98 research outputs found

    Prioritized Planning for Target-Oriented Manipulation via Hierarchical Stacking Relationship Prediction

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    In scenarios involving the grasping of multiple targets, the learning of stacking relationships between objects is fundamental for robots to execute safely and efficiently. However, current methods lack subdivision for the hierarchy of stacking relationship types. In scenes where objects are mostly stacked in an orderly manner, they are incapable of performing human-like and high-efficient grasping decisions. This paper proposes a perception-planning method to distinguish different stacking types between objects and generate prioritized manipulation order decisions based on given target designations. We utilize a Hierarchical Stacking Relationship Network (HSRN) to discriminate the hierarchy of stacking and generate a refined Stacking Relationship Tree (SRT) for relationship description. Considering that objects with high stacking stability can be grasped together if necessary, we introduce an elaborate decision-making planner based on the Partially Observable Markov Decision Process (POMDP), which leverages observations and generates the least grasp-consuming decision chain with robustness and is suitable for simultaneously specifying multiple targets. To verify our work, we set the scene to the dining table and augment the REGRAD dataset with a set of common tableware models for network training. Experiments show that our method effectively generates grasping decisions that conform to human requirements, and improves the implementation efficiency compared with existing methods on the basis of guaranteeing the success rate.Comment: 8 pages, 8 figure

    Randomized controlled trial to treat migraine with acupuncture: design and protocol

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    <p>Abstract</p> <p>Background and motivation</p> <p>The effectiveness of using acupuncture to treat migraine is rarely and even suspectedly reported in the literature. In this article, we report the design and the protocol of a randomized controlled large-scale trial to treat migraine using acupuncture, aiming at testifying it is effective to use acupuncture to treat migraine. We demonstrate also that the effectiveness of the treatment may vary due to using acupoints of different meridians or different acupoints of one meridian.</p> <p>Methods and design</p> <p>A multi-center randomized controlled trial is currently undergoing, with three acupoints treatment groups and one non-acupoints control group. The acupuncture treatment consists of 20 sessions per patient with a observation period of 20 weeks. In total, 480 patients with Migraine are registered in this study within 8 hospitals in China from March 2008 to June 2009. These patients are randomly assigned to receive one of the following four acupoints treatment groups, i.e. 1) specific acupoints of Shaoyang meridians (120 patients), 2) non-specific acupoints of Shaoyang meridians (120 patients), 3) acupoints of other meridians (120 patients); or 4) non-acupoints control group (120 patients). The main outcome measurement in this trial is the effect comparison achieved among these four groups in terms of number of days with migraine and intensity of migraine during and after the baseline phase, i.e. the first 4 weeks before randomization and 4, 8 and 16 weeks after randomization. The intensity of headache including Headache intensity grade (0–3) and visual analogue scale (VAS) score will also be used in this study. In addition, the differences of Migraine-Specific Quality-of-Life Questionnaire (MSQ) and Transcranial Doppler Sonography (TCD) before and after randomization are also used as the secondary outcome measurement.</p> <p>Discussion</p> <p>The result of this trial (which will be available in 2009) will demonstrate the efficacy of using acupuncture to treat migraine, and verify whether the specific effect of acupoints exists and whether this specific effect of acupoints is related to meridian and a collection of meridian Qi.</p> <p>Trials registration</p> <p>Clinical Trials.gov NCT00599586</p

    Impact of fish consumption on all-cause mortality in older people with and without dementia: a community-based cohort study

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    BACKGROUND Increased fish consumption reduces the risk of dementia. However, it is unknown whether fish consumption reduced all-cause mortality in people with dementia. The purpose of the study is to investigate the association of fish consumption with all-cause mortality in older people with dementia versus those without dementia. METHODS Using a standard method of the Geriatric Mental State, we interviewed 4165 participants aged ≄ 60 years who were randomly recruited from five provinces in China during 2007-2009 to collect the baseline data of socio-demography, disease risk factors, histories of disease, and details of dietary intakes, and diagnosed dementia (n = 406). They were followed up for vital status until 2012. RESULTS The cohort follow-up documented 329 deaths; 61 were in participants with dementia (55.3 per 1000 person-years) and 224 were those without dementia (22.3). In all participants, the risk of all-cause mortality was reduced with fish intake at " ≄ twice a week" (multivariate-adjusted hazard ratio 0.58, 95% CI 0.34-0.96) and at "once a week or less" (0.79, 0.53-1.18) compared to "never eat" over the past two years. In participants without baseline dementia, the corresponding HRs for all-cause mortality were 0.57 (0.33-0.98) and 0.85 (0.55-1.31), while in participants with dementia were 1.36 (0.28-6.60) and 1.05 (0.30-3.66), respectively. CONCLUSION This study reveals that consumption of fish in older age reduced all-cause mortality in older people without dementia, but not in people with dementia. Fish intake should be increased in older people in general, prior to the development of dementia in the hope of preventing dementia and prolonging life

    Impact of fish consumption on all-cause mortality in older people with and without dementia: a community-based cohort study

