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Path tracking control of autonomous agricultural mobile robots

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2007年第10期8卷 1596-1603页

作者： ZHU Zhong-xiang CHEN Jun yoshida toyofumi tORISU Ryo SONG Zheng-he MAO En-rong College of Engineering China Agricultural University Beijing 100083 China College of Mechanical and Electronic Engineering Northwest A＆F University Yangling 712100 China Faculty of Agriculture Iwate University Morioka 0208550 Japan

In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. this study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. the feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.

关键词： Headland turning Path creation Path-tracking controller Optimal control Robot tractor

Changes of forest land use and ecosystem service values along Lao-Chinese border:A case study of Luang Namtha Province,Lao PDR

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Forestry Studies in China 2009年第2期11卷 85-92页

作者： Hemmavanh CHANHDA WU Ci-fang yoshida AYUMI Department of Land Resource Management Zhejiang University Hangzhou 310029 P. R. China Zhejiang University tea Research Institute Hangzhou 310029 P. R. China

Forest cover and land use change directly impact biological diversity worldwide, contribute to climate change and affect the ability of biological systems to support human needs by altering ecosystem services. Given the forest land use characteristics and ecosystem types in Luang Namtha Province, Lao PDR, the forest cover and land cover category of Luang Namtha Province were divided into six classes, i.e., current forest （CF）, potential forest （PF）, other wooded areas （OW）, permanent agricultural land （PA）, other non-forest areas （NF） and water （W）. In first instance, earlier geographic information data （GIS data） of forest cover and land use during 1992 and 2002 was obtained from the Ministry of Agriculture and Forestry （MAF）, Lao PDR. two steps of forest land use change assessment were conducted by the MAF, i.e., plot sampling on satellite image maps （SIMs） to detect the changes of forest cover and land use during 1992 and 2002 for the entire Luang Namtha Province and field verification in order to identify causes of the changes. Secondly, dynamic information of the forest land cover changes during this ten-year period was calculated by means of map algebra in ArcGIS 9.2. thirdly, based on the theory of ecosystem service functions and the service function values of different global ecosystems, the value of the six forest cover and land use categories in the province was obtained. Finally, ecological environmental effects, produced by the regional land cover changes over the study period, were calculated.

关键词： ecosystem services forest land use Luang Namtha Lao PDR

Sigmoid colon endometriosis treated with laparoscopy-assisted sigmoidectomy:Significance of preoperative diagnosis

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World Journal of Gastroenterology 2007年第40期13卷 5400-5402页

作者： Motohira yoshida Yuji Watanabe Atsushi Horiuchi Yuji Yamamoto Hiroki Sugishita Kanji Kawachi Department of Organ Regenerative Surgery Ehime University Graduate School of MedicineShitsukawaToonEhime 791-0295Japan

We present a female patient with sigmoid colon endometriosis who was diagnosed correctly preoperatively and underwent minimally invasive surgery. She was admitted to our hospital with rectal bleeding and constipation. We performed several workups. Colonoscopy and endoscopic ultrasonography showed sigmoid colon stenosis caused by submucosal tumor, and magnetic resonance imaging revealed a sigmoid colon tumor displaying signal hy- pointensity on both t1- and t2-weighted imaging. However, colonoscopic ultrasonography-assisted needle aspiration biopsy could not specify tumor characteristics. From these examinations, the lesion was diagnosed as sigmoid colon endometriosis and laparoscopy-assisted sigmoidectomy was performed. Pathological diagnosis from the resected specimen was identical to preoperative diagnosis, i.e., colonic endometriosis. Since differential diagnosis of intestinal endometriosis seems difficult, a cautious preoperative diagnosis is required to select treatments including minimally invasive surgery.

关键词： Intestinal endometriosis Preoperative diagnosis Laparoscopy-assisted surgery

Clinical outcomes of endoscopic ultrasonography-guided transmural drainage using plastic stent and nasocystic drain for pancreatic and peripancreatic collections

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Hepatobiliary & Pancreatic Diseases International 2019年第1期18卷 96-99页

作者： Katsuya Kitamura Akira Yamamiya Yu Ishii Yuta Mitsui Hitoshi yoshida Division of Gastroenterology Department of Medicine Showa University School of Medicine

to the Editor:Pancreatic and peripancreatic collections(PCs)develop from acute pancreatitis(AP),chronic pancreatitis,surgery,or *** 2012 revised Atlanta classification[1]of AP classified local complications into the following 4 PC types:acute peripancreatic fluid collection(ter the onset of acute interstitial edematous pancreatitis),acute necrotic collection(ter the onset of acute necrotizing pancreatitis),pancreatic pseudocyst(PPC;≥4 weeks after the onset of acute interstitial edematous pancreatitis),and walled-off necrosis(WON;≥4 weeks after the onset of acute necrotizing pancreatitis).Endoscopic ultrasonographyguided transmural drainage(EUS-tD)has been reported to be a minimally invasive procedure for patients with PCs[2–4].this study aimed to investigate the clinical outcomes of EUS-tD for PCs.

