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A Precise Localization Method for a High Speed Mobile Robot Using iGS and Dual Compass

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Journal of Measurement Science and Instrumentation 2011年第3期2卷 276-282页

作者： Seo-young HWANG yo-sub HWANG Jang-myung LEE Dept.of Electrical Engineering Pusan National University

This paper proposes a precise localization algorithm for a quickly moving mobile *** order to localize a mobile robot with active beacon sensors,a relatively long time is needed,since the distance to the beacon is measured by transmitting time of the ultrasonic *** measurement time does not cause a high error rate when the mobile robot moves ***,with an increase of the mobile robot’s speed,the localization error becomes too high to use for accurate mobile robot ***,in this research into high speed mobile robot operations,instead of using two active beacons for localization,an active beacon and dual compass are utilized to localize the mobile *** new approach resolves the high localization error caused by the speed of the mobile *** performance of the precise localization algorithm is verified by comparing it to the conventional method through real-world experiments.

关键词： iGS dual compass mobile robot localization

Preparation, Spectral Identification and Analytical Studies of Some Transition Metal Complexes with New Thiazolylazo Ligand and Their Biological Activity Study

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Journal of Chemistry and Chemical Engineering 2012年第11期6卷 1016-1028页

作者： Khalid J. AL-Adilee Dunya yo. Fanfon Department of Chemistry College of Science University of AL-Qadisiya Dewanyia 1753 Iraq Department of Chemistry College of Education University of AL-Qadisiya Dewanyia 1753 Iraq

A new MeTAMP （thiazolylazo dye ligand 2-[2-（5-methyl thiazolyl）azo]-4-methoxy phenol） was prepared by coupling reaction between 5-methyl thiazolylazonium chloride with 4-methoxy phenol in alkaline alcoholic solution. The structure of azo dye ligand has been characterized by available technique such as 1H-NMR, mass spectrum, FT-IR, UV-vis and elemental analysis. Eight new chelate complexes of Cr（III）, Mn（II）, Fe（II）, Fe（III）, Co（III）, Ni（II）, Cu（II） and Zn（II） ions were prepared and identified by elemental analysis, atomic absorption, magnetic susceptibility, molar conductance measurements, FT-IR and electronic spectra. The spectral and analytical data show that the ligand a tridentate and coordinating with metal ions through the phenolate O, azo N atom which is the farthest of thiazole molecule and with thiazole N atom. The molar ratio （M：L） was also studied which was found 1：1 for Zn（II） and 1：2 for the rest metal ions. Conductivity measurements for prepared complexes showed 1：1 electrolyte for Cr（III）, Fe（IlI）, and Co（llI） complexes and non-electrolyte for rest complexes. Stability constants of complexes were calculated by spectrophotometry. Octahedral configuration suggested for Cr（III）, Mn（II）, Fe（II）, Fe（III）, Co（III）, Ni（II） and Cu（II） but tetrahedral for Zn（IlI） complex. The solid complexes are found to have the general formula IML2]Cl H2O where M = Cr（III）, Fe（III） and Co（IIl） and [ML2] H2O where M = Mn（II）, Fe（II）, Ni（II） and Cu（II） while [MLCI].H20 for Zn（II）-complex. The biological activity of ligand and its complexes against five types of bacteria, Strepto coccus and Staphylococcus aureus as example of gram positive, Pseudomonas, Proteus and Esherichia coli as example of gram negative bacteria by agar plate different technique was studied. The activity was also assayed on molecular level by using PCR in an attempt to monitor DNA banding pattern.

关键词： Thaizolyazo ligand coupling reaction metal complexes characterization biological activities.

Comparative standardized ileal amino acid digestibility and metabolizable energy contents of main feed ingredients for growing pigs when adding dietary β-mannanase

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Animal Nutrition 2019年第4期5卷 359-365页

作者： Se Min Jeon Abdolreza Hosseindoust yo Han Choi Min Ju Kim Kwang Yeol Kim Jun Hyung Lee Dong yong Kil Beob Gyun Kim Byung Jo Chae Department of Animal Resources Science College of Animal Life SciencesKangwon National UniversityChuncheon 24341South Korea Swine Division National Institute of Animal ScienceRural Development AdministrationCheonan 31000South Korea Department of Animal Science and Technology Chung-Ang UniversityAnseong-siGyeonggi-do 17546South Korea Department of Animal Science and Technology Konkuk UniversitySeoul 143-701South Korea

