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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ji-Hun Bae Woosung Yang Sang-Rok Oh Bum-Jae You Doik Kim Yonghwan Oh Department of Applied Robot Technology Korea Institute of Industrial TechnologyAnsan R&D Center127 Human Factors & Devices Research Team Central Advanced Research & Engineering Institute of Hyundai M Cognitive Robotics Center Korea Institute of Science & TechnologyP.O. BOX 131CheongryangSeoul 130

In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed method tries to control directly robotic systems in task-space with the control signal composed of linear superposition of three terms 1) joint-damping, 2) virtual spring, and 3) virtual damper in task-space. In particular, our work contains a muscle tension effect of a human under the gravity. This give birth to energy efficient natural motions avoiding problems on repeatability of the motion and ill-posedness problems emerged in most of redundant DOF systems. Thus, this paper exhibits expendability of the position control into the orientation control and compliant behavior. It is verified with a real robotic arm that satisfies human-like movements and motion repeatability under kinematic redundancy of joints.

关键词： robot arm control Human-like motion Redundant robots Manipulation

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Identification of functional tumor necrosis factor-alpha promoter variants associated with Helicobacter pylori infection in the Sudanese population: Computational approach

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World Journal of Gastroenterology 2022年第2期28卷 242-262页

作者： Abeer Babiker Idris Alaa B Idris Manal A Gumaa Mohammed Babiker Idris Amanda Elgoraish Mohamed Mansour Dalia Allam Bashir MO Arbab Nazar Beirag El-Amin M Ibrahim Mohamed A Hassan Department of Agricultural Science and Technology Institute of Natural and Applied SciencesErciyes UniversityKayseri 38039Turkey Department of Medical Microbiology Faculty of Medical Laboratory SciencesUniversity of KhartoumKhartoum 11111Sudan Department of Neurosurgery Ribat University HospitalKhartoum 11111Sudan BioMérieux Clinical and Application Advisor Al-Jeel Medical Co.Riyadh 11422Saudi Arabia Department of Epidemiology Tropical Medicine Research InstituteKhartoum 11111Sudan Department of Gastroenterology Ibn Sina Specialized HospitalKhartoum 11111Sudan Department of Gastroenterology Modern Medical CentreKhartoum 11111Sudan Biosciences College of HealthMedicine and Life SciencesBrunel UniversityLondon UB83PHUxbridgeUnited Kingdom Department of Translation Bioinformatics Detavax BiotechKayseri 38350Turkey

BACKGROUND Helicobacter pylori(***)is a ubiquitous bacterium that affects nearly half of the world’s population with a high morbidity and mortality *** within the tumor necrosis factor-alpha(TNF-A)promoter region are considered a possible genetic basis for this *** To functionally characterize the genetic variations in the TNF-A 5’-region(-584 to+107)of Sudanese patients infected with *** using in silico *** An observational study was carried out in major public and private hospitals in Khartoum state.A total of 122 gastric biopsies were taken from patients who had been referred for *** DNA was *** of the TNF-A-1030 polymorphism was performed using PCR with confronting two-pair primer to investigate its association with the susceptibility to *** infection in the Sudanese ***,Sanger sequencing was applied to detect single nucleotide polymorphisms in the 5’-region(-584 to+107)of TNF-A in ***-infected *** analyses were used to predict whether these mutations would alter transcription factor binding sites or composite regulatory elements in this region.A comparative profiling analysis was conducted in 11 species using the ECR browser and multiple-sequence local alignment and visualization search engine to investigate the possible ***,a multivariate logistic regression model was constructed to estimate odds ratios and their 95%confidence intervals for the association between TNF-A-1030,sociodemographic characteristics and *** *** were statistically significant if P<*** analyses were performed using Stata version 11 *** A total of seven single nucleotide polymorphisms were observed in the TNF-A 5’-region of Sudanese patients infected with *** one of them(T>A,-76)was located at the in silico-predicted promoter region(-146 to+10),and it was predicted to alter transcription factor b

