An Visual System for Humanoid Robot Mobile-Manipulation Based on Virtual and Real Video Fusion

Lei Wang,Lei Zhang,Junyan Yi,Xiaoyan Wen,Chuncheng Liao 보안공학연구지원센터 2015 International Journal of Signal Processing, Image Vol.8 No.5

A visual system based on virtual and real video for the humanoid robot manipulation is presented. 3D virtual model of humanoid robot is established. It has the same aspect and freedom setup as the real robot. Multiple feedback from the robot are fused and used to express the real robot status as text and images. The system also forecasts the operation order and displays the simulation result. In the data fusion module, a least-squares algorithm is adopted to calculate the real-time position and attitude of the robot. Experiments demonstrate that the system can offer good telepresence and a preview of the operation order. In this paper, we also propose an adaptive Elastic Net method for edge linking of images from the robot cameras to understand the situation of the task. In the proposed method, an adaptive dynamic parameter strategy and a stochastic noise strategy are introduced into the Elastic Net, which enables the network to have superior ability for escaping from local minima and converge sooner to optimal or near-optimal solutions

A Survey of the Geographic Distribution of Ophiocordyceps sinensis

Yi Li,Xiao-Liang Wang,Lei Jiao,Yi Jiang,Hui Li,Si-Ping Jiang,Ngarong Lhosumtseiring,Shen-Zhan Fu,Cai-Hong Dong,Yu Zhan,Yi-Jian Yao 한국미생물학회 2011 The journal of microbiology Vol.49 No.6

Ophiocordyceps sinensis is one of the best known fungi in Traditional Chinese Medicine. Many efforts have been devoted to locating the production areas of this species resulting in various reports; however, its geographic distribution remains incompletely understood. Distribution of O. sinensis at the county level is clarified in this work based on both a literature search and fieldwork. More than 3600 publications related to O. sinensis were investigated, including scientific papers, books, and online information. Herbarium specimens of O. sinensis and field collections made by this research group during the years 2000-2010 were examined to verify the distribution sites. A total of 203 localities for O. sinensis have been found, of which 106 are considered as confirmed distribution sites, 65 as possible distribution sites, 29 as excluded distribution sites and three as suspicious distribution sites. The results show that O. sinensis is confined to the Tibetan Plateau and its surrounding regions, including Tibet, Gansu, Qinghai, Sichuan, and Yunnan provinces in China and in certain areas of the southern flank of the Himalayas, in the countries of Bhutan, India and Nepal, with 3,000 m as the lowest altitude for the distribution. The fungus is distributed from the southernmost site in Yulong Naxi Autonomous County in northwestern Yunnan Province to the northernmost site in the Qilian Mountains in Qilian County, Qinghai Province, and from the east edge of the Tibetan Plateau in Wudu County, Gansu Province to the westernmost site in Uttarakhand, India. The clarification of the geographic distribution of O. sinensis will lay the foundation for conservation and sustainable use of the species.

GASIFICATION OF UNSYMMETRICAL DIMETHYLHYDRAZINE IN SUPERCRITICAL WATER

Lei Yi,Liejin Guo,Yunan Chen,Hui Jin 한국신재생에너지학회 2015 AFORE Vol.2015 No.11

A novel computer vision-based vibration measurement and coarse-to-fine damage assessment method for truss bridges

Yi-Qing Ni,Wen-Qiang Liu,En-Ze Rui,Lei Yuan,Si-Yi Chen,You-Liang Zheng 국제구조공학회 2023 Smart Structures and Systems, An International Jou Vol.31 No.4

