• Journal of Communications and Networks
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• v.9 no.3
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• pp.296-311
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• 2007

Mobile multi-robot teams are useful in many critical applications such as search and rescue. Explicit communication among robots in such mobile multi-robot teams is useful for the coordination of such teams as well as exchanging data. Since many applications for mobile robots involve scenarios in which communication infrastructure may be damaged or unavailable, mobile robot teams frequently need to communicate with each other via ad hoc networking. In such scenarios, low-overhead and energy-efficient routing protocols for delivering messages among robots are a key requirement. Two important primitives for communication are essential for enabling a wide variety of mobile robot applications. First, unicast communication (between two robots) needs to be provided to enable coordination and data exchange. Second, in many applications, group communication is required for flexible control, organization, and management of the mobile robots. Multicast provides a bandwidth-efficient communication method between a source and a group of robots. In this paper, we first propose and evaluate two unicast routing protocols tailored for use in ad hoc networks formed by mobile multi-robot teams: Mobile robot distance vector (MRDV) and mobile robot source routing (MRSR). Both protocols exploit the unique mobility characteristics of mobile robot networks to perform efficient routing. Our simulation study show that both MRDV and MRSR incur lower overhead while operating in mobile robot networks when compared to traditional mobile ad hoc network routing protocols such as DSR and AODV. We then propose and evaluate an efficient multicast protocol mobile robot mesh multicast (MRMM) for deployment in mobile robot networks. MRMM exploits the fact that mobile robots know what velocity they are instructed to move at and for what distance in building a long lifetime sparse mesh for group communication that is more efficient. Our results show that MRMM provides an efficient group communication mechanism that can potentially be used in many mobile robot application scenarios.

• Nano
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• v.13 no.12
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• pp.1850147.1-1850147.14
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• 2018

In this work, water-soluble and blue-emitting carbon nanodots (CDs) were synthesized from apple peels for the first time via one-step hydrothermal method. The synthetic route is facile, green, economical and viable. The as-prepared CDs were characterized thoroughly by transmission electron microscopy (TEM), X-ray diffraction (XRD), Raman, Fourier transform infrared (FT-IR), X-ray photoelectron (XPS), fluorescence and UV-Vis absorption spectroscopy in terms of their morphology, surface functional groups and optical properties. The results show that these CDs possessed ultrasmall size, good dispersivity, and high tolerance to pH, ionic strength and continuous UV irradiation. Significantly, the CDs had fast and reversible response towards temperature, and the accurate linear relationship between fluorescence intensity and temperature was used to design a novel nanothermometer in a broad temperature range from 5 to $65^{\circ}C$ facilely. In addition, the fluorescence intensity of CDs was observed to be quenched immediately by Cr(VI) ions based on the inner filter effect. A low-cost Cr(VI) ions sensor was proposed employing CDs as fluorescent probe, and it displayed a wide linear range from 0.5 to $200{\mu}M$ with a detection limit of $0.73{\mu}M$. The practicability of the developed Cr(VI) sensor for real water sample assay was also validated with satisfactory recoveries.

• Metals and materials international
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• v.24 no.6
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• pp.1346-1358
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• 2018

A novel additive manufacturing method with TIG-MIG hybrid heat source was applied for fabricating 5356 aluminum alloy component. In this paper the microstructure evolution, mechanical properties and fracture morphologies of both as-deposited and heat-treated component were investigated, and how these were affected by different heat-treated temperature. The as-deposited microstructure showed dominant equiaxed grains with second phase, and the size of them is coarse in the bottom region, medium in the middle region and fine in the top region owing to different thermal cycling conditions. Compared with as-deposited microstructure, the size of grain becomes large and second phases gradually dissolve in the matrix as heat-treated temperature increase. Different microstructures determine the mechanical properties of component. Results show that average ultimate tensile strength enhances from 226 to 270 MPa and average microhardness increases from 64.2 to 75.3 HV0.1 but ductility decreases from 33 to 6.5% with heat-treated temperature increasing. For all components, the tensile properties are almost the same in the vertical direction (Z) and horizontal direction (Y) due to equiaxed grains, which exhibits isotropy, and the mechanisms of these are analyzed in detailed. In general, the results demonstrate that hybrid arc heat source has the potential to fabricate aluminum alloy component.

