Implementation of Obstacle Avoidance and Target Following based on Machine Learning for Unmanned Aerial Vehicle At Low Altitude

( Yu-hung Lin ),( Tzu-fang Lai ),( Po-yen Lin ),( Tse-min Chen ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1

This research developed an integrated system that consist of orientation sensing, balance control, machine vision recognition and shape sorting and avoidance of obstacle with which the UVA will meet the requirement of a low altitude shuttle in orchards and forest. This research also focused on employing machine learning as the main control core to achieve the performances of target following and obstacle avoidance for unmanned aerial vehicle (UAV). In order to keep the balance of a quadcopter, the orientation data from gyroscope and accelerometer will be the inputs of a double loop PID controller. Target is recognized by machine vision. Distances and shapes of obstacles are defined by a laser rangefinder that mounted on the vehicle. The control of UAV depending on the shape of the obstacle, execute different obstacle avoidance strategies. The results of experiment indicated that the complementary filter can compensate the defects of the gyroscope and accelerometer since it fixes steady-state error of gyroscope and oscillation in high frequency of accelerometer. Double-loop PID controller is more stable than single-loop PID controller is. Due to the stability of control board and safety of operators in target following and obstacle avoidance experiment, a three wheels omni robot was employed to conduct the performance evaluation. The final results validate that the novel UAV is equipped with the ability of shuttling among orchards in low-altitude, target following, classification of obstacle shape and obstacle avoidance.

The EGF/hnRNP Q1 axis is involved in tumorigenesis via the regulation of cell cycle-related genes

Yu-Chu Wang,Kung-Chao Chang,Bo-Wen Lin,Jenq-Chang Lee,Chien-Hsien Lai,Li-Jyuan Lin,Yun Yen,Chang-Shen Lin,Shiang-Jie Yang,Peng-Chan Lin,Chung-Ta Lee,Liang-Yi Hung 생화학분자생물학회 2018 Experimental and molecular medicine Vol.50 No.-

Heterogeneous nuclear ribonucleoprotein (hnRNP) Q1, an RNA-binding protein, has been implicated in many posttranscriptional processes, including RNA metabolism and mRNA splicing and translation. However, the role of hnRNP Q1 in tumorigenesis remains unclear. We previously performed RNA immunoprecipitation (RIP)-seq analysis to identify hnRNP Q1-interacting mRNAs and found that hnRNP Q1 targets a group of genes that are involved in mitotic regulation, including Aurora-A. Here, we demonstrate that altering the hnRNP Q1 level influences the expression of the Aurora-A protein, but not its mRNA. Stimulation with epidermal growth factor (EGF) enhances both binding between hnRNP Q1 and Aurora-A mRNA as well as the efficacy of the hnRNP Q1-induced translation of Aurora-A mRNA. The EGF/hnRNP Q1-induced translation of Aurora-A mRNA is mediated by the mTOR and ERK pathways. In addition, we show that hnRNP Q1 up-regulates the translation of a group of spindle assembly checkpoint (SAC) genes. hnRNP Q1 overexpression is positively correlated with the levels of Aurora-A and the SAC genes in human colorectal cancer tissues. In summary, our data suggest that hnRNP Q1 plays an important role in regulating the expression of a group of cell cycle-related genes. Therefore, it may contribute to tumorigenesis by up-regulating the translation of these genes in colorectal cancer.

Subcellular Distribution of Cadmium in the Seedlings of Two Varieties of Hydroponically Grown Paddy Rice

Hung-Yu Lai,Bo-Ching Chen 한국토양비료학회 2014 한국토양비료학회 학술발표회 초록집 Vol.2014 No.6

Molecular structure and developmental expression of zebrafish atp2a genes

Yen-Yu Lai,Chiung-Wen Pai,I-Ting Tsai,Chi-Yuan Chou,Chia-Ti Tsai,Yau-Hung Chen 한국유전학회 2011 Genes & Genomics Vol.33 No.5

We isolated two atp2a genes, atp2a1 and atp2a2a, from embryonic zebrafish. Amino acid sequences deduced from zebrafish atp2a genes are aligned with orthologue proteins from other species, the results showed that they share high percentage of identities (82%-94%) and acidic pIs (5.03-5.33). Whole mount in situ hybridization experiments showed that atp2a1and atp2a2a are maternal inherited genes which can be detected at 1-cell stage embryos and express in the entire animal pole from 6 hours post-fertilization (hpf) to 12 hpf. At the later stages (48-96 hpf), expression of atp2a1 was restricted in head and trunk muscles as well as in some neurons. In contrast to the strongly expression of atp2a1 in head muscle,expression of atp2a2a was detected in head muscle in a fainter manner. In addition, transcripts of atp2a2a were observed in the developing heart during early cardiogenesis. The present studies not only help us to comparatively analyze atp2a genes across species, but also provide useful information about expressions during early embryogenesis that will help in further investigations of functional studies of Atp2a in the future.

