No abstract

Shallow water zones including lakes, ponds, creeks, and rivers play a prominent role in the spiritual culture and economy of Vietnamese people throughout history. Therefore, numerous researches have been conducted in regard to this topic for many purposes, most of which focus on elevating the quality of life and safety. With the aid of new technology, modern platforms gradually replace conventional methods and reach a higher level of efficiency and convenience. This paper presents the research on design and control of Remotely Operated Vehicle (ROV) belonging to National key Laboratory of Digital Control and System Engineering. Basically, it is controlled by human pilots to move underwater and perform specifically pre-assigned tasks. T he power supply and communication channel for the vehicle are connected from an onshore station via cable systems. There are several stages of the pipeline in implementing a full-scale ROV platform that must be studied carefully. Prior to the experiments in practical conditions, th e proposed 3D model designed by SOLIDWORKS ® and MATLAB Simulink ® mathematical model analysis firstly provide a nonlinear plant in order to apply classical PID controllers and evaluate their feasibility through simulation process. The outer frame protects other components from being damaged or unattached while the thruster allocation strategy from the simulated model enables flexibility in motion. A system of sensors and camera collects data from underwater environment for on-the-spot monitoring or they can be captured for further post-analysis processes. After assembling all parts into a whole model, we launched the vehicle at the maximum depth of a pool as the condition of a shallow water survey. Optimistic experimental results have proved the ability of controllers even in case of the presence of external disturbances.

Diabetic foot ulcers (DFU) are a prevalent and severe disease with vascular and/or neurological complications, and if not diagnosed and treated promptly, it may rapidly deteriorate. Despite amputation or nonamputation treatment, there is still a high rate of re-ulceration. Previous studies have shown that the recurrence rate varies from 43% to 59% after 2 years. Currently, there is still a high rate of lower extremity amputation intervention, particularly above-the-ankle amputation, at Cho Ray Hospital in Vietnam, reaching 50%. The effectiveness of this intervention in the long term based on re-ulceration has not been evaluated in Vietnamese diabetic patients (DPs). This study aims to describe the long-term outcomes of amputation intervention in Type 2 DPs after 24 months and identify factors related to DFU recurrence in order to improve DFU management in low-middle-income countries like Vietnam. From January to June 2022, archived clinical and direct visit or phone follow-up data were collected and analyzed from diabetic foot ulcer patients with low extremity amputation who were treated at Cho Ray hospital from 2018 to 2020. The high re-ulceration rate in the 24th month was 29.8% (17/57), and the factor related to this outcome was “late diagnosis and care” (32.4 days vs 26.9 days with P = .03). Other potential factors (higher rates but no significant statistical difference with P > .05) included failure of HbA1c control greater than 9% (82.5% vs 67.5%), the severity of foot ulcers with TEXAS 3B (82% vs 60%), the number of years having diabetes (8.7 years vs 6.7 years), loss of monofilament sensation (82.5% vs 70.6%), and a history of diabetic foot ulcer (17.6% vs 10%). The re-ulceration after 24 months might depend on various clinical factors. Therefore, early diagnosis and care for diabetic foot ulcers could help reduce amputation rates and the risk of re-ulceration.