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Internet of robotic things for mobile robots:Concepts,technologies,challenges,applications,and future directions

Digital Communications and Networks 2023年第6期9卷 1265-1290页

作者： Homayun Kabir Mau-Luen Tham yoong choon chang Department of Electrical and Electronic Engineering Lee Kong Chian Faculty of Engineering and ScienceUniversiti Tunku Abdul RahmanSelangor 43000Malaysia

Nowadays,Multi Robotic System(MRS)consisting of different robot shapes,sizes and capabilities has received significant attention from researchers and are being deployed in a variety of real-world *** sensors and actuators improved by communication technologies to powerful computing systems utilizing advanced Artificial Intelligence(AI)algorithms have rapidly driven the development of MRS,so the Internet of Things(IoT)in MRS has become a new topic,namely the Internet of Robotic Things(IoRT).This paper summarizes a comprehensive survey of state-of-the-art technologies for mobile robots,including general architecture,benefits,challenges,practical applications,and future research *** addition,remarkable research of i)multirobot navigation,ii)network architecture,routing protocols and communications,and iii)coordination among robots as well as data analysis via external computing(cloud,fog,edge,edge-cloud)are merged with the IoRT architecture according to their ***,security is a long-term challenge for IoRT because of various attack vectors,security flaws,and *** threats,attacks,and existing solutions based on IoRT architectures are also under ***,the identification of environmental situations that are crucial for all types of IoRT applications,such as the detection of objects,human,and obstacles,is also critically ***,future research directions are given by analyzing the challenges of IoRT in mobile robots.

关键词： Multi Robotic System(MRS) Internet of Things(IoT) Internet of Robotic Things(IoRT) Cloud computing Artificial intelligence(AI) Machine learning(ML) Reinforcement learning(RL)

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Convolutional Neural Network-Based Deep Q-Network (CNN-DQN) Resource Management in Cloud Radio Access Network

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China Communications 2022年第10期19卷 129-142页

作者： Amjad Iqbal Mau-Luen Tham yoong choon chang Department of Electrical and Electronic Engineering Lee Kong Chian Faculty of Engineering and ScienceUniversiti Tunku Abdul Rahman(UTAR)Malaysia

The recent surge of mobile subscribers and user data traffic has accelerated the telecommunication sector towards the adoption of the fifth-generation (5G) mobile networks. Cloud radio access network (CRAN) is a prominent framework in the 5G mobile network to meet the above requirements by deploying low-cost and intelligent multiple distributed antennas known as remote radio heads (RRHs). However, achieving the optimal resource allocation (RA) in CRAN using the traditional approach is still challenging due to the complex structure. In this paper, we introduce the convolutional neural network-based deep Q-network (CNN-DQN) to balance the energy consumption and guarantee the user quality of service (QoS) demand in downlink CRAN. We first formulate the Markov decision process (MDP) for energy efficiency (EE) and build up a 3-layer CNN to capture the environment feature as an input state space. We then use DQN to turn on/off the RRHs dynamically based on the user QoS demand and energy consumption in the CRAN. Finally, we solve the RA problem based on the user constraint and transmit power to guarantee the user QoS demand and maximize the EE with a minimum number of active RRHs. In the end, we conduct the simulation to compare our proposed scheme with nature DQN and the traditional approach.

关键词： energy efficiency(EE) markov decision process(MDP) convolutional neural network(CNN) cloud RAN deep Q-network(DQN)

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Real-Time Control System Adopted to Energy Storage for Smart Grid Low Wind Applications:A Part of Distributed Renewables in Smart City

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Journal of Electronic Science and Technology 2021年第4期19卷 379-389页

作者： MD Shahrukh Adnan Khan yoong choon chang Md Ashraful Kabir Muhammad Izuan Fahmi Bin Romli Chockalingam Aravind Vaithilingam Jakir Hosain with the Department of Electrical and Electronic Engineering Canadian University of BangladeshDhaka 1212 with the Department of Electrical&Electronic Engineering Universiti Tunku Abdul RahmanKamper 31900 with the Department of Computer Science&Engineering Canadian University of BangladeshDhaka 31900 with the Department of Electrical and Electronic Engineering University Malaysia PerlisPerlis 01000 with the Department of Electrical and Electronic Engineering Taylor’s UniversityKuala Lumpur 47500 with the School of Science&Engineering Canadian University of BangladeshDhaka 1212

