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RISS 인기검색어
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- 저자 : Zhongjie Meng (검색결과 3 건)
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Detecting Graspable Rectangles of Objects in Robotic Grasping
Lu Chen,Panfeng Huang,Yuanhao Li,Zhongjie Meng 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.5
Most convolutional neural network based grasp detection methods evaluate the predicted grasp by computing its overlap with the selected ground truth grasp. But for typical grasp datasets, not all graspable examples are labelled as ground truths. Hence, directly back propagating the generated loss during training could not fully reveal the graspable ability of the predicted grasp. In this paper, we integrate the grasp mapping mechanism with the convolutional neural network, and propose a multi-scale, multi-grasp detection model. First, we connect each labeled grasp and refine them by discarding inconsistent and redundant connections to form the grasp path. Then, the predicted grasp is mapped to the grasp path and the error between them is used for back-propagation as well as grasp evaluation. Last, they are combined into the multi-grasp detection framework to detect grasps with efficiency. Experimental results both on Cornell Grasping Dataset and real-world robotic grasping system verify the effectiveness of our proposed method. In addition, its detection accuracy keeps relatively stable even in the circumstance ofhigh Jaccard threshold.
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Zhenyu Lu,Panfeng Huang,Pei Dai,Zhengxiong Liu,Zhongjie Meng 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
In traditional dual-user shared control teleoperation, the users’ operational transparency is influenced bythe dominance factora. Especially when a = 1 and a = 0 the trainer or trainee cannot receive any informationform the slave side. For enlarging the control flexibility and enhancing the system transparency, a novel methodwith multiple adaptive dominance factors is proposed in this paper. An ideal application of this method is on-lineoperation and supervision. The supervisor and operator can adjust the factors and switch the operation roles andstates freely. Once the slave robot handled by the operator diverges from the planned path, the dominance factorswill change adaptive to limit the operator’s movement. The adaptive principles are concluded from the dynamicperformance measured by the measuring functions. The conclusions suggest that the varying range of the systemdynamic performance is wider than the traditional method. In addition, considering the time delays between theslave and master sides, we proved the system stability conditions covering all the range of dominance factors. Finally, we make a discussion of the applying area of the novel shared control architecture.
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Jing Liu,Yanhang Gao,Xianbo Wang,Zhiping Qian,Jinjun Chen,Yan Huang,Zhongji Meng,Xiaobo Lu,Guohong Deng,Feng Liu,Zhiguo Zhang,Hai Li,Xin Zheng 연세대학교의과대학 2020 Yonsei medical journal Vol.61 No.2
Purpose: This study investigated multidrug-resistant (MDR) pathogens and antibiotic strategies of culture-positive spontaneousascitic infection (SAI) in patients with acute decompensated cirrhosis. Materials and Methods: We retrospectively analyzed 432 acute decompensated cirrhotic patients with culture-positive SAI from11 teaching hospitals in China (January 2012 to May 2018). A Cox proportional hazards model analysis was conducted to identifyindependent predictors of 28-day mortality. Results: A total of 455 strains were isolated from 432 ascitic culture samples. Gram-negative bacteria (GNB), gram-positive bacteria(GPB), and fungi caused 52.3, 45.5, and 2.2% of all SAI episodes, respectively. Episodes were classified as nosocomial (41.2%), healthcare-related (34.7%), and community-acquired (24.1%). Escherichia coli (13.4%) and Klebsiella pneumoniae (2.4%) were extendedspectrumβ-lactamase producing isolates. The prevalence of methicillin-resistant Staphylococcus aureus was 1.1%. Ceftazidime,cefepime, aztreonam, and amikacin were recommended as first-line antibiotics agents for non-MDR GNB infections; piperacillin/tazobactam and carbapenems for MDR GNB in community-acquired and healthcare-related or nosocomial infections, respectively;and vancomycin or linezolid for GPB infections, regardless of drug-resistance status. Multivariate analysis revealed days ofhospital stay before SAI, upper gastrointestinal bleeding, white blood cell count, alanine aminotransferase, serum creatinine concentration,total bilirubin, and international normalized ratio as key independent predictors of 28-day mortality. Conclusion: MDR pathogens and antibiotic strategies were identified in patients with acute decompensated cirrhosis with culture-positive SAI, which may help optimize therapy and improve clinical outcomes.
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