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Development of an Anthropomorphic Robotic Arm and Hand for Interactive Humanoids

Journal of Bionic Engineering 2012年第2期9卷 133-142页

作者： Jamie K. Paik Bu Hyun Shin young-bong bang young-Bo Shim The Institute of Mechanical Engineering EPFL STI I G M UPPAIK BM 4118 （Bdtiment BM） Station 17 Switzerland Department of Mechanical Engineering Hanbat University Daejeon 305-719 South Korea Advanced Institutes of Convergence Technology Seoul National University Suwon-si Gyeonggi-do 443-270 South Korea Mechatronics and Manufacturing Technology Center Samsung Electronics Co Suwon-si Gyeonggi-do 443-742 South Korea

Humanoid robots are designed and built to mimic human form and movement. Ultimately, they are meant to resemble the size and physical abilities of a human in order to function in human-oriented environments and to work autonomously but to pose no physical threat to humans. Here, a humanoid robot that resembles a human in appearance and movement is built using powerful actuators paired with gear trains, joint mechanisms, and motor drivers that are all encased in a package no larger than that of the human physique. In this paper, we propose the construction of a humanoid-applicable anthropomorphic 7-DoF arm complete with an 8-DoF hand. The novel mechanical design of this humanoid ann makes it sufficiently compact to be compatible with currently available narrating-model humanoids, and to be sufficiently powerful and flexible to be functional; the number of degrees of freedom endowed in this robotic arm is sufficient for executing a wide range of tasks, including dexterous hand movements. The developed humanoid arm and hand are capable of sensing and interpreting incoming external force using the motor in each joint current without conventional torque sensors. The humanoid ann adopts an algorithm to avoid obstacles and the dexterous hand is capable of grasping objects. The developed robotic ann is suitable for use in an interactive humanoid robot.

关键词： humanoid arm humanoid hand human robot interaction safe robot arm and torque sensing

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Constructing Pr-doped CoOOH catalytic sites for efficient electrooxidation of 5-hydroxymethylfurfural

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Journal of Energy Chemistry 2025年第1期100卷 234-244页

作者： Botao Fan Hao Zhang bang Gu Feng Qiu Qiue Cao Wenhao Fang School of Chemical Science and Technology Yunnan University National Center for International Research on Photoelectric and Energy Materials School of Materials and Energy Yunnan University

Electrocatalytic conversion of renewable biomass is emerging as a promising route for sustainable chemical production;hence it urgently calls for developing efficient electrocatalysts with low potentials and high current ***,a Pr-doped Co（OH）2hexagonal sheet （Pr/Co=1/9,in mole） is synthesized by electrodeposition as highly performant catalyst for 5-hydroxymethylfurfural （HMF） oxidation reaction（HMFOR） to produce 2,5-furandicarboxylic acid （FDCA）.This novel and low-cost catalyst possesses a rather low onset potential of 1.05 V （***） and requires only 1.10 V （***） to reach a current density of 10 mA cm-2for HMFOR,significantly outperforming Co（OH）2benchmark (i.e.,210 mV higher to reach10 m A cm-2).The origin of Pr promotion effect as well as the evolution of CoOOH catalytic sites and HMFOR process has been deeply elucidated by physical characterizations,kinetic experiments,in situ electrochemical techniques,and theoretical *** unique Pr-ameliorated CoOOH active centers enable 100%conversion of HMF,99.6%selectivity of FDCA,and 99.7%Faraday efficiency,with a superior cycling durability toward *** can be one of the most outstanding results for Co-based HMFOR catalysts to date in the *** this work can help open up new horizons for constructing novel and efficient Co-based electrocatalysts by the utilization of lanthanide elements.

