Robot Pose Estimation and Normal Trajectory Generation on Curved Surface Using an Enhanced Non-Contact Approach.

The use of robots for machining operations has become very popular in the last few decades. However, the challenge of the robotic-based machining process, such as surface finishing on curved surfaces, still persists. Prior studies (non-contact- and contact-based) have their own limitations, such as fixture error and surface friction. To cope with these challenges, this study proposes an advanced technique for path correction and normal trajectory generation while tracking a curved workpiece's surface. Initially, a key-point selection approach is used to estimate a reference workpiece's coordinates using a depth measuring tool. This approach overcomes the fixture errors and enables the robot to track the desired path, i.e., where the surface normal trajectory is needed. Subsequently, this study employs an attached RGB-D camera on the end-effector of the robot for determining the depth and angle between the robot and the contact surface, which nullifies surface friction issues. The point cloud information of the contact surface is employed by the pose correction algorithm to guarantee the robot's perpendicularity and constant contact with the surface. The efficiency of the proposed technique is analyzed by carrying out several experimental trials using a 6 DOF robot manipulator. The results reveal a better normal trajectory generation than previous state-of-the-art research, with an average angle and depth error of 1.8 degrees and 0.4 mm.

Patient prioritization and management during the COVID-19 pandemic.

The coronavirus disease 2019 (COVID-19) pandemic affected the healthcare system in a major way generally. Healthcare re-organization of resources and manpower, establishing management protocols and specific patients' pathways are all evolving with the continuously changing situation. Neuro-vascular management and its re-organization are part of these global measures to cope with this pandemic in a way to establish less risky patients' pathways, help in patients' triage, protecting the staff by introducing training and applying safety measures and to manage neuro-vascular emergencies and elective activity. We here describe the situation of the pandemic affecting neuro-vascular interventions and propose our recommendations for patients' triage, resources management and organization, remote solutions and preparations for any future waves.

Incidence of dengue and chikungunya viruses in mosquitoes and human patients in border provinces of Vietnam.

BACKGROUND: Dengue virus remains a major threat in Vietnam, while chikungunya virus is expected to become one. Surveillance was conducted from 2012 to 2014 in Vietnam to assess the presence of dengue and chikungunya viruses in patients hospitalized with acute fever in five Vietnam provinces neighboring Lao PDR and Cambodia. Surveillance was extended to mosquitoes present in the vicinity of the patients' households. RESULTS: A total 558 human serum samples were collected along with 1104 adult mosquitoes and 12,041 larvae from 2250 households. Dengue virus was found in 17 (3%) human serum samples and in 9 (0.8%) adult mosquitoes. Chikungunya virus was detected in 2 adult mosquitoes (0.18%) while no chikungunya virus was detected in humans. Differing densities of mosquito populations were found, with the highest in the Long An Province border with Cambodia. Long An Province also displayed the lowest rate of infection, despite a very high Breteau Index, high human population density and presence of the main cross border road system. The highest incidence was found in Dac Nong Province, where the Breteau and Container indices were the second lowest. Dengue virus was detected in five Aedes albopictus, three Aedes aegypti and one Culex vishnui. Chikungunya virus was detected in two Ae. aegypti. All infected mosquitoes belonged to haplotypes described in other parts of the world and a number of novel haplotypes were found among uninfected mosquitoes. CONCLUSIONS: Dengue is considered to be regularly introduced to Vietnam from Cambodia, mostly through human movement. The data reported here provides a complementary picture. Due to intensive international trade, long-distance transportation of mosquito populations may play a role in the regular importation of dengue in Vietnam through Ho Chi Minh City. It is important to decipher the movement of mosquitoes in Vietnam, not only at the Lao PDR and Cambodia borders but also through international trade routes. Mosquito surveillance programs should address and follow mosquito populations instead of mosquito species.