A Spraying Path Planning Algorithm Based on Point Cloud Segmentation and Trajectory Sequence Optimization

Ru-Xiang Hua,Hong-Xuan Ma,Wei Zou,Wei Zhang,Zhuo Wang 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.2

Spraying trajectory planning is a key and challenging work for intelligent spraying robot. In order to effectively fulfill spraying on complex surfaces without CAD model, a novel spraying trajectory planning method based on segmentation and trajectory sequence optimization is proposed in this paper, which is mainly composed by three steps: surface segmentation, trajectories generation and trajectories connection. In surface segmentation, a method named regional growth with minimum curvature point (RGMCP) is proposed to segment a 3D entity into different subsurfaces by taking normals and curvatures into consideration simultaneously. In trajectories generation step, an intersection of plane and point cloud (IPPC) algorithm is used to generate the optimal spraying trajectory for each segmented subsurface. Finally, for trajectories connection, a sequence optimization algorithm based on swap-evolution particles (SOSP) is proposed to connect all the subsurface trajectories as a complete spraying one in an optimum manner by regarding it as a sequence optimization problem. The effectiveness of the proposed method is validated by simulation and practical experiment simultaneously. Comparatively, our method can improve the efficiency of a spray task with 367 trajectories and 627 s time-consuming to 215 trajectories and 413 s, while the coating thickness variances are lowered from 51.9 µm2 and 30.4 µm2 to 3.64 µm2 and 7.89 µm2 respectively, which shows that the proposed method is more effective and can keep better coating thickness uniformity.

Association of DR4 (TRAIL-R1) Polymorphisms with Cancer Risk in Caucasians: an Updated Meta-analysis

Chen, Wei,Tang, Wen-Ru,Zhang, Ming,Chang, Kwenjen,Wei, Yun-Lin Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.6

Death receptor 4 (TRAIL-R1 or DR4) polymorphisms have been associated with cancer risk, but findings have been inconsistent. To estimate the relationship in detail, a meta-analysis was here performed. A search of PubMed was conducted to investigate the association between DR4 C626G, A683C and A1322G polymorphisms and cancer risk, using odds ratios (ORs) with 95% confidence intervals. The results suggested that DR4 C626G and A683C polymorphisms were indeed associated with cancer risk (for C626G, dominant model, OR 0.991, 95%CI 0.866-1.133, p=0.015; for A683C, additive model, OR=1.140, 95%CI: 0.948-1.370, p=0.028; dominant model, OR=1.156, 95%CI: 0.950-1.406, p=0.080) in the Caucasian subgroup. However, the association was not significant between DR4 polymorphism A1322G with cancer risk in Caucasians (For A1322G, additive model: OR 1.085, 95%CI 0.931-1.289, p=0.217; dominant model: OR 1.379, 95%CI 0.934-2.035, p=0.311; recessive model: OR 1.026, 95%CI 0.831-1.268 p=0.429.). In summary, our finding suggests that DR4 polymorphism C626G and A683 rather than A1322G are associated with cancer risk in Caucasians.

Association of Novel Polymorphisms in Lymphoid Enhancer Binding Factor 1 (LEF-1) Gene with Number of Teats in Different Breeds of Pig

Xu, Ru-Xiang,Wei, Ning,Wang, Yu,Wang, Guo-Qiang,Yang, Gong-She,Pang, Wei-Jun Asian Australasian Association of Animal Productio 2014 Animal Bioscience Vol.27 No.9

Lymphoid enhancer binding factor 1 (LEF-1) is a member of the T-cell specific factor (TCF) family, which plays a key role in the development of breast endothelial cells. Moreover, LEF-1 gene has been identified as a candidate gene for teat number trait. In the present study, we detected two novel mutations (NC_010450.3:g. 99514A>G, 119846C>T) by DNA sequencing and polymerase chain reaction-restriction fragment length polymorphism in exon 4 and intron 9 of LEF-1 in Guanzhong Black, Hanjiang Black, Bamei and Large White pigs. Furthermore, we analyzed the association between the genetic variations with teat number trait in these breeds. The 99514A>G mutation showed an extremely significant statistical relevance between different genotypes and teat number trait in Guanzhong (p<0.001) and Large White (p = 0.002), and significant relevance in Hanjiang (p = 0.017); the 119846C>T mutation suggested significant association in Guanzhong Black pigs (p = 0.042) and Large White pigs (p = 0.003). The individuals with "AG" or "GG" genotype displayed more teat numbers than those with "AA"; the individuals with "TC" or "CC" genotype showed more teat numbers than those with "TT". Our findings suggested that the 99514A>G and 119846C>T mutations of LEF-1 affected porcine teat number trait and could be used in breeding strategies to accelerate porcine teat number trait improvement of indigenous pigs breeds through molecular marker assisted selection.