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    © 2022 The Authors. Published by Springer. This is an open access article available under a Creative Commons licence. The published version can be accessed at the following link on the publisher’s website: https://doi.org/10.1007/s00394-022-02887-yBackground: Increased fish consumption reduces the risk of dementia. However, it is unknown whether fish consumption reduced all-cause mortality in people with dementia. The purpose of the study is to investigate the association of fish consumption with all-cause mortality in older people with dementia versus those without dementia. Methods: Using a standard method of the Geriatric Mental State, we interviewed 4165 participants aged ≄ 60 years who were randomly recruited from five provinces in China during 2007–2009 to collect the baseline data of socio-demography, disease risk factors, histories of disease, and details of dietary intakes, and diagnosed dementia (n = 406). They were followed up for vital status until 2012. Results: The cohort follow-up documented 329 deaths; 61 were in participants with dementia (55.3 per 1000 person-years) and 224 were those without dementia (22.3). In all participants, the risk of all-cause mortality was reduced with fish intake at “ ≄ twice a week” (multivariate-adjusted hazard ratio 0.58, 95% CI 0.34–0.96) and at “once a week or less” (0.79, 0.53–1.18) compared to “never eat” over the past two years. In participants without baseline dementia, the corresponding HRs for all-cause mortality were 0.57 (0.33–0.98) and 0.85 (0.55–1.31), while in participants with dementia were 1.36 (0.28–6.60) and 1.05 (0.30–3.66), respectively. Conclusion: This study reveals that consumption of fish in older age reduced all-cause mortality in older people without dementia, but not in people with dementia. Fish intake should be increased in older people in general, prior to the development of dementia in the hope of preventing dementia and prolonging life.The data collection of the five provinces’ cohort study was funded by the BUPA Foundation (Grants Nos. 45NOV06, and TBF-M09-05) and Alzheimer’s Research UK (Grant No. ART/PPG2007B/2). The data management and the final work of the manuscript were supported by the Research fund of Anhui Medical University, China (Grant No. 2021xkjT049). Professor Ruoling Chen and Dr James J Tang thank an EU H2020 MSCA Fellowship (Grant No. DEMAIRPO-799247) to investigate the risk of dementia in relation to air pollution mediated by fish intake.Published versio

    Spatial-temporal clustering of an outbreak of SARS-CoV-2 Delta VOC in Guangzhou, China in 2021

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    BackgroundIn May 2021, the SARS-CoV-2 Delta variant led to the first local outbreak in China in Guangzhou City. We explored the epidemiological characteristics and spatial-temporal clustering of this outbreak.MethodsBased on the 153 cases in the SARS-CoV-2 Delta variant outbreak, the Knox test was used to analyze the spatial-temporal clustering of the outbreak. We further explored the spatial-temporal clustering by gender and age groups, as well as compared the changes of clustering strength (S) value between the two outbreaks in Guangzhou.ResultsThe result of the Knox analysis showed that the areas at short distances and brief periods presented a relatively high risk. The strength of clustering of male-male pairs was higher. Age groups showed that clustering was concentrated in cases aged ≀ 18 years matched to 18–59 years and cases aged 60+ years. The strength of clustering of the outbreak declined after the implementation of public health measures. The change of strength of clustering at time intervals of 1–5 days decreased greater in 2021 (S = 129.19, change rate 38.87%) than that in 2020 (S = 83.81, change rate 30.02%).ConclusionsThe outbreak of SARS-CoV-2 Delta VOC in Guangzhou has obvious spatial-temporal clustering. The timely intervention measures are essential role to contain this outbreak of high transmission

    Tracking Ecosystem Water Use Efficiency of Cropland by Exclusive Use of MODIS EVI Data

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    One of the most important linkages that couple terrestrial carbon and water cycles is ecosystem water use efficiency (WUE), which is relevant to the reasonable utilization of water resources and farming practices. Eddy covariance techniques provide an opportunity to monitor the variability in WUE and can be integrated with Moderate Resolution Imaging Spectroradiometer (MODIS) observations. Scaling up in situ observations from flux tower sites to large areas remains challenging and few studies have been reported on direct estimation of WUE from remotely-sensed data. This study examined the main environmental factors driving the variability in WUE of corn/soybean croplands, and revealed the prominent role of solar radiation and temperature. Time-series of MODIS-derived enhanced vegetation indices (EVI), which are proxies for the plant responses to environmental controls, were also strongly correlated with ecosystem WUE, thereby implying great potential for remote quantification. Further, both performance of the indirect MODIS-derived WUE from gross primary productivity (GPP) and evapotranspiration (ET), and the direct estimates by exclusive use of MODIS EVI data were evaluated using tower-based measurements. The results showed that ecosystem WUE were overpredicted at the beginning and ending of crop-growth periods and severely underestimated during the peak periods by the indirect estimates from MODIS products, which was mainly attributed to the error source from MODIS GPP. However, a simple empirical model that is solely based on MODIS EVI data performed rather well to capture the seasonal variations in WUE, especially for the growing periods of croplands. Independent validation at different sites indicates the method has potential for broad application
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