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Interactive Motion Planning for Autonomous Robotic Photo Taking
Pei-Chun Lu,Kai-Tai Song 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
In this paper, a motion planning method is proposed for an autonomous photo-taking robot. The developed human-robot interactive motion planning and control system is based on face recognition and facial pose estimation of a target person. The target person’s location is estimated after combined with robot self-localization result. Then the goal position and orientation of the robot are determined for autonomous photo-taking of the specific person. An APP for mobile phones has been integrated to select the target person and transmit the command to the robot for photo taking. After receiving the command, the robot autonomously navigates to the goal location and shoots pictures of the target person. Experimental results show that the experimental mobile robot can recognize the specific person, regardless the person is stand alone or in a crowd. The robot completed two types of picture-taking tasks by using the proposed method.
The Lived Experience of First-time Mothers with Congenital Heart Disease
Liu Yu-Ting,Lu Chun-Wei,Mu Pei-Fan,Shu Ying-Mei,Chen Chi-Wen 한국간호과학회 2022 Asian Nursing Research Vol.16 No.3
Purpose: Nowadays most children with congenital heart disease (CHD) are expected to survive to adulthood. The healthcare focus needs to pay close attention to the important developmental tasks during their growth process. The women with CHD face some challenges in their critically developmental stages during pregnancy, delivery, and even motherhood. The lived experience of being a mother needs to be further concerned. This study aimed to explore the lived experience of first-time mothers with CHD. Methods: Descriptive phenomenological design was adopted. Semi-structured interviews were conducted from April to August 2018 with 11 primiparous women with CHD, who were recruited from the pediatric and adult cardiology outpatient departments at a medical center and who had a child aged between 6 months and 3 years. Giorgi's phenomenological analysis method was employed. Results: Six main themes arose from the analysis: (1) recognizing pregnancy risks, (2) performing selfcare for health, (3) building self-worth from my baby, (4) adapting to postpartum life and adjusting priorities, (5) enjoying being a first-time mother, and (6) the factors contributing to success in high-risk childbirth. Conclusions: The experiences that occurred prior to and after labor that were identified in this study can assist women with CHD to more capably prepare for and understand the process of becoming a mother, including recognition of the importance of a prepregnancy evaluation. The findings of this study can help women with CHD to better understand the path to becoming a mother and prepare themselves for the challenges that lie ahead.
Zhi-Bin Hu,He-An Luo,Xiao-Guang Wang,Ming-Zhi Huang,Lu Huang,Huai-Lin Pang,Chun-Hui Mao,Hui Pei,Chao-Qun Huang,Jiong Sun,Ping-Le Liu,Ai-Ping Liu 대한화학회 2014 Bulletin of the Korean Chemical Society Vol.35 No.4
In attempt to lead compounds exhibiting both insecticidal and fungicidal activities, a series of O-benzyl oximeether derivatives were designed and synthesized by introducing β-methoxyacrylate pharmacophore into a scaffold. The insecticidal activity against Aphis fabae and the fungicidal activity against Erysiphe graminis were screened. The title compounds exhibited remarkable insecticidal and fungicidal activities. The most potent compound 6d was identified. Its insecticidal LC50 against A. fabae is 6.4 mg/L, which is lower than that of chlorfenapyr (19.4 mg/L) and even close to the level of imidacloprid (4.8 mg/L). Its fungicidal EC90 in preventive and curative treatment against E. graminis are 2.2 and 4.8 mg/L, respectively, which are lower than azoxystrobin (7.0 and 5.9 mg/L). These results indicate that compound 6d can be considered as a lead for further developing new O-benzyl oxime-ether typed candidates with both fungicidal and insecticidal activities.
Hu, Zhi-Bin,Luo, He-An,Wang, Xiao-Guang,Huang, Ming-Zhi,Huang, Lu,Pang, Huai-Lin,Mao, Chun-Hui,Pei, Hui,Huang, Chao-Qun,Sun, Jiong,Liu, Ping-Le,Liu, Ai-Ping Korean Chemical Society 2014 Bulletin of the Korean Chemical Society Vol.35 No.4
In attempt to lead compounds exhibiting both insecticidal and fungicidal activities, a series of O-benzyl oximeether derivatives were designed and synthesized by introducing ${\beta}$-methoxyacrylate pharmacophore into a scaffold. The insecticidal activity against Aphis fabae and the fungicidal activity against Erysiphe graminis were screened. The title compounds exhibited remarkable insecticidal and fungicidal activities. The most potent compound 6d was identified. Its insecticidal $LC_{50}$ against A. fabae is 6.4 mg/L, which is lower than that of chlorfenapyr (19.4 mg/L) and even close to the level of imidacloprid (4.8 mg/L). Its fungicidal $EC_{90}$ in preventive and curative treatment against E. graminis are 2.2 and 4.8 mg/L, respectively, which are lower than azoxystrobin (7.0 and 5.9 mg/L). These results indicate that compound 6d can be considered as a lead for further developing new O-benzyl oxime-ether typed candidates with both fungicidal and insecticidal activities.