Updated Meta-analysis on HER2 Polymorphisms and Risk of Breast Cancer: Evidence from 32 Studies

Chen, Wei,Yang, Heng,Tang, Wen-Ru,Feng, Shi-Jun,Wei, Yun-Lin Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.22

Background: Several studies have been performed to investigate the association of the HER2 Ile655Val polymorphism and breast cancer risk. However, the results were inconsistent. To understand the precise relationship, a meta-analysis was here conducted. Materials and Methods: A search of PubMed conducted to investigate links between the HER2 Ile655Val polymorphism and breast cancer, identified a total of 32 studies, of which 29, including 14,926 cases and 15,768 controls, with odds ratios (ORs) with 95% confidence intervals were used to assess any association. Results: In the overall analysis, the HER2 Ile655Val polymorphism was associated with breast cancer in an additive genetic model (OR=1.136, 95% CI 1.043-1.239, p=0.004) and in a dominant genetic (OR=1.118, 95% CI 1.020-1.227, p=0.018), while no association was found in a recessive genetic model. On subgroup analysis, an association with breast cancer was noted in the additive genetic model (OR=1.111, 95% CI: 1.004-1.230, p=0.042) for the Caucasian subgroup. No significant associations were observed in Asians and Africans in any of the genetic models. Conclusions: In summary, our meta-analysis findings suggest that the HER2 Ile655Val polymorphism is marginally associated with breast cancer susceptibility in worldwide populations with additive and dominant models, but not a recessive model.

<특집논문 1> 화엄사상과 통합의 시대 -분단과 분열의 시대에 화엄학의 의의- : 화엄학의 태평성대적 기상

위도유 ( Dao Ru Wei ) 동아시아불교문화학회 2014 동아시아불교문화 Vol.0 No.20

화엄학은 華藏世界(화장세계)를 통해 깨끗하고, 조화롭고, 질서 있고, 다채로운 세계를 만들기 위해 힘써야 함을 제창했고, 법계연기의 논증을 통해 생활과 현실세계를 뜨겁게 사랑해야함을 제창했으며, 一(일)과一切(일체)의 관계에 대한 논증을 통해 전체적 통일의 필요성과 중요성을 제창했고, 사사무애의 논증을 통해 일체 현상과 사물간의 무애원융을 제창했다. 이와 같은 사상들은 사람들이 분열과 혼란의 시대에서 통일과 조화의 시대로 나아갈 수 있도록 인도할 수 있도록 도움을 주었으며, 모두 태평성대적 기상을 지닌 사상적 요소들로, 매우 분명한 현실적 의미를 지니고 있다. The study of Hua-yan advocates a pure, harmonious, orderly and colorful world by describing the World of Lotus Treasury. It presents a kind of deep love for life and real world by analyzing the theory of all things arising from Dharma realm. The necessity and importance of the whole union are emphasized by expounding and proving the relationship between "one" and "all". All phenomena being in perfect harmony and not obstructing each other is also proposed by illustrating the theory of complete combination without obstruction among all things. The above-mentioned thoughts are beneficial to instructing people``s pursuit for a united and harmonious era instead of a split and turbulent one. They are also vital elements in the times of prosperity. Their important and realistic significance is quite obvious.

