Intelligent System for Estimation of the Spatial Position of Apples Based on YOLOv3 and Real Sense Depth Camera D415

Despite the great possibilities of modern neural network architectures concerning the problems of object detection and recognition, the output of such models is the local (pixel) coordinates of objects bounding boxes in the image and their predicted classes. However, in several practical tasks, it is necessary to obtain more complete information about the object from the image. In particular, for robotic apple picking, it is necessary to clearly understand where and how much to move the grabber. To determine the real position of the apple relative to the source of image registration, it is proposed to use the Intel Real Sense depth camera and aggregate information from its depth and brightness channels. The apples detection is carried out using the YOLOv3 architecture; then, based on the distance to the object and its localization in the image, the relative distances are calculated for all coordinates. In this case, to determine the coordinates of apples, a transition to a symmetric coordinate system takes place by means of simple linear transformations. Estimating the position in a symmetric coordinate system allows estimating not only the magnitude of the shift but also the location of the object relative to the camera. The proposed approach makes it possible to obtain position estimates with high accuracy. The approximate root mean square error is 7–12 mm, depending on the range and axis. As for precision and recall metrics, the first is 100% and the second is 90%.

THE DEVELOPMENT OF LISTENING MATERIALS FOR STUDENTS OF INDONESIA LITERATURE EDUCATION IN UNIPA SURABAYA

This research was conducted based on the findings of college students. A phenomenon that is often found in students is that students still have low listening ability. This happened to students of the 2020 UNIPA Indonesian Language Education Study Program (PBI). The low value of listening ability in students was due to the lack of teaching materials for listening courses. To reduce or minimize the occurrence of language errors, lecturers use the Four-D Model or the 4D Model. Through the Four-D Model or the 4D Model, this study develops a product, namely the "Listening Research Procedure" module, using 4D steps, namely define, design, development, and dissemination. To analyze the data, this study used descriptive qualitative and quantitative. Based on data analysis, the process of making the Listening module is in accordance with the Thiagarajan development procedure known as Four-D Models (4D Model). The quality of the Listening module is viewed from the aspect of content feasibility, language eligibility, obtaining validation validation with good criteria. The results of the tests conducted by students showed that they had progressed, the average score of the students had complete information.

COVID-19: THREE PHASES OF THE PANDEMIC. Dynamics of cases, deaths and tests related to SARS-CoV-2 A systematic analysis of 213 countries and territories

- Background. Since the previous study dealing with the case fatality ratio and infection fatality ratio caused by COVID-19, the author has received many comments that prompted the question: "Why did an optimistic prognosis fail?" To answer this question, a more detailed and expanded analysis was carried out in a new study. - Objective. To evaluate the dynamics of monthly numbers of cases, deaths, tests and CFR worldwide during three phases of the COVID-19 pandemic. - Material and Methods. Twenty three sets of databases, dated the 22nd of each month from January 2020 to November 2021, for 213 countries were collected from the Worldometer website. The number of cases, deaths, tests, CFR, IFR, etc. were counted for various periods of time for each of the 213 countries, then results related to different periods of time were compared. - Results. The analysis of the main epidemiological parameters led to the division of three phases of the global pandemic evolution. The first phase (23.01.20-22.07.20), the second phase (23.07.20-22.01.21) and the third phase (23.01.21-22.07.21) were different in terms of the number of tests performed, new cases, and mortality due to COVID-19. By the end of the secondphase, the worldwide statistics indicated the imminent end of the pandemic, but the third phase was characterized by a sudden rise in the number of new cases and deaths that could not be explained rationally. The most dramatic evolution of the epidemic curve occurred in the countries where doctors had successfully battled COVID-19 during the first two phases of the pandemic. - Conclusions. Despite the decrease in overall death numbers during the latest months analyzed, additional study is necessary to identify the cause for the increase in the number of new cases and deaths during the third phase of the pandemic. Only complete information regarding the positive and negative impact of medical and non-medical methods of diagnostics and prophylaxis of COVID-19 can help to organize effective measures to end the current pandemic and prevent a similar one from occurring in the future. Presumably, there are several causes of the negative evolution of the current pandemic, including the overreliance on PCR tests, application of non-specialized premises for quarantine and treatment, decrease in herd and individual immunity, inadequate change of therapeutic protocols, and ignoring prophylactic treatment. It can be suggested that the use of immunemodulatory drugs, for example, thymus extract or thymic peptides, in groups of people with compromised immunity is necessary, and prophylactic and therapeutic protocols should be changed from the 'standard' types to 'personalized' ones.

