SLAM with Improved Schmidt Orthogonal Unscented Kalman Filter

Ming Tang,Zhe Chen,Fuliang Yin 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.4

Simultaneous localization and mapping (SLAM) is a momentous topic for robot navigation to explore uncharted environment. To enhance the accuracy and efficiency, an improved Schmidt orthogonal unscented Kalman filter (ISOUKF) based SLAM algorithm is proposed in this paper. First, based on the Schmidt orthogonal transform (SOT) sampling, a modified unscented Kalman filter (UKF) algorithm is presented. Then, an adaptive fading factor is derived using the strong tracking algorithm, and it is introduced into the prediction covariance to improve tracking ability and accuracy. Next, the Schmidt orthogonal unscented Kalman filter is improved with square root filter to raise the efficiency of SLAM algorithm. Finally, the ISOUKF algorithm is proposed to complete the robot tracking in SLAM. The proposed algorithm provides a high precision robot tracking for SLAM and decreases the computational cost to some extent. Experiment results verify the superiority of the proposed algorithm.

An Improved Adaptive Unscented FastSLAM with Genetic Resampling

Ming Tang,Zhe Chen,Fuliang Yin 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.4

The simultaneous localization and mapping (SLAM) is a significant topic in intelligent robot. In this paper, an improved adaptive unscented FastSLAM with genetic resampling is proposed. Specifically, the adaptive unscented Kalman filter (IAUKF) algorithm is improved as importance sampling of particle filter, where the adaptive factor is used to improve the tracking ability of system and the Huber cost function is constructed to decrease the measurement covariance. Next, the process noise and the measurement noise are assessed by a time varying estimator. Moreover, the resampling in particle filter is carried out by an improved genetic algorithm (GA). Finally, the improved adaptive unscented FastSLAM (IAUFastSLAM) is proposed to complete robot tracking. The proposed algorithm has good tracking performance and obtains reliable state estimation in SLAM. Simulation results reveal the validity of the proposed algorithm.

The Homologous Region 3 from Bombyx mori Nucleopolyhedrovirus Enhancing the Transcriptional Activity of Drosophila hsp70 Promoter

Tang, Shun-Ming,Yi, Yong-Zhu,Zhou, Ya-Jing,Zhang, Zhi-Fang,Li, Yi-Ren,He, Jia-Lu Korean Society of Sericultural Science 2004 International Journal of Industrial Entomology Vol.9 No.2

Drosophila melanogaster heat shock protein 70 gene promoter (Dhsp70p) is widely used in transgenic insect to drive exogenous gene, and the homologous region 3 from Bombyx mori nucleopolyhedrovirus (BmNPVhr3) functions as an enhancer for several promoters. To test whether BmNPVhr3 can enhance the Dhsp70ps transcriptional activity, the reporter plasmids, which contain the Dhsp70p, the reporter $\beta$-galactosidase gene with SV40 terminator and BmNPVhr3 fragment, are constructed and transfected into the insect cell lines (Bm-N cells and Sf-21 cells) by lipofectin-mediated method. The results from the transient expression assay show that BmNPVhr3 significantly increases transcriptional activity of Dhsp70p both under the normal condition and under the heat-shock treatment, although the effects are significantly different between in Bm-N cells and in sf-21 cells. The enhancing behavior of BmNPVhr3 on the Dhsp70p is in an orientation-independent manner. Meanwhile, the effects of heat-shock treatment on Dhsp70p alone or Dhsp70p/BmNPVhr3 combination present no significant difference, indicating that BmNPVhr3 only enhances the transcriptional activity of Dhsp70p, but cant alter its characteristic of the response to the heat-shock stress. The above results suggest that the Dhsp70p/BmNPVhr3 combination is more effective one to drive exogenous gene for transgene or stable cell expression system in insects.