특집 1 : 當代中國佛敎的現狀與使命

위도유 ( Dao Ru Wei ) 동아시아불교문화학회 2007 동아시아불교문화 Vol.1 No.-

上個世紀八十年代以來,中國佛敎在僧尼人數、組織規模和寺院經濟等方面快速發展。佛敎界的各類學術硏究機構持續增多。佛敎界學者出版的著作、論文集數量不斷增加,涉及的範圍也越來越廣泛。硏究成果涉及經典文獻、宗派曆史、義理哲學、文學藝術、法事儀軌等各個方面。現在除了中國佛敎協會下屬的中國佛學院之外,各地佛敎協會或大寺院創辦的佛學院大約有數十所,規模不等,爲佛敎界培養了一大批人才。中國佛敎協會號召全國佛敎界今後把工作重點轉移到發展佛敎敎育,提高四衆素質方面來。各地的寺院也要逐步加大對敎育的投入,致力於提高寺院的品位。近十幾年來,中國佛敎從事的社會慈善公益活動規模、範圍和影響都不斷擴大。中國佛敎界在保持和發展同韓國、日本、越南、蒙古、泰國、緬甸、尼泊爾等許多亞洲國家的傳統友好關系的同時,逐步建立和加强了與歐 洲、美洲、澳洲等幾十個國家和地區的佛敎組織和信衆的友好聯系。中國佛敎重視發揚愛國愛敎、關愛衆生的傳統,重視倫理道德、勸人向善的傳統,倡導慈善公益、扶危濟困的傳統,以及愛好和平、重視文化建設、注重國際友好交流等傳統,倂且在這些方面都做出了흔多工作。當代中國佛敎處在前所未有的良好社會環境中,充分發揮善世利人社會功能的領域更爲廣闊。通過弘揚淨化人心的敎義促進人與自我的和諧,通過運用佛敎倫理促進人與社會的和諧,通過致力於環境保護促進人與自然的和諧,都是佛敎在構建社會主義和諧社會中發揮獨特作用的方面。對內爲建設和諧社會服務,對外爲建設和諧世界做貢獻,是當代中國佛敎在新世紀不可替代的曆史使命,也是中國佛敎與時俱進,適應社會,實現自身健康發展的必由之路。 From 1980s, Chinese Buddhism has undergone rapid development in the numbers of monks and nuns, scale of organizations as well as temple economy. More and more academic institutes appear in the Buddhist field. Books and articles written and published by Buddhists increase with very large scopes. The research achievements concern with scriptures, history of Buddhist sects, Buddhist philosophy, literature, art and Buddhist ceremonies etc.. Apart from Chinese Buddhist College subordinated to Chinese Association of Buddhism, there exist several decades of Buddhist colleges with different scale in China. They foster a large number of Buddhist talents. Chinese Association of Buddhism advocates Chinese Buddhist field to develop the Buddhist education and promote the quality of believers. Temples in the whole country should also invest more capital in the Buddhist education and enhance the grade of temples. For more than ten years, the scale, scope and influence increasingly enlarge of benevolent activities that Chinese Buddhism participates. In maintaining and developing traditional friendly relationship with Asian countries such as South Korea, Japan, Vietnam, Mongolia, Thailand, Burma and Nepal, Chinese Buddhist circle gradually sets up and strengthens the friendly relationship with Buddhist organizations and believers in Europe, America and Oceania. Chinese Buddhism emphasizes, advocates excellent traditions and accordingly makes great efforts in these fields such as ardent love to motherland and Buddhism, care for Sattva, emphasis on ethics and morality, advocate for benevolence and public benefits, love for peace, emphasis on cultural construction as well as attention to international friendly exchanges. At present, Chinese Buddhism lies in an unprecedented good social environment. There is wider space for it to bring into play the social function of benefiting the world and people. Chinese Buddhism can play a particular role in constructing socialist harmonious society by expanding positive doctrines to purify the mind of oneself, by applying Buddhist ethics to promote the harmony between people and society, by putting effort into environment protection to promote the harmony between human being and nature. For Chinese Buddhism, to serve the construction of harmonious society domestically as well as contribute to the construction of a harmonious world internationally is an indispensably historical mission in the new century. Significantly, it is also the only way for Chinese Buddhism to keep pace with the time, adjust itself to the society and realize its healthy development.

Effects of fission product doping on the structure, electronic structure, mechanical and thermodynamic properties of uranium monocarbide: A first-principles study

Ru-Ting Liang,Tao Bo,Wan-Qiu Yin,Chang-Ming Nie,Lei Zhang,Zhi-Fang Chai,Wei-Qun Shi Korean Nuclear Society 2023 Nuclear Engineering and Technology Vol.55 No.7

A first-principle approach within the framework of density functional theory was employed to study the effect of vacancy defects and fission products (FPs) doping on the mechanical, electronic, and thermodynamic properties of uranium monocarbide (UC). Firstly, the calculated vacancy formation energies confirm that the C vacancy is more stable than the U vacancy. The solution energies indicate that FPs prefer to occupying in U site rather than in C site. Zr, Mo, Th, and Pu atoms tend to directly replace U atom and dissolve into the UC lattice. Besides, the results of the mechanical properties show that U vacancy reduces the compressive and deformation resistance of UC while C vacancy has little effect. The doping of all FPs except He has a repairing effect on the mechanical properties of U_1-xC. In addition, significant modifications are observed in the phonon dispersion curves and partial phonon density of states (PhDOS) of UC_1-x, Zr_xU_1-xC, Mo_xU_1-xC, and Rh_xU_1-xC, including narrow frequency gaps and overlapping phonon modes, which increase the phonon scattering and lead to deterioration of thermal expansion coefficient (α_V) and heat capacity (C_p) of UC predicted by the quasi harmonic approximation (QHA) method.

