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Intelligent Adaptive Motion Control for Uncertain Seatless Electric Unicycles
Ching-Chih Tsai,Hong-Seng Yap 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper presents an intelligent adaptive steering control using backstepping, aggregated hierarchical slidingmode control approach and fuzzy basis function networks (FBFN) for seatless electric unicycles. The backstepping hierarchical sliding-mode control approach is used to simultaneously achieve self-balancing and speed control, while the FBFN is employed to on-line learn uncertainties caused by different riders and unknown frictions between the wheel and the terrain surfaces. The performance and merit of the proposed method are well exemplified by conducting two simulations on a laboratory-built electric unicycle. Experimental results show consistent steering performance of the proposed controller for distinct riders and terrain surfaces.
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Diem Ngoc Hong Tran,I-Hsuan Hwang,Fun-Jou Chen,Yuan-Pu Tseng,Ching-Mao Chang,Shih-Jen Tsai,Jen-Lin Yang,Ta-Peng Wu,Chung-Hua Hsu,Fang-Pey Chen,Yen-Ying Kung 한국한의학연구원 2021 Integrative Medicine Research Vol.10 No.3
Background: Depressive disorders (DD) affect not only mood and behavior but also various physical functions. Traditional Chinese medicine (TCM) has been shown to have some benefits in treating DD. However, one formula or one single herb might be not show high efficacy when used to treat depression. Thus, this study aimed to examine the core prescription pattern of Chinese herbal medicine (CHM) among patients with DD in Taiwan as a reference for related research and clinical applications. Methods: All patients, who had been diagnosed with major depressive disorder or minor depression or dysthymia without any other baseline diseases and had at least one CHM outpatient clinical visit from 2002 to 2011, were extracted from three randomly sampled cohorts, namely the 2000, 2005 and 2010 cohorts of the National Health Insurance Research Database (NHIRD) of Taiwan. The collected data was analyzed to explore the patterns of herbal products. Results: There were 197,146 patients with a diagnosis of DD and of these 1806 subjects had only a diagnosis of DD and utilized CHM. The most common formula was Gan-Mai-Da-Zao-Tang (12.19%), while Suan-Zao-Ren (3.99%) was the most commonly prescribed single herb. The core pattern of prescriptions consisted of a combination of Gan-Mai-Da-Zao-Tang, Jia-Wei-Xiao-Yao-San, Chai-Hu-Jia-Long-Gu-Mu-Li-Tang, He-Huan-Pi, Yuan-Zhi and Shi-Chang-Pu. Conclusions: This study describes the CHM core prescription pattern used to treat patients in Taiwan with DD and it is a potential candidate for study in future pharmacological or clinical trials targeting DD.
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Yi-Sheng Liu,Ming-Ching Ou,Yi-Shan Tsai,Xi-Zhang Lin,Chien-Kuo Wang,Hong-Ming Tsai,Ming-Tsung Chuang 대한영상의학회 2015 Korean Journal of Radiology Vol.16 No.1
To retrospectively compare treatment of hepatocellular carcinoma (HCC) with transarterial chemoembolization (TACE) using gelatin sponges or microspheres plus lipiodol-doxorubicin vs. doxorubicin-loaded drug-eluting beads (DEB). A total of 158 patients with HCC received TACE from November 2010 to November 2011 were enrolled in this study, including 64 (40.5%) received TACE with lipiodol-doxorubicin and gelatin sponges (group A), 41 (25.9%) received TACE with lipiodol-doxorubicin and microspheres (group B), and 53 (33.5%) received TACE with doxorubicin-loaded DEB (group C). Tumor response and adverse events (AEs) were evaluated. No significant difference was found at baseline among the three groups. The doxorubicin dosage in group C wassignificantly (p < 0.001) higher compared to the dose used in groups A or B (median, 50 mg vs. 31 mg or 25 mg). Significantly (p < 0.001) more patients in group C achieved complete response compared to those in groups A or B (32.1% vs. 6.3% or 2.4%). Significantly (p < 0.001) less patients in group C had progressive disease compared to those in groups A or B (34.0% vs. 57.8% or 68.3%). Minor AEs were more common in groups A and B compared to group C, with rates of 54.7%, 34.1%, and 5.7%, respectively. In patients with HCC, TACE with DEB offers better safety and efficacy profiles compared to either TACE with gelatin sponges or TACE with microspheres.
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Credibility Judgment Predictors for Child Sexual Abuse Reports in Forensic Psychiatric Evaluations
Ling-Hsiang Wang,Yu-Yung Hung,Philip C,Chow,Che-Sheng Chu,Hsing-Jung Li,Ti Lu,Ching-Hong Tsai 대한신경정신의학회 2019 PSYCHIATRY INVESTIGATION Vol.16 No.2
Objective We intended to analyze the credibility judgment in written forensic psychiatric reports of child sexual abuse registered in Southern Taiwan. Methods Ninety-six cases of child sexual abuse between August 2010 and October 2017 encountered in two hospitals were analyzed. The results in these reports were categorized into credible and non-credible. We identified the factors that distinguished between the two groups in bivariate analyses using chi-square test. A binary logistic regression analysis was performed to determine whether the factors that significantly correlated in the bivariate analyses were independent predictors of credible judgments. Results Among 96 cases, 70 (73%) were judged as credible. Consistent testimonies of children (odds ratio=40.82) and multiple abuse events (odds ratio=6.05) were positive variables independently related to the sexual abuse allegations judged as credible. Conclusion The number of allegations judged as credible in this study was slightly higher than that reported in other studies. Our findings about predictors for credible cases are not in line with those reported previously. Due to the differences in resources of the cases and backgrounds of the evaluators among multiple studies, direct comparisons with previous studies must be treated with caution.
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