关键词： peripancreatic EUS-tD

Mechanism of Surface-Enhanced Raman Scattering and Its Application to Highly Sensitive Protein Detection

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Mechanism of Surface-Enhanced Raman Scattering and Its Appli...

Effect of ageing on friction of human fingers

第十五届全国分子光谱学术报告会

作者： Ozaki Y Itoh t.yoshida K Kitahama Y School of Science and technology Kwansei Gakuin University Health technology Research Center National Institute of Advanced Industrial Science and technology (AISt) Health technology Research Center National Institute of Advanced Industrial Science and Technology (AIST)

＜正＞Surface-enhanced resonance Raman scattering（SERRS） has recently attracted great interest in an-alytical science due to enormous enhancement factors that have

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Biosurface and Biotribology 2018年第4期4卷 117-121页

作者： Kiyoshi Mabuchi Rina Sakai Kazuhiro yoshida Masanobu Ujihira Department of Biomedical Engineering School of Allied Health SciencesKitasato University1-15-1KitasatoMinamikuSagamihara252-0373Japan

Friction is an essential property of human *** studies have repoted factors influencing *** on metal and plastic surfaces was measured because slipping of fingers could significantly affectindustrial machine *** contrast,office workers may complain of fingers slipping on a paper surface,andlament that ageing reduces the friction of their *** effect of ageing on finger friction against paper has not yetbeen *** clarify the effect of ageing,the authors measured finger friction on paper sheets,and discussed skinmoisture as an important factor.

关键词： friction Friction ageing

Efficacy and safety of semaglutide in non-alcoholic fatty liver disease

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World Journal of Gastroenterology 2023年第37期29卷 5327-5338页

作者： Kai Zhu Rohan Kakkar Daljeet Chahal Eric M yoshida trana Hussaini Internal Medicine University of British ColumbiaVancouver V5Z 1M9BCCanada Department of Gastroenterology University of British ColumbiaVancouver V5Z 1M9BCCanada BC Liver transplant Program Vancouver General HospitalVancouver V5Z 1M9BCCanada Pharmaceutical Sciences University of British ColumbiaVancouver V5Z 1M9BCCanada

BACKGROUND Non-alcoholic fatty liver disease(NAFLD)is the leading cause of chronic liver *** prevalence and disease burden of NAFLD are projected to exponentially increase resulting in significant healthcare expenditures and lower healthrelated quality of *** date,there are no approved pharmacotherapies for NAFLD or non-alcoholic steatohepatitis(NASH).Semaglutide has glycemic and weight loss benefits that may be advantageous for patients with *** to investigate the efficacy and safety of semaglutide in patients with *** MEDLINE,CENtRAL,and EMBASE were searched from inception to May 1,2023,to identify eligible randomized controlled trials(RCts).Meta-analysis was performed using random effects model expressing continuous outcomes as mean differences(MD)or standardized MDs(SMD),and dichotomous outcomes as odds ratios(OR)with 95%confidence intervals(CI).Statistical heterogeneity was assessed using the Cochran’s Q test and I2 *** three RCts involving 458 patients were *** increased the likelihood of NASH resolution(OR:3.18,95%CI:1.70,5.95;Pt in steatosis(OR:2.83,95%CI:1.19,6.71;P=0.03),lobular inflammation(OR:1.81,95%CI:1.11,2.96;P=0.02),and hepatocellular ballooning(OR:2.92,95%CI:1.83,4.65;Pt not fibrosis stage(OR:0.71,95%CI:0.15,3.41;P=0.67).Radiologically,semaglutide reduced liver stiffness(SMD:-0.48,95%CI:-0.86,-0.11;P=0.01)and steatosis(MD:-4.96%,95%CI:-9.92,0.01;P=0.05).It also reduced alanine aminotransferase(MD:-14.06 U/L,95%CI:-22.06,-6.07;Ptate aminotransferase(MD:-11.44 U/L,95%CI:-17.23,-5.65;Ptide led to improved cardiometabolic outcomes,including decreased HgA1c(MD:-0.77%,95%CI:-1.18,-0.37;Pt loss(MD:-6.53 kg,95%CI:-11.21,-1.85;P=0.006),but increased the occurrence of GIrelated side effects(OR:3.72,95%CI:1.68,8.23;P=0.001).Overall risk of serious adverse events was similar compared to placebo(OR:1.40,95%CI:0.75,2.62;P<0.29).CO

