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Sci Rep ; 11(1): 22378, 2021 Nov 17.
Artigo em Inglês | MEDLINE | ID: mdl-34789747


Drain blockage is a crucial problem in the urban environment. It heavily affects the ecosystem and human health. Hence, routine drain inspection is essential for urban environment. Manual drain inspection is a tedious task and prone to accidents and water-borne diseases. This work presents a drain inspection framework using convolutional neural network (CNN) based object detection algorithm and in house developed reconfigurable teleoperated robot called 'Raptor'. The CNN based object detection model was trained using a transfer learning scheme with our custom drain-blocking objects data-set. The efficiency of the trained CNN algorithm and drain inspection robot Raptor was evaluated through various real-time drain inspection field trial. The experimental results indicate that our trained object detection algorithm has detect and classified the drain blocking objects with 91.42% accuracy for both offline and online test images and is able to process 18 frames per second (FPS). Further, the maneuverability of the robot was evaluated from various open and closed drain environment. The field trial results ensure that the robot maneuverability was stable, and its mapping and localization is also accurate in a complex drain environment.

Int J Hyg Environ Health ; 218(7): 603-15, 2015 Oct.
Artigo em Inglês | MEDLINE | ID: mdl-26163779


BACKGROUND: Some phthalic acid esters (PAEs) and nonylphenol (NP) are endocrine-disrupting chemicals (EDCs) that are widely used in consumer products. Consequently, the general population is exposed simultaneously to both groups of chemicals. OBJECTIVE: To investigate the single- and co-exposure effects of PAEs (DMP, DEP, DnBP, DiBP, BBzP, and DEHP) and NP on obesity and pubertal maturity to compare the body sizes of general adolescents with the complainants of the phthalate-tainted foods scandal that occurred in Taiwan. METHODS: This study included 270 general adolescents aged 6.5-15.0 years and 38 complainants aged 6.5-8.5 years. Nine metabolites of the five PAEs and of NP were measured in urine. We used a questionnaire to evaluate pubertal maturity, measured anthropometric indices (APs) to assess body size, and collected urine samples to measure the two groups of chemicals. RESULTS: We found that urinary PAE metabolite concentrations (specifically, metabolites of DEP, DnBP, DiBP, and DEHP) were positively associated with the APs for abdominal obesity (including skinfold thickness, waist circumference, waist-to-height ratio, and waist-to-hip) and indicated a dose-response relationship. Mono-methyl phthalate (MMP) exposure was inversely associated with pubarche among boys. The daily intake of DEHP in general adolescents exceeded the reference doses (RfD-20 µg/kgbw/day) and tolerable daily intake (TDI-50 µg/kgbw/day) by 3.4% and 0.4%, respectively. No associations were observed between NP exposure or co-exposure and the APs or pubertal maturity. No significant differences were observed between general adolescents and the complainants with regard to weight, height, or BMI. CONCLUSIONS: The study suggests that PAE (specifically, DEP, DnBP, DiBP, and DEHP) exposure is associated with abdominal obesity in adolescents and that the APs for abdominal obesity are more sensitive than BMI for measuring obesity among adolescents. We suggest that the RfD and TDI for PAEs should be revised to provide sufficient protection.

Peso Corporal/efeitos dos fármacos , Disruptores Endócrinos/efeitos adversos , Exposição Ambiental/efeitos adversos , Obesidade Pediátrica/etiologia , Fenóis/efeitos adversos , Ácidos Ftálicos/efeitos adversos , Puberdade/efeitos dos fármacos , Adolescente , Antropometria , Tamanho Corporal/efeitos dos fármacos , Criança , Dietilexilftalato/efeitos adversos , Dietilexilftalato/urina , Disruptores Endócrinos/urina , Exposição Ambiental/análise , Poluentes Ambientais/efeitos adversos , Poluentes Ambientais/urina , Feminino , Contaminação de Alimentos , Humanos , Masculino , Obesidade Abdominal/etiologia , Obesidade Abdominal/urina , Obesidade Pediátrica/urina , Fenóis/urina , Ácidos Ftálicos/urina , Valores de Referência , Caracteres Sexuais , Taiwan