A review on experimental and numerical investigations of cortical bone fracture

This paper comprehensively reviews the various experimental and numerical techniques, which were considered to determine the fracture characteristics of the cortical bone. This study also provides some recommendations along with the critical review, which would be beneficial for future research of fracture analysis of cortical bone. Cortical bone fractures due to sports activities, climbing, running, and engagement in transport or industrial accidents. Individuals having different diseases are also at high risk of cortical bone fracture. It has been observed that osteon orientation influences cortical bone fracture toughness and fracture mechanisms. Apart from this, recent studies indicate that fracture parameters of cortical bone also depend on many factors such as age, sex, temperature, osteoporosis, orientation, location, loading condition, strain rate, and storage facility, etc. The cortical bone regains its fracture toughness due to various toughening mechanisms. Owing to these factors, several experimental, clinical, and numerical investigations have been carried out to determine the fracture parameters of the cortical bone. Cortical bone is the dense outer surface of the bone and contributes to 80%–82% of the skeleton mass. Cortical bone experiences load far exceeding body weight due to muscle contraction and the dynamics of motion. It is very important to know the fracture pattern, direction of fracture, location of the fracture, and toughening mechanism of cortical bone. A basic understanding of the different factors that affect the fracture parameters and fracture mechanisms of the cortical bone is necessary to prevent the failure and fracture of cortical bone. This review has summarized the advancement considered in the various experimental techniques and numerical methods to get complete information about the fracture mechanisms of cortical bone.

Optimal Stabilization of Linear Stochastic System with Statistically Uncertain Piecewise Constant Drift

The paper presents an optimal control problem for the partially observable stochastic differential system driven by an external Markov jump process. The available controlled observations are indirect and corrupted by some Wiener noise. The goal is to optimize a linear function of the state (output) given a general quadratic criterion. The separation principle, verified for the system at hand, allows examination of the control problem apart from the filter optimization. The solution to the latter problem is provided by the Wonham filter. The solution to the former control problem is obtained by formulating an equivalent control problem with a linear drift/nonlinear diffusion stochastic process and with complete information. This problem, in turn, is immediately solved by the application of the dynamic programming method. The applicability of the obtained theoretical results is illustrated by a numerical example, where an optimal amplification/stabilization problem is solved for an unstable externally controlled step-wise mechanical actuator.

Frequency of early initiation of breastfeeding among women in Thatta, Sindh and factors associated with it: A secondary data analysis

Introduction: It is recommended by the World Health Organization to initiate breastfeeding within first hour of birth. In recent time, many efforts are being taken by international and national stakeholders to promote mothers to initiate early breastfeeding. However, only 42% of newborns in South Asia and 45% of newborns in world are put to breastfeeding within first hour of birth. The aim of this study was to determine the prevalence of early initiation of breastfeeding and factors associated with it in rural areas of Sindh, Pakistan. Methodology: The data for this study were extracted from the survey related to Exclusive breastfeeding among women in Thatta, 2019. Survey was implemented in areas of Thatta registered in Maternal and Neonatal Health Registry (MNHR). MNHR is a population-based study for low- and middle-income countries (LMICs) to assess pregnancy related outcomes. About 397 women with complete information on timing of initiation of breastfeeding were used in the analysis. Results: The early initiation of breastfeeding to their newborn baby i.e. within first hour of the birth, were found in 20.4% of mothers. Factors associated with early initiation of breastfeeding include adequate knowledge (AOR=3.63, 95% CI= 1.99-6.59), place of delivery AOR=2.66 (95% CI=1.51-4.67), gestational age of baby (AOR= 1.89, 95% CI=1.10-3.24) and Age of mother (AOR=1.07, 95% CI=1.02-1.13). Conclusion: Providing counselling and health education for mother before, during and after the pregnancy are important to motivate mothers to initiate breastfeeding early and continue exclusive breastfeeding for recommended period i.e. 6 months.

