurred in 222 (4%) of 5956 patients in the tranexamic acid group and in 226 (4%) of 5981 patients in the placebo group (risk ratio [RR] 0·99, 95% CI 0·82–1·18). Arterial thromboembolic events (myocardial infarction or stroke) were similar in the tranexamic acid group and placebo group (42 [0·7%] of 5952 vs 46 [0·8%] of 5977; 0·92; 0·60 to 1·39). Venous thromboembolic events (deep vein thrombosis or pulmonary embolism) were higher in tranexamic acid group than in the placebo group (48 [0·8%] of 5952 vs 26 [0·4%] of 5977; RR 1·85; 95% CI 1·15 to 2·98). Interpretation: We found that tranexamic acid did not reduce death from gastrointestinal bleeding. On the basis of our results, tranexamic acid should not be used for the treatment of gastrointestinal bleeding outside the context of a randomised trial

New design of tuned vibration absorber for wide frequency range application

Uncontrolled vibrations can leave a bad impression to the machine, structure, and human. For example, vibration on machine can damage the equipment, decrease the machine lifetime and also causing the safety factor problems. Therefore, a vibration absorber is obliged to reduce these vibrations. The present paper investigated a new design of tuned vibration absorber (TVA). The proposed TVA is: (1) light in weight and small in scale, which suitable for mobility purpose, and (2) can addressed a broad frequency range of application. However in this paper, the effectiveness of new design of TVA to reduce the vibration is not covered since the TVA has been proved in the previous study being able to reduce the vibration significantly. The frequency range of absorber was determined through finite element analysis (FEA) and validated with the experimental result. The aim is to enhance the range of frequency that TVA can tune from 0 to 1000 Hz. In order to generate the result, SolidWorks® software was used in the finite element analysis and DEWEsoft equipment was used in experiment. The results in the finite element analysis showed that the maximum frequency that TVA can tune is 800 Hz while from experiment is 980 Hz in the experimental analysis. Although there is an error about 18% between FEA and experiment, the findings are still significant because the maximum frequency of the new design TVA can reach is approximate to 1000 Hz. This study concludes that the new design of TVA which is small in scale and light in weight is able to reduce the structural vibration extensively if it is tuned correctly to the targeted frequency range of 0 to 980 Hz

NON-VERBAL HUMAN-ROBOT INTERACTION USING NEURAL NETWORK FOR THE APPLICATION OF SERVICE ROBOT

Service ro~ots; .re preVl'I.Iling in many industries to assis~ humans in c~nduc,ing repetitive task.;, which require a natural interaction called Human Robot Interaction (HRI). In particular, nonverbal HRI plays an important role in social interactions, which highlights the need to accurately detect the subject's attention by evaluating the programmed cues. 1n this paper, a conceptual attentiveness model algorithm called Attentive Recognition Model (ARM) is proposed to recognize a person's aLi:~ntivencss, which improves tne a-::Jtac~· of detection and subjective experience during nonverbal dRI using three combined detection models: face tracking, iris tracking and eye blin:.:ing. The face tracking model was trained using a Long Short-Term Memory (LSTM) neural network, which is based on deep learning. Meanwhile, the iris tracking and eye blinking use a mathematical model. The eye blinking model uses a random face landmark point to calculate the Eye Aspect Ratio (EAR), which is much more reliable compared to the prior method, which could detect a person blinking at a further distance even if the person was not blinking. The conducted e~ periments for face and iris tracking were able to detect direction up to 2 meters. Meanwhile, the tested eye blinking model gave an accuracy of 83.33% at up to 2 meters. The overall attentive accuracy of ARM was up to 85.7%. The experin1ents showed that the service robot was able to understand the programmed cues and hence perform certain tasks, such as approaching the interested person. Robot perkhidmatan lazim dalam banyak industri untuk membantu manusia menjalankan tugas berulang, yang memerlukan interaksi semula jadi yang dipanggil Interaksi Robot Manusia (HRI). Khususnya, HRI bukan lisan memainkan peranan penting dalam interaksi sosial, yang menonjolkan keperluan untuk mengesan perhatian subjek dengan tepat dengan menilai isyarat yang diprogramkan. Dalam makalah ini, algoritma model perhatian konseptual yang dipanggil Model Pengecaman Perhatian (ARM) dicadangkan untuk mengenali perhatian seseorang, yang meningkatkan ketepatan pengesanan dan pengalaman subjektif semasa HRI bukan lisan menggunakan tiga model pengesanan gabungan: pengesanan muka, pengesanan iris dan mata berkedip .. Model penjejakan muka telah dilatih menggunakan rangkaian saraf Memori Jangka Pendek Panjang (LSTM), yang berdasarkan pembelajaran mendalam. Manakala, pengesanan iris dan mata berkelip menggunakan model matematik. Model mata berkelip menggunakan titik mercu tanda muka rawak untuk mengira Nisbah Aspek Mata (EAR), yangjauh lebih dipercayai berbanding kaedah sebelumnya, yang boleh mengesan seseorang berkelip pada jarak yang lebih jauh walaupun orang itu tidak berkelip. Eksperin1en yang dijalankan untuk pengesanan muka dan iris dapat mengesan arah sehingga 2 meter. Sementara itu, model berkelip mata yang diuji memberikan ketepata