To assess structural condition in a non-destructive manner, computer vision-based structural health monitoring (SHM) has become a focus. Compared to traditional contact-type sensors, the advantages of computer vision-based measurement systems include lower installation costs and broader measurement areas. In this study, we propose a novel computer vision-based vibration measurement and coarse-to-fine damage assessment method for truss bridges. First, a deep learning model FairMOT is introduced to track the regions of interest (ROIs) that include joints to enhance the automation performance compared with traditional target tracking algorithms. To calculate the displacement of the tracked ROIs accurately, a normalized cross-correlation method is adopted to fine-tune the offset, while the Harris corner matching is utilized to correct the vibration displacement errors caused by the non-parallel between the truss plane and the image plane. Then, based on the advantages of the stochastic damage locating vector (SDLV) and Bayesian inference-based stochastic model updating (BISMU), they are combined to achieve the coarse-to-fine localization of the truss bridge's damaged elements. Finally, the severity quantification of the damaged components is performed by the BI-SMU. The experiment results show that the proposed method can accurately recognize the vibration displacement and evaluate the structural damage.

Albumin-to-Fibrinogen Ratio as an Independent Prognostic Parameter in Untreated Chronic Lymphocytic Leukemia: A Retrospective Study of 191 Cases

Yi-Xin Zou,Jia Qiao,Hua-Yuan Zhu,Rui-Nan Lu,Yi Xia,Lei Cao,Wei Wu,Hui Jin,Wen-Jie Liu,Jin-Hua Liang,Jia-Zhu Wu,Li Wang,Lei Fan,Wei Xu,Jian-Yong Li 대한암학회 2019 Cancer Research and Treatment Vol.51 No.2

Purpose Chronic lymphocytic leukemia (CLL) is one of the most frequent type of B-cell chronic lymphoproliferative disorders and chronic inflammation takes part in the development of CLL. However, there has been no valid immune biomarker to predict the prognosis of untreated CLL patients. Materials and Methods In this retrospective study, we analyzed the clinical correlations and prognostic value of albumin-to-fibrinogen ratio (AFR) detected at diagnosis in 191 CLL patients. Results The cut-off value of AFR was 9.7 calculated by X-tile. Patients who were more than 65 years old were often accompanied by low level of AFR (p < 0.001). Survival analysis showed that patients with low level of AFR had shorter overall survival (OS) than patients with high level of AFR (p < 0.001). Multivariate analysis illustrated that AFR had a negative impact on OS (p=0.003) and was independent of parameters involved in CLL international prognostic index and other prognostic markers such as CD38 and ZAP-70. Conclusion These data provide a comprehensive view of AFR and shows that AFR at diagnosis is an adverse prognostic factor in untreated CLL patients.

Age-stage, two-sex life tables of the maple poison moth (Lymantria nebulosa Wileman) at different ambient temperatures

Lei Ling,Huang Hui Jing,Yi Jin Yu,Qiu Lin,Ding Wen Bin,He Hua Liang,Yi Tu Yong,Li You Zhi,Xue Jin 한국곤충학회 2021 Entomological Research Vol.51 No.4

The maple poison moth (MPM), Lymantria nebulosa (Wileman), is a Lepidopteran defoliator and one of the most important pests of Liquidambar formosana Hance. The objective of this study was to determine the effects of temperature on the population growth and reproduction of this species. MPM were raised in artificial climate chambers in a laboratory at 21 ± 1°C, 24 ± 1°C, 27 ± 1°C, 30 ± 1°C, 33 ± 1°C and 36 ± 1°C, under a relative humidity (RH) of 70% ± 10% and a 14 L:10D photoperiod, and age-stage, two-sex life tables complied for insects at each temperature. The developmental duration, adult preoviposition period and overall preoviposition period decreased with temperature in a time-dependent manner. The growth curves of the different temperature groups overlapped considerably. The highest larval survival rate (80%) was recorded at 30 ± 1°C. At 36°C only a few eggs hatched and the first instar could not complete the first molt. We consequently regard 36°C as the lethal temperature threshold for this species. Life expectancy decreased with age under all six temperatures. The endogenous growth rate was significantly lower at 21 ± 1°C than at the other temperatures, and was highest in 30 ± 1°C group. The net growth rate of the 30 ± 1°C group was also significantly higher than others. Reproductive parameters were highest at 27 ± 1°C and 30 ± 1°C. Although environmental factors absent from the laboratory environment may limit the generality of our results, they nonetheless provide a theoretical basis for developing integrated control methods for MPM in the wild.

