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A Velocity-Based Rao-Blackwellized Particle Filter Approach to Monocular vSLAM

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Journal of Intelligent Learning Systems and Applications 2011年第3期3卷 113-121页

作者： Morteza Farrokhsiar homayoun najjaran 不详

This paper presents a modified Rao-Blackwellized Particle Filter (RBPF) approach for the bearing-only monocular SLAM problem. While FastSLAM 2.0 is known to be one of the most computationally efficient SLAM approaches;it is not applicable to certain formulations of the SLAM problem in which some of the states are not explicitly expressed in the measurement equation. This constraint impacts the versatility of the FastSLAM 2.0 in dealing with partially ob-servable systems, especially in dynamic environments where inclusion of higher order but unobservable states such as velocity and acceleration in the filtering process is highly desirable. In this paper, the formulation of an enhanced RBPF-based SLAM with proper sampling and importance weights calculation for resampling distributions is presented. As an example, the new formulation uses the higher order states of the pose of a monocular camera to carry out SLAM for a mobile robot. The results of the experiments on the robot verify the improved performance of the higher order RBPF under low parallax angles conditions.

关键词： Filtering Higher Order Filter Rao-Blackwellized Particle Filter Bearing-Only Systems Visual SLAM

Post-discharge follow-up of patients with spine trauma in the National Spinal Cord Injury Registry of Iran during the COVID-19 pandemic:Challenges and lessons learned

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Chinese Journal of Traumatology 2024年第3期27卷 173-179页

作者： Zahra Azadmanjir Moein Khormali Mohsen Sadeghi-Naini Vali Baigi Habibollah Pirnejad Mohammad Dashtkoohi Zahra Ghodsi Seyed Behnam Jazayeri Aidin Shakeri Mahdi Mohammadzadeh Laleh Bagheri Mohammad-Sajad Lotfi Salman Daliri Amir Azarhomayoun homayoun Sadeghi-Bazargani Gerard O'reilly Vafa Rahimi-Movaghai Health Information Management Department School of Allied Medical SciencesTehran University of Medical SciencesTehranIran Sina Trauma and Surgery Research Center Tehran University of Medical SciencesTehranIran Department of Neurosurgery Lorestan University of Medical SciencesKhoram-AbadIran Department of Epidemiology and Biostatistics School of Public HealthTehran University of Medical SciencesTehranIran Patient Safety Research Center Clinical Rsearch Institute Urma Universty of Medical SciencesUrmaIran Erasmus School of Health Policy&Management(ESHPM) Erasmus University RotterdamRoterdamthe Netherlands Brain and Spinal Cord Injury Research Center Neuroscience InstituteTehran University of Medical SciencesTehranIran Students Scientifc Research Center(SSRC) Tehran University of Medical SciencesTehranIran Department of Neurosurgery Arak University of Medical SciencesArakIran Trauma Research Center Kashan University of Medical SciencesKashanIran Shahid Rahnemoun Hospital Shahid Sadoughi University of Medical SciencesYazdIran Trauma Nuring Rearch entre Faculty of Nursing and Midwifry Kahan Universty of Medical Sciences Kahan Iran Clinical Research Development Unit Imam Hossein HospitalShahroud University of Medical SciencesShahroudIran Research Center for Evidence Based Medicine Faculty of MedicineTabriz University of Medical SciencesTabrizIran Road Trafic Injury Research Center Tabriz University of Medical SciencesTabrizIran School of Public Health and Preventive Medicine Monash UniversityMelbourneAustralia National Trauma Research Institute The AlfredMelbourneAustralia Department of Neurosurgery Shariati HospitalTehran University of Medical SciencesTehranIran Universal Scientific Education and Research Network(USERN) TehranIran Institute of Biochemistry and Biophysics University of TehranTehranIran

Purpose:The purpose of the National Spinal Cord Injury Registry of Iran(NSCIR-IR)is to create an infrastructure to assess the quality of care for spine trauma and in this study,we aim to investigate whether the NSCIR-IR successfully provides necessary post-discharge follow-up data for these patients.Methods:An observational prospective study was conducted from April 11,2021 to April 22,2022 in 8 centers enrolled in NSCIR-IR,respectively Arak,Rasht,Urmia,Shahroud,Yazd,Kashan,Tabriz,and Tehran.Patients were classified into 3 groups based on their need for care resources,respectively:(1)non-spinal cord injury(SCI)patients without surgery(group 1),(2)non-SCI patients with surgery(group 2),and(3)SCI patients(group 3).The assessment tool was a self-designed questionnaire to evaluate the care quality in 3 phases:pre-hospital,in-hospital,and post-hospital.The data from the first 2 phases were collected through the registry.The post-hospital data were collected by conducting follow-up assessments.Telephone follow-ups were conducted for groups 1 and 2(non-SCI patients),while group 3(SCI patients)had a face-to-face visit.This study took place during the COVID-19 pandemic.Data on age and time interval from injury to follow-up were expressed as mean±standard deviation(SD)and response rate and follow-up loss as a percentage.Results:Altogether 1538 telephone follow-up records related to 1292 patients were registered in the NSCIR-IR.Of the total calls,918(71.05%)were related to successful follow-ups,but 38 cases died and thus were excluded from data analysis.In the end,post-hospital data from 880 patients alive were gathered.The success rate of follow-ups by telephone for groups 1 and 2 was 73.38%and 67.05%respectively,compared to 66.67%by face-to-face visits for group 3,which was very hard during the COVID-19 pandemic.The data completion rate after discharge ranged from 48%-100%,22%-100%and 29%-100%for groups 1-3.Conclusions:To improve patient accessibility,NSCIR-IR should take measures during data gathering to increase the acc