关键词： Bioconversion

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Application of artificial intelligence in gastroenterology

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World Journal of Gastroenterology 2019年第14期25卷 1666-1683页

作者： young Joo Yang Chang Seok bang Department of Internal Medicine Hallym University College of Medicine

Artificial intelligence(AI) using deep-learning(DL) has emerged as a breakthrough computer technology. By the era of big data, the accumulation of an enormous number of digital images and medical records drove the need for the utilization of AI to efficiently deal with these data, which have become fundamental resources for a machine to learn by itself. Among several DL models, the convolutional neural network showed outstanding performance in image analysis. In the field of gastroenterology, physicians handle large amounts of clinical data and various kinds of image devices such as endoscopy and ultrasound. AI has been applied in gastroenterology in terms of diagnosis,prognosis, and image analysis. However, potential inherent selection bias cannot be excluded in the form of retrospective study. Because overfitting and spectrum bias(class imbalance) have the possibility of overestimating the accuracy,external validation using unused datasets for model development, collected in a way that minimizes the spectrum bias, is mandatory. For robust verification,prospective studies with adequate inclusion/exclusion criteria, which represent the target populations, are needed. DL has its own lack of *** interpretability is important in that it can provide safety measures, help to detect bias, and create social acceptance, further investigations should be performed.

关键词： Artificial intelligence Convolutional neural network Deep-learning Computer-assisted Gastroenterology Endoscopy

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Is it possible to foot reflexology for infants with sensorineural hearing loss?

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World Journal of Clinical Cases 2025年第2期13卷 1-4页

作者： Min Ai Hang-Hang Zhang Jun-bang Feng Chuan-Ming Li Wen-Jing Wang Meng-Die Hu Department of Anesthesiology Nanan District People's Hospital of ChongqingChongqing 400060China Department of Breast and Thyroid Surgery Chongqing Bishan District Maternal and Child Health Care HospitalChongqing 402760China Department of Medical Imaging Chongqing University Central HospitalChongqing 400014China

Foot reflexology is a non-invasive and safe complementary therapy that works by massaging the reflex zones of the feet and exerts systemic or whole-body regulation through meridian nerve *** therapy is commonly used in the treatment of various conditions such as autism and Parkinson's ***,there is limited reporting on the use of foot reflexology therapy for infants with sensorineural hearing loss(SNHL).Currently,there is no definitive conclusion on how foot reflexology therapy can influence *** editorial holds some guiding significance regarding this clinical *** aim is to present physiological evidence of how foot reflexology therapy can impact infants with SNHL,thereby enhancing clinician’s awareness of foot reflexology in treating infants with SNHL.

关键词： Foot reflexology Sensorineural Hearing Loss Future perspectives Limitations Neural conduction

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Step-growth polymerization of traptavidin-DNA conjugates for plasmonic nanostructures

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Chinese Chemical Letters 2020年第5期31卷 1137-1140页

作者： young-Youb Kim Yongbin bang Dayoung Lee Mingyu Kang Yoon-Kyu Song Graduate School of Convergence Science and Technology Seoul National UniversitySeoul 08826Republic of Korea Advanced Institutes of Convergence Technology.Gyeonggi-do 16229 Republic of Korea

Here,we use two important biomaterials,protein and DNA,to construct self-assembled linear nanostructures through Watson-Crick base-paring of *** apply a simple magnetic separation method to purify traptavidin-DNA co njugates,and demonstrate synthesis of linear arrays of traptavidinDNA conjugates via the step-growth polymerization approach with pre-determined DNA *** the traptavidin-DNA array as a template,we assemble gold nanoparticles to form linear plasmonic nanostructures in a programmable *** traptavidin-DNA conjugates thus provide a convenient platform for one-dimensional assembly of biotinylated nanomaterials for many biomedical applications from drug delivery to bio-sensing.

关键词： Protein-DNA conjugate DNA nanostructure Supramolecular assembly Traptavidin Plasmonic nanostructure

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Risk factor for ischemic-type biliary lesion after ABO-incompatible living donor liver transplantation

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World Journal of Gastroenterology 2016年第30期22卷 6925-6935页

作者： Jun Bae bang bong-Wan Kim young Bae Kim Hee-Jung Wang Hyun Yeong Lee Joohyun Sim Taegyu Kim Kyeong Lok Lee Xu-Guang Hu Wei Mao Department of Liver Transplantation and Hepatobiliary Surgery Ajou University School of Medicine Department of Pathology Ajou University School of Medicine Department of Biostatistics Ajou University School of Medicine