关键词： 5’-region Promoter TNF-A Helicobacter pylori In silico analysis Sudan

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Capturing Contact Surfaces by a Frustrated Total Internal Reflection System Using a Curved Plate for Comparison of the Beginning of Touching Motions by Humanitude Experts and Novices

Capturing Contact Surfaces by a Frustrated Total Internal Re...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Yuguchi, Akishige Toyoda, Mayuki Cho, Sung-Gwi Nakazawa, Atsushi Takamatsu, Jun Yoshino, Koichiro Ogasawara, Tsukasa Tokyo University of Science Faculty of Advanced Engineering Katsushika-ku Tokyo125-8585 Japan Guardian Robot Project Riken Seika-cho Sorakugun Kyoto619-0288 Japan Nara Institute of Science and Technology Nara Ikoma630-0192 Japan School of Science and Engineering Tokyo Denki University Hatoyama-machi Saitama Hiki-gun350-0394 Japan Graduate School of Interdisciplinary Science and Engineering in Health Systems Okayama University Okayama Kita-ku700-8530 Japan Applied Robotics Research Microsoft Corporation RedmondWA98052 United States

ISBN: (纸本)9781665410205

Analyzing time-series changes of the contact surface by touching is important to elucidate the touching skills of Humanitude as one of the pervasive multimodal comprehensive care methodologies. For the analysis, there is a frustrated total internal reflection (FTIR) method to capture contact surfaces on a transparent flat plate by a camera. However, this conventional flat plate is far from the actual surfaces of care receivers because the surfaces of humans consist of curved shapes. In this paper, we propose an FTIR sensing system using a transparent curved plate to capture more ideal contact states with a surface shape more similar to the human body. We collect the contact surface data of the beginning of touching motions by Humanitude experts and novices using the FTIR sensing system with the curved and flat plates. Then, we compare the data by the experts and novices in terms of time-series contact areas and the quantitative indices and subjective evaluation and discuss the analysis results. Through these experiments, we confirm that the proposed system has the potential for the novices to perform more correctly the beginning of Humanitude's touching motions. © 2024 IEEE.

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Real-Time Velocity and Hovering Control for Rotorcraft Based on Visual State Estimation

Real-Time Velocity and Hovering Control for Rotorcraft Based...

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Chinese Automation Congress (CAC)

作者： Hao Du Wei Wang Hongxun Liu Qi Wang Hongbiao Shi Lei Xue School of Automation Southeast University Nanjing China Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CICAEET) Nanjing University of Information Science & Technology Nanjing China Graduate School of Science and Engineering chiba university Chiba Japan School of Automation Nanjing University of Information Science & Technology Nanjing China Autonomous Control Robot Laboratory Institute of Applied Research Intelligent Science & Technology Jiangsu and Chinese Academy of Sciences Changzhou China

ISBN: (纸本)9781665426480

The purpose of this thesis is to solve the velocity and hover flight control problem of rotorcraft in GNSS-denied environments by using a low-cost Optical Flow Sensor (OFS) and an RGBD camera. An OFS is employed for velocity estimation and an RGBD camera is employed for pose estimation based on ORB-SLAM2 algorithm. Firstly, the mathematical model of velocity is established, then the classical PID control is applied to realize the velocity and hover control, and the designed embedded control system is installed on the drone for flight verification. We verified the effectiveness of this system for estimating velocity, position and controlling the drone in real-time in an indoor environment, and discuss its limitations.

关键词： Visualization PI control Pose estimation Velocity control Cameras Real-time systems State estimation

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Quantum machine learning for multiclass classification beyond kernel methods

arXiv

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arXiv 2024年

作者： Ding, Chao Wang, Shi Wang, Yaonan Gao, Weibo College of Electrical and Information Engineering Hunan University Changsha410082 China Division of Physics and Applied Physics School of Physical and Mathematical Sciences Nanyang Technological University Singapore637371 Singapore National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China Centre for Quantum Technologies National University of Singapore Singapore117543 Singapore The Photonics Institute Centre for Disruptive Photonic Technologies Nanyang Technological University Singapore637371 Singapore