IL-33/ST2 axis mediates hyperplasia of intrarenal urothelium in obstructive renal injury

Wei-Yu Chen,Jenq-Lin Yan,Yi-Hsiu Wu,Lung-Chih Li,Ru-Fang Li,Ya-Ting Chang,Lo-Hsin Dai,Wan-Chen Wang,Ya-Jen Chang 생화학분자생물학회 2018 Experimental and molecular medicine Vol.50 No.-

The monolayered intrarenal urothelium covers the renal papilla and ureteropelvic junction (UPJ). In response to increased renal pressure during obstruction or ischemic injuries, intrarenal urothelial cells begin to proliferate and form a multilayered urothelium. Little is known regarding the mechanism and pathophysiological role of urothelium hyperplasia during renal obstruction. In this study, we investigated the expression of interleukin (IL)-33, an IL-1 family cytokine, in kidneys with unilateral ureteral obstruction (UUO)-induced obstructive injury. IL-33 levels in hydronephrotic urine and serum were upregulated 2 days after UUO. The number of ST2-expressing immune cells was increased in the UUO kidney. We found that IL-33 was upregulated in vimentin-positive cells in the cortical and medullar layers and the UPJ stroma. Moreover, IL-33 expression was predominantly induced in multilayered keratin 5- positive urothelial cells in the UPJ. IL-33 was not detected in terminally differentiated superficial umbrella cells expressing uroplakin 3a. In vivo, we confirmed that deficiency of IL33 or its receptor ST2 attenuated UUO-induced hyperplasia of the UPJ urothelium. Deficiency of IL33 attenuated the expression of UUO-induced type 2 inflammatory cytokines and upregulated uroplakins and urothelial differentiation signaling in UPJ tissues. Our results collectively suggest that the IL-33/ST2 axis mediates the activation of innate immune responses and contributes to urothelial hyperplasia by regulating urothelial differentiation in obstructive kidney injury.

Prevalence of Anti-deamidated Gliadin Peptide Antibodies in Asian Patients With Irritable Bowel Syndrome

( Wei Lu ),( Kok Ann Gwee ),( Kewin Tien Ho Siah ),( Jin Yong Kang ),( Ru Min Lee ),( Cecilia Cheng Lai Ngan ) 대한소화기기능성질환·운동학회 2014 Journal of Neurogastroenterology and Motility (JNM Vol.20 No.2

Background/AimsNon-celiac gluten sensitivity has been increasingly recognized as a predisposing factor for irritable bowel syndrome (IBS)-likesymptoms in Western populations where celiac disease (CD) is relatively common. In Asia where CD is rare, we wish to determinethe prevalence of gluten protein associated serology in IBS patients, which has not been formally studied, and its relationto histological and human leukocyte antigen (HLA) markers. MethodsWe reviewed a consecutive cohort of Asian patients with IBS, who had undergone serologic testing for IgA against deamidatedgliadin peptide antibodies (IgA DGP) and IgA anti-endomysium antibodies, and who also had duodenal biopsies during clinicalworkup. In addition, a subset of Chinese patients with positive serology was further tested for HLA-DQ2 and HLA-DQ8. ResultsOf 186 patients, 34 (18%) were positive for IgA DGP; bloating, abdominal pain, belching and diarrhea were the most com -monly reported symptoms but diarrhea as the most bothersome symptom was significantly more common in IgA DGP positivepatients. Mildly increased intra-epithelial lymphocytes on duodenal biopsy was also more common (29% vs. 9%, P = 0.001). Nine of 21 Chinese patients tested as IgA DGP positive undertook HLA-DQ2/DQ8 testing, with only 2 being positive forHLA-DQ8. All patients with positive IgA DGP reported symptom improvement with gluten withdrawal. ConclusionsWe have described a series of Asian, mainly Chinese, patients with IBS who were tested positive for IgA DGP, and improvedon a gluten exclusion diet. We believe this is the first report of non-celiac gluten sensitivity in Asia, a region where CD isuncommon

Identification and characterization of a novel endoglucanase (CMCase) isolated from the larval gut of Bombyx mori

Ru-Jian Ma,Chun-Yan Wang,Yan-Wei Liu,Thasma Raman Sivakumar,Zi-Xu Ren,Ying Fang,Jun-Qiang Jia,Zhong-Zheng Gui 한국응용곤충학회 2014 Journal of Asia-Pacific Entomology Vol.17 No.1

While screening for cellulase-producing fungi from insect gut, a fungus with high endoglucanase (carboxymethylcellulase; CMCase) activitywas isolated fromthe larval gut of Bombyx mori. Based onmorphological characteristicsand using an 18S rRNA-based molecular phylogenetic approach, the fungus, strain BMC-2, was identified as aMucor sp. expressing a novel alkalotolerant cellulase. The maximum production of cellulase by the BMC-2 strainwas observed at 55°C and pH8.0. The CMCase activity was inhibited by Cu2+ N Na+ N Zn2+ N Mg2+ N Ba2+, andinduced by Ca2+, Mn2+, Fe2+, and K+.