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Information-based Optimal Deployment for a Group of Dynamic Unicycles
Maode Yan,Yaoren Guo,Lei Zuo,Panpan Yang 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
In this paper, we investigate the optimal deployment problems for a group of dynamic unicycles in a given region. The information of interests over this region is considered such that the region with higher interests can get more attentions. Firstly, we present a cost function to describe the performance of multi-unicycle systems and find out the optimal locations for unicycles. Then, we transform this information-based optimal deployment problem into a moving target tracking problem and propose a novel kinematic control protocol to drive unicycles to the optimal locations. On this basis, an algorithm is provided for the dynamic unicycles by using the back-stepping techniques. Moreover, we demonstrate the stability and convergence of the proposed multi-unicycle systems. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.
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Jianxue Liu,Yonghao Ji,Hong Ai,Bo Ning,Junzhi Zhao,Yaoren Zhang,Guoliang Dun 대한영상의학회 2016 Korean Journal of Radiology Vol.17 No.3
Objective: To compare several noninvasive indices of fibrosis in chronic viral hepatitis B, including liver shear-wave velocity (SWV), hyaluronic acid (HA), collagen type IV (CIV), procollagen type III (PCIII), and laminin (LN). Materials and Methods: Acoustic radiation force impulse (ARFI) was performed in 157 patients with chronic viral hepatitis B and in 30 healthy volunteers to measure hepatic SWV (m/s) in a prospective study. Serum markers were acquired on the morning of the same day of the ARFI evaluation. Receiver operating characteristic (ROC) analysis was performed to evaluate and compare the accuracies of SWV and serum markers using METAVIR scoring from liver biopsy as a reference standard. Results: The most accurate test for diagnosing fibrosis F ≥ 1 was SWV with the area under the ROC curve (AUC) of 0.913, followed by LN (0.744), HA (0.701), CIV (0.690), and PCIII (0.524). The best test for diagnosing F ≥ 2 was SWV (AUC of 0.851), followed by CIV (0.671), HA (0.668), LN (0.562), and PCIII (0.550). The best test for diagnosing F ≥ 3 was SWV (0.854), followed by CIV (0.693), HA (0.675), PCIII (0.591), and LN (0.548). The best test for diagnosing F = 4 was SWV (0.965), followed by CIV (0.804), PCIII (0.752), HA (0.744), and LN (0.662). SWV combined with HA and CIV did not improve diagnostic accuracy (AUC = 0.931 for F ≥ 1, 0.863 for F ≥ 2, 0.855 for F ≥ 3, 0.960 for F = 4). Conclusion: The performance of SWV in diagnosing liver fibrosis is superior to that of serum markers. However, the combination of SWV, HA, and CIV does not increase the accuracy of diagnosing liver fibrosis and cirrhosis.
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