Quantum machine learning is considered one of the current research fields with great potential. In recent years, Havlíček et al. [Nature 567, 209-212 (2019)] have proposed a quantum machine learning algorithm with quantum-enhanced feature spaces, which effectively addressed a binary classification problem on a superconducting processor and offered a potential pathway to achieving quantum advantage. However, a straightforward binary classification algorithm falls short in solving multiclass classification problems. In this paper, we propose a quantum algorithm that rigorously demonstrates that quantum kernel methods enhance the efficiency of multiclass classification in real-world applications, providing quantum advantage. To demonstrate quantum advantage, we design six distinct quantum kernels within the quantum algorithm to map input data into quantum state spaces and estimate the corresponding quantum kernel matrices. The results from quantum simulations reveal that the quantum algorithm outperforms its classical counterpart in handling six real-world multiclass classification problems. Furthermore, we leverage a variety of performance metrics to comprehensively evaluate the classification and generalization performance of the quantum algorithm. The results demonstrate that the quantum algorithm achieves superior classification and better generalization performance relative to classical counterparts. Copyright © 2024, The Authors. All rights reserved.

关键词： Quantum efficiency

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Real-time imaging of accelerated solid-liquid-gas reactions with nanobubbles

Research Square

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research Square 2020年

作者： Wang, Wen Xu, Tao Chen, Jige Shangguan, Junyi Dong, Hui Ma, Huishu Zhang, Qiubo Bai, Tingting Guo, Zhirui Fang, Haiping Zheng, Haimei Sun, Litao SEU-FEI Nano-Pico Center Key Laboratory of MEMS of Ministry of Education Collaborative Innovation Center for Micro/Nano Fabrication Device and System Southeast University Nanjing210096 China Materials Sciences Division Lawrence Berkeley National Laboratory BerkeleyCA94720 United States Shanghai Synchrotron Radiation Facility Zhangjiang Laboratory Shanghai Advanced Research Institute Chinese Academy of Sciences Shanghai201204 China Department of Physics East China University of Science and Technology Shanghai200237 China Department of Materials Science and Engineering University of California BerkeleyCA94720 United States Shanghai Institute of Applied Physics Chinese Academy of Sciences Shanghai201800 China Key Laboratory of Welding Robot and Application Technology of Hunan Province Engineering Research Center of Complex Tracks Processing Technology Equipment of Ministry of Education Xiangtan University Xiangtan411105 China The Second Affiliated Hospital Key Laboratory for Aging & Disease Nanjing Medical University Nanjing210011 China

Solid-liquid-gas reactions are ubiquitous. An understanding of how gases influence the reactions at the nanoscale is significant for achieving the enhanced triple-phase reactions. Here, we report a real-time observation of the accelerated etching of gold nanorods with oxygen nanobubbles in aqueous hydrobromic acid using liquid cell transmission electron microscopy (TEM). Our observation reveals that when an oxygen nanobubble is close to a nanorod below the critical distance (~1nm), the local etching rate is significantly enhanced with over an order of magnitude faster. Molecular dynamics simulations results show that the strong attractive van der Waals interaction between the gold nanorod and oxygen molecules facilitates the transport of oxygen through the thin liquid layer to the gold surface and thus plays a crucial role in increasing the etching rate. This result sheds light on the rational design of solid-liquid-gas reactions for enhanced activities. © 2020, CC BY.

关键词： Molecular dynamics

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EEG-based neurofeedback training with shoulder exoskeleton robot assistance triggered by the contralesional primary motor cortex activity in poststroke patients with severe chronic hemiplegia

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Annals of Physical and Rehabilitation Medicine 2018年 61卷 e94-e95页

作者： Takasaki, K. Liu, F. Ogura, M. Okuyama, K. Kawakami, M. Mizuno, K. Kasuga, S. Noda, T. Morimoto, J. Liu, M. Ushiba, J. Keio University Graduate School of Science and Technology Kanagawa Japan Keio University Department of Rehabilitation Medicine Tokyo Japan Keio University/Keio Institute of Pure and Applied Science KiPAS Faculty of Science and Technology Kanagawa Japan Advanced Telecommunications Research Institute International Department of Brain Robot Interface- Computational Neuroscience Laboratories Kyoto Japan

