Modeling and control strategy of flexible joint servo system in humanoid manipulator driven by tendon-sheath

Meng Yin,Dongyang Shang,Binhua Huang,Xinyu Wu,Wei Feng 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.5

The control effect of rotational speed in joints directly affects the motion accuracy of a humanoid manipulator driven by tendon-sheath. The dynamic parameters of the joint have time-varying characteristics due to the posture change of the manipulator. The joint driven by tendon-sheath has a specific torsional stiffness, so flexibility should be considered in the humanoid manipulator’s servo system. The time-varying of the parameters in the servo system and the joint flexibility can cause fluctuation of the output speed. To improve the motion accuracy of the humanoid manipulator, a fuzzy-tuned PI control strategy is used to suppress the instability of the output speed. First, the change law of the inertia on the motor side of the flexible joint is calculated by the dynamics equation of the humanoid manipulator. Next, a mathematical model of the joint is established, and the transfer function from the load speed to the electromagnetic torque is obtained. Furthermore, according to the pole-placement strategy, the fuzzy-tuned PI controller parameters are selected appropriately for the manipulator in different postures. Finally, the effectiveness of the proposed method is verified by numerical simulations and control experiments of the manipulator. The results show that the fuzzy-tuned PI control strategy can significantly reduce the tracking errors and improve the control performance of the manipulator.

Training-free neural architecture search: A review

Wu Meng-Ting,Tsai Chun-Wei 한국통신학회 2024 ICT Express Vol.10 No.1

The goal of neural architecture search (NAS) is to either downsize the neural architecture and model of a deep neural network (DNN), adjust a neural architecture to improve its end result, or even speed up the whole training process. Such improvements make it possible to generate or install the model of a DNN on a small device, such as a device of internet of things or wireless sensor network. Because most NAS algorithms are time-consuming, finding out a way to reduce their computation costs has now become a critical research issue. The training-free method (also called the zero-shot learning) provides an alternative way to estimate how good a neural architecture is more efficiently during the process of NAS by using a lightweight score function instead of a general training process to avoid incurring heavy costs. This paper starts with a brief discussion of DNN and NAS, followed by a brief review of both model-dependent and model-independent training-free score functions. A brief introduction to the search algorithms and benchmarks that were widely used in a training-free NAS will also be given in this paper. The changes, potential, open issues, and future trends of this research topic are then addressed in the end of this paper.

Genetic and phylogenetic analysis of the honey bee sacbrood virus from jiangxi isolates

Meng Yaping,Yu Xinyue,Huang Qiang,Zhang Li Zhen,Wu Xiaobo,Wang Zilong,Yan Wei Yu 한국응용곤충학회 2022 Journal of Asia-Pacific Entomology Vol.25 No.1

The high prevalence of honeybee viral diseases poses a severe threat to the health of honeybees and causes substantial economic losses worldwide. Sacbrood virus (SBV) is a single-strand RNA virus that infects honeybees at all life stages. The infection can shorten the lifespan of adult bees and is lethal to larvae. SBV is the major cause of honeybee losses in Asia. Genetic and phylogenetic analyses of SBV isolates from different areas have been previously conducted. However, the impact of Apis mellifera Linnaeus and Apis cerana Fabricius coexistence on the infection and phylogeny of SBV remains unknown. In this study, we collected A. cerana and A. mellifera samples from commercial apiaries, only A. cerana in mountainous region. SBV prevalence was evaluated in three commercial apiaries of Jinxi, Tonggu and Nanchang and two mountainous regions of Zixi and Yifeng. In our sampling location, we found a higher SBV prevalence in the mountainous regions than in commercial apiaries. Partial structural polyprotein coding sequences were sequenced and compared with other GenBank SBV isolates. Phylogenetic tree topologies showed that SBV isolates form two major groups based on their host specificity, and isolates from same country tend to cluster together in subclades, indicating that the host and geographic region has significant effects on SBV strain specificity.

Confirming Whether Fine Needle Biopsy Device Shortens the Learning Curve of Endoscopic Ultrasound-Guided Tissue Acquisition Without Rapid Onsite Evaluation

Meng-Ying Lin,Cheng-Lin Wu,Mitsuhiro Kida,Wei-Lun Chang,Bor-Shyang Sheu 대한소화기내시경학회 2021 Clinical Endoscopy Vol.54 No.3

Background/Aims: Endoscopic ultrasonography (EUS)-guided tissue acquisition requires a long learning curve. We aimed tocompare the skill maturation curves between fine needle aspiration (FNA) and biopsy (FNB) for tissue acquisition. Methods: The initial 60 procedures performed by the trainee endosonographer (30 FNA vs. 30 FNB) were consecutively enrolled. The difference in procedure performance was compared between the two groups. Learning curves were assessed. Twenty additionalcases were subsequently enrolled to assess the consistency of performance in the FNB group. Results: The FNB group acquired larger tissue samples (2.35 vs. 0.70 mm2; p<0.001) with lower blood content (p=0.001) and highertissue quality (p=0.017) compared with the FNA group. In addition, the FNB group required less needle pass to establish a diagnosis(2.43 vs. 2.97; p=0.006). A threshold diagnostic sensitivity of ≥80% was achieved after performing 10 FNB procedures. The numberof needle passes significantly decreased after conducting 20 FNB procedures (1.80 vs. 2.70; p=0.041). The diagnostic sensitivity andnumber of needle passes remained the same in the subsequent FNB procedures. By contrast, this skill maturation phenomenon wasnot observed after performing 30 FNA procedures. Conclusions: In EUS-guided tissue acquisition, the FNB needle was more efficient and thus shortened the learning curve of EUSguidedtissue acquisition in trainee endosonographers.