Effects of Codeine on Esophageal Peristalsis in Patients With Ineffective Esophageal Motility: Studies Using High-resolution Manometry

Wei-Yi Lei,Tso-Tsai Liu,Wei-Chuan Chang,Chih-Hsun Yi,Jui-Sheng Hung,Ming-Wun Wong,Shu-Wei Liang,Lin Lin,Chien-Lin Chen 대한소화기 기능성질환∙운동학회 2024 Journal of Neurogastroenterology and Motility (JNM Vol.30 No.1

Background/AimsThis study aims to evaluate the effects of acute codeine administration on primary and secondary esophageal peristalsis in patients with ineffective esophageal motility (IEM). MethodsEighteen IEM patients (8 women; mean age 37.8 years, range 23-64 years) were enrolled in the study. The patients underwent high-resolution manometry exams, consisting of 10 single wet swallows, multiple rapid swallows, and ten 20 mL rapid air injections to trigger secondary peristalsis. All participants completed 2 separate sessions, including acute administration of codeine (60 mg) and placebo, in a randomized order. ResultsCodeine significantly increased the distal contractile integral (566 ± 81 mmHg∙s∙cm vs 247 ± 36 mmHg∙s∙cm, P = 0.001) and shortened distal latency (5.7 ± 0.2 seconds vs 6.5 ± 0.1 seconds, P < 0.001) for primary peristalsis compared with these parameters after placebo treatment. The mean total break length decreased significantly after codeine treatment compared with the length after placebo (P = 0.003). Codeine significantly increased esophagogastric junction-contractile integral (P = 0.028) but did not change the 4-second integrated relaxation pressure (P = 0.794). Codeine significantly decreased the frequency of weak (P = 0.039) and failed contractions (P = 0.009), resulting in increased frequency of normal primary peristalsis (P < 0.136). No significant differences in the ratio of impaired multiple rapid swallows inhibition and parameters of secondary peristalsis were detected. ConclusionsIn IEM patients, acute administration of codeine increases contraction vigor and reduces distal latency of primary esophageal peristalsis, but has no effect on secondary peristalsis. Future studies are required to further elucidate clinical relevance of these findings, especially in the setting of gastroesophageal reflux disease with IEM.

Survival Analysis of Oral Squamous Cell Carcinoma in a Subgroup of Young Patients

Fan, Yi,Zheng, Lei,Mao, Ming-Hui,Huang, Ming-Wei,Liu, Shu-Ming,Zhang, Jie,Li, Sheng-Lin,Zheng, Lei,Zhang, Jian-Guo Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.20

Oral squamous cell carcinoma (OSCC) is predominantly a disease of middle-aged men with long-term exposure to tobacco and alcohol. An increasing trend has been reported at a younger age worldwide. Clinical records of 100 patients under the age of 45 years treated specifically for oral cavity SCC in our hospital during a 10-year period were retrospectively analyzed to calculate the survival rates. An obvious male predominance coincided with smoking trend among Chinese young individuals and female patients were more likely to have no traditional risk factors such as smoking or drinking. The 5-year overall survival rate and disease-free survival rate were 61.0% and 75.5%, respectively, consistent with other published series over the decade showing a relatively better survival among the young. No significant differences clearly correlated with outcome when comparing non-smokers non-drinkers to ever-smokers and ever drinkers (P>0.05). Overall survival rate and disease free survival rate was found to be significantly higher in patients with early-stage disease than with advanced stage disease (P=0.001, P=0.009 respectively). The strong influence of clinical stage on prognosis emphasizes the importance of early diagnosis and treatment of oral malignancies for this unique clinical subgroup.