Chlorophyll-Related Compounds Inhibit Cell Adhesion and Inflammation in Human Aortic Cells

Kuan-Hung Lin,Ching-Yun Hsu,Ya-Ping Huang,Jun-You Lai,Wen-Bin Hsieh,Meng-Yuan Huang,Chi-Ming Yang,Pi-Yu Chao 한국식품영양과학회 2013 Journal of medicinal food Vol.16 No.10

The objectives of this study were to investigate the effects of chlorophyll-related compounds (CRCs) and chlorophyll (Chl) a + b on inflammation in human aortic endothelial cells. Adhesion molecule expression and interleukin (IL)-8, nuclear factor (NF)-jB p65 protein, and NF-jB and activator protein (AP)-1 DNA binding were assessed. The effects of CRCs on inflammatory signaling pathways of signal transducers and activators of transcription 3 (STAT3) and mothers against decapentaplegic homolog 4, respectively induced by IL-6 and transforming growth factor (TGF)-b, in human aortic smooth muscle cells cultured in vitro were also investigated. HAECs were pretreated with 10 lM of CRCs, Chl a + b, and aspirin (Asp) for 18 h followed by tumor necrosis factor (TNF)-a (2 ng/mL) for 6 h, and U937 cell adhesion was determined. TNF-a–induced monocyte-endothelial cell adhesion was significantly inhibited by CRCs. Moreover, CRCs and Chl a + b significantly attenuated vascular cell adhesion molecule-1, intercellular adhesion molecule-1, and IL-8 expressions. Treatments also significantly decreased in NF-jB expression, DNA binding, and AP-1 DNA binding by CRCs and Asp. Thus, CRCs exert anti-inflammatory effects through modulation of NF-jB and AP-1 signaling. Ten micromoles of CRCs and Asp upregulated the expression of mothers against decapentaplegic homolog 4 (Drosophila) (SMAD4) in the TGF-b receptor signaling pathway, and SMAD3/4 transcription activity was also increased. Ten micromoles of CRCs were able to potently inhibit STAT3-binding activity by repressing IL-6–induced STAT3 expression. Our results provide a potential mechanism that explains the anti-inflammatory activities of these CRCs.

Multi-walled Carbon Nanotubes/Polypropylene-based Coating Layer on the Composite Metal Filaments: Characteristic Evaluations and Radiation-shielded Fabric

Mei-Feng Lai,Chen-Hung Huang,Ching-Wen Lou,Yu-Chun Chuang,Cyun-Yu Wei,Jia-Horng Lin 한국섬유공학회 2022 Fibers and polymers Vol.23 No.3

In this study, polypropylene (PP) and multi-walled carbon nanotubes (MWCNTs) are used to coat stainless steel(SS) wrapped yarns, the product of which is then fabricated into conductive textiles. Afterwards, the tensile properties,surface resistivity, and electromagnetic shielding effectiveness (EMSE) of conductive textiles are evaluated, therebydetermining the influences of the MWCNTs content. The test results show that using MWCNT can effectively improve themechanical properties of the coated yarns and conductive woven fabrics. In addition, 5 wt % of MWCNT provides the wovenfabrics with a lower surface resistivity and higher EMSE. The influences of the lamination angle and number of laminationlayers on EMSE are investigated, and the maximum EMSE of -49.89 dB occurs when the lamination angle is 0 °/90 °/0 °.

Polypropylene/Carbon Fiber Composite Layered Materials: Electromagnetic Interference Shielding Effect and Mechanical Performance

Mei-Feng Lai,Chen-Hung Huang,Jia-Horng Lin,Yu-Chun Chuang,Ching-Hua Wang,Ching-Wen Lou 한국섬유공학회 2021 Fibers and polymers Vol.22 No.9

In this study, conductive polymer composites and conductive functional fabrics are combined to serve aselectromagnetic shielding planks. Polypropylene (PP), carbon black (CB), and short carbon fibers (SCF) are blended atdifferent ratios to form conductive polymer composites (i.e. PCS series). The mechanical property, electrical property,morphology, and electromagnetic interference shielding effectiveness (EMI SE) of the PCS series are evaluated. The testresults show that with 20 wt% of conductive fillers (i.e. CB and SCF), PCS20 exhibits the optimal tensile strength, flexuralstrength, and electrical property that is 7 order of magnitude higher than that of pure PP plates. Moreover, the EMI SE of thisgroup also reaches -30 dB, which meets level one of civil EMI SE standard. Therefore, PCS20 is used to combine with fourconductive sandwiches. The resulting multilayered functional PCS-sandwich planks are tested in terms of mechanicalproperty, morphology, and EMI SE. The test results show that the planks composed of a pure conductive woven sandwichhave the maximum tensile property and significantly improved impact resistance. All of the multilayered functional plankshave EMI SE that is higher than -50 dB and are qualified for the protection level of standard EMI SE electronic devices.

