Cooperative Path Planning of Dynamical Multi-Agent Systems Using Differential Flatness Approach

Feng-Li Lian 대한전기학회 2008 International Journal of Control, Automation, and Vol.6 No.3

This paper discusses a design methodology of cooperative path planning for dynamical multi-agent systems with spatial and temporal constraints. The cooperative behavior of the multi-agent systems is specified in terms of the objective function in an optimization formulation. The path of achieving cooperative tasks is then generated by the optimization formulation constructed based on a differential flatness approach. Three scenarios of multi-agent tasking are proposed at the cooperative task planning framework. Given agent dynamics, both spatial and temporal constraints are considered in the path planning. The path planning algorithm first finds trajectory curves in a lower-dimensional space and then parameterizes the curves by a set of B-spline representations. The coefficients of the B-spline curves are further solved by a sequential quadratic programming solver to achieve the optimization objective and satisfy these constraints. Finally, several illustrative examples of cooperative path/task planning are presented.

DNA Methylation in Peripheral Blood: A Potential Biomarker for Cancer Molecular Epidemiology

Li, Lian,Choi, Ji-Yeob,Lee, Kyoung-Mu,Sung, Hyuna,Park, Sue K.,Oze, Isao,Pan, Kai-Feng,You, Wei-Cheng,Chen, Ying-Xuan,Fang, Jing-Yuan,Matsuo, Keitaro,Kim, Woo Ho,Yuasa, Yasuhito,Kang, Daehee Japan Epidemiological Association 2012 Journal of epidemiology Vol.22 No.5

<P>Aberrant DNA methylation is associated with cancer development and progression. There are several types of specimens from which DNA methylation pattern can be measured and evaluated as an indicator of disease status (from normal biological process to pathologic condition) and even of pharmacologic response to therapy. Blood-based specimens such as cell-free circulating nucleic acid and DNA extracted from leukocytes in peripheral blood may be a potential source of noninvasive cancer biomarkers. In this article, we describe the characteristics of blood-based DNA methylation from different biological sources, detection methods, and the factors affecting DNA methylation. We provide a comprehensive literature review of blood-based DNA methylation as a cancer biomarker and focus on the study of DNA methylation using peripheral blood leukocytes. Although DNA methylation patterns measured in peripheral blood have great potential to be useful and informative biomarkers of cancer risk and prognosis, large systematic and unbiased prospective studies that consider biological plausibility and data analysis issues will be needed in order to develop a clinically feasible blood-based assay.</P>

Research on an Anchor Point Lever Beam Coupling Type Tuning Fork Micro-gyroscope

Lian-min Cao,Jian-wei Li,Xian-wen Liu,Feng-yao Sun 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.6

This paper has designed an anchor point lever beam coupled tuning fork micro-gyroscope and tested its output performance. The tuning fork micro-gyro is designed to eliminate the output error caused by orthogonal coupling and in-phase-inverting coupling by structural decoupling and electrical decoupling, and can improve the anti-vibration performance and the modal optimization ability. It has derived the dynamic response working model of the non-ideal tuning fork micro-gyroscope, and optimized the structural parameters of the micro-gyroscope by simulation analysis. The microstructure processing has been realized by the SOI-MEMS process, sealed the processed structural prototype, and tested the performance through the established experimental system. According to the test results, the designed micro-gyroscope driving direction has greatly reduced the in-phase-inverting coupling through the anchor coupling lever beam, and the detection direction eff ectively suppressed the in-phase-inverting coupling through the stiff ness matching electrode. While closed-loop detecting, the measured Aallan variance zero-bias stability is 1.779°/h, and the 1σ zero-bias stability is 8.3°/h. While applying a stiff ness matching voltage, the measured vibration sensitivity is 23.9°/h/g.