In this paper,extensive efforts have been undertaken to design and develop a control system,which is incorporated with an energy storage device that can store energy from low-voltage renewable *** developed device acts as a storage element,which can be used to charge small-scale batteries,cellular devices,and other applications in remote places where the grid connection is not *** circuit is developed using a case-by-case *** order to solve the low output voltage problem,a bipolar junction transistor-metal oxide semiconductor field-effect transistor(BJT-MOSFET)based switch control technology with the Arduino microcontroller has been *** developed control system is extremely efficient in charging batteries through a supercapacitor for low-voltage *** this research,a small-scale 200-W portable vertical axis wind turbine is used at a wind speed of 3 m/*** result shows the efficiency of the proposed system as compared with the conventional *** proposed system can be an important tool of the latest distributed energy generation technology which is an important part of a smart ***,the limitations and future scopes of the development of the control device are discussed for the future *** important future scope identified is to integrate the Internet of Things based mobile interface for remote monitoring for any kind of pandemic situation like ***,it is high time to get our smart city concept aligned with the post COVID pandemic situation and get us prepared smartly for similar future occurrences.

关键词： Energy storage low-voltage application novel control system post pandemic smart city

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Isolation and characterization of Pseudomonas otitidis WL-13 and its capacity to decolorize triphenylmethane dyes

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Journal of Environmental Sciences 2009年第7期21卷 960-964页

作者： WU Jing JUNG Byung-Gil KIM Kyoung-Sook LEE Young-choon SUNG Nak-chang Department of Biotechnology Dong-A University Busan 604-714 South Korea Brain Korea 21 Center for Silver-Bio Industrialization Dong-A University Busan 604-714 South Korea Department of Environmental Engineering College of Engineering Dong-A University. Busan 604-714 South Korea

Pseudomonas otitidis WL-13, which has a high capacity to decolorize triphenylmethane dyes, was isolated from activated sludge obtained from a wastewater treatment plant of a dyeing industry. This strain exhibited a remarkable color-removal capability when tested against several triphenylmethane dyes under both shaking and static conditions at high concentrations of dyes. More than 95% of Malachite Green and Brilliant Green was removed within 12 h at 500 μmol/L dye concentration under shaking conditions. Crystal Violet lost about 13% of its color under the same conditions tested. The rate of decolorization increased when the M9 medium was supplemented with yeast extract. The optimum pH and temperature for color removal were 7-9 and 35-40℃, respectively. The observed changes in the visible spectra and the inspection of bacterial growth indicated the color-removal by the adsorption of dye to the cells during incubation with strains.

关键词： adsorption decolorization Pseudomonas otitidis WL-13 triphenylmethane dye

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Structural considerations in friction welding of hybrid Al_2O_3-reinforced aluminum composites

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Transactions of Nonferrous Metals Society of China 2011年第A1期21卷 42-46页

作者： In-Duck PARK choon-Tae LEE Hyun-Soo KIM Woo-Jin CHOI Myung-chang KANG Busan Metropolitan City Hall Fundamental Industries Division 2001 Jungang-ro Yeonje-gu Busan 611-735 Korea Department of Automotive & Mechanical Engineering Silla University Research & Development Center Sam-Ho precision 1256-1 Daejeo2-dong Gangseo-gu Busan 618-807 Korea National Core Research Center for Hybrid Materials Solution Pusan National University

Comparative studies on the relationship between the welding parameters and joining efficiency in the friction welding of hybrid Al2O3-reinforced aluminum composites were conducted. Metal matrix composites (MMCs) with 37% (volume fraction) aluminum particle were joined by friction welding. The results show that the effects of the rotation speed on the reduction rate of particle size are greater than those of the upset pressure, and the area of the MMC weld zone decreases as the joining efficiency increases, while it is considered that the joining efficiency does not increase as the reduction rate of particle size decreases. During the macro-examination of the bonding interface, a gray discolored region was observed on the bonding interface, and the center of the region was dark gray. After the micro-examination of the bonding interface, base metal made some second particulate formed by condensed alumina particulate but discoloration part distributed minute alumina particulate without second particulate. Consequently, it was also observed that rotational speed of 3 000 r/min and upset pressure of 63.6 MPa showed a very good joint.