Effects of a high-dose 24-h infusion of tranexamic acid on death and thromboembolic events in patients with acute gastrointestinal bleeding (HALT-IT): an international randomised, double-blind, placebo-controlled trial

BackgroundTranexamic acid reduces surgical bleeding and reduces death due to bleeding in patients with trauma. Meta-analyses of small trials show that tranexamic acid might decrease deaths from gastrointestinal bleeding. We aimed to assess the effects of tranexamic acid in patients with gastrointestinal bleeding.MethodsWe did an international, multicentre, randomised, placebo-controlled trial in 164 hospitals in 15 countries. Patients were enrolled if the responsible clinician was uncertain whether to use tranexamic acid, were aged above the minimum age considered an adult in their country (either aged 16 years and older or aged 18 years and older), and had significant (defined as at risk of bleeding to death) upper or lower gastrointestinal bleeding. Patients were randomly assigned by selection of a numbered treatment pack from a box containing eight packs that were identical apart from the pack number. Patients received either a loading dose of 1 g tranexamic acid, which was added to 100 mL infusion bag of 0·9% sodium chloride and infused by slow intravenous injection over 10 min, followed by a maintenance dose of 3 g tranexamic acid added to 1 L of any isotonic intravenous solution and infused at 125 mg/h for 24 h, or placebo (sodium chloride 0·9%). Patients, caregivers, and those assessing outcomes were masked to allocation. The primary outcome was death due to bleeding within 5 days of randomisation; analysis excluded patients who received neither dose of the allocated treatment and those for whom outcome data on death were unavailable. This trial was registered with Current Controlled Trials, ISRCTN11225767, and ClinicalTrials.gov, NCT01658124.FindingsBetween July 4, 2013, and June 21, 2019, we randomly allocated 12 009 patients to receive tranexamic acid (5994, 49·9%) or matching placebo (6015, 50·1%), of whom 11 952 (99·5%) received the first dose of the allocated treatment. Death due to bleeding within 5 days of randomisation occurred in 222 (4%) of 5956 patients in the tranexamic acid group and in 226 (4%) of 5981 patients in the placebo group (risk ratio [RR] 0·99, 95% CI 0·82–1·18). Arterial thromboembolic events (myocardial infarction or stroke) were similar in the tranexamic acid group and placebo group (42 [0·7%] of 5952 vs 46 [0·8%] of 5977; 0·92; 0·60 to 1·39). Venous thromboembolic events (deep vein thrombosis or pulmonary embolism) were higher in tranexamic acid group than in the placebo group (48 [0·8%] of 5952 vs 26 [0·4%] of 5977; RR 1·85; 95% CI 1·15 to 2·98).InterpretationWe found that tranexamic acid did not reduce death from gastrointestinal bleeding. On the basis of our results, tranexamic acid should not be used for the treatment of gastrointestinal bleeding outside the context of a randomised trial.</div