Determine the robot assistive forces based on human intent estimation in bone cutting applications

Shang-Wei Hsu,Ping-Lang Yen 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

Robots can provide real-time bone cutting assistance on various operational conditions. A human intent estimation together with a bilateral force control has been designed to assist the surgeon in total knee replacement. Different admittance gains are online adjusted based on estimated human intent, followed by the robot to exert appropriate forces to the cutter, either pushing or pulling forces so that the bone cutting can be carried out in easier, safer and more precise way. Experiments show that the proposed control structure is promising to meet the clinical needs for real-time bone cutting assistance.

Lipopolysaccharides Trigger Two Successive Bursts of Reactive Oxygen Species at Distinct Cellular Locations

Shang-Guan, Keke,Wang, Min,Htwe, Nang Myint Phyu Sin,Li, Ping,Li, Yaoshen,Qi, Fan,Zhang, Dawei,Cao, Min,Kim, Chanhong,Weng, Haiyong,Cen, Haiyan,Black, Ian M.,Azadi, Parastoo,Carlson, Russell W.,Stacey American Society of Plant Biologists 2018 Plant Physiology Vol.176 No.3

<P>Lipopolysaccharides induce a long-lasting burst of reactive oxygen species that is largely associated with chloroplasts.</P><P>Lipopolysaccharides (LPS) are major components of the outer membrane of gram-negative bacteria and are an important microbe-associated molecular pattern (MAMP) that triggers immune responses in plants and animals. A previous genetic screen in Arabidopsis (<I>Arabidopsis thaliana</I>) identified LIPOOLIGOSACCHARIDE-SPECIFIC REDUCED ELICITATION (LORE), a B-type lectin <I>S</I>-domain receptor kinase, as a sensor of LPS. However, the LPS-activated LORE signaling pathway and associated immune responses remain largely unknown. In this study, we found that LPS trigger biphasic production of reactive oxygen species (ROS) in Arabidopsis. The first transient ROS burst was similar to that induced by another MAMP, flagellin, whereas the second long-lasting burst was induced only by LPS. The LPS-triggered second ROS burst was found to be conserved in a variety of plant species. Microscopic observation of the generation of ROS revealed that the LPS-triggered second ROS burst was largely associated with chloroplasts, and functional chloroplasts were indispensable for this response. The lipid A moiety, the most conserved portion of LPS, appears to be responsible for the second ROS burst. Surprisingly, the LPS- and lipid A-triggered second ROS burst was only partially dependent on LORE. Together, our findings provide insight on the LPS-triggered ROS production and the associated signaling pathway.</P>

Analysis and Prediction of Structural Plane Connectivity in Tunnel based on Digitalizing Image

Shang-qu Sun,Li-Ping Li,Jing Wang,Hong-liang Liu,Zhongdong Fang,Xingzhi Ba 대한토목학회 2019 KSCE JOURNAL OF CIVIL ENGINEERING Vol.23 No.6

The identification of structural plane connectivity is an application problem in rock mass engineering. Theoretically, information of exposed rock mass and its internal borehole is of great significance to predict network of unexcavated rock structural plane, especially in tunnel engineering. In this paper, parameters of structural planes have been obtained through borehole imaging in advance drilling borehole of tunnel face. Furthermore, a geometric discrimination method for the multiple structural plane based on the included angle has been proposed. And then, spatial distribution of the large scale structural plane in the unexcavated rock mass has been recognized by effective assistant techniques. To verify this method, the binocular photogrammetry method has been adopted to investigate the parameters of structural planes during excavation, and then the structural plane model of tunnel face has been constructed. The tunnel face mapping has been compared with that of section of the predicted model. The results showed that included angle identification method based on three boreholes is highly reliable and can be used to accurately construct the deterministic structural plane network in front of the tunnel face.

Effect of PCL-b-PEG Oligomer Containing Ionic Elements on Phase Interfacial Properties and Aggregated Structure of PLA/PCL Blends

Ping Wang,Shang Gao,Xinliang Chen,Li Yang,Tian Cao,Bingyu Fan,Jin Liu,Xianhai Hu 한국고분자학회 2022 Macromolecular Research Vol.30 No.7

The polycaprolactone (PCL)-b-polyethylene glycol (PEG) oligomer (Oli) and its derivative containing ionic elements (ILs) were used as interfacial compatibilizers and regulators, and the polylactic acid (PLA)/PCL/Oli and PLA/PCL/ILs blends were prepared by solution blending. The effects of Oli and ILs on the phase interfacial properties, aggregated structure, crystallization and mechanical properties of PLA/PCL blends were systematically studied. The results show that the ILs with strong interfacial emulsification ability can improve the dispersion of PCL in PLA matrix, and enhance the two-phase interfacial adhesion. When the content of ILs is 5 %, ion clusters can form and alleviate the restricted crystallization of PCL, and promote the segment movement of PLA through the non-covalent bonding of ionic elements. So the crystallization ability of PLA and PCL improve simultaneously. ILs have a strong regulatory effect on the phase interfacial morphology and aggregated structure of PLA/PCL blends, and the PLA/PCL blends containing high content of 5 % ILs can significantly improve the mechanical properties of PLA/PCL blends.