Prospective comparison of hybrid capture 2 and SPF10-LiPA for carcinogenic human papillomavirus detection and risk prediction of cervical cancer: a population-based cohort study in China

Li Dong,Rui-Mei Feng,Li Zhang,Xiao-qian Xu,Xue-Lian Zhao,Margaret Zhuoer Wang,You-Lin Qiao,Fang-Hui Zhao 대한부인종양학회 2017 Journal of Gynecologic Oncology Vol.28 No.5

Objective: To investigate the extent of the cross-reactivity of hybrid capture 2 (HC2) assay andevaluate the potential effect of cross-reactivity on the long-term risk for cervical cancer andprecancers. Methods: Based on the Shanxi Province Cervical Cancer Screening Study-I (SPOCCS-I)cohort from 2005 to 2014 in Shanxi, China, SPF10-line probe assay (LiPA) was performedin all 598 HC2 positive and 300 random-selected HC2 negative cervical specimens. Tenyearcumulative incidence rate (CIR) of cervical intraepithelial neoplasia grade 2 or worse(CIN2+) of these two tests was evaluated using Kaplan-Meier methods. Possible humanpapillomavirus (HPV) types to be cross-reacted by HC2 were also analyzed. Results: The overall agreement between HC2 and SPF10-LiPA for detecting carcinogenic HPVwas 73.27%. The highest 10-year cumulative risk of CIN2+ was observed in both HC2 positiveand LiPA-carcinogenic HPV positive women (25.70%; 95% confidence interval [CI]=23.55%–27.91%), followed by HC2 positive but LiPA-non-carcinogenic HPV positive women (9.97%;95% CI=8.57%–11.50%), HC2 negative but LiPA-carcinogenic HPV positive (2.56%; 95%CI=2.44%–2.70%) and HC2 positive but LiPA-HPV negative (1.85%; 95% CI=1.78%–1.92%)women. The proportion of cross-reactivity of HC2 with untargeted carcinogenic types was8.9%, most of which were attributable to HPV26, 73, 82, 69, 71, 53, 11, 43, and 54. Conclusion: The noticeable high risk of CIN2+ in women infected with cross-reacted noncarcinogenicHPV and low risk in those with miss-to-detective carcinogenic HPV supportedan overall good clinical performance of HC2 for a general cervical cancer screening.

Blending of Soybean Oil with Selected Vegetable Oils: Impact on Oxidative Stability and Radical Scavenging Activity

Li, Yang,Ma, Wen-Jun,Qi, Bao-Kun,Rokayya, Sami,Li, Dan,Wang, Jing,Feng, Hong-Xia,Sui, Xiao-Nan,Jiang, Lian-Zhou Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.6

Background: Soybean oil may protect against cancer of the breast and prostate. It may also exert beneficial influence in combination with other oils. Here, blends (20%, v/v) of sea buckthorn oil (SEBO), camellia oil (CAO), rice bran oil (RBO), sesame oil (SEO) and peanut oil (PEO) with soybean oil (SBO) were formulated. Materials and Methods: Oxidative stability (OS) and radical scavenging activity (RSA) of SBO and blends stored under oxidative conditions ($60^{\circ}C$) for 24 days were studied. By blending with different kinds oils, levels of polyunsaturated fatty acids (PUFA) decreased, while monounsaturated fatty acid (MUFA) content increased. Progression of oxidation was followed by measuring peroxide value (PV), p-anisidine (PAV), conjugated dienes (CD) and conjugated trienes (CT). Results: Inverse relationships were noted between PV and OS at termination of storage. Levels of CD and CT in SBO, and blends, increased with increase in time. The impact of SEO as additives on SBO oxidation was the strongest followed by RBO, CAO, SEBO and PNO. Conclusions: Oxidative stability of oil blends was better than SBO, most likely as a consequence of changes in fatty acids and tocopherols' profile, and minor bioactive lipids found in selected oils. The results suggest that these oil blends could contribute as sources of important antioxidant related to the prevention of chronic diseases associated to oxidative stress, such as in cancer and coronary artery disease.

