Tolerance Specification of Robot Kinematic Parameters Using an Experimental Design Technique

This paper presents the tolerance specification of robot kinematic parameters using the Taguchi method. The concept of employing inner and outer orthogonal arrays to identify the significant parameters and select the optimal tolerance range for each parameter is proposed. The performance measure based on signal-to-noise ratios (S/N) using the Taguchi method is validated by Monte Carlo simulations. Finally, a step-by-step tolerance specification methodology is developed and illustrated with a planar two-link manipulator and a five-degree-of-freedom Rhino robot

Stroke Prevention in Atrial Fibrillation:A Scientific Statement of JACC: Asia (Part 2)

Atrial fibrillation (AF) is the most common sustained cardiac arrhythmia and is associated with substantial increases in the risk for stroke and systemic thromboembolism. With the successful introduction of the first non-vitamin K antagonistdirect oral anticoagulant agent (NOAC) in 2009, the role of vitamin K antagonists has been replaced in most clinical settings except in a few conditions for which NOACs are contraindicated. Data for the use of NOACs in different clinical scenarios have been accumulating in the past decade, and a more sophisticated strategy for patients with AF is now warranted. JACC: Asia recently appointed a working group to summarize the most updated information regarding stroke prevention in AF. The aim of this statement is to provide possible treatment options in daily practice. Local availability, cost, and patient comorbidities should also be considered. Final decisions may still need to be individualized and based on clinicians’ discretion. This is part 2 of the statement

Stroke Prevention in Atrial Fibrillation:A Scientific Statement of JACC: Asia (Part 1)

Atrial fibrillation is the most common sustained cardiac arrhythmia and is associated with substantial increases in the risk of stroke and systemic thromboembolism. With the successful introduction of the first non-vitamin K antagonist direct oral anticoagulant (NOAC) in 2009, the role of vitamin K antagonists has been replaced in most clinical settings except in a few conditions when NOACs are contraindicated. Data for the use of NOACs in different clinical scenarios have been accumulating in the recent decade, and a more sophisticated strategy for atrial fibrillation patients is now warranted. JACC: Asia recently appointed a working group to summarize the most updated information regarding stroke prevention in AF. This statement aimed to provide possible treatment option in daily practice. Local availability, cost, and patient comorbidities should also be considered. Final decisions may still need to be individualized and based on clinicians’ discretion. This is the part 1 of the whole statement

B --> Phi K_S and Supersymmetry

The rare decay B --> Phi K_S is a well-known probe of physics beyond the Standard Model because it arises only through loop effects yet has the same time-dependent CP asymmetry as B --> Psi K_S. Motivated by recent data suggesting new physics in B --> Phi K_S, we look to supersymmetry for possible explanations, including contributions mediated by gluino loops and by Higgs bosons. Chirality-preserving LL and RR gluino contributions are generically small, unless gluinos and squarks masses are close to the current lower bounds. Higgs contributions are also too small to explain a large asymmetry if we impose the current upper limit on B(B_s --> mu mu). On the other hand, chirality-flipping LR and RL gluino contributions can provide sizable effects and while remaining consistent with related results in B --> Psi K_S, Delta M_s, B --> X_s gamma and other processes. We discuss how the LR and RL insertions can be distinguished using other observables, and we provide a string-based model and other estimates to show that the needed sizes of mass insertions are reasonable.Comment: 33 pages, 32 figures, Updated version for PRD. Includes discussions of other recent works on this topic. Added discussions & plots for gluino mass dependence and effects of theoretical uncertaintie

Nonfactorizable contributions to B→D(∗)MB \to D^{(*)} M decays

While the factorization assumption works well for many two-body nonleptonic $B$ meson decay modes, the recent measurement of $\bar B\to D^{(*)0}M^0$ with $M=\pi$, $\rho$ and $\omega$ shows large deviation from this assumption. We analyze the $B\to D^{(*)}M$ decays in the perturbative QCD approach based on $k_T$ factorization theorem, in which both factorizable and nonfactorizable contributions can be calculated in the same framework. Our predictions for the Bauer-Stech-Wirbel parameters, $|a_2/a_1|= 0.43\pm 0.04$ and $Arg(a_2/a_1)\sim -42^\circ$ and $|a_2/a_1|= 0.47\pm 0.05$ and $Arg(a_2/a_1)\sim -41^\circ$, are consistent with the observed $B\to D\pi$ and $B\to D^*\pi$ branching ratios, respectively. It is found that the large magnitude $|a_2|$ and the large relative phase between $a_2$ and $a_1$ come from color-suppressed nonfactorizable amplitudes. Our predictions for the ${\bar B}^0\to D^{(*)0}\rho^0$, $D^{(*)0}\omega$ branching ratios can be confronted with future experimental data.Comment: 25 pages with Latex, axodraw.sty, 6 figures and 5 tables, Version published in PRD, Added new section 5 and reference

Charmless hadronic decays B→PP,PV,VVB \to PP, PV, VV and new physics effects in the general two-Higgs doublet models

