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Behavior-Based Manipulator Programming Based on Extensible Agent Behavior Specification Language
Hsien-I Lin,Chia-Hsien Cheng 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Endowing a robot with skills to perform manipulative tasks has an important role in developing an intelligent robot. To manipulate objects, a robot needs perception and action skills. However, designing the programming framework to integrate a variety of skills in a robot system is a challenging task and significantly influences the robot performance. In this paper, we present a behavior-based manipulator programming framework which is based on Extensible Agent Behavior Specification Language (XABSL) to manage behaviors in a robot system. To achieve the flexibility and reusability of robot behaviors required for practice applications, the proposed concept is to implement a programming framework for robot manipulation into two steps: first, perception and action behaviors are created to endow a robot with fundamental skills to perform manipulative tasks; second, using the XABSL framework, the created behaviors are simply planned by an option graph. Because behaviors are planned to be activated by certain stimuli and respond accordingly, programming robot manipulative tasks becomes simpler. Moreover, by the programming framework for robot manipulative tasks, the programming effort is reduced considerably. In our experiments, we provide an extensive validation of the proposed behavior-based programming framework on the manipulative tasks such as stacking cubes and solving rubik’s cube.
Hsien-Tang Tsai,Shi-Zheng Huang,Chun-Hsien Wang 기술경영경제학회 2015 ASIAN JOURNAL OF TECHNOLOGY INNOVATION Vol.23 No.3
The concept of the cross-border collaboration network has been recognised as a useful way toobtain external R&D knowledge resources in the biotechnology industry. Drawing on socialcapital theory, this study explores how two types of network position (centrality andstructural holes) and cross-border collaborative ties affect the cross-border R&Dcollaborative alliance of the biotechnology firms and how these effects are contingent onexploratory collaboration with their collaboration partners. Analysis of the data collectedfrom 174 cross-border collaboration partners in the emerging biotechnology sector indicatesthat the two types of network position differ in the extent to which they contribute to thecross-border R&D collaborative alliance. By investigating the contingent role of exploratorycollaboration, we find that exploratory collaboration weakens the impact of networkcentrality on the cross-border R&D collaborative alliance but strengthens the effect ofstructural holes on the establishment of cross-border R&D collaborative alliance. Resultsconfirm that biotechnology firms’ cross-border R&D knowledge resources need to extendbeyond their industry and regional boundaries. More specifically, this study contributes tothe debate on whether network centrality and structural holes are complementary and thusenrich contextual cross-border alliance literature
Hsien-Wei Ting,Chien-Lung Chan,Ren-Hao Pan,Robert K. Lai,Ting-Ying Chien 한국정보과학회 2017 Journal of Computing Science and Engineering Vol.11 No.4
Spontaneous intracerebral hemorrhage (sICH) has a high mortality rate. Research has demonstrated that sICH occurrence is related to weather conditions; therefore, this study used the decision tree method to explore the impact of climatic risk factors on sICH at different ages. The Taiwan National Health Insurance Research Database (NHIRD) and other open-access data were used in this study. The inclusion criterion was a first-attack sICH. The decision tree algorithm and random forest were implemented in R programming language. We defined a high risk of sICH as more than the average number of cases daily, and the younger, middle-aged and older groups were calculated as having 0.77, 2.26 and 2.60 cases per day, respectively. In total, 22,684 sICH cases were included in this study; 3,102 patients were younger (<44 years, younger group), 9,089 were middle-aged (45–64 years, middle group), and 10,457 were older (>65 years, older group). The risk of sICH in the younger group was not correlated with temperature, wind speed or humidity. The middle group had two decision nodes: a higher risk if the maximum temperature was >19°C (probability = 63.7%), and if the maximum temperature was <19°C in addition to a wind speed <2.788 (m/s) (probability = 60.9%). The older group had a higher risk if the average temperature was >23.933°C (probability = 60.7%). This study demonstrated that the sICH incidence in the younger patients was not significantly correlated with weather factors; that in the middle-aged sICH patients was highly-correlated with the apparent temperature; and that in the older sICH patients was highly-correlated with the mean ambient temperature. “Warm” cold ambient temperatures resulted in a higher risk of sICH, especially in the older patients.
Exendin-4 improves resistance to Listeria monocytogenes infection in diabetic db/db mice
Hsien Yueh Liu,Chih-Yao Chung,Wen-Chin Yang,Chih-Lung Liang,Chi-Young Wang,Chih-Yu Chang,Cicero Lee-Tian Chang 대한수의학회 2012 Journal of Veterinary Science Vol.13 No.3
The incidence of diabetes mellitus is increasing among companion animals. This disease has similar characteristics in both humans and animals. Diabetes is frequently identified as an independent risk factor for infections associated with increased mortality. In the present study, homozygous diabetic (db/db) mice were infected with Listeria (L.) monocytogenes and then treated with the anti-diabetic drug exendin-4, a glucagon-like peptide 1 analogue. In aged db/db mice, decreased CD11b+ macrophage populations with higher lipid content and lower phagocytic activity were observed. Exendin-4 lowered high lipid levels and enhanced phagocytosis in macrophages from db/db mice infected with L. monocytogenes. Exendin-4 also ameliorated obesity and hyperglycemia, and improved ex vivo bacteria clearance by macrophages in the animals. Liver histology examined during L. monocytogenes infection indicated that abscess formation was much milder in exendin-4-treated db/db mice than in the control animals. Moreover, mechanistic studies demonstrated that expression of ATP binding cassette transporter 1, a sterol transporter, was higher in macrophages isolated from the exendin-4-treated db/db mice. Overall, our results suggest that exendin-4 decreases the risk of infection in diabetic animals by modifying the interaction between intracellular lipids and phagocytic macrophages.
