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Adaptive Trajectory Compensation of Large Inertia Robot
Kuo Yang,Xin-hui Liu,Bing-wei Cao,Wei Chen,Peng Tan 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.3
The electro-hydraulic controlled bionic robots suffer from path contour deviation, which is affected byinertia, system lag, and control system accuracy. The focus of this paper is on the study of a data-driven systemfor the compensation of errors in the robot’s internal arithmetic model and its own motion. A deviation predictionmodel of the robot motion process is constructed using a machine learning approach, while the spatial error, generated in the transfer process between the input trajectory and the actual output, is de-parameterized and regardedas an attribute value of the robot’s motion process. Furthermore, a data-based adaptive compensation method isproposed. The simulation model and a hardware-in-the-loop simulation platform of the proposed control strategyare constructed, in order to verify the proposed control approach. Simulation and experimental results show that theproposed compensation strategy can significantly reduce system deviation.
Kuo-Feng Hua,Chia-Yang Li,Feng-Ling Yang,Shih-Hsiung Wu 한국당과학회 2012 한국당과학회 학술대회 Vol.2012 No.1
The capsular polysaccharide (CPS) of pyogenic liver abscessKlebsiella pneumoniaeconsists of repeating units of the trisaccharide (→3)-□-D-Glc-(1→4)-[2,3-(S)-pyruvate]-□-D-GlcA-(1→4)-□-L-Fuc-(1→) and has the unusual feature of extensive pyruvation of glucuronic acid and acetylation of C2-OH or C3-OH of fucose. The present study investigates how CPS activates human monocyte-derived dendritic cells (DCs). Our experimental results show that CPS activates DCs by (1) increasing the expression of CD11c, CD40, CD80, CD83, CD86, and MHC-II (2) increasing the production of TNF-□, IL-1, IL-6, and IL-12p70 (3) increasing DC-elicited allogeneic T-cell proliferation, and (4) increasing the DC-driven Th1 response. In addition, CPS activates DCs through TLR4 and the pyruvation and the acetylation of CPS are important for its cytokine induction activity. Further, our results show that CPS activates TNF-□ and IL-6 secretion through JNK1/2, p38, NF-B,- PKC and ROS pathways in DCs.
Kuo-Chen Yang,Re-Jia Hsu,Chiung-Fang Hsu 한국강구조학회 2013 International Journal of Steel Structures Vol.13 No.4
To avoid the failure at bolted connections and ensure fire resistance at elevated temperature, this study examines the effectof end distance and bolt number on the bearing behavior of bolted connection from experimental results. In addition, numericalanalysis is performed to evaluate the stress distribution at bolt hole with varied end distance at different temperature levels andto investigate the influence of stress concentration in longer joints. Based on the results of this study, it is found that the bearingstrength increases linearly with end distance up to the value of 4d. And both AISC and Eurocode 3 underestimate the bearingstregnht of bolted plates at elevated temperature. A linear function of end distance is proposed for the bearing strength of boltedconnections. The reduction factor for shear lag effect of AISC is recommended to modify the bearing strength for longerconnections. It is also suggested to increase the end distance 3d to prevent tear-out failure at elevated temperature.
Experimental research on the creep buckling of fire-resistant steel columns at elevated temperature
Kuo-Chen Yang,Zong-Han Yu 국제구조공학회 2013 Steel and Composite Structures, An International J Vol.15 No.2
The thermal creep is one of the major factors causing the buckle of steel columns in the fireevents. But, few related studies have been reported to evaluate the factors affecting the thermal creep of steelcolumn experimentally or numerically. In this study a series of Fire-resistant steel columns with threedifferent slenderness ratios under a sustained load are tested under a uniform temperature up to six hours inorder to evaluate the creep upon three selected factors, temperature, applied load, and column slenderness. Based on experimental results, a proposed creep strain rate model is established as the function of a singleparameter of the load ratio of temperature LR(T) to determine the buckling time of steel column due to creep. Furthermore it is found that the creep can be neglected when LR(T) is smaller than 0.77.