Expert Perceptual Behavior under the Spatiotemporal Visual Constraints in Table Tennis

Ming-Yuan Tang,Chih-Mei Yang,Hank Jun-Ling Jwo 대한운동학회 2021 아시아 운동학 학술지 Vol.23 No.3

[OBJECTIVES] The perceptual ability to detect movement is essential for expert table tennis players. A spatiotemporal occlusion paradigm was employed to examine the critical information that facilitates athletes’ perception. [METHODS] Thirty-one expert table tennis players, 29 participants and 2 demonstrators, volunteered to participate in the study. Four types of temporal conditions and five types of spatial occlusions were displayed in experimental videos of two opponents playing a table tennis forehand stroke. Period t1-4 represented the four temporal conditions, with 250, 500, 750, and 1000 ms of action being occluded, respectively. The five types of spatial occlusion involved showing the kinematics of only the ball, paddle, arm, trunk, or head. The participants were instructed to judge the landing direction of the ball on the basis of the information in the footage. [RESULTS] The footage depicted the longest period of play. Furthermore, in separate trials, the spatial information (for the ball, torso, or head) was missing because of occlusion. The absence of such critical spatiotemporal information impaired the ability of players to make an accurate prediction. [CONCLUSION] Players obtained crucial spatiotemporal information if the timeframe of the video was relatively complete and spatial information on the opponent’s torso and head was available. For peak performance, expert table tennis players perceive and detect the optical flow of the ball’s flight and consider invariant information concerning their opponent’s torso and head.

An Improved UFastSLAM With Generalized Correntropy Loss and Adaptive Genetic Resampling

Ming Tang,Zhe Chen,Fuliang Yin 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.3

The simultaneous localization and mapping (SLAM) is a research hotspot in robot navigation. In thispaper, an improved UFastSLAM with generalized correntropy loss and adaptive genetic resampling is proposed. Specifically, the unscented Kalman filter algorithm with generalized correntropy loss is improved as the importancesampling in particle filter. Then, an adaptive genetic algorithm is employed to complete the resampling of particlefilter. Finally, the improved UFastSLAM with generalized correntropy loss is presented to complete robot tracking. The proposed algorithm can complete robot tracking with high accuracy performance, and obtain reliable stateestimation under the non-Gaussian measurement noise in SLAM. Simulation and experiment results exhibit theavailability of the proposed SLAM algorithm.

Impact of Esophageal Motility on Microbiome Alterations in Symptomatic Gastroesophageal Reflux Disease Patients With Negative Endoscopy: Exploring the Role of Ineffective Esophageal Motility and Contraction Reserve

Ming-Wun Wong,I-Hsuan Lo,Wei-Kai Wu,Po-Yu Liu,Yu-Tang Yang,Chun-Yao Chen,Ming-Shiang Wu,Sunny H Wong,Wei-Yi Lei,Chih-Hsun Yi,Tso-Tsai Liu,Jui-Sheng Hung,Shu-Wei Liang,C Prakash Gyawali,Chien-Lin Che 대한소화기 기능성질환∙운동학회 2024 Journal of Neurogastroenterology and Motility (JNM Vol.30 No.3

Background/AimsIneffective esophageal motility (IEM) is common in patients with gastroesophageal reflux disease (GERD) and can be associated with poor esophageal contraction reserve on multiple rapid swallows. Alterations in the esophageal microbiome have been reported in GERD, but the relationship to presence or absence of contraction reserve in IEM patients has not been evaluated. We aim to investigate whether contraction reserve influences esophageal microbiome alterations in patients with GERD and IEM. MethodsWe prospectively enrolled GERD patients with normal endoscopy and evaluated esophageal motility and contraction reserve with multiple rapid swallows during high-resolution manometry. The esophageal mucosa was biopsied for DNA extraction and 16S ribosomal RNA gene V3-V4 (Illumina)/full-length (Pacbio) amplicon sequencing analysis. ResultsAmong the 56 recruited patients, 20 had normal motility (NM), 19 had IEM with contraction reserve (IEM-R), and 17 had IEM without contraction reserve (IEM-NR). Esophageal microbiome analysis showed a significant decrease in microbial richness in patients with IEM-NR when compared to NM. The beta diversity revealed different microbiome profiles between patients with NM or IEM-R and IEM-NR (P = 0.037). Several esophageal bacterial taxa were characteristic in patients with IEM-NR, including reduced Prevotella spp. and Veillonella dispar, and enriched Fusobacterium nucleatum. In a microbiome-based random forest model for predicting IEM-NR, an area under the receiver operating characteristic curve of 0.81 was yielded. ConclusionsIn symptomatic GERD patients with normal endoscopic findings, the esophageal microbiome differs based on contraction reserve among IEM. Absent contraction reserve appears to alter the physiology and microbiota of the esophagus.

