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Fuzzy-EKF for the Mobile Robot Localization Using Ultrasonic Satellite
Hai-Yun Wang,Jong-Hun Park,Uk-Youl Huh 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Localization accuracy is a significant fundament for autonomous mobile robot navigation. In this paper, robot fuses the information from odometry and the ultrasonic satellite for localization. In order to improve the accuracy of localization, a Fuzzy-extended Kalman filter (Fuzzy-EKF) method is applied to avoid the robot using the large error data to update the position continuously. A weight scalar is designed to change the noise covariance by inputting the robot rotation angle, innovation and the measurement data variation into the fuzzy system. Therefore, the proportion of the system and measurement value changed, which decreases the robot state errors indirectly. The simulation results demonstrate the improved performance of the proposed Fuzzy-EKF method over the conventional EKF method.
Hai-Yun Wang,Ling Deng,Ying-Qing Li,Xiao Zhang,Ya-Kang Long,Xu Zhang,Yan-Fen Feng,Yuan He,Tao Tang,Xin-Hua Yang,Fang Wang 대한암학회 2021 Cancer Research and Treatment Vol.53 No.4
Purpose Current variability in methods for tumor mutational burden (TMB) estimation and reporting demonstrates the urgent need for a homogeneous TMB assessment approach. Here, we compared TMB distributions in different cancer types using two customized targeted panels commonly used in clinical practice. Materials and Methods TMB spectra of 295- and 1021-gene panels in multiple cancer types were compared using targeted next-generation sequencing (NGS). The TMB distributions across a diverse cohort of 2,332 cancer cases were then investigated for their associations with clinical features. Treatment response data were collected for 222 patients who received immune-checkpoint inhibitors (ICIs) and their homologous recombination DNA damage repair (HR-DDR) and programmed death-ligand 1 (PD-L1) expression were additionally assessed and compared with the TMB and response rate. Results The median TMB between gene panels was similar despite a wide range in TMB values. The highest TMB was eight and 10 in patients with squamous cell carcinoma and esophageal carcinoma according to the classification of histopathology and cancer types, respectively. Twenty-three out of 103 patients (22.3%) were HR-DDR–positive and could benefit from ICI therapy; out of those 23 patients, seven patients had high TMB (p=0.004). Additionally, PD-L1 expression was not associated with TMB or treatment response among patients receiving ICIs. Conclusion Targeted NGS assays demonstrated the ability to evaluate TMB in pan-cancer samples as a tool to predict response to ICIs. In addition, TMB integrated with HR-DDR–positive status could be a significant biomarker for predicting ICI response in patients.
Study on molten salt oxidation process of simulated Co doped cation exchange resins
Yun Xue,Yue-Lin Wang,Yu Li,Wen-Da Xu,Fu-Qiu Ma,Yang-Hai Zheng,Qing-Guo Zhang,Zhi Zhang,Mi-lin Zhang,Yong-De Yan 한국공업화학회 2023 Journal of Industrial and Engineering Chemistry Vol.126 No.-
Cation exchange resins (CERs) are widely applied to purify waste liquids generated during the operationof nuclear reactors. The radioactive nuclides 60Co and 58Co are important corrosion activation products inreactor cooling water. In this study, the simulated Co doped CERs were oxidized with ternary carbonate. According to the thermogravimetric analysis (TG), the decomposition of Co doped CERs includes threeprocesses: 1. Elimination of the osmotic water; 2. Pyrolysis of sulfonic acid group; 3. Destruction of styrene–divinylbenzene copolymer. The X-Ray Diffraction (XRD) patterns indicate that sulfur mainly exists inthe form of sulfate in waste salt. The Co2+ undergoes the path of CoS2 ? Co3O4 with the increase of temperatureand the transition point is 650 C. Combined with Fourier Transform Infrared Spectrometer (FTIR)spectra and X-ray Photoelectron Spectroscopy (XPS) analysis, sulfonic acid groups begin to decomposeat 350 C. During the molten salt oxidation process, most of the sulfur in sulfonic acid groups is entrappedby carbonate as the form of sulfate, and a little of which remains as sulfone group, sulfoxide group andsulfur bridge in residue. When the resins are oxidized at 800 C, the retention rate of Co2+ is 97.3%, indicatingthat the molten salt oxidation can effectively remain Co2+ and convert it into a more stablesubstance.