关键词： Follow-up studies Spinal injuries Spinal cord injuries COVID-19 NSCIR-IR

Impact of coronary artery bypass grafting surgery on the chorioretinal biomicroscopic characteristics

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世界临床病例杂志 2023年第28期11卷 6754-6762页

作者： Mansoor Shahriari homayoun Nikkhah Mohammad Parsa Mahjoob Nazanin Behnaz Shahriar Barkhordari Kasra Cheraqpour Department of Ophthalmology Imam Hossein Educational HospitalTehran ***Iran Department of Ophthalmology Torfe Medical CenterTehran ***Iran Cardiovascular Diseases Imam Hossein Educational HospitalTehran ***Iran Department of Ophthalmology Shahid Beheshti University of Medical SciencesTehran ***Iran Department of Ophthalmology Farabi Eye HospitalTehran ***Iran

BACKGROUND Most patients with cardiovascular disorders suffer from coronary artery diseases,which can be treated successfully using coronary artery bypass grafting(CABG).One of the unpleasant events following CABG is postoperative vision loss(POVL).Vulnerability of retinal vessels to hemodynamic changes,an expectable event following CABG,may contribute to the development of POVL,which might be associated with the changes in the choroidal and retinal structures.AIM To investigate postoperative changes in chorioretinal and peripapillary nerve fiber layer(NFL)thickness,and progression of diabetic and hypertensive retinopathy after CABG.METHODS In this prospective,cross-sectional study,49 eyes in 25 candidates for CABG underwent both ophthalmic and cardiovascular examinations within 6 mo prior to and 9 mo after surgery.RESULTS Among the study participants,56%were male with a mean age of 62.84 years±10.49 years(range 33–80 years).Diabetes mellitus was observed in eight participants(32%).None of the patients suffered from postoperative anterior or posterior ischemic optic neuropathy,central retinal artery occlusion,and cortical blindness.The mean value of the preoperative best corrected visual acuity was 0.11±0.10 logMAR(range,0–0.4),which worsened to 0.15±0.08 logMAR(range,0–0.4)after CABG(P=0.031).No significant difference was observed between the preand postsurgical choroidal(P=0.853)and macular(P=0.507)thickness,NFL thickness in the subfoveal(P>0.999)and peripapillary areas(P=0.659),as well as the severity of diabetic and hypertensive retinopathy.CONCLUSION CABG may reduce visual acuity without affecting ocular structures.Postoperative vision reduction might be attributable to molecular or cellular variations,changes in visual pathway function,or central nervous system.

关键词： Coronary artery bypass grafting Nerve fiber layer Diabetic retinopathy Hypertensive retinopathy

Spectral-spatial Classification of Hyperspectral Images Using Signal Subspace Identification and Edge-preserving Filter

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International Journal of Automation and computing 2020年第2期17卷 222-232页

作者： Negin Alborzi Fereshteh Poorahangaryan homayoun Beheshti Department of Computer Engineering Faculty of Electrical and Computer EngineeringAyandegan Institute of Higher Education in TonekabonMazandaran ***Iran Department of Electrical Engineering Faculty of Electrical and Computer EngineeringAyandegan Institute of Higher Education in TonekabonMazandaran ***Iran

Hyperspectral images in remote sensing include hundreds of spectral bands that provide valuable information for accurately identify objects.In this paper,a new method of classifying hyperspectral images using spectral spatial information has been presented.Here,using the hyperspectral signal subspace identification(HYSIME)method which estimates the signal and noise correlation matrix and selects a subset of eigenvalues for the best representation of the signal subspace in order to minimize the mean square error,subsets from the main sample space have been extracted.After subspace extraction with the help of the HYSIME method,the edge-preserving filtering(EPF),and classification of the hyperspectral subspace using a support vector machine(SVM),results were then merged into the decision-making level using majority rule to create the spectral-spatial classifier.The simulation results showed that the spectral-spatial classifier presented leads to significant improvement in the accuracy and validity of the classification of Indiana,Pavia and Salinas hyperspectral images,such that it can classify these images with 98.79%,98.88% and 97.31% accuracy,respectively.

