| 1. |
- Micah, Angela E., et al.
(författare)
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Tracking development assistance for health and for COVID-19 : a review of development assistance, government, out-of-pocket, and other private spending on health for 204 countries and territories, 1990-2050
- 2021
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Ingår i: The Lancet. - : Elsevier. - 0140-6736 .- 1474-547X. ; 398:10308, s. 1317-1343
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Forskningsöversikt (refereegranskat)abstract
- Background The rapid spread of COVID-19 renewed the focus on how health systems across the globe are financed, especially during public health emergencies. Development assistance is an important source of health financing in many low-income countries, yet little is known about how much of this funding was disbursed for COVID-19. We aimed to put development assistance for health for COVID-19 in the context of broader trends in global health financing, and to estimate total health spending from 1995 to 2050 and development assistance for COVID-19 in 2020. Methods We estimated domestic health spending and development assistance for health to generate total health-sector spending estimates for 204 countries and territories. We leveraged data from the WHO Global Health Expenditure Database to produce estimates of domestic health spending. To generate estimates for development assistance for health, we relied on project-level disbursement data from the major international development agencies' online databases and annual financial statements and reports for information on income sources. To adjust our estimates for 2020 to include disbursements related to COVID-19, we extracted project data on commitments and disbursements from a broader set of databases (because not all of the data sources used to estimate the historical series extend to 2020), including the UN Office of Humanitarian Assistance Financial Tracking Service and the International Aid Transparency Initiative. We reported all the historic and future spending estimates in inflation-adjusted 2020 US$, 2020 US$ per capita, purchasing-power parity-adjusted US$ per capita, and as a proportion of gross domestic product. We used various models to generate future health spending to 2050. Findings In 2019, health spending globally reached $8. 8 trillion (95% uncertainty interval [UI] 8.7-8.8) or $1132 (1119-1143) per person. Spending on health varied within and across income groups and geographical regions. Of this total, $40.4 billion (0.5%, 95% UI 0.5-0.5) was development assistance for health provided to low-income and middle-income countries, which made up 24.6% (UI 24.0-25.1) of total spending in low-income countries. We estimate that $54.8 billion in development assistance for health was disbursed in 2020. Of this, $13.7 billion was targeted toward the COVID-19 health response. $12.3 billion was newly committed and $1.4 billion was repurposed from existing health projects. $3.1 billion (22.4%) of the funds focused on country-level coordination and $2.4 billion (17.9%) was for supply chain and logistics. Only $714.4 million (7.7%) of COVID-19 development assistance for health went to Latin America, despite this region reporting 34.3% of total recorded COVID-19 deaths in low-income or middle-income countries in 2020. Spending on health is expected to rise to $1519 (1448-1591) per person in 2050, although spending across countries is expected to remain varied. Interpretation Global health spending is expected to continue to grow, but remain unequally distributed between countries. We estimate that development organisations substantially increased the amount of development assistance for health provided in 2020. Continued efforts are needed to raise sufficient resources to mitigate the pandemic for the most vulnerable, and to help curtail the pandemic for all. Copyright (C) 2021 The Author(s). Published by Elsevier Ltd.
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| 2. |
- Bentham, James, et al.
(författare)
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A century of trends in adult human height
- 2016
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Ingår i: eLIFE. - 2050-084X. ; 5
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Tidskriftsartikel (refereegranskat)abstract
- Being taller is associated with enhanced longevity, and higher education and earnings. We reanalysed 1472 population-based studies, with measurement of height on more than 18.6 million participants to estimate mean height for people born between 1896 and 1996 in 200 countries. The largest gain in adult height over the past century has occurred in South Korean women and Iranian men, who became 20.2 cm (95% credible interval 17.522.7) and 16.5 cm (13.319.7) taller, respectively. In contrast, there was little change in adult height in some sub-Saharan African countries and in South Asia over the century of analysis. The tallest people over these 100 years are men born in the Netherlands in the last quarter of 20th century, whose average heights surpassed 182.5 cm, and the shortest were women born in Guatemala in 1896 (140.3 cm; 135.8144.8). The height differential between the tallest and shortest populations was 19-20 cm a century ago, and has remained the same for women and increased for men a century later despite substantial changes in the ranking of countries.
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| 3. |
- Bentham, James, et al.
(författare)
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A century of trends in adult human height
- 2016
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Ingår i: eLIFE. - : eLife Sciences Publications Ltd. - 2050-084X. ; 5
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Tidskriftsartikel (refereegranskat)abstract
- Being taller is associated with enhanced longevity, and higher education and earnings. We reanalysed 1472 population-based studies, with measurement of height on more than 18.6 million participants to estimate mean height for people born between 1896 and 1996 in 200 countries. The largest gain in adult height over the past century has occurred in South Korean women and Iranian men, who became 20.2 cm (95% credible interval 17.5–22.7) and 16.5 cm (13.3– 19.7) taller, respectively. In contrast, there was little change in adult height in some sub-Saharan African countries and in South Asia over the century of analysis. The tallest people over these 100 years are men born in the Netherlands in the last quarter of 20th century, whose average heights surpassed 182.5 cm, and the shortest were women born in Guatemala in 1896 (140.3 cm; 135.8– 144.8). The height differential between the tallest and shortest populations was 19-20 cm a century ago, and has remained the same for women and increased for men a century later despite substantial changes in the ranking of countries.