Wang, Xi-Wen,Zhong, Tian-Yu,Xiong, Yun-Hui,Lin, Hai-Bo,Liu, Qing-Yi Asian Pacific Journal of Cancer Prevention 2012 Asian Pacific journal of cancer prevention Vol.13 No.8
Purpose: Any association between the CYP1A1 Ile462Val polymorphism and endometrial cancer risk remains inconclusive. For a more precise estimate, we performed the present meta-analysis. Methods: PUBMED, OVID and EMBASE were searched for the studies which met inclusion criteria. Data in all eligible studies were evaluated and extracted by two authors independently. The meta-analysis estimated pooled odds ratio (OR) with 95% confidence interval (CI) for endometrial cancer risk attributable to the CYP1A1 Ile462Val polymorphism. Results: A total of 7 studies were included in this meta-analysis. The results indicated no association between endometrial cancer risk and the CYP1A1 Ile462Val polymorphism (for Val vs Ile allele model [OR 1.09, 95% CI 0.73-1.62]; for Val.Val vs Ile.Ile genotype model [OR 1.54, 95% CI 0.56-4.23]; for (Ile.Val + Val.Val) vs Ile.Ile genotpye model [OR 1.08, 95% CI 0.71-1.63]; for Val.Val vs (Ile.Ile + Ile.Val) genotype model [OR 1.46, 95% CI 0.53-4.04]). Conclusions: This meta-analysis suggests that there is no association between endometrial cancer risk and the CYP1A1 Ile462Val polymorphism.
Wang, Xi-Wen,Xiong, Yun-Hui,Zen, Xiao-Qing,Lin, Hai-Bo,Liu, Qing-Yi Asian Pacific Journal of Cancer Prevention 2012 Asian Pacific journal of cancer prevention Vol.13 No.11
Purpose: To evaluate the diagnostic accuracy of ultrasonograph and fine-needle aspiration cytologic examination (USG-FNAC) in the staging of axillary lymph node metastasis in breast cancer patients.Methods: We conducted an electronic search of the literature addressing the performance of USG-FNAC in diagnosis of axillary lymph node metastasis in databases such as Pubmed, Medline, Embase, Ovid and Cochrane library. We introduced a series of diagnostic test indices to evaluate the performance of USG-FNAC by the random effect model (REM), including sensitivity, specificity, likelihood ratios, and diagnostic odds ratios and area under the curve (AUC). Results: A total of 20 studies including 1371 cases and 1289 controls were identified. The pooled sensitivity was determined to be 0.66 (95% CI 0.64-0.69), specificity 0.98 (95% CI 0.98-0.99), positive likelihood ratio 22.7 (95% CI 15.0-34.49), negative likelihood ratio 0.32 (95% CI 0.25-0.41), diagnostic OR 84.2 (95% CI 53.3-133.0). Due to the marginal threshold effect found in some indices of diagnostic validity, we used a summary SROC curve to aggregate data, and obtained a symmetrical curve with an AUC of 0.942. Conclusion: The results of this meta-analysis indicated that the USG-FNAC techniques have acceptable diagnostic validity indices and can be used for early staging of axillary lymph node in breast cancer patients.