The present study was conducted to test whether the dietary supplementation of β-mannanase affects amino acids(AA) digestibility,metabolizable energy(ME) contents of corn,wheat,soybean meal,distillers dried grains with solubles,and palm kernel meal(PKM),nutrient digestibility,and growth performance of *** Exp.1,22 cannulated pigs were used for 10 dietary treatments including 5 feed ingredients and 2 β-mannanase concentrations(0 and 0.5 g/kg of the diet) in 6 periods in an incomplete Latin square design to determine the AA and energy *** Exp.2,200 growing pigs were randomly allotted to 4 treatments with 2 nutrient levels(high and low) and 2 concentrations of β-mannanase(2×2 factorial arrangement) in 2 phases(phase 1,d 0 to 21;and phase 2,d 22 to 42).In Exp.1,β-mannanase increased the mean standardized ileal digestibility(SID) of AA in all feed *** amount of digestible energy was increased(P <0.05) in β-mannanase-treated *** fed β-mannanase showed a greater(P <0.05) digestibility of gross energy(GE).The feed-to-gain(F:G) ratio was improved(P <0.01) in pigs fed high-nutrient *** fed β-mannanase in the diets had greater(P <0.05) average daily gain and F:*** phase 2,the concentration of fecal ammonia was decreased(P <0.05) in pigs fed β-*** the 2 experiments,it can be concluded that β-mannanase increases the SID of AA,which has to be considered in balancing the rations.

关键词： Growing pigs β-mannanase Standardized ileal amino acids Ammonia Metabolizable energy

LOFT L9-3 Experiment Simulation Using the SPACE Code

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Journal of Energy and Power Engineering 2014年第10期8卷 1695-1702页

作者： Chang-Keun Yang yo-Han Kim Sang-Jun Ha Korea Hydro and Nuclear Power Central Research Institute Daejeon 305-343 Korea

The KHNP （Korea Hydro ＆ Nuclear Power Co.） has developed a multipurpose nuclear safety analysis code called SPACE （the safety and performance analysis code） for nuclear power plants. SPACE code is a best-estimated two-phase three-field thermal-hydraulic analysis code used to analyze the safety and performance of pressurized water reactors. In this paper, LOFT （loss of fluid test） L9-3 experiment using the SPACE code was selected to confirm the capability of SPACE code and the results calculated by the SPACE code are compared with those measured through the experiment. The results were compared with the experimental data and those of the other code simulations. Throughout the simulation result, it was concluded that the SPACE code can effectively simulate LOFT L9-3 experiment.

关键词： SPACE code LOFT L9-3 ATWS.

基于双目视觉特性的立体视频编码码率控制算法

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光学精密工程 2014年第2期22卷 451-458页

作者：蒋刚毅廖义郁梅邵枫王晓东李福翠 yo-Sung Ho 宁波大学信息科学与工程学院浙江宁波315211 南京大学计算机软件新技术国家重点实验室江苏南京210093 School of Information and Communications Gwangju Institute of Science and Technology

为了使立体视频中的比特分配更加符合人眼视觉感知特性,提出了一种非对称质量的立体视频编码码率控制算法。首先,建立了左右帧的码率分配比例与量化参数差值之间的立体指数RRQ(Rate-ratio Quantization)模型。然后,将码率控制算法分为SG... 详细信息

为了使立体视频中的比特分配更加符合人眼视觉感知特性,提出了一种非对称质量的立体视频编码码率控制算法。首先,建立了左右帧的码率分配比例与量化参数差值之间的立体指数RRQ(Rate-ratio Quantization)模型。然后,将码率控制算法分为SGOP(Stereoscopic Group of Pictures)层、立体图像对层和帧层等3个码率控制层。在SGOP层计算每个SGOP的目标码率和关键帧的量化参数;在立体图像对层根据剩余比特数和缓冲区饱和度计算每个立体图像对的目标比特;在帧层则通过分析双目视觉掩蔽效应,用一种适合于立体视频的率失真优化方法合理分配左右帧的目标码率。实验结果表明,本文算法的码率控制偏差平均值为0.21%;立体视频客观质量比对称质量算法和Wang的算法分别提高了0.23dB和0.06dB,且质量波动较为稳定。因此,该算法基本满足网络带宽传输要求。由于充分利用了人眼双目视觉特性,可满足人们对立体视频的视觉需求。

关键词：立体视频码率控制双目视觉冗余非对称质量

An Empirical Study of Good-Turing Smoothing for Language Models on Different Size Corpora of Chinese

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Journal of Computer and Communications 2013年第5期1卷 14-19页

作者： Feng-Long Huang Ming-Shing Yu Chien-yo Hwang Department of Computer Science and Information Engineering National United University MaioLi Chinese Taipei Department of Computer Science National Chung-Hsing University Taichung Chinese Taipei

Data sparseness has been an inherited issue of statistical language models and smoothing method is usually used to resolve the zero count problems. In this paper, we studied empirically and analyzed the well-known smoothing methods of Good-Turing and advanced Good-Turing for language models on large sizes Chinese corpus. In the paper, ten models are generated sequentially on various size of corpus, from 30 M to 300 M Chinese words of CGW corpus. In our experiments, the smoothing methods;Good-Turing and Advanced Good-Turing smoothing are evaluated on inside testing and outside testing. Based on experiments results, we analyzed further the trends of perplexity of smoothing methods, which are useful for employing the effective smoothing methods to alleviate the issue of data sparseness on various sizes of language models. Finally, some helpful observations are described in detail.

