Acute cerebral infarction in a patient with nodular glomerulopathy—Atypical features and differential diagnosis

AbstractNodular glomerulopathy is a pattern of glomerular injury observed under light microscopy that could result from several diseases presented as nephrotic syndrome clinically. Compared with venous thrombosis, cerebral infarction resulting from arterial thrombosis is relatively rare in these patients. We report an interesting case of severe nephrotic syndrome complicated with acute cerebral infarction, and renal biopsy revealed nodular glomerulopathy under light microscopy. Immunofluorescent staining was positive for λ light chain (predominant) and κ light chain, mainly in mesangial areas, and electron microscopic study showed massive amorphous acellular deposits also in mesangial areas with some local extension to subendothelial space. Congo red stain gave negative results under polarized light. The case was concluded as an atypical presentation of light chain deposition disease both pathologically and clinically

Trajectory Planning and Control of a 7-DOF Robotic Manipulator

This thesis presents an inverse kinematics (IK) method and a trajectory tracking approach for a 7-DOF robotic manipulator. The system structure of the manipulator is first designed and its forward kinematics is then derived using its Denavit-Hartenberg (DH) parameters. Based on the DH model, an inverse kinematics method using the combination of particle-swarm optimization (PSO) and genetic algorithm (GA) is proposed to find the seven joint angles of the manipulator while moving from one point to another, and then a smooth continuous trajectory is planned by connecting several via points. For trajectory tracking, a Jacobian inverse kinematic method along with a P controller and PI speed joint controllers is used to achieve trajectory tracking control with an acceptable accuracy. The effectiveness and merit of the proposed trajectory planning and tracking methods are well exemplified by conducting two simulations.本論文的目標是設計一七個自由度輕量型機器手臂之造型與機械結構，推導分析該手臂之正逆向運動學，以及提出該機器手臂在三維空間運動時的軌跡規劃與軌跡追蹤控制方法。此手臂具有六個功能相同，外型相似的中空鋁合金桿件；該桿件內含一組直流伺服馬達與其驅動器，減速機，電力供應模組，位置與轉矩感測器等元件所組成。本文參考Kuka公司的輕量型機器手臂，修改其結構並改善其關節角度限制，然後進行順向運動學之推導，並使用SolidWorks建立輕量型機器手臂的3D模型與干涉分析。在軌跡規劃之程序中，首先整合粒子群與基因演算法之方法被用來求解該手臂從已知起始點至終點的七個關節的最佳角度，然後再使用B-spline曲線得到平滑化的運動軌跡。軌跡追蹤姿態控制有兩種方法: 其一是使用同時可達到關節位置與速度追蹤之PIV控制器，驅動該手臂追蹤所規劃的軌跡。其二是使用一外在感測器，結合修正阻尼最小平方法之Jacobian逆向運動方法，再結合一簡單的P控制器與PI關節速度控制器來驅動該手臂系統，達成閉迴路手臂之控制目標。許多電腦模擬成果例證所提方法的效用性能與技術特點。Acknowledgements…………i 中文摘要.………………… ii Abstract…………………… iii Contents……………………iiv List of Figures vii List of Tables xi Nomenclature xii List of Acronyms xv Chapter 1 Introduction 1 1.1 Introducton 1 1.2 Literature Survey 2 1.3 Motivation and Objectives Disadvantages 9 1.4 Main Contributions 10 1.5 Thesis Organization 11 Chapter 2 Structurale Design and Kinematic Analysis 12 2.1 Introduction 12 2.2 Structure Design 13 2.2.1 Detailed Design Ideas for Each Joint 13 2.3 Kinematic Analysis 18 2.3.1 Denavit-Hartenberg (DH) Parameters 18 2.3.2 Forward Kinematics 20 2.4 Collision Analyses 29 2.5 Concluding Remarks 33 Chapter 3 Inverse Kinematics and Trajectory Generation Using Hybrid PSO-GA Algorithm 34 3.1 Introduction 34 3.2 Hybrid PSO-GA Algorithm for Inverse Kinematics 35 3.2.1 Reproduction 36 3.2.2 Crossover 37 3.2.3 Mutation 37 3.2.4 Fitness Function 37 3.3 Mathematical Formulation for PSO Algorithm 38 3.4 Implementation Steps for PSO-GA Algorithm 40 3.5 Path Planning and Smoothing 42 3.6 Simulations and Discussions 44 3.7 Chapter Summaries 60 Chapter 4 Kinematical Trajectory Tracking Control 61 4.1 Introduction 61 4.2 Semi-Closed-Loop KTT Control 62 4.3 Jacobian Inverse Kinematics 64 4.4 Position and Posture Control Using Closed-Loop JIK KTT Method 67 4.5 Simulations and Discussion 69 4.5.1Trajectory Tracking on KTT control for Pose-to-Pose Movements 69 4.5.2Trajectory Tracking on JIK control for Pose-to-Pose Movements 70 4.5.3 Continuous Trajectory Tracking control 74 4.6 Concluding Remarks 75 Chapter 5 Conclusions and Future Work 77 5.1 Conclusions 77 5.2 Future Work 78 References 7