• Journal of Korean Medical classics
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• v.32 no.4
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• pp.35-46
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• 2019

Objectives : While Comparative Pulse Diagnosis of Renying pulse(人迎脈) and Cunkou pulse(寸口脈) is one of the three major pulse diagnostic methods in "Huangdineijing" along with Three Positions and Nine Indicators Pulse Diagnosis(三部九候脈診法) and Cunkou Pulse Diagnosis(寸口脈診法), it has died out in later periods. This study aims to examine this lost method. Methods : Annotations of "Huangdineijing" were examined along with descriptions of the author's own experience. Results & Conclusions : Renying is the Renying(人迎) point from the Stomach Channel(ST), while Cunkou is the Taiyuan(太淵) point from the Lung Channel(LU). These two points are compared in order to determine the deficiency and excess of the Zangfu(臟腑). Normal pulses(平脈) are Soft(軟脈) or Moderate(緩脈), while Stirred pulses(躁脈) are Stringy(弦脈), Tight(緊脈), Slippery(滑脈) or Long(長脈). If the Renying is once active where Shaoyang pulse is active, purge the Gallbladder and supplement the Liver. If there is Stirred pulse, purge the Triple Burner and supplement the Pericardium. If the Renying is twice active where Taiyang pulse is active, purge the Bladder and supplement the Kidney. If there is Stirred pulse, purge the Small Intestine and supplement the Heart. If the Renying is three times active, where Yangming pulse is active, purge the Stomach and supplement the Spleen. If there is Stirred pulse, purge the Large Intestine and supplement the Lung. If the Cunkou is once active where the Jueyin pulse is active, purge the Liver and supplement the Gallbladder. If there is Stirred pulse, purge the Pericardium and supplement the Triple Energizer. If the Cunkou is twice active where the Shaoyin pulse is active, purge the Kidney and supplement the Bladder. If there is stirred pulse, purge the Heart and supplement the Small Intestine. If the Cunkou is three times active where the Taiyin pulse is active, purge the Stomach and supplement the Spleen. If there is Stirred pulse, purge the Lung and supplement the Large Intestine.

• The Journal of Industrial Distribution & Business
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• v.11 no.12
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• pp.39-45
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• 2020

Purpose: The stock price delay phenomenon refers to a phenomenon in which stock prices do not immediately reflect corporate information and the reflection is delayed. A prior study reported that the stock price delay phenomenon appears strongly when the quality of corporate information is low (Callen, Khan, & Lu, 2013). The purpose of the internal accounting control system is to improve the reliability of accounting information. Specifically, the more professionals such as certified public accountants are placed in the internal accounting control system, the more information is prevented from being distorted, so the occurrence of stock price delay will decrease. Research design, data and methodology: In this study, companies listed on the securities market from 2012 to 2016 were selected as a sample to analyze whether the stock price delay phenomenon is alleviated as accounting experts are assigned to the internal accounting control system. The internal control personnel data were collected in the "Internal Accounting Control System Operation Report" attached to the business report of each company of the Financial Supervisory Service's Electronic Disclosure System(DART). The measurement method of the stock price delay phenomenon was referred to the study of Hou and Moskowitz (2005). The final sample used in the study is 2,641 firm-years. Results: It was found that companies with certified accountants in the internal accounting control system alleviate the stock price delay phenomenon. This result can be interpreted as increasing the speed at which corporate information is reflected in the stock price by improving the reliability of information disclosed in the market by the placement of experts in the system. Conclusions: The results of this study suggest that accounting professionals assigned to the internal accounting control system are playing a positive role in providing high-quality information to the market. In this study, focusing on the fact that the speed at which corporate information is reflected in the stock price is very important for the stakeholders in the capital market, we find that having a certified public accountant in the internal accounting control system alleviates the stock price delay phenomenon.