Introduction/Background Recent clinical studies have shown that electroencephalogram- (EEG) based neurofeedback training promotes functional recovery of finger movements in poststroke patients (Pichiorri F et al., Ann Neurol. 2015). However, impairment of shoulder elevation in poststroke severe chronic hemiplegia is a debilitating condition with no evidence-based, accessible treatment. To verify motor recovery evidence of neurofeedback training with our shoulder exoskeleton robot, this study reports upper extremity section of Fugl-Meyer assessment (FMA-UE) associated with the evaluation of up-conditioning of contralesional corticospinal pathways. Material and method Eight poststroke patients with severe hemiplegia in the chronic stage were recruited (FMA-UE score = 16.8 ± 4.4). Patients engaged in 1 hour daily training for 7 consecutive days ( Fig. 1 ), and clinical and neurophysiological measurements were performed 1 day before and after the intervention. FMA-UE was used for the primary outcome measure. A 128-channel whole-head EEG was used to assess the hemispheric lateralization of event-related desynchronization (ERD). Single-pulse transcranial magnetic stimulation (TMS) was applied to the contralesional primary motor cortex to assess the corticospinal excitability in 6 tested patients. Results All participants finished the intervention without adverse events. FMA-UE was significantly improved after the intervention (paired t -test, P < 0.01). All patients demonstrated improved FMA-UE (mean change = 6.6 ± 3.2) and 6 of 8 patients exceeded the minimal clinically important difference that is set to 5. From the group analysis of hemispheric lateralization of ERD, the contralesional ERD became stronger after interventions (Wilcoxon signed-rank test, P < 0.01). Motor evoked potentials became more apparent after interventions in 3 of the 6 tested patients. Conclusion The results from this study demonstrated targeted up-conditioning of contralesional corticospinal path

关键词： Brain machine interface Neurorehabilitation Phase 2 clinical study

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Correction to: "Joy of life" in nursing homes. Healthcare personnel experiences of the implementation of the national strategy. A qualitative study with content analysis of interviews

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BMC health services research 2021年第1期21卷 1028页

作者： Beate André Kjersti Grønning Frode F Jacobsen Gørill Haugan Department of Public Health and Nursing Norwegian University of Science and Technology (NTNU) 7491 Trondheim Norway. beate.andre@ntnu.no. NTNU Center for Health Promotion Research 7491 Trondheim Norway. beate.andre@ntnu.no. Department of Public Health and Nursing Norwegian University of Science and Technology (NTNU) 7491 Trondheim Norway. NTNU Center for Health Promotion Research 7491 Trondheim Norway. Centre for Care Research Western Norway University of Applied Sciences Bergen Norway. Institute for Health and Care Sciences Western Norway University of Applied Sciences Bergen Norway. VID Specialized University Bergen Norway.

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Spatial patterns of large African cats: a large-scale study on density, home range size, and home range overlap of lions Panthera leo and leopards Panthera pardus

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MAMMAL REVIEW 2023年第2期53卷 49-64页

