Transformation calibration of a camera mounted on a robot

The paper describes the accurate calibration of the camera transformation for a vision system consisting of a camera mounted on a robot. The calibration includes an analysis of the linearity of the camera. A knowledge of the camera transformation allows the three-dimensional position of the object points to be determined using triangulation.     

湖北省蔬菜产业现状与加工业发展建议

文章从区位优势、产业特色和生产水平等特点出发,阐述湖北蔬菜产业的发展现状,剖析其蔬菜产业发展的制约因素,客观分析其蔬菜加工业存在的主要问题,提出全面实施质量标准体系、完善质量卫生安全检测体系、发展蔬菜贮藏保鲜技术和加工工艺等,以促进湖北蔬菜加工产业的可持续健康发展。     

DEVELOPMENT TOOL FOR COMPUTER VISION SYSTEMS AT PIXEL LEVEL

This paper describes a tool to aid the development of computer vision applications for pixel-level diagnosis. A conceptual framework for constructing pixel processors is described. The proposed tool is based on two domains: one deals with numerical images, named features, and the other deals with symbolic images, named classes. A reduced set of image and operator types is defined. Based on it, an object-oriented language is described. The main objects define features and classes and their associated operators, namely procedures, classifiers, and rules. All system control is goal oriented and is designed to provide symbolic images as results when a request is received from a higher level of the image understanding system. Some knowledge engineering concepts, such as certainty control and instances, are also included.     

Stable Synthetic Bacteriochlorins for Photodynamic Therapy: Role of Dicyano Peripheral Groups,Central Metal Substitution (2H,Zn, Pd), and Cremophor EL Delivery

A series of four stable synthetic bacteriochlorins was tested in vitro in HeLa cells for their potential in photodynamic therapy (PDT). The parent bacteriochlorin (BC), dicyano derivative (NC)₂BC and corresponding zinc chelate (NC)₂BC–Zn and palladium chelate (NC)₂BC–Pd were studied. Direct dilution of a solution of bacteriochlorin in an organic solvent (N,N‐dimethylacetamide) into serum‐containing medium was compared with the dilution of bacteriochlorin in Cremophor EL (CrEL; polyoxyethylene glycerol triricinoleate) micelles into the same medium. CrEL generally reduced aggregation (as indicated by absorption and fluorescence) and increased activity up to tenfold (depending on bacteriochlorin), although it decreased cellular uptake. The order of PDT activity against HeLa human cancer cells after 24 h incubation and illumination with 10 J cm^?2 of near‐infrared (NIR) light is (NC)₂BC–Pd (LD₅₀=25 nM ) > (NC)₂BC > (NC)₂BC–Zn ≈ BC. Subcellular localization was determined to be in the endoplasmic reticulum, mitochondria and lysosomes, depending on the bacteriochlorin. (NC)₂BC–Pd showed PDT‐mediated damage to mitochondria and lysosomes, and the greatest production of hydroxyl radicals as determined using a hydroxyphenylfluorescein probe. The incorporation of cyano substituents provides an excellent motif for the enhancement of the photoactivity and photostability of bacteriochlorins as PDT photosensitizers.     

己二酸的清洁催化氧化合成研究进展

综述了近年来以环己烯、环己酮、环己醇或环己烷等作原料,以过氧化氢或氧气等为氧源,采用不同的催化体系清洁合成己二酸的新进展.指出:在这些方法中,改性的分子筛及负载型催化剂-双氧水体系将是今后己二酸清洁合成的重点研究方向.     

Decision support in pre-hospital stroke care operations: A case of using simulation to improve eligibility of acute stroke patients for thrombolysis treatment

Stroke is the third most common cause of death and the sixth most common cause of disability worldwide. Treating acute ischemic stroke with thrombolytic therapy within 4.5 hours from symptom onset is effective in improving patient outcomes. The time from stroke onset to arrival to hospital has been identified as the single most important issue in determining patients' eligibility for stroke thrombolysis. There is a need for simultaneous systemic evaluation of multi-factorial interventions in pre-hospital acute care systems, aimed at increasing patients' eligibility for stroke thrombolysis. In this paper an OR solution is proposed in the form of a simulation model that provides clear measure of the relative benefit of alternative potential interventions, demonstrating how OR modeling can be used for providing decision support in pre-hospital stroke care operations and contributing to health OR literature.     