The Effects of Environmental Toxins on Allergic Inflammation
San-Nan Yang,Chong-Chao Hsieh,Hsuan-Fu Kuo,Min-Sheng Lee,Ming-Yii Huang,Chang-Hung Kuo,Chih-Hsing Hung 대한천식알레르기학회 2014 Allergy, Asthma & Immunology Research Vol.6 No.6
The prevalence of asthma and allergic disease has increased worldwide over the last few decades. Many common environmental factors are associated with this increase. Several theories have been proposed to account for this trend, especially those concerning the impact of environmental toxicants. The development of the immune system, particularly in the prenatal period, has far-reaching consequences for health during early childhood, and throughout adult life. One underlying mechanism for the increased levels of allergic responses, secondary to exposure, appears to be an imbalance in the T-helper function caused by exposure to the toxicants. Exposure to environmental endocrine-disrupting chemicals can result in dramatic changes in cytokine production, the activity of the immune system, the overall Th1 and Th2 balance, and in mediators of type 1 hypersensitivity mediators, such as IgE. Passive exposure to tobacco smoke is a common risk factor for wheezing and asthma in children. People living in urban areas and close to roads with a high volume of traffic, and high levels of diesel exhaust fumes, have the highest exposure to environmental compounds, and these people are strongly linked with type 1 hypersensitivity disorders and enhanced Th2 responses. These data are consistent with epidemiological research that has consistently detected increased incidences of allergies and asthma in people living in these locations. During recent decades more than 100,000 new chemicals have been used in common consumer products and are released into the everyday environment. Therefore, in this review, we discuss the environmental effects on allergies of indoor and outside exposure.
rs10505474 and rs7837328 at 8q24 Cumulatively Confer Risk of Prostate Cancer in Northern Han Chinese
Zhang, Lin-Lin,Sun, Liang,Zhu, Xiao-Quan,Xu, Yong,Yang, Kuo,Yang, Fan,Yang, Yi-Ge,Chen, Guo-Qiang,Fu, Ji-Cheng,Zheng, Chen-Guang,Li, Ying,Mu, Xiao-Qiu,Shi, Xiao-Hong,Zhao, Fan,Wang, Fei,Yang, Ze,Wang, Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.7
Aims: Genome-wide association studies (GWAS) have identified several risk variants for prostate cancer (pCa) mainly in Europeans, which need to be further verified in other racial groups. We selected six previously identified variants as candidates and to define the association with PCa in Northern Han Chinese. Methods: 749 subjects from Beijing and Tianjin in Northern China were included. Six variants (rs10505474, rs7837328, rs4242384, rs7813, rs486907 and rs1058205) were genotyped by high resolution melting (HRM) assays. The individual and cumulative contribution for of the risk of PCa and clinical covariates were analyzed. Results: Among the six candidate variants, onlyrs10505474, and rs7837328, both locating at 8q24 region, were associated with PCa in our population.rs10505474 (A) was associated with PCa ($OR_{recessive}=1.56$, p=0.006); and rs7837328 (A) was associated with PCa ($OR_{dominant}=1.38$, p=0.042/$OR_{recessive}=1.99$, p=0.003). Moreover, we observed a cumulative effects between them ($p_{trend}=2.58{\times}10^{-5}$). The joint population attributable risk showed the two variants might account for 71.85% of PCa risk. In addition, we found the homozygotes of rs10505474 (A) and rs7837328 (A) were associated with PCa clinical covariants (age at onset, tumor stage, respectively) ($p_{age}=0.046$, $P_{tumorstage}=0.048$). Conclusion: rs10505474 (A) and rs7387328 (A) at 8q24 are associated with PCa and cumulatively confer risk, suggesting the two variations could determine susceptibility to PCa in the Northern Chinese Han population.
The Inventory and Statistics of Potential Large-scale Landslide Areas in Southern Taiwan
( Kuo-wei Li ),( Chien-yu Lin ),( Jyh-jong Liao ),( Yi-wen Pan ),( Keng-hao Kang ),( Che-ming Yang ) 대한지질공학회 2019 대한지질공학회 학술발표회논문집 Vol.2019 No.2
This study produced an inventory of the 2,523 potential large-scale landslide areas (PLSLAs) in southern Taiwan. These PLSLAs were delineated using LiDAR DEM of 1m resolution after the 2009 Typhoon Morakot by other institutes. Using the inventory, we conducted a statistical analysis of the important geologic and geomorphologic factors possibly related to a PLSLA. The statistical analyses reveal that, among the 2,523 PLSLAs, (1) 82% of elevation are between 750 and 2,750 m, (2) 79% of the area are between 10 and 40 hectares, (3) 76% of the slope height are between 200 and 600 m, (4) 86% of the slope are between 25 and 40 degrees and (5) 83 percent of stream order are less than 3. Rock formations of these PLSLAs range from Oligocene to Miocene; 67% of the strata are slate, and 12% are interbedded of sandstone and shale. This study selected 24 medium to high risk cases of the 2,523 PLSLAs, and interpreted the micro-geomorphological features from 1m LiDAR DEM. The following three patterns were present: (1) PLSLA with clear features of gravitational slope deformation in slope height more than 500 m condition, (2) PLSLA with the relic of paleo landslides induced by gravitational buckling, toppling, or plane sliding, (3) PLSLA with river bank erosion on slope toe and head-cut erosion induced by gully development. Based on statistics, the stream order of the PLSLAs with gravitational slope deformation usually would exceed 3; 83% of PLSLAs are the areas also with paleo large-scale landslide.