Injectable Cell Delivery Vehicle and Polymeric Conductive Constructs for Myocardial Tissue Engineering

Meng-Hsuan HSIEH,Congyu ZHANG,Song-Yi WU,Shu-Hong LI,Jun WU,Shi-Ming LIU,Hao-Ji WEI,Ren Ke LI,Hsing-Wen SUNG 한국생물공학회 2019 한국생물공학회 학술대회 Vol.2019 No.4

Meta-Analysis of the Association between H63D and C282Y Polymorphisms in HFE and Cancer Risk

Zhang, Meng,Xiong, Hu,Fang, Lu,Lu, Wei,Wu, Xun,Wang, Yong-Qiang,Cai, Zhi-Ming,Wu, Song Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.11

Background: Previous studies suggested that the H63D and C282Y polymorphisms in the HFE genes were susceptible to many cancer types, nevertheless, the present results were inconclusive. Thus, the present study was aimed to evaluate the association between the HFE polymorphisms (H63D and C282Y) and cancer risk via meta-analysis. Materials and Methods: We retrieved PubMed, Google Scholar, Embase and Web of Science databases for all eligible studies up to April 1, 2015. All the statistical analysis was conducted by STATA 12.0. Results: Finally, a total of 20 publications including 24 case-control studies, comprising 6,524 cases and 31,080 controls for HFE-C282Y polymorphism and 19 publications including 21 case control studies, comprising 5,648 cases and 14,257 controls for HFE-H63D polymorphism were enrolled in our analysis. An increased risk for overall cancer risk was identified in HFE-H63D polymorphism under allele contrast (D vs H: OR=1.153; 95%CI=1.031-1.289, Pheterogeneity=0.002), homozygotes vs wide type (DD vs HH: OR=1.449; 95%CI=1.182-1.777, Pheterogeneity=0.391), dominant model (DD+HD vs HH: OR=1.145; 95%CI=1.007-1.301, Pheterogeneity=0.002) and recessive model (DD vs HD+HH: OR=1.416 ; 95%CI=1.156-1.735, Pheterogeneity=0.549), as well as HFE-C282Y under homozygotes vs wide type (YY vs CC: OR=1.428, 95%CI=1.017-2.006, Pheterogeneity=0.220). In addition, in the stratified analysis by cancer type, an increased risk was identified in hepatocellular carcinoma and breast cancer in C282Y polymorphism, as well as pancreatic cancer in H63D polymorphism, whereas a decreased risk of colorectal cancer was identified in C282Y polymorphism. Conclusions: Present study suggested that H63D and C282Y polymorphisms associated with an increased risk of overall cancer. Nevertheless, well-designed study with large sample size will be continued on this issue of interest.

EVOLUTION OF THE TIMES WHEN THE TRADITIONAL MATERIALS ENCOUNTER INTERACTIVE TECHNOLOGY

Chen-Wei Chiang,Min-Shiue Wu,Meng-Te Hsieh,Chia-Yu Kao,Chun-Yan Liu 한국디자인학회 2015 한국디자인학회 학술발표대회 논문집 Vol.2015 No.10

The Reflection of Bamboo combines traditional materials with interactive technology, analyzing what the characteristics of the old and new materials are, as well as how to apply technology to the integration of these materials. Through this installation, we reconsider the possibility of integrating traditional materials with modern technology. Adopting bamboo as the main material, this installation raises the spirit of traditional techniques in a unique way and employs bamboo’s special tenacity. Viewers can interact with this installation and experience the strength, esthetics and variation in the demonstrated shadow.

Tissue Quality Comparison Between Heparinized Wet Suction and Dry Suction in Endoscopic Ultrasound-Fine Needle Biopsy of Solid Pancreatic Masses: A Randomized Crossover Study

Lin Meng-Ying,Wu Cheng-Lin,Su Yung-Yeh,Huang Chien-Jui,Chang Wei-Lun,Sheu Bor-Shyang 거트앤리버 소화기연관학회협의회 2023 Gut and Liver Vol.17 No.2