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| 4. |
- Bhattacharya, Arani, et al.
(författare)
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Selection of Sensors for Efficient Transmitter Localization
- 2020
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Ingår i: IEEE INFOCOM 2020 - IEEE conference on computer communications. - : IEEE. ; , s. 2410-2419
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Konferensbidrag (refereegranskat)abstract
- We address the problem of localizing an (illegal) transmitter using a distributed set of sensors. Our focus is on developing techniques that perform the transmitter localization in an efficient manner, wherein the efficiency is defined in terms of the number of sensors used to localize. Localization of illegal transmitters is an important problem which arises in many important applications, e.g., in patrolling of shared spectrum systems for any unauthorized users. Localization of transmitters is generally done based on observations from a deployed set of sensors with limited resources, thus it is imperative to design techniques that minimize the sensors' energy resources. In this paper, we design greedy approximation algorithms for the optimization problem of selecting a given number of sensors in order to maximize an appropriately defined objective function of localization accuracy. The obvious greedy algorithm delivers a constant-factor approximation only for the special case of two hypotheses (potential locations). For the general case of multiple hypotheses, we design a greedy algorithm based on an appropriate auxiliary objective function-and show that it delivers a provably approximate solution for the general case. We develop techniques to significantly reduce the time complexity of the designed algorithms, by incorporating certain observations and reasonable assumptions. We evaluate our techniques over multiple simulation platforms, including an indoor as well as an outdoor testbed, and demonstrate the effectiveness of our designed techniques-our techniques easily outperform prior and other approaches by up to 50-60% in large-scale simulations.
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| 5. |
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| 6. |
- Gupta, Himanshu, 1993-, et al.
(författare)
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NDT-6D for color registration in agri-robotic applications
- 2023
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Ingår i: Journal of Field Robotics. - : John Wiley & Sons. - 1556-4959 .- 1556-4967. ; 40:6, s. 1603-1619
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Tidskriftsartikel (refereegranskat)abstract
- Registration of point cloud data containing both depth and color information is critical for a variety of applications, including in-field robotic plant manipulation, crop growth modeling, and autonomous navigation. However, current state-of-the-art registration methods often fail in challenging agricultural field conditions due to factors such as occlusions, plant density, and variable illumination. To address these issues, we propose the NDT-6D registration method, which is a color-based variation of the Normal Distribution Transform (NDT) registration approach for point clouds. Our method computes correspondences between pointclouds using both geometric and color information and minimizes the distance between these correspondences using only the three-dimensional (3D) geometric dimensions. We evaluate the method using the GRAPES3D data set collected with a commercial-grade RGB-D sensor mounted on a mobile platform in a vineyard. Results show that registration methods that only rely on depth information fail to provide quality registration for the tested data set. The proposed color-based variation outperforms state-of-the-art methods with a root mean square error (RMSE) of 1.1-1.6 cm for NDT-6D compared with 1.1 - 2.3 cm for other color-information-based methods and 1.2 - 13.7 cm for noncolor-information-based methods. The proposed method is shown to be robust against noises using the TUM RGBD data set by artificially adding noise present in an outdoor scenario. The relative pose error (RPE) increased 14% for our method compared to an increase of 75% for the best-performing registration method. The obtained average accuracy suggests that the NDT-6D registration methods can be used for in-field precision agriculture applications, for example, crop detection, size-based maturity estimation, and growth modeling.
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| 7. |
- Gupta, Himanshu, 1993-, et al.
(författare)
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Revisiting Distribution-Based Registration Methods
- 2023
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Ingår i: 2023 European Conference on Mobile Robots (ECMR). - : IEEE. - 9798350307047 - 9798350307054 ; , s. 43-48
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Konferensbidrag (refereegranskat)abstract
- Normal Distribution Transformation (NDT) registration is a fast, learning-free point cloud registration algorithm that works well in diverse environments. It uses the compact NDT representation to represent point clouds or maps as a spatial probability function that models the occupancy likelihood in an environment. However, because of the grid discretization in NDT maps, the global minima of the registration cost function do not always correlate to ground truth, particularly for rotational alignment. In this study, we examined the NDT registration cost function in-depth. We evaluated three modifications (Student-t likelihood function, inflated covariance/heavily broadened likelihood curve, and overlapping grid cells) that aim to reduce the negative impact of discretization in classical NDT registration. The first NDT modification improves likelihood estimates for matching the distributions of small population sizes; the second modification reduces discretization artifacts by broadening the likelihood tails through covariance inflation; and the third modification achieves continuity by creating the NDT representations with overlapping grid cells (without increasing the total number of cells). We used the Pomerleau Dataset evaluation protocol for our experiments and found significant improvements compared to the classic NDT D2D registration approach (27.7% success rate) using the registration cost functions "heavily broadened likelihood NDT" (HBL-NDT) (34.7% success rate) and "overlapping grid cells NDT" (OGC-NDT) (33.5% success rate). However, we could not observe a consistent improvement using the Student-t likelihood-based registration cost function (22.2% success rate) over the NDT P2D registration cost function (23.7% success rate). A comparative analysis with other state-of-art registration algorithms is also presented in this work. We found that HBL-NDT worked best for easy initial pose difficulties scenarios making it suitable for consecutive point cloud registration in SLAM application.