关键词：铝基复合材料 Al203 摩擦焊接混合增强焊接结构金属基复合材料粘接界面旋转速度

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Endoscopic submucosal dissection vs endoscopic mucosal resection for colorectal polyps:A meta-analysis and metaregression with single arm analysis

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World Journal of Gastroenterology 2021年第25期27卷 3925-3939页

作者： Xiong chang Lim Kameswara Rishi Yeshayahu Nistala Cheng Han Ng Snow Yunni Lin Darren Jun Hao Tan Khek-Yu Ho choon-Seng Chong Mark Muthiah Yong Loo Lin School of Medicine National University of SingaporeSingapore 117597Singapore Department of Medicine National University HospitalSingapore 119074Singapore Department of Surgery National University HospitalSingapore 119074Singapore

BACKGROUND Endoscopic submucosal dissection(ESD)has shown to be effective in management of colorectal neoplasm in the Asian countries,while its implementation in Western countries where endoscopic mucosal resection(EMR)is preferred is still *** To compare the surgical,histological,and oncological outcomes between ESD and EMR in the treatment of colorectal polyps,with subgroup analysis comparing the efficacy of ESD and EMR between Japan and the rest of the *** Embase and Medline databases were searched from inception to October 2020 in accordance with PRISMA guidelines for studies comparing en bloc,complete resection,margin involvement,resection time,need for additional surgery,complications,and recurrence rate of ESD with *** Of 281344 colorectal polyps from 21 studies were *** compared to EMR,the pooled analysis revealed ESD was associated with higher en bloc and complete resection rate,and lower lateral margin involvement and *** led to increased procedural time,need for additional surgery,and perforation *** significant difference in bleeding risk was found between the two ***-regression analysis suggested only right colonic polyps correlated with an increased perforation risk in *** including polyp size and invasion depth did not significantly influence the en bloc and complete resection rate,bleeding risk and *** subgroup analysis,Japan performed better than the rest of the world in both ESD and EMR with perforation risk of 4%and 0.0002%,respectively,as compared to perforation risk of 8%and 1%,respectively,in reports coming from rest of the *** ESD resulted in better resection outcomes and lower recurrence compared to *** appropriate training,ESD is preferred over EMR as the first-line therapy for resection of colorectal polyps,without restricting to lesions greater than 20 mm and those with high suspicion of submucosal invasion.

关键词： Endoscopic mucosal resection Endoscopy Colonic polyps Colorectal neoplasm Colonoscopy

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旅游对跨文化认知的影响研究——以马来西亚“苹果旅游”北京团为例

旅游对跨文化认知的影响研究——以马来西亚“苹果旅游”北京团为...

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作者：郑泓浚（chang Hoong choon）南京大学

学位级别：硕士

旅游是一种文化体验的方式,无论旅者在前往一地旅游的目地为何,在旅游的过程中,与旅游接待地文化上的接触、影响、交融,是必然的。旅者就像一个载体,为两地的文化带来碰撞和影响。因此,旅游本身就具有文化传播的能力。马来西亚旅者对于... 详细信息