Marketing Strategy of Natural Soap (Hand Made Industry) In Small and Medium Micro Businesses (MSMEs) Tambora Exotic Dompu Regency

Marketing is an activity where business actors offer their products to consumers either directly or indirectly to be able to receive these products with all their ideas and ideas so that these products can be of interest to customers. The study was conducted to determine the Marketing Strategy of Natural Soap (Hand Made Industry) in Small and Medium Enterprises (UMKM) Tambora, Dompu Exotic Regency. The research method is carried out with a qualitative approach, namely a case study approach using a semi-structured interview technique for MSME owners and participants in the object with a research duration of 4 months from July to November 2021. The results of the study state that marketing is an important element that must be considered in order to match expectations, namely getting expected customer loyalty. Various types of MSMEs with various kinds of products produced and offered are almost the same because MSME products are easy to make with materials that are not so expensive so that a marketing strategy is needed to be able to increase the competitiveness of the products produced by MSMEs. In an effort to develop a marketing strategy, it is very necessary to have complete information related to the market.

Pelatihan Online Pembuatan Makanan Fermentasi Wadi

ABSTRAKSalah satu penerapan proses fermentasi terjadi pada produk perikanan. Wadi merupakan hasil fermentasi ikan yang banyak sekali diminati oleh masyarakat Kalimantan Selatan. Wadi merupakan salah satu proses fermentasi ikan atau daging secara tradisional yang berbentuk ikan utuh semi basah, berwarna agak hitam (mendekati warna ikan segar), bertekstur liat dengan aroma ikan khas fermentasi serta mempunyai cita rasa yang asin. Wadi memiliki waktu simpan yang lama sekitar 6 sampai 12 bulan. Kurangnya keterampilan dalam pengolahan wadi mengakibatkan wadi tidak bisa tahan lama sehingga wadi menjadi cepat busuk. Selain itu, belum ada wadi kemasan yang beredar dipasaran sehingga untuk masyarakat luar Kalimantan Selatan sulit untuk mendapatkan produk wadi ini. Pelatihan ini menggunakan metode ceramah, diskusi, tanya jawab serta demonstrasi atau praktek secara daring/online. Pelatihan ini menghasilkan pengetahuan dan pemahaman yang baik bagi peserta pelatihan. Hal ini dapat dilihat dari antusias peserta pelatihan dalam sesi diskusi dan tanya jawab untuk mencari informasi yang lengkap mengenai teknik fermentasi serta pelatihan dalam pembuatan wadi. Kata kunci: Fermentasi, Wadi, Pelatihan Online ABSTRACTOne of the processes of applying the fermentation process occurs in fishery products. Wadi is a fermented fish product that is in great demand by the people of South Kalimantan. Wadi is one of the traditional fish or meat fermentation processes in the form of semi-wet whole fish, slightly black (close to the color of fresh fish), clay texture with a distinctive fermented fish aroma, and has a salty taste. Wadi has a long shelf life of about 6 to 12 months. Lack of skills in wadi processing resulted in wadi not being able to last long so that the wadi rotted quickly. In addition, there is no packaged wadi on the market so it is difficult for people outside South Kalimantan to get this wadi product. This training uses lecture, discussion, question and answer methods as well as online demonstrations or practice. This training resulted in good knowledge and understanding for the participants of the wadi making training. This can be seen from the enthusiasm of the training participants in the discussion and question and answer sessions to seek complete information about fermentation techniques and training in wadi making. Keywords: Fermentation, Wadi, Online Training