关键词： Hyperspectral image remote sensing the hyperspectral signal subspace identification(HYSIME) edge-preserving filter classification support vector machine

Optimal operation of energy at hydrothermal power plants by simultaneous minimization of pollution and costs using improved ABC algorithm

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Frontiers in Energy 2015年第4期9卷 426-432页

作者： homayoun EBRAHIMIAN Bahman TAHERI Nasser YOUSEFI Department of Engineering Ardabil Branch Islamic Azad University Ardabil 0451 Iran Young Researchers and Elite Club Ardabil Branch Islamic Azad University Ardabil 0451 Iran

The aim of this paper is simultaneous mini- mization of hydrothermal units to reach the best solution by employing an improved artificial bee colony （ABC） algorithm in a multi-objective function consisting of economic dispatch （ED） considering the valve-point effect and pollution function in power systems in view of the hot water of the hydro system. In this type of optimization problem, all practical constraints of units were taken into account as much as possible in order to comply with the reality. These constraints include the maximum and minimum output power of units, the constraints caused by the balance between supply and demand, the impact of pollution, water balance, uneven production curve con- sidering the valve-point effect and system losses. The proposed algorithm is applied on the studied system, and the obtained results indifferent operating conditions are analyzed. To investigate in various operating conditions, different load profiles in 12 h are taken into account. The obtained results are compared with those of the other methods including the genetfc algorithm （GA）, the Basu technique, and the improved genetic algorithm. Fast convergence is one of this improved algorithm features.

关键词： practical constraints of units pollution func-tion inlet steam valve up-ramp rate of units improvedABC algorithm

Molecular markers of systemic therapy response in urothelial carcinoma

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Asian Journal of Urology 2021年第4期8卷 376-390页

作者： Francesco Claps Maria Carmen Mir homayoun Zargar Department of Urology Fundacion Instituto Valenciano de OncologiaValenciaSpain Urological Clinic Department of MedicineSurgery and Health SciencesUniversity of TriesteTriesteItaly Department of Urology Royal Melbourne HospitalMelbourneVictoriaAustralia Department of Surgery University of MelbourneMelbourneVictoriaAustralia

Identification of reliable molecular biomarkers that can complement clinical practice represents a fascinating challenge in any cancer field.Urothelial carcinoma is a very heterogeneous disease and responses to systemic therapies,and outcomes after radical cystectomy are difficult to predict.Advances in molecular biology such as next generation sequencing and whole genome or transcriptomic analysis provide promising platforms to achieve a full understanding of the biology behind the disease and can identify emerging predictive biomarkers.Moreover,the ability to categorize patients’risk of recurrence after curative treatment,or even predict benefit from a conventional or targeted therapies,represents a compelling challenge that may reshape both selection for tailored treatment and disease monitoring.Progress has been made but currently no molecular biomarkers are used in the clinical setting to predict response to systemic agents in either neoadjuvant or adjuvant settings highlighting a relevant unmet need.Here,we aim to present the emerging role of molecular biomarkers in predicting response to systemic agents in urothelial carcinoma.

关键词： Urothelial carcinoma Biomarkers Neoadjuvant chemotherapy Adjuvant chemotherapy Targeted therapies Precision oncology

Hybrid intelligent water drop bundled wavelet neural network to solve the islanding detection by inverter-based DG

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Frontiers in Energy 2015年第1期9卷 75-90页

作者： Mehrdad TARAFDAR HAGH homayoun EBRAHIMIAN Noradin GHADIMI Faculty of Electrical and Computer Engineering University of TabrizTabriz 0411 Iran Department of Electrical Engineering Ardabil Branch Islamic AzadUniversity Ardabil 045 Iran

In this paper, a passive neuro-wavelet based islanding detection technique for grid-connected inverter- based distributed generation was developed. The weight parameters of the neural network were optimized by intelligent water drop （IWD） to improve the capability of the proposed technique in the proposed problem. The proposed method utilizes and combines wavelet analysis and artificial neural network （ANN） to detect islanding. Connecting distributed generator to the distribution net- work has many benefits such as increasing the capacity of the grid and enhancing the power quality. However, it gives rise to many problems. This is mainly due to the fact that distribution networks are designed without any generation units at that level. Hence, integrating distributed generators into the existing distribution network is not problem-free. Unintentional islanding is one of the encountered problems. Discrete wavelet transform （DWT） is capable of decomposing the signals into different frequency bands. It can be utilized in extracting discrimi- native features from the acquired voltage signals. In passive schemes with a large non-detection zone （NDZ）, concern has been raised on active method due to its degrading power quality effect. The main emphasis of the proposed scheme is to reduce the NDZ to as close as possible and to keep the output power quality unchanged. The simulation results from Matlab/Simulink shows that the proposed method has a small non-detection zone, and is capable of detecting islanding accurately within the minimum standard time.