AIM: To evaluate the risk factors for ischemic-type biliary lesion(ITBL) after ABO-incompatible(ABO-I) adult living donor liver transplantation(ALDLT).METHODS: Among 141 ALDLTs performed in our hospital between 2008 and 2014, 27(19%) were ABO-I ALDLT and 114 were ABO-identical/compatible ALDLT. In this study, we extensively analyzed the clinico-pathological data of the 27 ABO-I recipients to determine the risk factors for ITBL after ABO-I ALDLT. All ABO-I ALDLT recipients underwent an identical B-cell depletion protocol with preoperative rituximab, plasma exchange(PE), and operative splenectomy. The median follow-up period after transplantation was 26 mo. The clinical outcomes of the 27 ABO-I ALDLT recipients were compared with those of 114 ABO-identical/compatible ALDLT ***: ITBL occurred in four recipients(14.8%) between 45 and 112 d after ABO-I ALDLT. The overall survival rates were not different between ABO-I ALDLT and ABO-identical/compatible ALDLT(P = 0.303). Among the ABO-I ALDLT recipients, there was no difference between patients with ITBL and those without ITBL in terms of B-cell and T-cell count, serum isoagglutinin titers, number of PEs, operative time and transfusion, use of graft infusion therapy, or number of remnant B-cell follicles and plasma cells in the spleen. However, the perioperative NK cell counts in the blood of patients with ITBL were significantly higher than those in the patients without ITBL(P 150/μL and postoperative NK cell count > 120/μL were associated with greater relative risks(RR) for development of ITBL(RR = 20 and 14.3, respectively, P < 0.05). CONCLUSION: High NK cell counts in a transplant recipient's blood are associated with ITBL after ABO-I ALDLT. Further research is needed to elucidate the molecular mechanism of NK cell involvement in the development of ITBL.

关键词： Liver transplantation ABO-incompatibility Ischemic-type biliary lesion Natural killer cell

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Gene expression profiling reveals sequential changes in gastric tubular adenoma and carcinoma in situ

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World Journal of Gastroenterology 2005年第13期11卷 1937-1945页

作者： Chang-Hee Lee Seung-Hyun bang Seung-Koo Lee Kyu-young Song In-Chul Lee Asan Institute for Life Sciences Department of Biochemistry Department of Pathology

AIM: To analyze the expression profiles of premalignant and/or preclinical lesions of gastric ***: We analyzed the expression profiles of normal gastric pit, tubular adenoma and carcinoma in situ using microdissected cells from routine gastric biopsies. For the DNA microarray analysis of formalin-fixed samples,we developed a simple and reproducible RNA extraction and linear amplification procedure applying two polymerasebinding sites. The amplification procedure took only 8 h and yielded comparable DNA microarray data between formalin-fixed tissues and unfixed ***: In comparison with normal pit, adenoma/carcinoma showed 504 up-regulated and 29 down-regulated genes at the expected false significance rate 0.15%. The differential expression between adenoma and carcinoma in situ was subtle: 50 and 22 genes were up-, and down-regulated in carcinomas at the expected false significance rate of 0.61%, respectively. Differentially expressed genes were grouped according to patterns of the sequential changes for the 'tendency analysis' in the gastric mucosaadenoma-carcinoma ***: Groups of genes are shown to reflect the sequential expression changes in the early carcinogenic steps of stomach cancer. It is suggested that molecular carcinogenic pathways could be analyzed using routinely processed biopsies.

关键词： Premalignant lesion Predinical lesion Gastric cancer

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Usefulness of the acromioclavicular joint cross-sectional area as a diagnostic image parameter of acromioclavicular osteoarthritis

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World Journal of Clinical Cases 2022年第7期10卷 2087-2094页

作者： young Joo Jee Youn Moon Jung Youn Han Yun-Sic bang Keum Nae Kang young Su Lim young-SoonChoi young-Uk Kim Department of Anesthesiology and Pain Medicine CHA Ilsan Medical CenterSchool of MedicineCHA UniversityIlsanGyeonggi-do 10414South Korea Department of Anesthesiology and Pain Medicine Seoul National University Hospital College of MedicineSeoul 03080South Korea Department of Anesthesiology and Pain Medicine CHA Bundang Medical CenterSchool of MedicineSeongnamGyeonggi-do 13496South Korea Department of Anesthesiology and Pain Medicine National Police HospitalSeoul 05715South Korea Department of Anesthesiology and Pain Medicine Catholic Kwandong UniversityCollege of MedicineInternational St.Mary’s HospitalIncheon 22711South Korea

