Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment perception.To adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation...Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment perception.To adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation models to eliminate these moving obstacles.However,these moving obstacle segmentation methods cost too much computation resource for the onboard processing of mobile robots.In the current industrial environment,mobile robot collaboration scenario,the noise of mobile robots could be easily found by on‐board audio‐sensing processors and the direction of sound sources can be effectively acquired by sound source estimation algorithms,but the distance estimation of sound sources is difficult.However,in the field of visual perception,the 3D structure information of the scene is relatively easy to obtain,but the recognition and segmentation of moving objects is more difficult.To address these problems,a novel vision‐audio fusion method that combines sound source localisation methods with a visual SLAM scheme is proposed,thereby eliminating the effect of dynamic obstacles on multi‐agent systems.Several heterogeneous robots experiments in different dynamic scenes indicate very stable self‐localisation and environment reconstruction performance of our method.展开更多
Objective:China was the first country suffering from the SARS-CoV-2 pandemic and one of the countries with stringent mother-neonate isolation measure implemented.Now increasing evidence suggests that coronavirus disea...Objective:China was the first country suffering from the SARS-CoV-2 pandemic and one of the countries with stringent mother-neonate isolation measure implemented.Now increasing evidence suggests that coronavirus disease 2019(COVID-19)should not be taken as an indication for formula feeding or isolation of the infant from the mother.Methods:We conducted a retrospective cohort study in 44 hospitals from 14 provinces in China to investigate the management of neonates whose mothers have confirmed or suspected COVID-19.In addition,65 members of Chinese Neonatologist Association(CNA)were invited to give their comments and suggestions on the clinical management guidelines for high-risk neonates.Results:There were 121 neonates born to 118 mothers suspected with COVID-19 including 42 mothers with SARS-CoV-2 positive results and 76 mothers with SARS-CoV-2 negative results.All neonates were born by caesarean section,isolated from their mothers immediately after birth and were formula-fed.Five neonates were positive for SARSCoV-2 at initial testing between 36 and 46 h after birth.Regarding the confusion on the clinical management guidelines,58.78%of the newborns were put into isolation,32.22%were subject to PCR tests,and 5.16%and 2.75%received breastfeeding and vaccination,respectively.Conclusion:The clinical symptoms of neonates born to mothers with confirmed SARS-CoV-2 were mild,though five neonates might have been infected in utero or during delivery.Given the favorable outcomes of neonates born to COVID-confirmed mothers,full isolation may not be warranted.Rather,separation of the mother and her newborn should be assessed on a case-by-case basis,considering local facilities and risk factors for adverse outcomes,such as prematurity and fetal distress.展开更多
基金supported by the Shenzhen Science and Technology Program(JSGG20220606142803007)the Shenzhen Institute of Artificial Intelligence and Robotics for Society(AIRS).
文摘Moving humans,agents,and subjects bring many challenges to robot self‐localisation and environment perception.To adapt to dynamic environments,SLAM researchers typically apply several deep learning image segmentation models to eliminate these moving obstacles.However,these moving obstacle segmentation methods cost too much computation resource for the onboard processing of mobile robots.In the current industrial environment,mobile robot collaboration scenario,the noise of mobile robots could be easily found by on‐board audio‐sensing processors and the direction of sound sources can be effectively acquired by sound source estimation algorithms,but the distance estimation of sound sources is difficult.However,in the field of visual perception,the 3D structure information of the scene is relatively easy to obtain,but the recognition and segmentation of moving objects is more difficult.To address these problems,a novel vision‐audio fusion method that combines sound source localisation methods with a visual SLAM scheme is proposed,thereby eliminating the effect of dynamic obstacles on multi‐agent systems.Several heterogeneous robots experiments in different dynamic scenes indicate very stable self‐localisation and environment reconstruction performance of our method.
基金Funding from the Department of Maternal and Child Health,National Health Commission of the People's Republic of China:Construction and Evaluation of Neonatal Intensive Care System in China(201906063).
文摘Objective:China was the first country suffering from the SARS-CoV-2 pandemic and one of the countries with stringent mother-neonate isolation measure implemented.Now increasing evidence suggests that coronavirus disease 2019(COVID-19)should not be taken as an indication for formula feeding or isolation of the infant from the mother.Methods:We conducted a retrospective cohort study in 44 hospitals from 14 provinces in China to investigate the management of neonates whose mothers have confirmed or suspected COVID-19.In addition,65 members of Chinese Neonatologist Association(CNA)were invited to give their comments and suggestions on the clinical management guidelines for high-risk neonates.Results:There were 121 neonates born to 118 mothers suspected with COVID-19 including 42 mothers with SARS-CoV-2 positive results and 76 mothers with SARS-CoV-2 negative results.All neonates were born by caesarean section,isolated from their mothers immediately after birth and were formula-fed.Five neonates were positive for SARSCoV-2 at initial testing between 36 and 46 h after birth.Regarding the confusion on the clinical management guidelines,58.78%of the newborns were put into isolation,32.22%were subject to PCR tests,and 5.16%and 2.75%received breastfeeding and vaccination,respectively.Conclusion:The clinical symptoms of neonates born to mothers with confirmed SARS-CoV-2 were mild,though five neonates might have been infected in utero or during delivery.Given the favorable outcomes of neonates born to COVID-confirmed mothers,full isolation may not be warranted.Rather,separation of the mother and her newborn should be assessed on a case-by-case basis,considering local facilities and risk factors for adverse outcomes,such as prematurity and fetal distress.