Assistive Control of a Surgical Robot Based on Bilateral Interacted Force Analysis

Ping-Lang Yen,Shang-Wei Hsu,Hang-Ting Lin,Ching-Heng Wang 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

Interacted force between a robot, human and anatomical object in orthopedic surgery provides crucial information for safe and accurate bone cutting. When the robot plays the role of assisting the surgeon in the whole surgical procedure, the robot is trying to comply with the human intention according to various cutting conditions. The reaction force to the robot from the human is for indicating human intention, whereas the force from the anatomical object reflects the cutting condition. In this paper two impedance indices are defined by these two interacted forces and a surgical robot then decides whether assistive or resistant action is activated so that accuracy and safety of bone cutting can be achieved.

Characteristics and Comparisons of Morphometric Measurements and Computed Tomography Hounsfield Unit Values of C2 Laminae for Translaminar Screw Placement Between Patients With and Without Basilar Invagination

Lu-Ping Zhou,Jin Shang,Zhi-Gang Zhang,Zhen-Fei Jiang,Hua-Qing Zhang,Chong-Yu Jia,Ren-Jie Zhang,Cai-Liang Shen 대한척추신경외과학회 2022 Neurospine Vol.19 No.4

Objective: Patients with basilar invagination (BI) had high incidences of vertebral variations and high-riding vertebral artery (HRVA) that might restrict the use of pedicle or pars screw and increase the use of translaminar screw on axis. Here, we conducted a radiographic study to investigate the feasibility of translaminar screws and the bone quality of C2 laminae in patients with BI, which were compared with those without BI as control to provide guidelines for safe placement. Methods: In this study, a total of 410 patients (205 consecutive patients with BI and 205 matched patients without BI) and 820 unilateral laminae of the axis were included at a 1:1 ratio. Comparisons with regard to insertion parameters (laminar length, thickness, angle, and height) for C2 translaminar screw placement and Hounsfield unit (HU) values for the assessment of the appropriate bone mineral density of C2 laminae between BI and control groups were performed. Besides, the subgroup analyses based on the Goel A and B classification of BI, HRVA, atlas occipitalization, and C2/3 assimilation were also carried out. Furthermore, the factors that might affect the insertion parameters and HU values were explored through multiple linear regression analyses. Results: The BI group showed a significantly smaller laminar length, thickness, height, and HU value than the control group, whereas no significant difference was observed regarding the laminar angle. By contrast, the control group showed significantly higher rates of acceptability for unilateral and bilateral translaminar screw fixations than the BI group. Subgroup analyses showed that the classification of Goel A and B, HRVA, atlas occipitalization, and C2/3 assimilation affected the insertion parameters except the HU values. Multiple linear regression indicated that the laminar length was significantly associated with the male gender (B = 0.190, p < 0.001), diagnoses of HRVA (B = -0.109, p < 0.001), Goel A (B = -0.167, p < 0.001), and C2/3 assimilation (B = -0.079, p = 0.029); the laminar thickness was significantly associated with the male gender (B = 0.353, p < 0.001), diagnoses of HRVA (B = -0.430, p < 0.001), Goel B (B = -0.249, p = 0.026), and distance from the top of odontoid to the Chamberlain line (B = -0.025, p = 0.003); laminar HU values were significantly associated with age (B = -2.517, p < 0.001), Goel A (B = -44.205, p < 0.001), Goel B (B = -25.704, p = 0.014), and laminar thickness (B = -11.706, p = 0.001). Conclusion: Patients with BI had narrower and smaller laminae with lower HU values and lower unilateral and bilateral acceptability for translaminar screws than patients without BI. Preoperative 3-dimensional computed tomography (CT) and CT angiography were needed for BI patients.

A study on the corporate culture of Dianping

Feng-Ping Wei,최명철,Xian-Fa Shang 국제문화기술진흥원 2019 International Journal of Advanced Culture Technolo Vol.7 No.4

In recent years, with the development of IT technology and mobile communication, the powerful communication function of the Internet will gradually eliminate the information asymmetry between supply and demand, and the third-party review website emerges as The Times require. Dianping.com was founded in 2003. After a few years of development, it has become an independent third-party consumer review website worldwide. One of the reasons for such great success is corporate culture, which plays an important role in human resource management. The competition of enterprises is not only the competition of products and cost advantages, but also the superior enterprise culture presented to customers in the international environment. competition between third-party review sites has been very fierce, In just a few years, many foreign third-party review websites went public and made profits, but some domestic start-ups went bankrupt due to the lack of a good business model. A good business model is particularly important. Taking dianping.com as the research object and combining with the business model of the company, this paper studies the unique corporate culture of dianping.com, hoping to help the company through the investigation and research of this paper, so as to improve the company in the future. And put forward a certain practical significance and value

Dynamic colonization of gut microbiota and its influencing factors among the breast-feeding infants during the first two years of life