Hsien-Che Lai,Calvin S. Weng 기술경영경제학회 2016 ASIAN JOURNAL OF TECHNOLOGY INNOVATION Vol.24 No.1
This study investigates how firms manage different innovation modes in the context oftechnological discontinuities. Using the aluminium-to-copper transition process, wecollected patent data from the time period 1997 to 2001 for the top two firms in the ICfoundry industry, the Taiwan Semiconductor Manufacturing Company and the UnitedMicroelectronic Corporation. We suggest that environmental responsiveness to technologicaluncertainty can provide a background for understanding how incumbent firms respond tomanagerial challenges associated with the exploratory–exploitative innovation tension. Thestatistical results indicate that incumbent firms simultaneously conduct exploratory andexploitative innovation and, furthermore, engage in significantly more exploratoryinnovation than exploitative innovation when faced with technological discontinuities.
Hsien Xiong Lee,Audrey Yeo,Cai Ning Tan,Suzanne Yew,Laura Tay,Yew Yoong Ding,Wee Shiong Lim 대한노인병학회 2021 Annals of geriatric medicine and research Vol.25 No.3
Background: While sarcopenia and frailty independently contribute to functional impairment and disability, the combined impact resulting from their interplay is unclear. We investigated if functional, physical, cognitive, and nutritional measures were more adversely affected in community-dwelling older adults who were screened positive for both frailty and sarcopenia. Methods: Using the FRAIL (≥1) and SARC-F (Strength, Assistance with walking, Rising from a chair, Climbing stairs, and Falls) (≥1) scales for screening, we categorized 200 participants (age, 67.9±7.9 years) as combined (both positive, 12.5%), intermediate (either positive, 25.5%), or robust (both negative, 62%). Results: Comparisons of the three groups showed that the combined group had significantly worse functional ability (Frenchay Activities Index and Modified Barthel Index), physical performance (knee extension, gait speed, and Short Physical Performance Battery score), cognition/mood (Chinese Mini-Mental State Examination [CMMSE] score and Geriatric Depression Scale), and nutrition (Mini Nutritional Assessment [MNA] score) (p<0.05, one-way analysis of variance). Post-hoc comparisons revealed similar findings between the combined and robust groups, except for knee extension and CMMSE scores. Only MNA scores were significantly lower between the intermediate and robust groups. Conclusion: Functional ability, physical performance, and nutrition were more adversely affected in our study population of community-dwelling older adults who screened positive for both frailty and sarcopenia than in those who screened positive for either or neither, supporting the use of community screening for early detection and intervention for both frailty and sarcopenia as opposed to either alone.
Hsien Pin Chang,조재호,이원재,노현,이동원 대한성형외과학회 2018 Archives of Plastic Surgery Vol.45 No.5
Background Radiation-induced skin injury is a dose-limiting complication of radiotherapy. To investigate this problem and to develop a framework for making decisions on treatment and dose prescription, a murine model of radiation-induced skin injury was developed. Methods The dorsal skin of the mice was isolated, and irradiation was applied at single doses of 15, 30, and 50 Gy. The mice were followed for 12 weeks with serial photography and laser Doppler analysis. Sequential skin biopsy samples were obtained and subjected to a histological analysis, immunostaining against transforming growth factor beta (TGF-β), and Western blotting with Wnt-3 and β-catenin. Increases in the levels of TGF-β, Wnt, and β-catenin were detected after irradiation. Results All tested radiation doses caused progressive dermal thickening and fibrosis. The cause of this process, however, may not be radiation alone, as the natural course of wound healing may elicit a similar response. The latent appearance of molecular and histological markers that induce fibrosis in the 15 Gy group without causing apparent gross skin injuries indicates that 15 Gy is an appropriate dose for characterizing the effects of chronic irradiation alone. Thus, this model best mimics the patterns of injury that occur in human subjects. Conclusions This animal model can be used to elucidate the gross and molecular changes that occur in radiation-induced skin injury and provides an effective platform for studying this adverse effect without complicating the process of wound healing.
Learning Human-Robot Collaboration with POMDP
Hsien-I Lin,Xuan-Anh Nguyen 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
Modeling and planing a collaborative task for a human and a robot in an unstructured environment is a challenging problem. Most of earlier works simplify the task by assuming exact knowledge of the environment and the human intention, little work has been done on how to plan a collaborative task in the presence of uncertainty. However, there still exists a lot of challenges because of limited perception abilities. To reason explicitly about uncertainty during collaboration between a human and a robot in a household task, we here present a decision making approach for human robot interactivity based on a Partially Observable Markov Decision Process (POMDP). The approach is validated in simulation in a collaborative scenario of assisting a person make a cup of coffee.