Application of Co-creation and Trysumer to Sport Market

Tang, Ming,Han, Joon Young 한국비즈니스학회 2021 비즈니스융복합연구 Vol.6 No.2

Robot Tracking in SLAM with Masreliez-Martin Unscented Kalman Filter

Ming Tang,Zhe Chen,Fuliang Yin 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.9

The simultaneous localization and mapping (SLAM) is a significant topic in intelligent robot. In this paper, a robot tracking algorithm in SLAM with Masreliez-Martin unscented Kalman filter (MMUKF) is proposed. A robot dynamic model based on SLAM characteristics is first used as state equation to model the robotic movement, and the measurement equations are deduced by linearizing the motion model. Next, the covariance of process noise is estimated with an adaptive factor to improve tracking performance in the MMUKF. Finally, the MMUKF is employed to estimate the positions of robot and landmarks. The proposed algorithm can complete robot tracking with good accuracy, and obtain reliable state estimation in SLAM. Simulation results reveal the validity of the proposed Algorithm.

HMGB1 regulates autophagy through increasing transcriptional activities of JNK and ERK in human myeloid Leukemia cells

( Ming Yi Zhao ),( Ming Hua Yang ),( Liang Chun Yang ),( Yan Yu ),( Min Xie ),( Shan Zhu ),( Rui Kang ),( Dao Lin Tang ),( Zhi Gang Jiang ),( Wu Zhou Yuan ),( Xiu Shan Wu ),( Li Zhi Cao ) 생화학분자생물학회(구 한국생화학분자생물학회) 2011 BMB Reports Vol.44 No.9

HMGB1 is associated with human cancers and is an activator of autophagy which mediates chemotherapy resistance. We here show that the mRNA levels of HMGB1 are high in leukemia cells and it is involved in the progression of childhood chronic myeloid leukemia (CML). HMGB1 decreases the sensitivity of human myeloid leukemia cells K562 to anti-cancer drug induced death through up-regulating the autophagy pathway, which is confirmed by the observation with an increase in fusion of autophagosomes and autophagolysosomes. When overexpressing HMGB1, both mRNA levels of Beclin-1, VSP34 and UVRAG which are key genes involved in mammalian autophagy and protein levels of p-Bcl-2 and LC3-II are increased. Luciferase assays document that over-expression of HMGB1 increases the transcriptional activity of JNK and ERK, which may be silenced by siRNA. The results suggest that HMGB1 regulates JNK and ERK required for autophagy, which provides a potential drug target for therapeutic interventions in childhood CML. [BMB reports 2011; 44(9): 601-606]

A highly efficient catalyst for direct synthesis of methyl acrylate via methoxycarbonylation of acetylene

Cong-Ming Tang,Xin-Li Li,Gong-Ying Wang 한국화학공학회 2012 Korean Journal of Chemical Engineering Vol.29 No.12

A non-petroleum approach for the catalytic synthesis of methyl acrylate via methoxycarbonylation of acetylene with carbon monoxide and methanol as nucleophilic reagent has been studied under various conditions. Pd(OAc)2/2-PyPPh2/p-tsa was found to be a highly efficient catalytic system. The types of phosphorus ligands and their concentration was a determinative factor for catalytic activity. Mono-dentate phosphorus ligand such as triphenylphosphine has no activity while 2-(diphenylphosphino)pyridine with a mixed N-P bidentate structure has an excellent activity. Catalytic performance of acids depends on their acidic strength and coordinative property. Among all acidic promoters, p-toluenesulfonic acid displayed an excellent performance. Other parameters such as solvent polarity and initial pressure of carbon monoxide have also important influences on the hydroesterification of acetylene. It is beneficial for the reaction that the solvents have a high polarity. At low pressure of carbon monoxide, to high active palladium catalyst, the reaction easily proceeded. However, at high pressure of carbon monoxide, acetylene will transfer from solution to gas phase,resulting in lower conversion of acetylene. In addition, due to steric hindrance of alcohols, methanol has a highest activity in hydroesterification of acetylene in low carbon alcohols. Under the optimal reaction conditions, 99.5% of acetylene conversion and 99.7% of selectivity toward methyl acrylate as well as 2,502 h−1 TOF were achieved.