• Asian Pacific Journal of Cancer Prevention
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• v.16 no.15
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• pp.6789-6794
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• 2015

Background: To analyze the expression of estrogen receptors (ER), progesterone receptors (PR), C-erbB-2 and Ki-67 in endometrial carcinoma (EC) and their relationships with the clinicopathological features. Materials and Methods: Sixty-seven EC samples, 53 normal endometrial samples and 53 atypical hyperplasia endometrial samples were all selected in Shaanxi Provincial People's Hospital from Jun., 2012 to Jun., 2014. The expression of ER, PR, C-erbB-2 and Ki-67 in EC tissue, normal endometrial tissue and atypical hyperplasia endometrial tissue was respectively detected using immunohistochemical SP method. The relationships between the expression of ER, PR, C-erbB-2 and Ki-67 and the patients' clinicopathological features as well as their correlations in EC tissue were also analyzed. Results: The positive expression rates of ER and PR in EC tissue were 44.8% and 41.8%, respectively, dramatically lower than in atypical hyperplasia endometrial tissue and normal endometrial tissue (P<0.01). The positive expression rates of C-erbB-2 and Ki-67 in EC tissue were 80.6% and 64.2%, respectively, significantly higher than in atypical hyperplasia endometrial tissue and normal endometrial tissue (P<0.01). In EC tissue, the expression of ER and PR was closely associated with the differentiated degrees and depth of myometrial invasion (P<0.05), while that of C-erbB-2 and Ki-67 with the clinical staging, differentiated degrees, depth of myometrial invasion and presence or absence of lymph node metastasis (P<0.05). Spearman correlation analysis further displayed that the expression of ER was positively correlated with PR (r=0.393, P=0.001), but negatively with C-erbB-2 and Ki-67 (r=-0.469, P=0.000; r=-0.329, P=0.007); The expression of PR was negatively correlated with C-erbB-2 and Ki-67 (r=-0.273, P=0.025; r=-0.251, P=0.041), but that of C-erbB-2 positively with Ki-67 (r=0.342, P=0.005). Conclusions: Abnormal expression of ER, PR, C-erbB2 and Ki-67 might play an important role in endometrial malignant transformation and cell differentiation, so their joint detection is likely to be a comprehensive combination of immune factors, which is of great importance for EC prognosis.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.4
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• pp.431-439
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• 2010

Cross-interferometic synthetic aperture radar (CInSAR) technique from ERS-2 and Envisat images is capable of generating submeter-accuracy digital elevation model (DEM). However, it is very difficult to produce high-quality CInSAR-derived DEM due to the difference in the azimuth and range pixel size between ERS-2 and Envisat images as well as the small height ambiguity of CInSAR interferogram. In this study, we have proposed an efficient method to overcome the problems, produced a high-quality DEM over northern Alaska, and compared the CInSAR-derived DEM with the national elevation dataset (NED) DEM from U.S. Geological Survey. In the proposed method, azimuth common band filtering is applied in the radar raw data processing to mitigate the mis-registation due to the difference in the azimuth and range pixel size, and differential SAR interferogram (DInSAR) is used for reducing the unwrapping error occurred by the high fringe rate of CInSAR interferogram. Using the CInSAR DEM, we have identified and corrected man-made artifacts in the NED DEM. The wave number analysis further confirms that the CInSAR DEM has valid Signal in the high frequency of more than 0.08 radians/m (about 40m) while the NED DEM does not. Our results indicate that the CInSAR DEM is superior to the NED DEM in terms of both height precision and ground resolution.

• Asian Pacific Journal of Cancer Prevention
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• v.13 no.4
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• pp.1457-1461
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• 2012