Maintenance of pegylated liposomal doxorubicin/carboplatin in patients with advanced ovarian cancer: randomized study of an Asian Gynecologic Oncology Group

Chyong-Huey Lai,Elizabeth Vallikad,Hao Lin,Lan-Yan Yang,Shih-Ming Jung,Hsueh-Erh Liu,Yu-Che Ou,Hung-Hsueh Chou,Cheng-Tao Lin,Huei-Jean Huang,Kuan-Gen Huang,Jiantai Qiu,Yao-Ching Hung,Tzu-I Wu,Wei-Yang 대한부인종양학회 2020 Journal of Gynecologic Oncology Vol.31 No.1

Objectives: An Asian Gynecologic Oncology Group phase III randomized trial was conducted to determine whether maintenance chemotherapy could improve progression-free survival (PFS) in stages III/IV ovarian cancer. Methods: Between 2007 and 2014, 45 newly-diagnosed ovarian cancer patients were enrolled after complete remission and randomized (1:1) to arm A (4-weekly carboplatin area under the curve 4 and pegylated liposomal doxorubicin [PLD] 30 mg/m2, n=24) for 6 cycles or arm B (observation, n=21). The primary end-point was PFS. A post hoc translational study was conducted to deep sequence BRCA/homologous recombination deficiency (HRD) genes, because BRCA/HRD mutations (BRCA/HRDm) are known to be associated with better prognosis. Results: Enrollment was slow, accrual was closed when 7+ years had passed. With a median follow-up of 88.9 months, the median PFS was significantly better in arm A (55.5 months) than arm B (9.2 months) (hazard ratio [HR]=0.40; 95% confidence interval [CI]=0.19–0.87; p=0.020), yet the median overall survival was not significantly different in arm A (not reached) than arm B (95.1 months) (p=0.148). Overall grade 3/4 adverse events were more frequent in arm A than arm B (60.9% vs 0.0%) (p<0.001). Quality of life was generally not significantly different. Distribution of BRCA1/2m or BRCA/HRDm was not significantly biased between the two arms. Wild-type BRCA/non-HRD subgroup seemed to fare better with maintenance therapy (HR=0.35; 95% CI=0.11–1.18; p=0.091). Conclusions: Despite limitations in small sample size, it suggests that maintenance carboplatin-PLD chemotherapy could improve PFS in advanced ovarian cancer.

Effects of Calcium on Copper Rhizotoxicity to and Accumulation in Grapevines in Solution Culture

Kai-Wei Juang,Hung-Yu Lai,Pei-Yi Chen,Bo-Ching Chen 한국토양비료학회 2014 한국토양비료학회 학술발표회 초록집 Vol.2014 No.6

Delay of Surgery for Spinal Metastasis due to the COVID-19 Outbreak Affected Patient Outcomes

Chia-Jung Hsieh,Chun-Yu Wu,Yen-Heng Lin,Yu-Cheng Huang,Wen-Chi Yang,Tom Wei-Wu Chen,Wei-Li Ma,Wei-Hsin Lin,Feng-Ming Hsu,Furen Xiao,Shih-Hung Yang,Dar-Ming Lai,Chang-Mu Chen,Shin-Yi Chao,Fon-Yih Tsuan 대한척추신경외과학회 2023 Neurospine Vol.20 No.4

Objective: The present study is to analyze the effects of the coronavirus disease 2019 (COVID 2019) outbreak and the subsequent lockdown on the outcomes of spinal metastasis patients. Methods: The study was a retrospective analysis of data from a prospective cohort study. All patients underwent surgical intervention for spinal metastases between January 2019 and December 2021 and had at least 3 months of postoperative follow-up. The primary outcome was overall mortality during the 4 different stages (pre-COVID-19 era, COVID-19 pandemic except in Taiwan, national lockdown, lifting of the lockdown). The secondary outcomes were the oncological severity scores, medical/surgical accessibility, and patient functional outcome during the 4 periods as well as survival/mortality. Results: A total of 233 patients were included. The overall mortality rate was 41.20%. During the Taiwan lockdown, more patients received palliative surgery than other surgical methods, and no total en bloc spondylectomy was performed. The time from surgeon visit to operation was approximately doubled after the COVID-19 outbreak in Taiwan (75.97, 86.63, 168.79, and 166.91 hours in the 4 periods, respectively). The estimated survival probability was highest after the national lockdown was lifted and lowest during the lockdown. In the multivariate analysis, increased risk of mortality was observed with delay of surgery, with emergency surgery having a higher risk with delays above 33 hours, urgent surgery (below 59 and above 111 hours), and elective surgery (above 332 hours). Conclusion: The COVID-19 pandemic and related policies have altered daily clinical practice and negatively impacted the survival of patients with spinal metastases.