旅游是一种文化体验的方式,无论旅者在前往一地旅游的目地为何,在旅游的过程中,与旅游接待地文化上的接触、影响、交融,是必然的。旅者就像一个载体,为两地的文化带来碰撞和影响。因此,旅游本身就具有文化传播的能力。马来西亚旅者对于北京本身的印象,主要来自各个层面的传播媒介,透过这些管道获取的信息,自然就会在人们心中建立起可能是正面,也可能是负面的印象。相较其他传播方式,旅游本身有着独特的优势,除了能够通过旅游传播文化符合旅游者旅游的目的外,游客旅途中愉悦的心理对于异域文化的接受,是偏向正面的。本文从跨文化旅游的内涵、旅游跨文化传播的特点以及旅游跨文化的重要性,探讨了苹果旅游行程设计、新旧媒体对北京形象的建构。透过描述性统计分析了旅游如何影响人们对中国北京形象的认知和偏见等内容,并透过问卷调查,阐明跨文化旅游能顺利改写旅客对北京的固有印象及重新建构旅客对北京的印象,并且带动了何种话语权。除此之外,跨文化旅游也可以让马来西亚旅客打破了 "身份认同"之下对中国北京的"向往"。而从发出的问卷数据上确实发现,旅客虽到北京的目的各有不同,但进行的内容全都是重要的文化交流元素。过程中,还包括了人际交流传播形式,人与人之间的沟通与交流。问卷调查发现,透过旅游这种跨文化传播途径,确实是能够将直接左右旅者对旅游目的地的印象。而笔者也祈望通过研究得知跨文化传播的反思和建议,以期让马来西亚摒弃对中国北京的负面印象,达到两国之间的旅游业能够蓬勃发展。

关键词：旅游文化跨文化传播偏见旅游跨文化传播

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Productivity and Nutritive Values of Sorghum×Sudan Hybrid（SSH） Under SSH-Based Double Cropping Systems in Paddy Land 3rd

Productivity and Nutritive Values of Sorghum×Sudan Hybrid（...

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The 3rd Korea-China-Japan Joint Symposium on Grassland Agriculture and Livestock Production

作者： Nam Chul Jo Ki choon Choi Sang Pil Na chang Yoon Wan Bang Yook National Institute of Animal Science RDASeonghwan-EupCheonan-SiChungnam 330-801 Korea College of Animal Bioscience and Technology Konkuk University Dept.of Animal Resources and Biotechnology Chonbuk National University

＜正＞This study was carried out to investigate the productivity and nutritive values of SSH under Double-cropping SSH followed by whole crop barley（SSFWB） or by Hairy vetch（SSFHV） in paddy land.A field study was conducted at Baeksan-myeon,Kimje,Jeonbuk province in Korea on clay loam soil for 3 *** plots were arranged in completely randomized design with three *** yield of SSH in SSFWB treatment was higher than that of SSFHV（P＜0.05）.All nutrients values of SSH were not influenced by the cropping ***,all nutrients of SSH in SSFWB treatment were just a little increase,compared with those of SSFHV.

关键词： Cattle slurry Cropping system Sorghum x Sudan hybrid Hairy vetch Nutritive value

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Dynamic phenotypic heterogeneity and the evolution of multiple RNA subtypes in hepatocellular carcinoma:the PLANET study

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National Science Review 2022年第3期9卷 96-109页