Purpose: Non small cell lung cancer (NSCLC) is the leading worldwide source of cancer-related deaths. Although some drugs targeting EGFR mutations have been developed, most advanced cases are still incurable. New targets for anticancer drugs are demanded. The kringle 1 domain of hepatocellular growth factor alpha chain (HGFK1) is a potent anti-angiogenesis factor. It has also emerged as a potential anticancer factor in hepatocellular carcinoma (HCC). The expression of HGFK1 protein in patients with NSCLC has not been reported to date. Method: Here, we assessed HGFK1 expression by Western blotting in 103 cases with advanced NSCLC to investigate the impact of HGFK1 on survival. Results: Results revealed 33 (30.1%) patients were classified as high expressors, this being significantly associated with less remote metastasis (P = 0.002) but not with lymph node metastasis (P = 0.062). There was also a significant association between HGFK1 expression and tumor size (P = 0.025) as well as clinical stage (P = 0.012). Kaplan-Meier survival analysis showed that both overall survival (OS) and progression free survival (PFS) of patients with HGFK1 expression were longer than those of patients without HGFK1 expression (P = 0.004 and P = 0.001 respectively). HGFK1 reversed gefitinib inhibition in the resistent NSCLC cell line A431/GR but did not inhibit the proliferation of NSCLC cells A431 and A431/GR directly. Reversion of gefitinib inhibition in A431/GR cells by HGFK1 was related to decreased phosphorylation of ERK and STAT5. Conclusions: HGFK1 may be a useful prognostic factor of advanced NSCLC patients and a potential drug for gefitinib resistant patients.

• Korean Journal of Remote Sensing
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• v.27 no.2
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• pp.171-180
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• 2011

MAI (multiple aperture SAR interferometry) method has been recently developed to improve the measurement accuracy of along-track surface deformation. By means of split-beam SAR processing, this novel technique produces forward- and backward-looking interferograms, which are combined to generate an MAI interferogram. The along-track surface deformation can then be derived from the MAI interferogram. The achieved accuracy of the along-track surface deformation is approximately 8 cm for interferograms with a coherence of 0.6. It is commonly recognized that the topographic phase on an MAI interferogram can be ignored. However, in this paper, we have generated an MAI interferogram from an ALOS P ALSAR interferometric pair spanning the 2010 Haiti earthquake, and shown that the topographic phase distortion on the MAI interferogram can reach to about $3.45{\times}10^{-4}$ rad./m. This distortion corresponds to an along-track surface deformation of about 98 cm. We have proposed an efficient method to remove the topographic phase distortion. After correcting the distortion, the topographic phase distortion on the MAI interferogram is reduced to about $7.82{\times}10^{-6}$ rad./m. This means that the proposed method can effectively remove the topographic distortion on the MAI interferogram to improve along-track surface deformation measurement.

• Asian Pacific Journal of Cancer Prevention
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• v.13 no.4
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• pp.1693-1697
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• 2012

Objective: To explore the effect on radiosensitivity of arsenic trioxide ($As_20_3$) in conjunction with hyperthermia on the esophageal carcinoma EC-1 cell line. Method: Inhibition of EC-1 cell proliferation at different concentrations of $As_20_3$ was assessed using the methyl thiazolyl blue colorimetric method (MTT method), with calculation of $IC_{50}$ value and choice of 20% of the $IC_{50}$ as the experimental drug concentration. Blank control, $As_20_3$, hyperthermia, radiotherapy group, $As_20_3$ + hyperthermia, $As_20_3$ + radiotherapy, hyperthermia + radiotherapy and $As_20_3$ + hyperthermia + radiotherapy groups were established, and the cell survival fraction (SF) was calculated from flat panel colony forming analysis, and fitted by the 'multitarget click mathematical model'. Flow cytometry (FCM) was used to detect changes in cell apoptosis and the cell cycle. Results: $As_20_3$ exerted inhibitory effects on proliferation of esophageal carcinoma EC-1 cells, with an $IC_{50}$ of 18.7 ${\mu}mol/L$. After joint therapy of $As_20_3$ + hyperthermia + radiotherapy, the results of FCM showed that cells could be arrested in the $G_2$/M phase, and as the ratio of cells in $G_0/G_1$ and S phases decreased, cell death became more pronounced. Conclusion: $As_20_3$ and hyperthermia exert radiosensitivity effects on esophageal carcinoma EC-1 cells, with synergy in combination. Mechanistically, $As_20_3$ and hyperthermia mainly influence the cell cycle distribution of EC-1 esophageal carcinoma cells, decreasing the repair of sublethal damage and inducing apoptosis, thereby enhancing the killing effects of radioactive rays.