The application of barrel-plating electrode in electroanalytical chemistry

本研究利用滾筒電鍍方法製作拋棄式金屬滾鍍電極，使其具備成本低廉、大量製作、使用便捷之優點。不僅各種金屬滾鍍電極之電化學行為與傳統金屬修飾電極相同，對於分析物之偵測也有相當好的靈敏度與選擇性。 針對電極形式，開發新型wall-jet flow cell，以提供電極偵測之分析平台。使滾鍍電極結合流動注入分析系統，在電化學分析上更容易達到實驗的方便性與再現性。 在實驗上，鎳滾鍍電極主要有兩部分的使用，一是利用電極的電顯色，可對溶液中的氨基酸，使用肉眼判斷，達到定性目的；另一部份對Glucose之偵測，進而衍生對五種單醣進行分析。同時對於分析靈敏度之不同，利用交流組抗與擴散機制來解釋其立體結構與電極表面間作用力的差異性。 而Cu、Au、Ag四種不同修飾材質之滾鍍電極，分別以Catechol、Hydrogen peroxide (H2O2)、Halogen ion (Br–、I–)等分析物來進行偵測。由實驗結果顯示，的確有令人滿意之分析結果。The electrodes coated by high-cost metal material has good specific and catalytic ability, but its high cost due to be hardly to apply the disposable electrode like screen printed electrode. We demonstrate mass produced, lower cost, and disposable electrode coated with Cu, Ni, Ag, and Au by barrel plating technology. It fabricates a new type of wall-jet cell to BPE (barrel plating electrode). It is not only good repeatability, but also is easy for experiment. It uses this type of Flow cell to apply BPE for research in electro-analytical chemistry. At the experiment, the nickel barrel plating the electrode mainly to have two parts of uses, one is uses the electrode the electricity coloration, may to detect amino acid in the solution, uses the eye to judge, achieves the goal of qualitative; Another part to detection the Glucose, then the derivation carries on the analysis to five kind of monosaccharides. It uses AC impedance and the mechanism of diffusion contral to explain the reaction between analyst structure and electrode surface. Base on the results,we demonstrate th difference of analysis sensitivity. It uses several kinds of BPE determination of halogen ion, ortho-dihydroxyphenol, hydrogen peroxide…etc. The results show present good sensitivity and selectivity.論文摘要 i 目錄 iii 表目錄 vi 圖目錄 vii 一﹑ 滾筒電鍍電極之多樣性 1 (一) 前言 1 (二) 滾筒電鍍電極的製作 2 (三) 滾筒電鍍的應用 4 二﹑ 流動注入分析系統裝置之開發與應用 6 (一) 電化學流動裝置之沿革 6 (二) 新型流動裝置設計與使用概念 7 (三) 新型流動裝置穩定性探討 8 三﹑ 鎳滾筒電鍍電極之多樣性 9 (一) 前言 9 (二) 儀器與設備 11 (三) 電化學分析方法 12 1. 伏安法(Voltammetry) 12 2. 安培法(Amperometry) 14 3. 流動注入分析法(Flow Injection Analysis) 15 4. X光電子能譜儀 17 5. 交流組抗分析法(AC impedance) 19 (1) 交流組抗分析原理 19 (2) 電化學系統之交流阻抗分析 23 (四) 使用藥品與配製方法 27 1. 使用藥品 27 2. 配製方法 27 (五) 鎳滾筒電鍍電極活化步驟 28 1. 循環伏安法活化 30 2. 利用XPS探討鎳表面所形成之氧化層 32 (六) 鎳滾筒電鍍電極偵測葡萄糖 37 1. 實驗參數探討 37 (1) 流速探討 38 (2) 電位探討 39 (3) 校正曲線及偵測極限 40 (4) 五種單醣的偵測結果 42 (七) 電化學表現與機構的探討 45 1. 誘導效應與分析訊號之比較 46 2. 交流阻抗(AC－Impedance) 47 3. 吸附擴散之探討 50 (八) 醣類製品的分析 53 (九) 結論 56 四﹑ 鎳滾筒電鍍電極之電顯色分析 57 (一) 鎳滾筒電鍍電極之電顯色 57 1. 金屬離子親合力色譜法(IMAC)對電顯色之影響 58 2. 組氨酸(Histidine)對鎳滾筒電鍍電極之影響 60 (二) 電顯色在鎳滾筒電鍍電極的變化 64 五﹑未來展望－ 銅、銀、金滾鍍電極之電化學性質評估 68 (一) 前言 68 (二) 儀器與設備 70 (三) 電化學分析方法 70 1. 伏安法(Voltammetry) 70 2. 安培法(Amperometry) 70 3. 流動注入分析法(Flow Injection Analysis) 70 (四) 使用藥品與配製方法 71 1. 使用藥品 71 2. 配置方法 71 (五) 銅滾筒電鍍電極偵測鄰苯二酚類化合物 72 1. 電化學行為 72 2. 實驗參數探討 75 (1) 偵測鄰苯二酚類化合物之流速探討 75 (2) 偵測鄰苯二酚類化合物之電位探討 76 (三) 偵測鄰苯二酚類化合物之校正曲線 78 (六) 金滾筒電鍍電極偵測雙氧水 80 1. 電化學行為 80 2. 校正曲線 83 (七) 銀滾筒電鍍電極偵測鹵素離子 84 1. 電化學行為 84 2. 校正曲線與偵測極限 8

