IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink

This paper proposes an integrated development framework that enables co-simulation and operation of a Robot Operating System (ROS)-based self-driving system using MATLAB/Simulink (IDF-Autoware). The management of self-driving systems is becoming more complex as the development of self-driving technology progresses. One approach to the development of self-driving systems is the use of ROS; however, the system used in the automotive industry is typically designed using MATLAB/Simulink, which can simulate and evaluate the models used for self-driving. These models are incompatible with ROS-based systems. To allow the two to be used in tandem, it is necessary to rewrite the C++ code and incorporate them into the ROS-based system, which makes development inefficient. Therefore, the proposed framework allows models created using MATLAB/Simulink to be used in a ROS-based self-driving system, thereby improving development efficiency. Furthermore, our evaluations of the proposed framework demonstrated its practical potential

肥大型心筋症病像の長期経過に関する研究: 心電図および左室造影像の経年変化による検討

取得学位 : 博士（医学）, 学位授与番号 : 医博乙第1134号, 学位授与年月日：平成3年7月3日,学位授与年：199

A Structure-Guided Diffusion Model for Large-Hole Image Completion

Image completion techniques have made significant progress in filling missing regions (i.e., holes) in images. However, large-hole completion remains challenging due to limited structural information. In this paper, we address this problem by integrating explicit structural guidance into diffusion-based image completion, forming our structure-guided diffusion model (SGDM). It consists of two cascaded diffusion probabilistic models: structure and texture generators. The structure generator generates an edge image representing plausible structures within the holes, which is then used for guiding the texture generation process. To train both generators jointly, we devise a novel strategy that leverages optimal Bayesian denoising, which denoises the output of the structure generator in a single step and thus allows backpropagation. Our diffusion-based approach enables a diversity of plausible completions, while the editable edges allow for editing parts of an image. Our experiments on natural scene (Places) and face (CelebA-HQ) datasets demonstrate that our method achieves a superior or comparable visual quality compared to state-of-the-art approaches. The code is available for research purposes at https://github.com/UdonDa/Structure_Guided_Diffusion_Model.Comment: BMVC2023. Code: https://github.com/UdonDa/Structure_Guided_Diffusion_Mode

Usefulness of Fluorine-18-Fluorodeoxyglucose Positron Emission Tomography in a Patient With Takayasu\u27s Arteritis Associated With Antiphospholipid Syndrome

A 36-year-old woman was admitted for recurring chest pain and hemoptysis. Blood pressure in the right and left arms was equal, and no murmurs or bruits were heard. Body temperature was normal on admission and remained within the normal range during the hospital stay. C-reactive protein was slightly elevated (2.3 mg/dL) and lupus anticoagulant was positive. Angiography showed no abnormality of the aorta or its branches, but the left pulmonary artery showed occlusion at the proximal portion. Computed tomography (CT) revealed segmental wall thickening of the thoracic aorta. Fluorine-18-fluorodeoxyglucose positron emission tomography (18FDG PET) showed high uptake in the proximal portion of the left pulmonary artery and in the thoracic aorta with wall thickening on CT. Based on these findings, a diagnosis of Takayasu\u27s arteritis associated with antiphospholipid syndrome was made and high-dose steroid therapy (prednisolone 30 mg/day) was started. Two months later, the C-reactive protein level had decreased from 2.3 mg/dL to 1.1 mg/dL, and both the focal wall thickening and 18FDG uptake of the thoracic aorta were decreased. 18FDG PET was useful for evaluating the efficacy of the steroid therapy in addition to making a diagnosis of Takayasu\u27s arteritis associated with antiphospholipid syndrome

Bayesian network considering the clustering of the customers in a hair salon

The service industry, which includes hair salons, currently accounts for almost 70% of Japan’s GDP(Gross Domestic Product). Although hair salons are frequently used, over the years, the industry has decreased in size. However, the number of hair-salon facilities and the number of hairdressers have both continued to increase, thus leading to the overcrowding of salons. Consequently, about 90% of hair salons close within 3 years after they first open; this is a significant issue. Today, various business approaches, such as using coupons, have been positively adopted by the Japanese hair-salon industry. However, some customers use a salon only once, while others use them repeatedly. Consequently, the effectiveness of different business measures can vary greatly, so it is necessary to conduct analyses of the various approaches. Therefore, from a management perspective, it is important to use actual data analysis to determine what types of menu items are most effective. In this study, we have identified soft clusters of customers by using an extension of the recency-frequency-monetary (RFM) analysis that is based on soft clustering. We used a Bayesian network to construct a causal model for each class that was obtained in this way. We also proposed a method that uses sensitivity analysis to determine an optimal menu for business measures

Twist–Bend Nematic Phase Behavior of Cyanobiphenyl-Based Dimers with Propane, Ethoxy, and Ethylthio Spacers

The twist–bend nematic (NTB) phase is a liquid crystal (LC) phase with a heliconical structure that typically forms below the temperature of the conventional nematic (N) phase. By contrast, the direct transition between the NTB and isotropic (Iso) phases without the intermediation of the N phase rarely occurs. Herein, we demonstrate the effects of linkage type (i.e., methylene, ether, and thioether) on the typical Iso–N–NTB and rare direct Iso–NTB phase-transition behaviors of cyanobiphenyl (CB) dimers CB3CB, CB2OCB, and CB2SCB bearing three-atom-based propane, ethoxy, and ethylthio spacers, respectively. In our previous study, CB2SCB exhibited the monotropic direct Iso–NTB phase transition. In this study, we report that CB3CB also shows the direct Iso–NTB phase transition, whereas CB2OCB exhibits the typical Iso–N–NTB phase sequence with decreasing temperature. The Iso–LC (Iso–NTB or Iso–N) phase-transition temperatures upon cooling show the order CB2OCB (108 °C) > CB3CB (49 °C) > CB2SCB (43 °C). The thioether-linked CB2SCB is vitrifiable, whereas CB3CB and CB2OCB exhibit strong crystallization tendencies. The phase-transition behaviors are also discussed in terms of the three bent homologous series with different oligomethylene spacers n: CBnCB, CBnOCB, and CBnSCB

Twist–Bend Nematic Phase Behavior of Cyanobiphenyl-Based Dimers with Propane, Ethoxy, and Ethylthio Spacers

The twist–bend nematic (NTB) phase is a liquid crystal (LC) phase with a heliconical structure that typically forms below the temperature of the conventional nematic (N) phase. By contrast, the direct transition between the NTB and isotropic (Iso) phases without the intermediation of the N phase rarely occurs. Herein, we demonstrate the effects of linkage type (i.e., methylene, ether, and thioether) on the typical Iso–N–NTB and rare direct Iso–NTB phase-transition behaviors of cyanobiphenyl (CB) dimers CB3CB, CB2OCB, and CB2SCB bearing three-atom-based propane, ethoxy, and ethylthio spacers, respectively. In our previous study, CB2SCB exhibited the monotropic direct Iso–NTB phase transition. In this study, we report that CB3CB also shows the direct Iso–NTB phase transition, whereas CB2OCB exhibits the typical Iso–N–NTB phase sequence with decreasing temperature. The Iso–LC (Iso–NTB or Iso–N) phase-transition temperatures upon cooling show the order CB2OCB (108 °C) > CB3CB (49 °C) > CB2SCB (43 °C). The thioether-linked CB2SCB is vitrifiable, whereas CB3CB and CB2OCB exhibit strong crystallization tendencies. The phase-transition behaviors are also discussed in terms of the three bent homologous series with different oligomethylene spacers n: CBnCB, CBnOCB, and CBnSCB