EPR studies of (Bi, Pb)-2223 phase substituted by Ruthenium ions

This work studied X-ray powder diffraction (XRD), electrical resistivity and electron paramagnetic resonance (EPR) measurements for Bi_1.8Pb_0.4Sr₂Ca_2.1Cu_3−xRu_xO_10+δ (0.0 ≤ x ≤ 0.4) superconducting samples. XRD analysis and electrical resistivity data showed that the low-content of Ru, x ≤ 0.05, enhanced both the phase formation and the superconducting transition temperature of (Bi, Pb)-2223 phase. A phase change from (Bi, Pb)-2223 phase to (Bi, Pb)-2212 phase was reported for x ≥ 0.15. Two EPR lines were observed for 0.0 ≤ x ≤ 0.075, indicating the presence of both (Bi, Pb)-2223 and (Bi, Pb)-2212 phases. While, one EPR line was observed for x ≥ 0.15, corresponding to the (Bi, Pb)-2212 phase formation. The number of spins (N) participating in the resonance and its spin paramagnetic susceptibility (χ), for the two phases, were calculated as a function of both Ru-content and temperature. In addition, we reported the variation of activation energy (E_a), Curie constant (C), Curie temperature (θ) and effective magnetic moment (μ) with Ru-content.     

Nonminimal Kane's Equations of Motion for Multibody Dynamical Systems Subject to Nonlinear Nonholonomic Constraints

Nonholonomic constraint equations that are nonlinear in velocities are incorporated with Kane's dynamical equations by utilizing the acceleration form of constraints, resulting in Kane's nonminimal equations of motion, i.e. the equations that involve the full set of generalized accelerations. Together with the kinematical differential equations, these equations form a state-space model that is full-order, separated in the derivatives of the states, and involves no Lagrange multipliers. The method is illustrated by using it to obtain nonminimal equations of motion for the classical Appell–Hamel problem when the constraints are modeled as nonlinear in the velocities. It is shown that this fictitious nonlinearity has a predominant effect on the numerical stability of the dynamical equations, and hence it is possible to use it for improving the accuracy of simulations. Another issue is the dynamics of constraint violations caused by integration errors due to enforcing a differentiated form of the constraint equations. To solve this problem, the acceleration form of the constraint equations is augmented with constraint stabilization terms before using it with the dynamical equations. The procedure is illustrated by stabilizing the constraint equations for a holonomically constrained particle in the gravitational field.     

High avidity CTLs for two self-antigens demonstrate superior in vitro and in vivo antitumor efficacy

A majority of the human tumor-associated Ags characterized to date are derived from nonmutated "self"-proteins. Little is currently understood about the nature of the self-reactive lymphocytes that recognize these Ags. We recently characterized two nonmutated tumor-associated Ags for the B16 murine melanoma: tyrosinase-related protein-2 (TRP-2) and the endogenous retroviral envelope protein, p15E. We previously reported that both TRP-2 and p15E reactive CTL could be detected in the spleens of naive animals after a single in vitro stimulation using 10(-5)-10(-6) M of the appropriate Kb-binding 9-amino acid epitope. In this report we show that the CTL found in naive animals are low avidity lymphocytes, that respond only to high concentrations of peptide in vitro. We demonstrate that titration of in vitro-stimulating peptide to limiting concentrations distinguishes qualitative differences in the lymphocyte reactivity to these two Ags between vaccinated and unvaccinated animals. We further demonstrate that in vitro expansion of CTL in either high or low concentrations of stimulating peptide generated CTL cultures with different avidities for the relevant epitopes. CTL expanded in low concentrations demonstrated higher avidity for peptide-pulsed targets and better tumor recognition, when compared to CTL generated in the presence of high concentrations of Ag. More importantly, high avidity CTL demonstrated superior in vivo antitumor activity. These results demonstrate that qualitative differences in the CTL that recognize these two self-Ags are critically important to their in vitro and in vivo anti-tumor efficacy.     

Prediction of anticoagulation during hemodialysis by population kinetics and an artificial neural network

All systems currently used for routine hemodialysis require heparin administration to prevent blood clotting in the extracorporeal circuit. We tested the hypothesis that population-based statistical techniques can be used to predict heparin concentrations during routine hemodialysis. Two predictive models were developed, one based on nonlinear mixed effects modeling (NONMEM) and the other on a multilayer perceptron neural network. Serial clotting time data were obtained from forty-nine patients and used to develop the models. The models were used to predict the clotting times of 70 patients in a prospective test. We determined that the neural network provided greater precision, had fewer outliers in its predictions, and did not have the model misspecification in bolus administration that the NONMEM predictions demonstrated. A final NONMEM model was developed using all data from 119 patients to identify important covariates for predicting the heparin pharmacodynamic parameters, volume of distribution, and clearance. Both the volume of distribution and clearance increased following the initiation of dialysis and as the patient's baseline clotting time increased. The volume of distribution also increased as the patient's weight increased but was decreased by smoking and diabetes. Population-based statistical techniques may provide a useful alternative to existing methods for prescribing heparin.