关键词： islanding detection neuro-wavelet intelligent

Experts’ perspectives on the application of public-private partnership policy in prevention of road traffic injuries

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Chinese Journal of Traumatology 2020年第3期23卷 152-158页

作者： Saber Azami-Aghdash homayoun Sadeghi-Bazargani Mohammad Saadati Mohammad Mohseni Hojatolah Gharaee Tabriz Health Services Management Research Center Health Management and Safety Promotion Research InstituteTabriz University of Medical SciencesTabrizIran Road Traffic Injury Research Center Tabriz University of Medical SciencesTabrizIran Health Management and Economics Research Center Iran University of Medical SciencesTehranIran Health Center of Hamadan City Hamadan University of Medical ScienceHamadanIran

Purpose: Successful application experiences on public-private partnership (PPP) in different countries, suggest that PPP could be an option in road traffic injury (RTI) prevention. The present study aims at investigating the applicability of PPP policy in RTI prevention in Iran based on the experts’ perspectives.Methods: This is a qualitative study with grounded theory approach which has been conducted in Tabriz University of Medical Sciences, Iran in 2018. The participants were 22 experts in the field of RTIs selected using purposive sampling method. Data were collected by semi-structured interviews and analyzed with content-analysis method.Results: The results were classified under 5 main themes (applicability, scopes and services, challenges, advantages, and strategies) for applying PPP policy and 37 sub-themes. Due to the prevalence of RTIs, the present challenges in public sector, existence of qualified private sector, and successful experiences in other areas, there are opportunities for private sector partnership in prevention of RTIs. Private sector could participate in different scopes and services regarding RTI prevention, including road construction and maintenance, maintenance and provision of vehicles safety and public education. The main challenges including legislation issues, ambiguities in collaboration, political and organizational unsustain-ability, government’s financial hardship and lack of experienced experts in the field of RTI. However, there are significant advantages including high efficiency in program implementation, covering the weaknesses of public sector, effective and efficient management on application of PPP in RTI prevention. The strategies include identifying and prioritizing the assignable activities, identifying the qualified private sector, developing PPP policies and legal frameworks, creating a common language between public and private parties, trying to meet the expectations of the private sector by public sector, developing a comprehensive and sound contract, and cultiv

关键词： Road traffic injuries Experts'perspectives Public-private partnership Injury prevention

Safety threshold of intravitreal clonidine in rabbit's eyes

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International Journal of Ophthalmology(English edition) 2018年第1期11卷 25-30页

作者： homayoun Nikkhah Kiumars Heidari Garfami Mozhgan Rezaei Kanavi Ebrahim Mohammad Nashtaei Saeed Karimi Masoud Soheilian Ophthalmic Research Center Shahid Beheshti University of Medical Sciences Torfeh Eye Hospital Shahid Beheshti University of Medical Sciences Ocular Tissue Engineering Research Center Shahid Beheshti University of Medical Sciences Labbafinejad Medical Center Shahid Beheshti University of Medical Sciences

AIM： To determine the safe dose of intravitreal clonidine（IVC）, a potential drug for neuroprotection and angiogenesis inhibition in rabbits. METHODS： A total of 28 rabbits were divided into four groups. Three groups received IVC with concentrations of 15（Group A）, 25（Group B）, and 50（Group C） g/0.1 m L and the control group（Group D） received 0.1 m L balanced salt solution（BSS）. To investigate IVC safety, electroretinography（ERG） was performed at baseline, then at 1, 4 and 8 wk after injection. After last ERG, all rabbits were euthanized, their eyes were enucleated and subjected to routine histopathological evaluation, immunohistochemistry for glial fibrillary acidic protein（GFAP） and terminal deoxynucleotidyl transferase d UTP nick end labeling（TUNEL） test.RESULTS： Based on ERG, histopathology, GFAP and TUNEL assay findings, 15 g IVC was determined as the safe dose in rabbit eyes. While, the results of routine histopathology and TUNEL assay were unremarkable in all groups, toxic effects attributed to 25 and 50 g IVC were demonstrated by ERG and GFAP tests. CONCLUSION： Totally 15 g clonidine is determined as the safe dose for intravitreal injection in rabbits. Contribution of IVC in neuroprotection and inhibition of angiogenesis deserve more studies.

关键词： clonidine intravitreal injection electroretinography glial fibrillary acidic protein TUNEL assay