The Return and Volatility Spillover Effect between Stock and Bond Markets under Different Regimes

[[abstract]]本篇文章利用多變量馬可夫狀態轉換GARCH模型(Markov regime switching GARCH，RS -GARCH)探討在不同狀態下，股票市場與債券市場間的外溢效果。本文利用環太平洋各國股票與債券的日資料進行實證分析，實證結果發現：報酬率方面，日本與新加坡在高低波動下皆有資產替代的特性；菲律賓以及台灣等六個國家大部分皆符合財務蔓延的現象。波動度方面，大部分的國家在高波動狀態下，其波動度皆有不對稱的效果。相關性方面，日本與新加坡的相關性在高低波動狀態下皆滿足安全投資轉移的特性；其他國家的相關性則符合財務蔓延的現象。一般而言，大部分國家在市場波動度增加時，會出現符合資產替代、不對稱價格修正、安全投資轉移以及財務蔓延之現象，而且此現象更為明顯。[[abstract]]This article proposes a multivariate Markov regime switching GARCH model (RS -GARCH) to investigate the information spillover effects of stock and bond markets under different market volatility regimes. The model is applied to the daily stock and bond return data of eight Pacific rim countries. Empirical results reveal that Japan and Singapore possess asset substitution effect in return under both high and low volatility states. The rest of the countries exhibit contagion phenomenon. Most of the countries show asymmetric effect in the high volatility state. As for the correlation, Japan and Singapore satisfy the theory of flight to quality and the rest of countries satisfy the contagion theory. In general, most of the countries show the phenomena of asset substitution, asymmetric effect, flight to quality and contagion under high volatility state.[[note]]碩