关键词： Non-alcoholic fatty liver disease Fatty liver Metabolic-associated fatty liver Semaglutide

Secondary-Atom-Doping Enables Robust Fe-N-C Single-Atom Catalysts with Enhanced Oxygen Reduction Reaction

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Nano-Micro Letters 2020年第11期12卷 281-291页

作者： Xin Luo Xiaoqian Wei Hengjia Wang Wenling Gu takuma Kaneko Yusuke yoshida Xiao Zhao Chengzhou Zhu Key Laboratory of Pesticide and Chemical Biology of Ministry of Education International Joint Research Center for Intelligent Biosensing Technology and HealthCollege of ChemistryCentral China Normal UniversityWuhan 430079People’s Republic of China Innovation Research Center for Fuel Cells The University of Electro-CommunicationsChofugaokaChofuTokyo 182‑8585Japan

Single-atom catalysts(SACs) with nitrogen-coordinated nonprecious metal sites have exhibited inimitable advantages in ***,a large room for improving their activity and durability ***,we construct atomically dispersed Fe sites in N-doped carbon supports by secondary-atom-doped *** the secondary doping,the density and coordination environment of active sites can be efficiently tuned,enabling the simultaneous improvement in the number and reactivity of the active ***,structure optimizations in terms of the enlarged surface area and improved hydrophilicity can be achieved *** to the beneficial microstructure and abundant highly active FeN_5 moieties resulting from the secondary doping,the resultant catalyst exhibits an admirable half-wave potential of 0.81 V versus 0.83 V for Pt/C and much better stability than Pt/C in acidic *** work would offer a general strategy for the design and preparation of highly active SACs for electrochemical energy devices.

关键词： Single-atom catalysts Fe-N-C catalysts Doping Porous nanostructures Oxygen reduction reaction

Landslide Susceptibility Mapping along Bhalubang–Shiwapur Area of Mid-Western Nepal Using Frequency Ratio and Conditional Probability Models

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Journal of Mountain Science 2014年第5期11卷 1266-1285页

作者： Amar Deep REGMI Kohki yoshida Hamid Reza POURGHASEMI Megh Raj DHItAL Biswajeet PRADHAN Faculty of technology Nepal Academy of Science and Technology Department of Geology Faculty of Science Shinshu University College of Natural Resources & Marine Sciences Tarbiat Modares University (TMU) Noor 14115-335 Tehran Iran Central Department of Geology Tribhuvan University Faculty of Engineering Department of Civil Engineering Geosptial Information Science Research Centre (GISRC) University of Putra Malaysia Serdang Selangor Darul Ehsan 43400 Malaysia

Roads constructed in fragile Siwaliks are prone to large number of instabilities. Bhalubang–Shiwapur section of Mahendra Highway lying in Western Nepal is one of them. to understand the landslide causative factor and to predict future occurrence of the landslides, landslide susceptibility mapping(LSM) of this region was carried out using frequency ratio(FR) and weights-of-evidence(W of E) models. these models are easy to apply and give good results. For this, landslide inventory map of the area was prepared based on the aerial photo interpretation, from previously published/unpublished reposts, and detailed field survey using GPS. About 332 landslides were identified and mapped, among which 226(70%) were randomly selected for model training and the remaining 106(30%) were used for validation purpose. A spatial database was constructed from topographic, geological, and land cover maps. the reclassified maps based on the weight values of frequency ratio and weights-of-evidence were applied to get final susceptibility maps. the resultant landslide susceptibility maps were verified andcompared with the training data, as well as with the validation data. From the analysis, it is seen that both the models were equally capable of predicting landslide susceptibility of the region(W of E model(success rate = 83.39%, prediction rate = 79.59%); FR model(success rate = 83.31%, prediction rate = 78.58%)). In addition, it was observed that the distance from highway and lithology, followed by distance from drainage, slope curvature, and slope gradient played major role in the formation of landsides. the landslide susceptibility maps thus produced can serve as basic tools for planners and engineers to carry out further development works in this landslide prone area.

关键词： Landslides Frequency ratio Weights-ofevidence GIS Himalaya