High­risk human papillomavirus genotype distribution and attribution to cervical cancer and precancerous lesions in a rural Chinese population

Xue-Lian Zhao,Shang-Ying Hu,Qian Zhang,Li Dong,Rui-Mei Feng,Ross Han,Fang-Hui Zhao 대한부인종양학회 2017 Journal of Gynecologic Oncology Vol.28 No.4

Objective: To explore the genotype distribution of high-risk human papillomavirus (HR-HPV) and its attribution to different grades of cervical lesions in rural China, which will contribute to type-specific HPV screening tests and the development of new polyvalent HPV vaccines among the Chinese population. Methods: One thousand two hundred ninety-two subjects were followed based on the Shanxi Province Cervical Cancer Screening Study I (SPOCCS-I), and screened by HPV DNA testing (hybrid capture® 2 [HC2]), liquid-based cytology (LBC), and if necessary, directed or random colposcopy-guided quadrant biopsies. HPV genotyping with linear inverse probe hybridization (SPF10-PCR-LiPA) was performed in HC2 positive specimens. Attribution of specific HR-HPV type to different grades of cervical lesions was estimated using a fractional contribution approach. Results: After excluding incomplete data, 1,274 women were included in the final statistical analysis. Fifteen point two percent (194/1,274) of women were HR-HPV positive for any of 13 HR-HPV types (HPV16, 18, 31, 33, 35, 39, 45, 51, 52, 56, 58, 59, and 68) and the most common HR-HPV types were HPV16 (19.1%) and HPV52 (16.5%). The genotypes most frequently detected in HR-HPV-positive cervical intraepithelial neoplasia grade 1 (CIN1) were HPV52 (24.1%), HPV31 (20.7%), HPV16 (13.8%), HPV33 (13.8%), HPV39 (10.3%), and HPV56 (10.3%); in HR-HPV-positive cervical intraepithelial neoplasia grade 2 or worse (CIN2+): HPV16 (53.1%), HPV58 (15.6%), HPV33 (12.5%), HPV51 (9.4%), and HPV52 (6.3%). HPV52, 31, 16, 33, 39, and 56 together contributed to 89.7% of HR-HPV-positive CIN1, and HPV16, 33, 58, 51, and 52 together contributed to 87.5% of CIN2+. Conclusion: In summary, we found substantial differences in prevalence and attribution of CINs between different oncogenic HPV types in a rural Chinese population, especially for HPV16, 31, 33, 52, and 58. These differences may be relevant for both clinical management and the design of preventive strategies.

Lymph Node Ratio is More Predictive than Traditional Lymph Node Stratification in Lymph Node Positive Invasive Breast Cancer

Bai, Lian-Song,Chen, Chuang,Gong, Yi-Ping,Wei, Wen,Tu, Yi,Yao, Feng,Li, Juan-Juan,Wang, Li-Jun,Sun, Sheng-Rong Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.2

Objective: To evaluate the relationships between lymph node ratio (LNR, the ratio of positive lymph nodes in excised axillary lymph nodes) and disease-free survival (DFS) by comparing with traditional absolute positive lymph node number (pN classification) for prediction of breast cancer (BC) progrnosis. Methods and Patients: We retrospectively reviewed patients who received comprehensive therapy in Department of Breast Surgery, Hubei Cancer Hospital, China from Jan 2002 to Dec 2006 (Group A), and Department of Breast and Thyroid Surgery, Renmin Hospital of Wuhan University, China from Jun 2008 to May 2012 (Group B). Patients were allocated to low-risk (${\leq}0.20$), intermediate-risk (> 0.20 but ${\leq}0.65$), high-risk (>0.65) groups by LNR. The primary endpoint was 5-DFS. Results: A total of 294 patients were included in our study. LNR was verified as a negative prognostic factor for DFS (P=0.002 in Group A, P<0.0001 in Group B). Then we found the effects of pN and LNR delamination on disease-free survival (DFS) had statistical significance (P=0.012 for pN and P=0.031 for LNR stratification in Group A, both of them P<0.001 in Group B). Compared to pN staging, LNR staging displayed superior performance in prognosis, the adjusted hazard ratio of recurrence being 2.07 (95%CI, 1.07 to 4.0) for intermediate risk group (P=0.030) and 2.44 (95%CI, 1.21 to 4.92) for high risk group (P=0.013) in Group A. Conclusions: LNR stratification proved an adverse prognostic factor of DFS in lymph nodes positive invasive BC using cut-off values 0.20 and 0.65, and was more predictive than traditional pN classification for 5-DFS.

