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Formation path learning for cooperative transportation of multiple robots using MADDPG
Kenta Miyazaki,Nobutomo Matsunaga,Kazuhi Murata 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
The cooperative transportation using multiple robots has been expected to be used in factories and construction sites. Cooperative transportation can support various situations compared to transportation using one robot. However, the industrial application of cooperative transportation has not been advanced due to the complexity of formation change. In this paper, the formation change using multi-agent deep deterministic policy gradient (MADDPG) is proposed, which is a deep reinforcement learning method specialized for multi-agent systems. The effectiveness of method is evaluated by simulations for multi-agent system.
Wijanarko Anondho,Dianursanti Dianursanti,Gozan Misri,Andika Sang Made Krisna,Widiastuti Paramita,Hermansyah Heri,Witarto Arief Budi,Asami Kazuhiro,Soemantojo Roekmijati Widaningroem,Ohtaguchi Kazuhis The Korean Society for Biotechnology and Bioengine 2006 Biotechnology and Bioprocess Engineering Vol.11 No.6
Alteration of illumination with optimum carbon dioxide fixation-based curve in this research successfully enhanced the $CO_{2}-fixation\;(q_CO_{2}$ capability of Chlorella vulgaris Buitenzorg cultivated in a bubble column photo bioreactor. The level of $CO_{2}$ fixation was up to 1.91 times that observed from cultivation with intensification of illumination on an optimum growth-based curve. During 144 h of cultivation, alteration of light intensity on an optimum $CO_{2}-fixation-based$ curve produced a $q_CO_{2}$ of $12.8\;h^{-1}$. Meanwhile, alteration of light intensity with a growth-based curve only produced a $q_CO_{2}$ of $6.68\;h^{-1}$. Increases in light intensity based on a curve of optimum $CO_{2}-fixation$ produced a final cell concentration of about 5.78 g/L. Both cultivation methods were carried out under ambient pressure at a temperature of $29^{\circ}C$ with a superficial gas velocity of $2.4\;m/h(U_{G}$. Cells were grown on Beneck medium in a 1.0 L Bubble Column Photo bioreactor illuminated by a Phillips Halogen Lamp (20 W/12 V/50 Hz). The inlet gas had a carbon dioxide content of 10%.
A Meta-Analysis of Slow Pull versus Suction for Endoscopic Ultrasound-Guided Tissue Acquisition
( Yousuke Nakai ),( Tsuyoshi Hamada ),( Ryunosuke Hakuta ),( Tatsuya Sato ),( Kazunaga Ishigaki ),( Kei Saito ),( Tomotaka Saito ),( Naminatsu Takahara ),( Suguru Mizuno ),( Hirofumi Kogure ),( Kazuhi 대한소화기기능성질환·운동학회(구 대한소화관운동학회) 2021 Gut and Liver Vol.15 No.4
Background/Aims: Endoscopic ultrasound (EUS)-guided tissue acquisition is widely utilized as a diagnostic modality for intra-abdominal masses, but there remains debate regarding which suction technique, slow pull (SP) or conventional suction (CS), is better. A meta-analysis of reported studies was conducted to compare the diagnostic yields of SP and CS during EUS-guided tissue acquisition. Methods: We conducted a systematic electronic search using MEDLINE/PubMed, Web of Science, and the Cochrane Central Register of Controlled Trials to identify clinical studies comparing SP and CS. We meta-analyzed accuracy, sensitivity, blood contamination and cellularity using the random-effects model. Results: A total of 17 studies (seven randomized controlled trials, four prospective studies, and six retrospective studies) with 1,616 cases were included in the analysis. Compared to CS, there was a trend toward better accuracy (odds ratio [OR], 1.48; 95% confidence interval [CI], 0.97 to 2.27; p=0.07) and sensitivity (OR, 1.67; 95% CI, 0.95 to 2.93; p=0.08) with SP and a significantly lower rate of blood contamination (OR, 0.48; 95% CI, 0.33 to 0.69; p<0.01). However, there was no significant difference in cellularity between SP and CS, with an OR of 1.28 (95% CI, 0.68 to 2.40; p=0.45). When the use of a 25-gauge needle was analyzed, the accuracy and sensitivity of SP were significantly better than those of CS, with ORs of 4.81 (95% CI, 1.99 to 11.62; p<0.01) and 4.69 (95% CI, 1.93 to 11.40; p<0.01), respectively. Conclusions: Compared to CS, SP appears to provide better accuracy and sensitivity in EUSguided tissue acquisition, especially when a 25-gauge needle is used. (Gut Liver 2021;15:625- 633)