BACKGROUND Acromioclavicular joint(ACJ)space narrowing has been considered to be an important diagnostic image parameter of ACJ osteoarthritis(ACJO).However,the morphology of the ACJ space is irregular because of osteophyte formation,subchondral irregularity,capsular distention,sclerosis,and ***,we created the ACJ cross-sectional area(ACJCSA)as a new diagnostic image parameter to assess the irregular morphologic changes of the *** To hypothesize that the ACJCSA is a new diagnostic image parameter for *** ACJ samples were obtained from 35 patients with ACJO and 30 healthy individuals who underwent shoulder magnetic resonance(S-MR)imaging that revealed no evidence of *** coronal,T2-weighted,fat-suppressed SMR images were acquired at the ACJ level from the two *** measured the ACJCSA and the ACJ space width(ACJSW)at the ACJ on the S-MR images using our imaging analysis *** ACJCSA was measured as the cross-sectional area of the *** ACJSW was measured as the narrowest point between the acromion and the *** The average ACJCSA was 39.88±10.60 mm;in the normal group and 18.80±5.13 mm;in the ACJO *** mean ACJSW was 3.51±0.58 mm in the normal group and 2.02±0.48 mm in the ACJO *** individuals had significantly lower ACJCSA and ACJSW than the healthy *** operating characteristic curve analyses demonstrated that the most suitable ACJCSA cutoff score was 26.14 mm^(2),with 91.4%sensitivity and 90.0%*** The optimal ACJSW cutoff score was 2.37 mm,with 88.6%sensitivity and 96.7%*** though both the ACJCSA and ACJSW were significantly associated with ACJO,the ACJCSA was a more sensitive diagnostic image parameter.

关键词： Acromioclavicular joint Osteoarthritis Cross-sectional area Diagnosis

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Noncommutative analysis of Hermite expansions

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Science China Mathematics 2024年第10期67卷 2331-2356页

作者： bang Xu Department of Mathematics University of HoustonHoustonTX 77204USA Department of Mathematical Sciences Seoul National UniversitySeoul 08826Republic of Korea

This paper is devoted to the study of semi-commutative harmonic analysis associated with Hermite semigroups. In the first part, we establish the noncommutative maximal inequalities for Bochner-Riesz means associated with Hermite operators and then obtain the corresponding pointwise convergence theorems. In particular, we develop a noncommutative version of Stein's theorem of Bochner-Riesz means for Hermite operators. In the second part, we investigate two noncommutative multiplier theorems. Our approach in this part relies on a noncommutative analog of the classical Littlewood-Paley-Stein theory associated with Hermite semigroups.

关键词： noncommutative L_(p)-spaces Hermite semigroup maximal inequalities pointwise convergence multipliers

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Variational Problems of Surfaces in a Sphere

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Acta Mathematica Sinica,English Series 2021年第4期37卷 657-665页

作者： bang Chao YIN School of Mathematics and Statistics Zhengzhou UniversityZhengzhou 450001P.R.China

Let x:M→S^(n+p)(1)be an n-dimensional submanifold immersed in an(n+p)-dimensional unit sphere S^(n+p)(1).In this paper,we study n-dimensional submanifolds immersed in S^(n+p)(1)which are critical points of the functional S(x)=∫_(M)S^(n/2)dv,where S is the squared length of the second fundamental form of the immersion *** x:M→S^(2+p)(1)is a surface in S^(2+p)(1),the functional S(x)=∫_(M)S^(n/2)dv represents double volume of image of Gaussian *** the critical surface of S(x),we get a relationship between the integral of an extrinsic quantity of the surface and its Euler ***,we establish a rigidity theorem for the critical surface of S(x).

关键词： Submanifold variation rigidity theorem Euler characteristic

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