Transient Hiatal Separation During Straight Leg Raise Can Predict Reflux Burden in Gastroesophageal Reflux Disease Patients With Ineffective Esophageal Motility

Wei-Yi Lei,Shu-Wei Liang,Taher Omari,Wei-Chuan Chang,Ming-Wun Wong,Jui-Sheng Hung,Chih-Hsun Yi,Tso-Tsai Liu,Lin Lin,C Prakash Gyawali,Chien-Lin Chen 대한소화기 기능성질환∙운동학회 2022 Journal of Neurogastroenterology and Motility (JNM Vol.28 No.4

Background/Aims Straight leg raise (SLR) can be utilized to evaluate the integrity of the esophagogastric junction during high-resolution manometry (HRM). We aim to assess the value of transient hiatal separation during SLR in symptomatic reflux patients. Methods Consecutive reflux patients undergoing esophageal HRM and pH monitoring were included. Transient hiatal separation was defined by a ≥ 1 cm separation between the lower esophageal sphincter and crural diaphragm during SLR. We compared esophageal motor patterns and reflux monitoring parameters between patients with normal, transiently abnormal and consistently abnormal esophagogastric junction morphology during SLR. Results Of 85 (56.3% female, mean age: 46.7 ± 12.3 years) completed SLR, esophagogastric junction morphology was normal in 31 (36.5%), transient hiatal separation in 19 (22.3%), and consistently hiatal hernia in 35 (41.2%). The values of total acid exposure time (P = 0.016), longest acid reflux episodes (P = 0.024), and DeMeester scores (P = 0.016) were higher in hiatal hernia compared to patients with non-transient hiatal separation, but there were no differences between those with and without transient hiatal separation. Within ineffective esophageal motility, the presence of transient hiatal separation during SLR significantly associated with a higher total acid exposure time (P = 0.014), higher DeMeester scores (P = 0.019), higher total acid reflux events (P = 0.037), and higher longest acid reflux episodes (P = 0.006). Conclusion Our work suggests that SLR may have value as a provocative test during HRM, and future outcome studies are warranted to elucidate the clinical relevance of motor abnormalities depicted from SLR.

Esophageal Bolus Domain Pressure and Peristalsis Associated With Experimental Induction of Esophagogastric Junction Outflow Obstruction

( Wei-yi Lei ),( Taher Omari ),( Tso-tsai Liu ),( Ming-wun Wong ),( Jui-sheng Hung ),( Chih-hsun Yi ),( Shu-wei Liang ),( Charles Cock ),( Chien-lin Chen ) 대한소화기기능성질환·운동학회 2022 Journal of Neurogastroenterology and Motility (JNM Vol.28 No.1

Background/Aims Intrabolus pressures are important for esophageal bolus transport and may detect obstructed bolus flow. This study measured the effect esophageal outflow obstruction experimentally induce by a leg-lift protocol. Methods Twenty-five gastroesophageal reflux disease patients referred for esophageal manometry and a normal motility diagnosis were included. Supine liquid swallows were tested. Leg-lift protocol generated esophageal outflow obstruction by increasing abdominal pressure. Esophageal pressure topography and intrabolus pressure metrics were calculated. These included, (1) mid-domain bolus distension pressure during esophageal emptying (DPE, mmHg) and (2) ramp pressure (mmHg/sec), generated by compression of the bolus between the peristaltic contraction and esophagogastric junction (EGJ). Results EGJ relaxation pressure was increased by leg-lift from 13 (11-17) to 19 (14-30) mmHg (P < 0.005) and distal contractile integral also increased from 1077 (883-1349) to 1620 (1268-2072) mmHgㆍcmㆍsec (P < 0.001) as a physiological response to obstruction. All bolus pressures were increased by leg lift; DPE increased from 17 (15-20) to 27 (19-32) mmHg (P < 0.001), and ramp pressure increased from 3 (1-4) to 5 (2-9) mmHg/sec (P < 0.05). Conclusion Measuring pressures within the intrabolus domain can quantify changes related to obstruction to outflow and may serve as adjunct measures for confirming a diagnosis EGJ outflow obstruction. (J Neurogastroenterol Motil 2022;28:62-68)