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Real-Time Target Tracking and Obstacle Avoidance for Mobile Robots using Two Cameras
Chan-Hong Chao,Bo-Yan Hsueh,Ming-Ying Hsiao,Shun-Hung Tsai,Tzuu-Hseng S. Li 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes an image processing approach for real-time target tracking and obstacle avoidance for mobile robot navigation in an indoor environment using two cameras. Several image processing techniques which include the averaging filter, edge-detection, erosion and dilation, and color segmentation are combined to find the target and obstacles. Then one can compute the angular position of the detected target and obstacle related to the mobile robot. The two cameras are utilized to calculate the relative distance of the target and obstacle from the mobile robot. According to the distance, one can determine the relationship of the target and obstacle to the mobile robot. The best target tracking path and obstacle avoidance path can be determined by different behavior modes. Therefore, the mobile robot plans a collision-free and successful track target to complete the patrol routine. Finally, the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes.
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Yu-Jia Lin,Hsiao-Ting Chang,Ming-Hwai Lin,Ru-Yih Chen,Ping-Jen Chen,Wen-Yuan Lin,Jyh-Gang Hsieh,Ying-Wei Wang,Chung-Chieh Hu,Yi-Sheng Liou,Tai-Yuan Chiu,Chun-Yi Tu,Yi-Jen Wang,Bo-Ren Cheng,Tzeng-Ji Ch 한국한의학연구원 2021 Integrative Medicine Research Vol.10 No.2
Background: Medical staff may have difficulties in using conventional medicine to manage symptoms among terminally ill patients, including adverse effects of the treatment. Traditional Chinese medicine (TCM) is regarded as a complementary or alternative medicine, and has been increasingly used in the field of palliative medicine in recent years. This study aimed to investigate the experiences of and attitudes toward using TCM among palliative care professionals, and to provide preliminary information about its use in palliative care. Methods: This was a cross-sectional survey study conducted in eight inpatient hospice wards in Taiwan between December 2014 and February 2016. The questionnaire was self-administered, and was analyzed with descriptive statistics including Pearson’s Chi-square test and Fisher’s exact test. Results: A total of 251 palliative care professionals responded to the questionnaire, of whom 89.7% and 88.9% believed that the use of TCM could improve the physical symptoms and quality of life in terminally ill patients, respectively. Overall, 59.8%, of respondents suggested that TCM had rare side effects, and 58.2% were worried that TCM could affect the liver and kidney function of patients. In total, 89.7% and 88.0% of professionals agreed there were no suitable clinical practice guidelines and educational programs, respectively, for TCM use in palliative care. Conclusions: Most of the respondents agreed there was insufficient knowledge, skills-training, and continuing education on the use of TCM in terminally ill patients in Taiwan. These results show that to address patient safety considerations, guidelines about use of TCM in palliative care should be established.
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Ming-Miin Yu,Bo Hsiao,Shih-Hsun Hsu,Shaw Yu Li 인하대학교 정석물류통상연구원 2012 JOURNAL OF INTERNATIONAL LOGISTICS AND TRADE Vol.10 No.2
This paper presents an alternative approach to evaluating the overall efficiency and performance of Taiwanese container ports. Specifically, a parallel activity with series structure concept in the form of data envelopment analysis (MNDEA) is used to construct a model that applies to three different activities: harbor management, stevedoring and warehousing operations. We will further divide each activity into two process types, production processes and services processes. We will also adopt a Delphi survey approach and use the Analytic Network Process (ANP) to identify these processes’influence dependence and their degree of importance for the MNDEA model setting. An empirical application demonstrates the performance of Taiwanese container ports by using MNDEA with window analysis techniques via the directional distance function.The results demonstrate that the application is effective in indicating and/or suggesting resource-adjustments, while considering which undesirable output levels and shared inputs were involved. The results also present directions for possible improvements in workplace efficiency.
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Nanoscale Analysis of a Functionalized Polythiophene Surface by Adhesion Mapping
Lee, Jae-Eun,Kwak, Ju-Won,Park, Joon Won,Luo, Shyh-Chyang,Zhu, Bo,Yu, Hsiao-hua American Chemical Society 2014 ANALYTICAL CHEMISTRY - Vol.86 No.14
<P>Functionalized ethylenedioxythiophene (EDOT) monomers, hydroxymethyl EDOT (EDOT-OH), and zwitterionic phosphorylcholine EDOT (EDOT-PC) were electropolymerized to prepare the homopolymers poly(EDOT-OH) and poly(EDOT-PC), and mixtures of these monomers were used to produce the copolymer poly(EDOT-OH)-<I>co</I>-poly(EDOT-PC). Force–extension-curve-based atomic force microscopy (AFM) was utilized to analyze the surfaces of the films. The PEDOT-OH film yielded force–extension curves for short stretching, and the PEDOT-PC film yielded curves for long stretching. A dendron-modified AFM tip with anthracene groups tethered at the end resulted in adhesion maps with the highest contrast. The analytical data for the copolymer films correlated with the corresponding monomer composition, and the maps revealed that the average size for the copolymer nanodomains ranged from 10–14 nm. This approach can be applied to studies aimed at understanding the surface structure of other relevant polymers and copolymers at the nanoscale level.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/ancham/2014/ancham.2014.86.issue-14/ac500138x/production/images/medium/ac-2014-00138x_0005.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/ac500138x'>ACS Electronic Supporting Info</A></P>
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