Hardware Design of False Currency Recognition System

[[abstract]]類神經網路 (Artificial Neural Network ) 這個領域和其它的科學相比算是相當年輕的，儘管如此，在最近幾年裡，它卻一直是研究工作者鑽研的對象之一。因為，我們渴望能夠發展出比目前的機器更聰明、靈巧的機器來服務人類。因此、在許多領域的研究者，像生物學、計算機科學、電機工程、心理學、數學、哲學、機械．．．等等，都同心協力地從各個不同的角度來探討類神經網路。目前，類神經網路大都被應用在作圖形識別、分類、控制．．．等研究上，至於商業化的產品，仍未多見。 本篇論文主要根據的理論是，國內所用以製造鈔票的紙張，乃是一種特殊製造的紙質，在國內政府機關都是嚴格管制，且國內所用以印刷鈔票的油墨顏料都是具有一定相對比例；綜合以上二種製鈔的關鍵技術，都是偽鈔集團所無法突破的，故本論文基於此一特點結合類神經網路，發展出一套適用於真偽鈔辨識的系統。 本篇論文將提出運用數位影像處理 (Digital Image Processing) 及結合可塑性認知網路 (Plastic Perception Neural Network) 來實現真偽鈔辨識系統的商用化研究，並使用德州儀器公司的TMS320DSC25發展平台，將整個體積縮小化，而且操作簡單，輸入單元使用特殊光學影像擷取技術是使用CMOS鏡頭，可快速的將影像擷取，而輸出單元則使用LCM顯示器，可直接知道辨識結果為何。 本文尚包括特殊的光學影像擷取方法、影像物件擷取、雜訊去除以及影像物件特徵值的抽取；特殊的光學式影像擷取方法有助於能夠順利的擷取下隱藏於鈔票中的特殊特徵，例如：防偽線，浮水印，雙面套印．．．等；另一般的鈔票影像辨識乃是採用整體辨識的方法，本系統則採用將鈔票中主要特徵影像，切割成數個特徵物件，再對其做適切的特徵值抽取來加以辨識，本文所採用的特徵向量是結合白色跑長碼（White Run-Length ）與圖素密度（Pixel Density ），可以分別表現出物件的結構性與整體性，以達到高準確的辨識率。[[abstract]]The Artificial Neural Network (ANN) compares younger with the other sciences. In spite of this, it is worth researching for research workers since our thirst for more clever machines. Therefore, the researchers in different fields such as biology, computer science, electrical engineering, psychology, mathematics, philosophy and mechanical engineering etc., are exploring the ANN in different points of view. For the moment, ANN is generally applying for the graph recognition, classification, and control. It is seldom applying for commercial product. The foundation of theory in this thesis is that banknotes are made up of particular papers which are close confinement, and the printing inks and pigments used to print banknotes is a fixed ratio in native. Above-mentioned two key points aren't surmounted for false currency groups. Therefore, this thesis combines the two key points and ANN to develop a system suitable for false currency recognition. This thesis will provide techniques such as Digital Image Processing and Plastic Perception Neural Network for implementation of false currency recognition system in commercial product. We minify the volume and simplify the operation by using the TMS320DSC25 development platform of the Texas Instruments .The input unit uses CMOS sensor for particular optics image retrieving and the output unit uses LCM monitor for displaying the result of the recognition. This thesis involves Particular Optics Image Retrieving, Object Image Capturing, Noise Suppression and Eigenvalue of Object Image Capturing. Particular Optics Image Retrieving is contributive to retrieving special characteristics hiding behind the bank notes such as Metallic Thread，Watermark，Overptints etc.. On the other side, The general recognition of the bank note is introduced to the whole recognition, This system takes some characteristic segments separated from principal characteristic images of the bank note, and captures eigenvalue of the segments to recognize. The characteristic vectors combine White Run-Length and Pixel Density to display apart from the construction and macrocosm of Object in order to have high accuracy of recognition