An Ester Extract of Cochinchina Momordica Seeds Induces Differentiation of Melanoma B16 F1 Cells via MAPKs Signaling

Zhao, Lian-Mei,Han, Li-Na,Ren, Feng-Zhi,Chen, Shu-Hong,Liu, Li-Hua,Wang, Ming-Xia,Sang, Mei-Xiang,Shan, Bao-En Asian Pacific Journal of Cancer Prevention 2012 Asian Pacific journal of cancer prevention Vol.13 No.8

Cochinchina momordica seeds (CMS) have been widely used due to antitumor activity by Mongolian tribes of China. However, the details of the underlying mechanisms remain unknown. In the present study, we found that an EtOAc (ethyl ester) extract of CMS (CMSEE) induced differentiation and caused growth inhibition of melanoma B16 F1 cells. CMSEE at the concentration of $5-200{\mu}g/ml$ exhibited strongest anti-proliferative effects on B16 F1 cells among other CMS fractions (water or petroleum ether). Moreover, CMSEE induced melanoma B16 F1 cell differentiation, characterized by dendrite-like outgrowth, increasing melanogenesis production, as well as enhancing tyrosinase activity. Western blot analysis showed that sustained phosphorylation of p38 MAP accompanied by decrease in ERK1/2 and JNK dephosphorylation were involved in CMSEE-induced B16 F1 cell differentiation. Notably, 6 compounds that were isolated and identified may be responsible for inducing differentiation of CMSEE. These results indicated that CMSEE contributes to the differentiation of B16 F1 cells through modulating MAPKs activity, which may throw some light on the development of potentially therapeutic strategies for melanoma treatment.

Application of response surface methodology to the decolorization by the electrochemical process using FePMo12O40 catalyst

Lin Yue,Li Wang,Feng Shi,Jianbo Guo,Jingliang Yang,Jing Lian,Xiao Luo 한국공업화학회 2015 Journal of Industrial and Engineering Chemistry Vol.21 No.1

In order to optimize the experimental conditions, the decolorization of Acid Red 3R by electrochemicaloxidation process with catalyst FePMo12-APS-MS4A as packing was performed using response surfacemethodology (RSM). The microstructure and morphology of FePMo12-APS-MS4A were characterizedwith Fourier transform infrared spectroscopy (FT-IR), X-ray diffraction (XRD), scanning electronmicroscopy (SEM) and X-ray fluorescence spectroscopy (XRF). Four control factors were throughlyanalyzed by means of RSM based on Box–Behnken design (BBD). Taking the decolorization efficiency asresponse value, a second order polynomial model was established. The model and analysis stronglyindicated that the cell voltage and airflow caused positive, and the initial pH and inter-electrode distancecaused negative effect on the decolorization efficiency. The interaction between cell voltage and initialpH, initial pH and airflow were also revealed. Under the optimal conditions, the color, COD and TOCremoval efficiency reached 67.3%, 58.4% and 47.9% after 60 min. Liquid chromatography–massspectrometry (LC–MS) analysis revealed that the dye molecule underwent a series of reduction andoxidation steps, including azo bond fracture, desulfonation and denitrogenation. The possiblemechanisms involving in this reaction process were proposed.

Theoretical Solutions for a Circular Opening in an Elastic–brittle–plastic Rock Mass Incorporating the Out-of-plane Stress and Seepage Force

Zou Jin-feng,Li Shuai-shuai,Xu Yuan,Dan Han-cheng,Zhao Lian-heng 대한토목학회 2016 KSCE JOURNAL OF CIVIL ENGINEERING Vol.20 No.2

Seepage force is simplified as seepage volumetric force in the stress field along the radial direction. Out-of-plane stress and seepage force are incorporated, and the theoretical solutions for stress, displacement, and plastic radius of a circular opening for the elastic-brittle-plastic and elastic-plastic rock mass are proposed based on the Mohr–Coulomb (MC) and generalized Hoek-Brown (HB) failure criteria. The presented solution and Wang’s solution (2012) are compared, and the corrected version of the proposed method is validated. Numerical examples of the proposed method based on the MC and generalized HB failure criteria reveal that the distributions of stress and displacement in the surrounding rock of the tunnel are significantly influenced by seepage force and out-ofplane stress. Displacement and plastic radius when seepage force and out-of-plane stress are considered are larger than those when the seepage force is not considered; the regulations of stress, however, run opposite. The results of displacement and plastic radius based on the generalized HB failure criterion are larger than those based on the MC failure criterion.