关键词： Good-Turing Methods Smoothing Language Models Perplexity

Resected tumor seeding in stomach wall due to endoscopic ultrasonography-guided fine needle aspiration of pancreatic adenocarcinoma

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World Journal of Gastroenterology 2015年第27期21卷 8458-8461页

作者： Akiko Tomonari Akio Katanuma Tomoaki Matsumori Hajime Yamazaki Itsuki Sano Ryuki Minami Manabu Sen-yo Satoshi Ikarashi Toshifumi Kin Kei Yane Kuniyuki Takahashi Toshiya Shinohara Hiroyuki Maguchi Center for Gastroenterology Teine-Keijinkai Hospital Department of Gastroenterology and Hepatology Kyoto University Graduate School of Medicine Department of Pathology Teine-Keijinkai Hospital

Endoscopic ultrasonography-guided fine needle aspiration(EUS-FNA) is a useful and relatively safe tool for the diagnosis and staging of pancreatic cancer. However, there have recently been several reports of tumor seeding after EUS-FNA of adenocarcinomas. A 78-year-old man was admitted to our hospital due to upper gastric pain. Examinations revealed a 20 mm mass in the pancreatic body, for which EUS-FNA was performed. The cytology of the lesion was adenocarcinoma, and the stage of the cancer was T3N0M0. The patient underwent surgery with curative intent, followed by adjuvant chemotherapy with S-1. An enlarging gastric submucosal tumor was found on gastroscopy at 28 mo after surgery accompanied by a rising level of CA19-9. Biopsy result was adenocarcinoma, consistent with a pancreatic primary tumor. Tumor seeding after EUS-FNA was strongly suspected. The patient underwent surgical resection of the gastric tumor with curative intent. The pathological result of the resected gastric specimen was adenocarcinoma with a perfectly matched mucin special stain result with the previously resected pancreatic cancer. This is the first case report of tumor seeding after EUS-FNA which was surgically resected and inspected pathologically.

关键词： Endoscopic ultrasonography-guided fine needle aspiration Tumor seeding Pancreatic cancer

Peripheral tolerance of antigen-specific Th cells induced with polyethylene glycol-conjugate of protein antigen

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Open Journal of Immunology 2013年第2期3卷 62-70页

作者： Masaomi Obata Takuma Fujii Mareki Ohtsuji yo Kodera Hiroyuki Nishimura Toin Human Science and Technology Center Toin University of Yokohama Yokohama Japan

It has long been known that protein antigen conjugated with polyethylene glycol (PEG), a nonimmunogenic artificial polymer, induces immune tolerance of antigen-specific Th cells. However, the mechanism of this tolerance induction remains unknown. In this study, the response and differentiation of ovalbumin (OVA)-specific CD4+ Th cells upon exposure to tolerogenic PEG conjugate of OVA (PEG-OVA) were studied. Na?ve OVA-specific Th cells from OT-II mice were labeled with carboxyfluorescein succinimidyl ester (CFSE), transferred into histocompatible C57BL/6 mice, and then subsequently stimulated with either tolerogenic PEG-OVA or with OVA. Upon stimulation with tolerogenic PEG-OVA in vivo, these cells showed a robust proliferative response comparable to that observed by stimulation with OVA. Nevertheless, upon prolonged exposure to PEG-OVA, OVA-specific Th cells became anergic, showing a markedly reduced capacity to respond, and to produce IL-2 and other cytokines when stimulated with antigenic OVA323-339 peptide in vitro. There was also a significant reduction of the frequency of clonotypic TCR Vα2+CD4+ T cells in the spleens of OT-II mice treated with PEG-OVA. These features of response of na?ve OVA-specific Th cells upon sustained exposure to PEG-OVA were quite analogous to those reported for the same cells transferred into mice with systemic expression of the transgenic OVA gene. The highly enhanced stability in the circulation that was observed for PEG-OVA was likely the basis of its tolerogenic capacity.

关键词： Polyethylene Glycol Immune Tolerance OT-II Mice Ovalbumin

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课外生活 2005年第Z1期 58-59页

作者： yo yo