Li Ping,Chang Xuelian,Chen Xiaoyu,Tang Tiantian,Liu Yajing,Shang Yu,Qi Kemin 한국미생물학회 2022 The journal of microbiology Vol.60 No.8

The maturation of infant gut microbiota has lifelong implications on health, which has been proposed as the major events during the first year of life. However, little is known about their dynamic colonization and influencing elements among the first two-year infancy as well as into the adulthood. So based on the 16S rRNA sequencing data among 30 healthy breast-feeding mother-infant pairs with normal ranges of growth and development indicators from birth to two years old, the dynamic colonization of gut microbiota and its influencing factors were discussed using this birth cohort. Among these, we identified that the diversity of gut microbiota was significantly increased from six-month to two-year subgroups. The significantly dynamic trends of gut microbiota at the phylum (genus) level were that the percents of Firmicutes (Faecalibacterium, Blautia, Enterococcus, Subdoligranulum, Agathobacter, unidentified_Erysipelotrichaceae, Staphylococcus, unidentified_Ruminococcaceae, and Fusicatenibacter), Bacteroidetes and Verrucomicrobia were increased, while Actinobacteria (Bifidobacterium) and Proteobacteria (unidentified- Enterobacteriaceae and Klebsiella) were decreased with the increased ages from six months to two years old, which might simultaneously modulate the host pathways, such as the higher percents of chemoheterotrophy and fermentation, and lower percentages of nitrate_reduction, aerobic_chemoheterotrophy and so on. Furthermore, there were significant associations between maternal (milk microbiota, pre-pregnancy BMI, BMI increment during the pregnancy)/infant characteristics (BMI at birth and BMI gain), and the compositions of gut microbiota. However, no differences of gut microbiota were shown between the different sex and productive mode subgroups. Overall, the colonization of gut microbiota is significantly matured into the adulthood with the increased ages to two-years old and regulated by the above maternal/infant characteristics, which will provide a new direction for the host-gut microbiota interplay during the first two years of life.

Foxl2 of the Hong Kong catfish (Clarias fuscus): cDNA cloning, tissue distribution and changes in gene expression towards methyltestosterone, estradiol and letrozole exposure of the fries during gonadal differentiation

Si-ping Deng,Chun-hua Zhu,Jing Sun,Wen-da Wang,Tian-li Wu,Hua-pu Chen,Shang-li Shi,Guang-li Li 한국유전학회 2015 Genes & Genomics Vol.37 No.8

Winged helix/forkhead transcription factor gene 2 (Foxl2) plays a crucial role during early ovarian development in fish. Sex steroids and aromatase inhibitors can regulate gonadal differentiation in teleosts. To address the role of Foxl2 in gonadal differentiation, foxl2 was isolated and characterized from the Hong Kong catfish, Clarias fuscus. Tissue distribution analysis by quantitative real-time PCR (qPCR) showed that the foxl2 mRNA was highest in the ovaries; moderate in the female pituitary and hypothalamus; but weak in the forebrain, liver, testis and male pituitary, with a sexually dimorphic pattern in which there was higher expression overall in females versus males. Treatment of the fries during the period of gonadal differentiation [2–30 days post hatching (dph)] with 17amethyltestosterone (MT), an aromatase inhibitor (letrozole) and 17b-estradiol (E2) affected the expression of foxl2. The expression of foxl2 was highest before gonadal differentiation (12 dph), but decreased significantly after gonadal differentiation (18-30 dph). In addition, MT and letrozole were able to down-regulate foxl2, but E2 up-regulated foxl2 during gonadal morphological differentiation. These results indicate the significant roles of Foxl2 in the gonadal differentiation of C. fuscus.

Coefficient of Restitution and Kinetic Energy Loss of Rockfall Impacts

Li-Ping Li,Shang-qu Sun,Shucai Li,Qian-qing Zhang,Cong Hu,Shao-shuai Shi 대한토목학회 2016 KSCE JOURNAL OF CIVIL ENGINEERING Vol.20 No.6

This paper presents the results of the coefficient of restitution and the kinetic energy loss rate obtained by lab experiment, two parameters that are crucial for rockfall impact. However, various definitions of coefficient of restitution exist and the most appropriate one is still not formed and obtained. In addition, the energy variation during the rockfall impacts has important significance in practical design. In this research, two kind shapes of blocks including plate and strip were adopted in the laboratory testing and the block material was tested before, indicating that the material has sufficient strength to prevent shattering during the impact. Furthermore, an apparatus specifically built for this study was established including a base, a slope and a releasing device. The falling testing was performed using plate and strip block while the falling height as well as the slope angle and releasing height were altered during the tests in order to estimate the effect of each parameter on the coefficients of restitution and energy loss rate. It was observed that collision reflection angle is less than impact angle for all, suggesting energy loss in collision. Impact angle decreases with increasing slope angle while there was no obvious effect of releasing height and releasing angle on impact angle. The relevant coefficient of restitution was found to decrease with impact angle, and the kinetic energy loss rate increased. Finally, the kinetic energy before and after the impact was found to significantly affect the COR and energy loss rate and the results can provide basis for mitigation measures.