Background/Aims: A high-quality sample allows for next-generation sequencing and the administration of more tailored precision medicine treatments. We aimed to evaluate whether heparinized wet suction can obtain higher quality samples than the standard dry-suction method during endoscopic ultrasound (EUS)-guided biopsy of pancreatic masses. Methods: A prospective randomized crossover study was conducted. Patients with a solid pancreatic mass were randomly allocated to receive either heparinized wet suction first or dry suction first. For each method, two needle passes were made, followed by a switch to the other method for a total of four needle punctures. The primary outcome was the aggregated white tissue length. Histological blood contamination, diagnostic performance and adverse events were analyzed as secondary outcomes. In addition, the correlation between white tissue length and the extracted DNA amount was analyzed. Results: A total of 50 patients were enrolled, and 200 specimens were acquired (100 with heparinized wet suction and 100 with dry suction), with one minor bleeding event. The heparinized wet suction approach yielded specimens with longer aggregated white tissue length (11.07 mm vs 7.96 mm, p=0.001) and less blood contamination (p=0.008). A trend towards decreasing tissue quality was observed for the 2nd pass of the dry-suction method, leading to decreased diagnostic sensitivity and accuracy, although the accumulated diagnostic performance was comparable between the two suction methods. The amount of extracted DNA correlated positively to the white tissue length (p=0.001, Spearman̕s ρ=0.568). Conclusions: Heparinized wet suction for EUS tissue acquisition of solid pancreatic masses can yield longer, bloodless, DNA-rich tissue without increasing the incidence of adverse events (ClinicalTrials.gov. identifier NCT04707560).

Discussion on Reasonable Clear Spacing of Twin-Tunnels in Weak Surrounding Rock: Analytical Solution and Numerical Analysis

Fangyin Wu,Chuan He,Hao Kou,Bo Wang,Wei Meng,Hailong Meng,Deping Guo 대한토목학회 2022 KSCE Journal of Civil Engineering Vol.26 No.5

Due to the limitations of the terrain and other reasons, twin-tunnels with small clear spacing are becoming more and more common. The reasonable clear spacing of twin-tunnels in weak surrounding rock is an urgent problem. In this paper, based on pressure-arch theory (PAT), the method used to calculate the loosening pressure on the surrounding rock of twin-tunnels under three cases was derived by considering the additional disturbance of the excavation on the middle rock pillar through the amplification factors of the sliding angles, k1 and k2. Taking the weak surrounding rock as an example, we discussed the effect of the clear spacing variation on the loosening pressure of the surrounding rock, and obtained the dangerous clear spacing of twin-tunnels. The accuracy and applicability of this approach were verified by the in-site data that were measured. Considering the limitation of the pressure-arch theory on a deep-buried tunnel under high geo-stress, based on the Jiuzhai valley-Mianyang highway in China, the reasonable clear spacing of twin-tunnels in weak surrounding rock at different buried depths, i.e., 400 m − 1,600 m, is discussed using the numerical simulation method. The analytical solution indicated that the loosening pressure of the inner side of the first tunnel was greater than the one of the second due to the amplification factors of the sliding angles, k1 and k2. The in-site data showed that in the weak surrounding rock mass, when k1 and k2 are taken as 1.15 and 1.3, respectively, the loosening pressure distribution law is closest to the actual situation.

Meta-analysis of Associations between ATM Asp1853Asn and TP53 Arg72Pro Polymorphisms and Adverse Effects of Cancer Radiotherapy

Su, Meng,Yin, Zhi-Hua,Wu, Wei,Li, Xue-Lian,Zhou, Bao-Sen Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.24

Background: The ataxia telangiectasia mutated (ATM) protein and p53 play key roles in sensing and repairing radiation-induced DNA double strand breaks (DSBs). Accumulating epidemiological evidence indicates that functional genetic variants in ATM and TP53 genes may have an impact on the risk of radiotherapy-induced side effects. Here we performed a meta-analysis to investigate the potential interaction between ATM Asp1853Asn and TP53 polymorphisms and risk of radiotherapy-induced adverse effects quantitatively. Materials and Methods: Relevant articles were retrieved from PubMed, ISI Web of Science and the China National Knowledge Infrastructure (CNKI) databases. Eligible studies were selected according to specific inclusion and exclusion criteria. Odds ratios (ORs) and 95% confidence intervals (CIs) were pooled to estimate the association between ATM Asp1853Asn and TP53 Arg72Pro polymorphisms and risk of radiotherapy adverse effects. All analyses were performed using the Stata software. Results: A total of twenty articles were included in the present analysis. In the overall analysis, no significant associations between ATM Asp1853Asn and TP53 Arg72Pro polymorphisms and the risk of radiotherapy adverse effects were found. We conducted subgroup analysis stratified by type of cancer, region and time of appearance of side effects subsequently. No significant association between ATM Asp1853Asn and risk of radiotherapy adverse effects was found in any subgroup analysis. For TP53 Arg72Pro, variant C allele was associated with decreased radiotherapy adverse effects risk among Asian cancer patients in the stratified analysis by region (OR=0.71, 95%CI: 0.54-0.93, p=0.012). No significant results were found in the subgroup analysis of tumor type and time of appearance of side effects. Conclusions: The TP53 Arg72Pro C allele might be a protective factor of radiotherapy-induced adverse effects among cancer patients from Asia. Further studies that take into consideration treatment-related factors and patient lifestyle including environmental exposures are warranted.