Sheng-hai Zhang,Ying-zi Wang,Fan-yun Meng,You-lin Li,Cai-xia Li,Fei-peng Duan,Qing Wang,Xiu-ting Zhang,Chun-ni Zhang 대한약학회 2015 Archives of Pharmacal Research Vol.38 No.5
Flavonoid glycosides are metabolized byintestinal bacteria, giving rise to a wide range of phenolicacids that may exert systemic effects in the body. Themicrobial metabolism of flavonoids extracted from theleaves of Diospyros kaki (FLDK) by intestinal bacteria wasinvestigated in vitro. High-performance liquid chromatography/linear trap quadrupole orbitrap mass spectrometrywas performed to analyze the metabolites of flavonoidsin vivo using Xcalibur2.1 software. The results showed thatthe levels of flavonoid glycosides and flavonoid aglyconesdecreased rapidly in the process of microbial metabolismby intestinal bacteria in vitro, and the metabolic rate maybe related to the concentration of intestinal bacteria in theculture solution. In vivo metabolites of FLDK weredetected in rat plasma and urine after oral administration ofFLDK. Eight flavonoids were identified in the urine, andthree were identified in the plasma; however, flavonoidaglycones were not found in the plasma.
Zhang, Yun-Xia,Abliz, Guzalnur,Ye, Wei-Jun,Mutalipu, Zuohelaguli,Li, Xiao-Wen,Wang, Hai-Qin,Buranjiang, Gulimire,Upur, Halmurat Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.2
Objective: To investigate the effects of abnormal Savda Munziq (ASMq) total phenolics combined with cisplatin and docetaxel on the Hela cell growth. Methods: In vivo cultured Hela cells were treated with cisplatin, docetaxel, total phenolics, cisplatin+total phenolics or docetaxel+total phenolics. MTT was performed to assess inhibition of cell proliferation, flow cytometry to detect apoptosis, and semi-quantitative RT-PCR to test for survivin and Bcl-2 expression. Results: The total phenolics, cisplatin and docetaxel had significant inhibitory and apoptosis-promoting effects on Hela cells (P<0.05), with the early apoptotic rates of $12.8{\pm}0.70%$, $18.9{\pm}3.79%$ and $15.8{\pm}3.8%$; the total phenolics, cisplatin and docetaxel significantly decreased the expression of Bcl-2 and survivin (all P<0.01), especially when used in combination. Conclusion: ASMq total phenolics, combined with cisplatin and docetaxel, could promote the apoptosis of Hela cells possibly through reducing the expression of Bcl-2 and survivin.
Er-Yun Zhang,Bo Gao,Hai-Lian Shi,Ling-Fang Huang,Li Yang,Xiao-Jun Wu,Zheng-Tao Wang 생화학분자생물학회 2017 Experimental and molecular medicine Vol.49 No.-
Impaired angiogenesis is one of the crucial factors that impede the wound healing process in diabetic foot ulcers (DFUs). In this study, we found that 20(S)-protopanaxadiol (PPD), an aglycone of ginsenosides in Panax notoginseng, stimulated angiogenesis and benefited wound healing in genetically diabetic mice. In HUVECs, PPD promoted cell proliferation, tube formation and VEGF secretion accompanied by increased nuclear translocalization of HIF-1α, which led to elevated VEGF mRNA expression. PPD activated both PI3K/Akt/mTOR and Raf/MEK/ERK signaling pathways in HUVECs, which were abrogated by LY294002 and PD98059. Furthermore, these two pathways had crosstalk through p70S6K, as LY294002, PD98059 and p70S6K siRNA abolished the angiogenic responses of PPD. In the excisional wound splinting model established in db/db diabetic mice, PPD (0.6, 6 and 60 mg ml− 1) accelerated wound closure, which was reflected by a significantly reduced wound area and epithelial gaps, as well as elevated VEGF expression and capillary formation. In addition, PPD activated PI3K/Akt/ERK signaling pathways, as well as enhanced p70S6K activity and HIF-1α synthesis in the wounds. Overall, our results revealed that PPD stimulated angiogenesis via HIF-1α-mediated VEGF expression by activating p70S6K through PI3K/Akt/mTOR and Raf/MEK/ERK signaling cascades, which suggests that the compound has potential use in wound healing therapy in patients suffering from DFUs.