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Mobile robots have received much of attention in the last three decades due to their very high potential of applications such as smart logistics, exploration, and intelligent services. One of important functions of mobile robots is the navigation in which robot must know their location, the maps of environment and perform path planning with obstacle avoidance. In this work, we introduce an improvement of control algorithm for mobile robot using multi-layer sensor fusion toward the target of efficient obstacle avoidance. Based on our method, we used three layers of sensors arranging in three height-different planes of robot’s housing for sensor fusion. A control algorithm, which is extended from the so-called bubble rebound algorithm and uses signal from sensor system, was proposed. Experimental implementation on a mobile robot, named EAI, shows that our algorithm can control the robot to navigate and avoid obstacles much efficiently, in which obstacles in forms of different shapes and height can also be avoided. A high repeatability and stability of the algorithm is obtained.

This paper concerned with the development and implementation of smart street lighting control system based using Led lamp and Lora Wireless communication. Smart street lamps have been developed for over several years. These technologies have played an important role in urban safety, energy conservation. Currently, a traditional street lights are automatically turn on or off based on timer or day/night sensor. LEDs are now the standard replacement for legacy lighting in most cities around the world. At the same time, smart controls are becoming more mainstream and are increasingly installed alongside LED deployments. Recently, the conventional light sources are replaced by Led, which have so many advantages such as: energy savings, long lifetime, high reliability, pure light color, fast response, and friendliness to the environment. Furthermore, the intensity of the LED can be controlled easily. In this paper, the smart lighting system is designed to control and monitor devices via wireless transmission frequencies below 1 GHz. The system will include many types of devices connected to each other by a gateway. The transmit distance is about 2km in the urban area and up to 5km in rural area. The proposed smart street public lighting provides some advantages features such as: Automatic mode, Remote control mode, Connection disconnection mode, Manual direct operation mode. The smart lighting system has been built at Ho Chi Minh City University of Technology to meet the standards for data transmission. And some experimental resutls are provided to show the effectiveness of the porposed system.

Highlights • The temporo-mandibular joint chondrosarcoma is extremely rare, and can be misdiagnosed as parotid gland tumor. • Surgery is standard treatment with the aim of preserving the temporo-mandibular joint function. • Adjuvant radiation is used in certain cases to improve local control., Introduction Chondrosarcoma is a malignant tumor originated from cartilage cells. The most common sites of chondrosarcoma are pelvis, femur and ribs. The temporo-mandibular joint (TMJ) chondrosarcoma is extremely rare, with approximately 30 cases reported in worldwide. Presentation of case In this report, we present a case of chondrosarcoma in the left TMJ, which was successfully treated with surgery and radiation therapy. A 47 year-old women was admitted to our hospital with a mass in left pre-auricular region. On examination and para-clinical test results, the initial diagnosis was parotid gland cancer. In operation, the lesion was a mass originating from the left TMJ. Tumor resection was performed with close margin. The post-operative pathological result was well-differentiated chondrosarcoma. She was indicated adjuvant radiation therapy due to inadequate surgical therapy. There was no evidence of recurrence after 6 months follow-up. Conclusion The TMJ chondrosarcoma is needed to distinguish from other diseases especially parotid gland tumor. Surgery and adjuvant radiation therapy are standard care with the aim of preserving joint function.

In this study, a thin film of methylammonium lead iodide (MAPbI3) was employed as the switching layer in the metal/MAPbI3/FTO devices. Two metals, Ag and Cr, were used as active and inert top electrodes to govern the hysteresis effect of memory devices, respectively. While the Cr/MAPbI3/FTO device displayed an analog resistive switching (RS) behavior and a comparatively low ON/OFF ratio of 10, the Ag/MAPbI3/FTO structure displayed digital bipolar RS and a high ON/OFF ratio of 102. The density functional theory simulations suggest that these various behaviors may be caused by variations in the mutual interaction between the iodine vacancy defect and the metal contact properties. The SET process involved switching both devices from a high-resistance state to a low-resistance one using the space charge-limited current mechanism. In the RESET process, the Ag-electrode device is allocated the Poole–Frenkel emission mechanism, and the Cr-electrode device is followed the Fowler–Nordheim tunneling mechanism. The formation and dissociation of iodine vacancy filaments via the dielectric layer were identified as the RS mechanism in both devices. The findings show that organic–inorganic hybrid perovskite has a strong potential for data storage.