作者： Nams, Vilis O. Parker, Dan M. Weise, Florian J. Patterson, Bruce D. Buij, Ralph Radloff, Frans G. T. Vanak, Abi Tamim. Tumenta, Pricelia. N. Hayward, Matt. W. Swanepoel, Lourens H. Funston, Paul J. Bauer, Hans Power, R. John O'Brien, John O'Brien, Timothy G. Tambling, Craig J. de Iongh, Hans H. Ferreira, Sam M. Owen-Smith, Norman Cain, James W., III Fattebert, Julien Croes, Barbara M. Spong, Goran Loveridge, Andrew J. Houser, Ann Marie Golabek, Krystyna A. Begg, Colleen M. Grant, Tanith Trethowan, Paul Musyoki, Charles Menges, Vera Creel, Scott Balme, Guy A. Pitman, Ross T. Bissett, Charlene Jenny, David Schuette, Paul Wilmers, Christopher C. Hunter, Luke T. B. Kinnaird, Margaret F. Begg, Keith S. Owen, Cailey R. Steyn, Villiers Bockmuehl, Dirk Munro, Stuart J. Mann, Gareth K. H. du Preez, Byron D. Marker, Laurie L. Huqa, Tuqa J. Cozzi, Gabriele Frank, Laurence G. Nyoni, Phumuzile Stein, Andrew B. Kasiki, Samuel M. MacDonald, David W. Martins, Quinton E. van Vuuren, Rudie J. Stratford, Ken J. Bidner, Laura R. Oriol-Cotteril, Alayne Maputla, Nakedi W. Maruping-Mzileni, Nkabeng Parker, Tim Van't Zelfde, Maarten Isbell, Lynne A. Beukes, Otto B. Beukes, Maya Department of Plant Food and Environmental Scienes Faculty of Agriculture Dalhousie University Truro NS B2N 5E3 Canada Wildlife and Reserve Management Research Group Department of Zoology & Entomology Rhodes University P.O. Box 94 Grahamstown 6140 South Africa School of Biology and Environmental Sciences University of Mpumalanga Nelspruit 1200 South Africa Centre for Wildlife Management University of Pretoria Pretoria 0002 South Africa CLAWS Conservancy Pride in Our Prides Worcester MA 01608 USA N/a'an ku sê Research Programme P.O. Box 99292 Windhoek Namibia Negaunee Integrative Research Center Field Museum of Natural History Chicago IL 60605 USA Animal Ecology Group Wageningen University & Research Droevendaalsesteeg 3A 6708 PB Wageningen The Netherlands The Peregrine Fund 5668 West Flying Hawk Lane Boise ID 83709 USA Department of Conservation and Marine Sciences Faculty of Applied Sciences Cape Peninsula University of Technology P.O. Box 652 Cape Town 8000 South Africa Ashoka Trust for Research in Ecology and the Environment Bangalore 560064 India School of Life Sciences University of KwaZulu-Natal Durban 3629 South Africa Department of Forestry Faculty of Agronomy and Agricultural Sciences University of Dschang P.O. Box 138 Yaounde Cameroon Regional Training Centre Specialized in Agriculture Forestry-wood and Environment (CRESA Foret Bois) University of Dschang P.O. Box 138 Yaounde Cameroon Conservation Science Research Group School of Environmental and Life Sciences College of Engineering Science and the Environment University of Newcastle Callaghan NSW 2308 Australia Department of Zoology and Entomology Mammal Research Institute University of Pretoria Pretoria 0002 South Africa Department of Zoology University of Venda Thohoyandou 0950 South Africa Department of Nature Conservation Tshwane University of Technology Private Bag X680 Pretoria 0001 South Africa Panthera New York NY 10018 USA Wildlife Conservation Research Unit Zoology

Spatial patterns of and competition for resources by territorial carnivores are typically explained by two hypotheses: 1) the territorial defence hypothesis and 2) the searching efficiency hypothesis. According to the territorial defence hypothesis, when food resources are abundant, carnivore densities will be high and home ranges small. In addition, carnivores can maximise their necessary energy intake with minimal territorial defence. At medium resource levels, larger ranges will be needed, and it will become more economically beneficial to defend resources against a lower density of competitors. At low resource levels, carnivore densities will be low and home ranges large, but resources will be too scarce to make it beneficial to defend such large territories. Thus, home range overlap will be minimal at intermediate carnivore densities. According to the searching efficiency hypothesis, there is a cost to knowing a home range. Larger areas are harder to learn and easier to forget, so carnivores constantly need to keep their cognitive map updated by regularly revisiting parts of their home ranges. Consequently, when resources are scarce, carnivores require larger home ranges to acquire sufficient food. These larger home ranges lead to more overlap among individuals' ranges, so that overlap in home ranges is largest when food availability is the lowest. Since conspecific density is low when food availability is low, this hypothesis predicts that overlap is largest when densities are the lowest. We measured home range overlap and used a novel method to compare intraspecific home range overlaps for lions Panthera leo (n = 149) and leopards Panthera pardus (n = 111) in Africa. We estimated home range sizes from telemetry location data and gathered carnivore density data from the literature. Our results did not support the territorial defence hypothesis for either species. Lion prides increased their home range overlap at conspecific lower densities whereas leopards did