作者： Weiwei Zhai Hannah Lai Neslihan Arife Kaya Jianbin Chen Hechuan Yang Bingxin Lu Jia Qi Lim Siming Ma Sin Chi Chew Khi Pin Chua Jacob Josiah Santiago Alvarez Pauline Jieqi Chen Mei Mei chang Lingyan Wu Brian K.P.Goh Alexander Yaw-Fui Chung Chung Yip Chan Peng Chung Cheow Ser Yee Lee Juinn Huar Kam Alfred Wei-Chieh Kow Iyer Shridhar Ganpathi Rawisak Chanwat Jidapa Thammasiri Boon Koon yoong Diana Bee-Lan Ong Vanessa H.de Villa Rouchelle D.Dela Cruz Tracy Jiezhen Loh Wei Keat Wan Zeng Zeng Anders Jacobsen Skanderup Yin Huei Pang Krishnakumar Madhavan Tony Kiat-Hon Lim Glenn Bonney Wei Qiang Leow Valerie Chew Yock Young Dan Wai Leong Tam Han Chong Toh Roger Sik-Yin Foo Pierce Kah-Hoe Chow Genome Institute of Singapore Agency for Science Technology and Research Key Laboratory of Zoological Systematics and Evolution Institute of Zoology Chinese Academy of Sciences Center for Excellence in Animal Evolution and Genetics Chinese Academy of Sciences School of Biological Sciences Nanyang Technological University Division of Biosciences Faculty of Life Sciences Division of Surgery and Surgical Oncology National Cancer Centre Department of Hepato-Pancreato-Biliary and Transplant Surgery Singapore General Hospital Division of Hepatobiliary and Pancreatic Surgery Department of Surgery University Surgical Cluster National University Health System Hepato-Pancreato-Biliary Surgery Unit Department of Surgery National Cancer Institute Division of Pathology National Cancer Institute Department of Surgery Faculty of Medicine University of Malaya Department of Surgery and Center for Liver Disease Management and Transplantation The Medical City 13. Department of Laboratories The Medical City Department of Pathology Singapore General Hospital Institute for Infocomm Research ASTAR Department of Pathology National University Health System Translational Immunology Institute (TII) Sing Health Duke-NUS Academic Medical Centre Division of Gastroenterology and Hepatology University Medicine Cluster National University Hospital Department of Biochemistry Yong Loo Lin School of Medicine National University of Singapore Cancer Science Institute of Singapore National University of Singapore Division of Medical Oncology National Cancer Center Singapore Cardiovascular Research Institute National University of Singapore National University Healthcare System Singhealth-Duke-NUS Academic Surgery Program Duke-NUS Graduate Medical School Institute of Molecular and Cell Biology Agency for Science Technology and Research

Intra-tumor heterogeneity(ITH) is a key challenge in cancer treatment, but previous studies have focused mainly on the genomic alterations without exploring phenotypic(transcriptomic and immune)heterogeneity. Using one of the largest prospective surgical cohorts for hepatocellular carcinoma(HCC)with multi-region sampling, we sequenced whole genomes and paired transcriptomes from 67 HCC patients(331 samples). We found that while genomic ITH was rather constant across stages, phenotypic ITH had a very different trajectory and quickly diversified in stage Ⅱ patients. Most strikingly, 30% of patients were found to contain more than one transcriptomic subtype within a single tumor. Such phenotypic ITH was found to be much more informative in predicting patient survival than genomic ITH and explains the poor efficacy of single-target systemic therapies in HCC. Taken together, we not only revealed an unprecedentedly dynamic landscape of phenotypic heterogeneity in HCC, but also highlighted the importance of studying phenotypic evolution across cancer types.

关键词： NADH oxidase H2O2 production oxidative phosphorylation

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Properties of Soil and Leaching Water Under Sorghum×Sudan Hybrid-Based Double Cropping Systems in Paddy Land

Properties of Soil and Leaching Water Under Sorghum×Sudan H...

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The 3rd Korea-China-Japan Joint Symposium on Grassland Agriculture and Livestock Production

作者： Nam Chul Jo Ki choon Choi Sang Pil Na chang Yoon Yang Seung Hak Wan Bang Yook National Institute of Animal Science RDASeonghwan-EupCheonan-SiChungnam 330-801 Korea College of Animal Bioscience and Technology Konkuk University Dept.of Animal Resources and Biotechnology Chonbuk National University

This study was carried out to investigate the properties of soil and water under Double-cropping SSH followed by whole crop barley(SSFWB) or by Hairy vetch(SSFHV) in paddy land.A field study was conducted at Baeksan-myeon,Kimje,Jeonbuk province in Korea on clay loam soil for 3 *** plots were arranged in completely randomized design with three *** pH and the contents of T-N and organic matter (OM) in soil samples collected at the end of the experiment were remarkably higher than those at the beginning of the experiment in both SSFWB and SSFHV treatment(Pchangeable cations at the end of the experiment were remarkably higher than those at the beginning of the experiment in both SSFWB and SSFHV (P<0.05).And then,the concentration of NO-N,NH-N and PO-P in discharge and leaching water were not influenced by the cropping system

关键词： Cattle slurry Sorghum x Sudan hybrid Hairy vetch Soil properties Leaching water

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