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| 8. |
- Gupta, Himanshu, 1993-, et al.
(författare)
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Robust scan registration for navigation in forest environment using low-resolution LiDAR sensors
- 2023
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Ingår i: Sensors. - : MDPI. - 1424-8220. ; 23:10
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Tidskriftsartikel (refereegranskat)abstract
- Automated forest machines are becoming important due to human operators’ complex and dangerous working conditions, leading to a labor shortage. This study proposes a new method for robust SLAM and tree mapping using low-resolution LiDAR sensors in forestry conditions. Our method relies on tree detection to perform scan registration and pose correction using only low-resolution LiDAR sensors (16Ch, 32Ch) or narrow field of view Solid State LiDARs without additional sensory modalities like GPS or IMU. We evaluate our approach on three datasets, including two private and one public dataset, and demonstrate improved navigation accuracy, scan registration, tree localization, and tree diameter estimation compared to current approaches in forestry machine automation. Our results show that the proposed method yields robust scan registration using detected trees, outperforming generalized feature-based registration algorithms like Fast Point Feature Histogram, with an above 3 m reduction in RMSE for the 16Chanel LiDAR sensor. For Solid-State LiDAR the algorithm achieves a similar RMSE of 3.7 m. Additionally, our adaptive pre-processing and heuristic approach to tree detection increased the number of detected trees by 13% compared to the current approach of using fixed radius search parameters for pre-processing. Our automated tree trunk diameter estimation method yields a mean absolute error of 4.3 cm (RSME = 6.5 cm) for the local map and complete trajectory maps.
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| 9. |
- Machado, Tyrone, et al.
(författare)
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Autonomous Heavy-Duty Mobile Machinery : A Multidisciplinary Collaborative Challenge
- 2021
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Ingår i: Proceedings of the IEEE ICTE Leading Digital Transformation in Business and Society Conference. - : IEEE. - 9781665438957 - 9781665445986
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Konferensbidrag (refereegranskat)abstract
- Heavy-duty mobile machines (HDMMs), are a wide range of off-road machinery used in diverse and critical application areas which are currently facing several issues like skilled labor shortage, safety requirements, and harsh work environments in general. Consequently, efforts are underway to increase automation in HDMMs for increased productivity and safety, eventually transitioning to operator-less autonomous HDMMs to address skilled labor shortages. However, HDMM are complex machines requiring continuous physical and cognitive inputs from human operators. Thus, developing autonomous HDMM is a huge challenge, with current research and developments being performed in several independent research domains. Through this study, we use the bounded rationality concept to propose multidisciplinary collaborations for new autonomous HDMMs and apply the transaction cost economics framework to suggest future implications in the HDMM industry. Furthermore, we introduce and provide a conceptual understanding of the autonomous HDMM industry collaborations as a unified approach, while highlighting the practical implications and challenges of the complex nature of such multidisciplinary collaborations. The collaborative challenges and potentials are mapped out between the following topics: mechanical systems, AI methods, software systems, sensors, data and connectivity, simulations and process optimization, business cases, organization theories, and finally, regulatory frameworks.
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| 10. |
- Mudgal, Richa, et al.
(författare)
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Magnetic-Proximity-Induced Efficient Charge-to-Spin Conversion in Large-Area PtSe2/Ni80Fe20 Heterostructures
- 2023
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Ingår i: NANO LETTERS. - 1530-6984 .- 1530-6992. ; 23:24, s. 11925-11931
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Tidskriftsartikel (refereegranskat)abstract
- As a topological Dirac semimetal with controllable spin-orbit coupling and conductivity, PtSe2, a transition-metal dichalcogenide, is a promising material for several applications, from optoelectrics to sensors. However, its potential for spintronics applications has yet to be explored. In this work, we demonstrate that the PtSe2/Ni80Fe20 heterostructure can generate large damping-like current-induced spin-orbit torques (SOT), despite the absence of spin-splitting in bulk PtSe2. The efficiency of charge-to-spin conversion is found to be -0.1 +/- 0.02 nm(-1) in PtSe2/Ni80Fe20, which is 3 times that of the control sample, Ni80Fe20/Pt. Our band structure calculations show that the SOT due to PtSe2 arises from an unexpectedly large spin splitting in the interfacial region of PtSe2 introduced by the proximity magnetic field of the Ni80Fe20 layer. Our results open up the possibilities of using large-area PtSe2 for energy-efficient nanoscale devices by utilizing proximity-induced SOT.
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