关键词： African cats home range overlap leopards Panther pardus lions Panthera leo movement searching efficiency territorial defence

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Technical comment the impact of population-wide rapid antigen testing on SARS-CoV-2 prevalence in Slovakia

arXiv

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arXiv 2021年

作者： Medo, Matúš Šuster, Martin Boďová, Katarína Bražinová, Alexandra Brejová, Broňa Kollár, Richard Leksa, Vladimír Lindbloom, Jana Nosek, Jozef Vinař, Tomáš Baumohl, Eduard Blaščák, Fedor Bleha, Branislav Boža, Vladimír Celec, Peter Frinda, Jaroslav Gruska, Damas Hodosy, Július Jacko, Peter Kerekes, Daniel Klempa, Boris Kopáček, Juraj Masaryk, Radomír Pastoreková, Silvia Pekarčíková, Jarmila Sabaka, Peter Segečová, Stanislava Smatana, Martin Szolcsányi, Peter Tomáška, Ľubomír Vašečka, Michal Visolajský, Peter Visolajská, Kristína Zmeko, Peter Department of Radiation Oncology Inselspital University Hospital of Bern University of Bern Bern3010 Switzerland National Bank of Slovakia Imricha Karvaša 1 Bratislava Slovakia Faculty of Mathematics Physics and Informatics Comenius University in Bratislava Mlynská dolina Bratislava842 48 Slovakia Institute of Epidemiology Faculty of Medicine Comenius University in Bratislava Špitálska 24 Bratislava813 72 Slovakia Institute for Hygiene and Applied Immunology Center for Pathophysiology Infectiology and Immunology Medical University of Vienna Lazarettgasse 19 ViennaA-1090 Austria Institute for Sociology Slovak Academy of Sciences Klemensova 19 Bratislava813 64 Slovakia Faculty of Natural Sciences Comenius University in Bratislava Ilkovičova 6 Bratislava842 15 Slovakia Laboratory of Molecular Immunology Institute of Molecular Biology Slovak Academy of Sciences Dúbravská cesta 21 Bratislava845 51 Slovakia Faculty of Commerce University of Economics in Bratislava Bratislava Slovakia Faculty of Natural Sciences Comenius University in Bratislava Bratislava Slovakia Faculty of Mathematics Physics and Informatics Comenius University in Bratislava Bratislava Slovakia Institute of Molecular Biomedicine Faculty of Medicine Comenius University in Bratislava Bratislava Slovakia Faculty of Operation and Economics of Transport University of Zilina Žilina Slovakia Management School Lancaster University United Kingdom Faculty of International Relations University of Economics in Bratislava Bratislava Slovakia Institute of Virology Biomedical Research Center The Slovak Academy of Sciences Bratislava Slovakia Faculty of Social and Economic Sciences Comenius University in Bratislava Bratislava Slovakia Faculty of Health Care and Social Work Trnava University Trnava Slovakia Faculty of Medicine Comenius University Bratislava Slovakia Specialized Hospital of Saint Svorad Zobor Nitra Slovakia Department of Organic Chemistry Slovak University of Technology

Pavelka et al. (Science, Reports, 7 May 2021) claim that a single round of population-wide antigen testing in Slovakia reduced the observed COVID-19 prevalence by 58%, and that it played a substantial role in curbing the pandemic. We argue that this estimate, which is based on incorrect assumptions, is exaggerated, and that the relief was short-lived with little effect on mitigating the pandemic. Pavelka et al.1 analyze the effects of non-pharmaceutical interventions (NPIs) implemented in Slovakia in the fall of 2020 (see Fig.1 for the timeline) as a response to a worsening COVID-19 epidemiological situation2. They estimate that one round of population-wide antigen testing coupled with standard NPIs lowered the (observed) prevalence by 58%, and they extrapolate that repeated mass testing decreases the prevalence by the same factor in each round. We propose that: (i) effects of the mass testing were much lower and temporary;(ii) their repeatability is questionable;and (iii) other externalities should be considered to evaluate long-term effects. © 2021, CC BY.

关键词： Antigens

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