Based on the low-energy effective Hamiltonian with the generalized factorization, we calculate the new physics contributions to the branching ratios of the two-body charmless hadronic decays of $B_u$ and $B_d$ mesons induced by the new gluonic and electroweak charged-Higgs penguin diagrams in the general two-Higgs doublet models (models I, II and III). Within the considered parameter space, we find that: (a) the new physics effects from new gluonic penguin diagrams strongly dominate over those from the new $\gamma$- and $Z^0$- penguin diagrams; (b) in models I and II, new physics contributions to most studied B meson decay channels are rather small in size: from -15% to 20%; (c) in model III, however, the new physics enhancements to the penguin-dominated decay modes can be significant, $\sim (30 -200)$, and therefore are measurable in forthcoming high precision B experiments; (d) the new physics enhancements to ratios {\cal B}(B \to K \etap) are significant in model III, $\sim (35 -70)$, and hence provide a simple and plausible new physics interpretation for the observed unexpectedly large B \to K \etap decay rates; (e) the theoretical predictions for ${\cal B}(B \to K^+ \pi)$ and ${\cal B}(B \to K^0 \pi^+)$ in model III are still consistent with the data within $2\sigma$ errors; (f) the significant new physics enhancements to the branching ratios of $B \to K^0 \pi^0, K^* \eta, K^{*+} \pi^-, K^+ \phi, K^{*0} \omega, K^{*+} \phi$ and $K^{*0} \phi$ decays are helpful to improve the agreement between the data and the theoretical predictions; (g) the theoretical predictions of ${\cal B}(B \to PP, PV, VV)$ in the 2HDM's are generally consistent with experimental measurements and upper limits ($90$)Comment: 55 pages, Latex file, 17 PS and EPS figures. With minor corrections, final version to be published in Phys.Rev. D. Repot-no: PKU-TH-2000-4

Plant Diversity Changes during the Postglacial in East Asia: Insights from Forest Refugia on Halla Volcano, Jeju Island

Understanding how past climate changes affected biodiversity is a key issue in contemporary ecology and conservation biology. These diversity changes are, however, difficult to reconstruct from paleoecological sources alone, because macrofossil and pollen records do not provide complete information about species assemblages. Ecologists therefore use information from modern analogues of past communities in order to get a better understanding of past diversity changes. Here we compare plant diversity, species traits and environment between late-glacial Abies, early-Holocene Quercus, and mid-Holocene warm-temperate Carpinus forest refugia on Jeju Island, Korea in order to provide insights into postglacial changes associated with their replacement. Based on detailed study of relict communities, we propose that the late-glacial open-canopy conifer forests in southern part of Korean Peninsula were rich in vascular plants, in particular of heliophilous herbs, whose dramatic decline was caused by the early Holocene invasion of dwarf bamboo into the understory of Quercus forests, followed by mid-Holocene expansion of strongly shading trees such as maple and hornbeam. This diversity loss was partly compensated in the Carpinus forests by an increase in shade-tolerant evergreen trees, shrubs and lianas. However, the pool of these species is much smaller than that of light-demanding herbs, and hence the total species richness is lower, both locally and in the whole area of the Carpinus and Quercus forests. The strongly shading tree species dominating in the hornbeam forests have higher leaf tissue N and P concentrations and smaller leaf dry matter content, which enhances litter decomposition and nutrient cycling and in turn favored the selection of highly competitive species in the shrub layer. This further reduced available light and caused almost complete disappearance of understory herbs, including dwarf bamboo

Global surveillance of cancer survival 1995-2009: analysis of individual data for 25,676,887 patients from 279 population-based registries in 67 countries (CONCORD-2)

BACKGROUND: Worldwide data for cancer survival are scarce. We aimed to initiate worldwide surveillance of cancer survival by central analysis of population-based registry data, as a metric of the effectiveness of health systems, and to inform global policy on cancer control. METHODS: Individual tumour records were submitted by 279 population-based cancer registries in 67 countries for 25·7 million adults (age 15-99 years) and 75,000 children (age 0-14 years) diagnosed with cancer during 1995-2009 and followed up to Dec 31, 2009, or later. We looked at cancers of the stomach, colon, rectum, liver, lung, breast (women), cervix, ovary, and prostate in adults, and adult and childhood leukaemia. Standardised quality control procedures were applied; errors were corrected by the registry concerned. We estimated 5-year net survival, adjusted for background mortality in every country or region by age (single year), sex, and calendar year, and by race or ethnic origin in some countries. Estimates were age-standardised with the International Cancer Survival Standard weights. FINDINGS: 5-year survival from colon, rectal, and breast cancers has increased steadily in most developed countries. For patients diagnosed during 2005-09, survival for colon and rectal cancer reached 60% or more in 22 countries around the world; for breast cancer, 5-year survival rose to 85% or higher in 17 countries worldwide. Liver and lung cancer remain lethal in all nations: for both cancers, 5-year survival is below 20% everywhere in Europe, in the range 15-19% in North America, and as low as 7-9% in Mongolia and Thailand. Striking rises in 5-year survival from prostate cancer have occurred in many countries: survival rose by 10-20% between 1995-99 and 2005-09 in 22 countries in South America, Asia, and Europe, but survival still varies widely around the world, from less than 60% in Bulgaria and Thailand to 95% or more in Brazil, Puerto Rico, and the USA. For cervical cancer, national estimates of 5-year survival range from less than 50% to more than 70%; regional variations are much wider, and improvements between 1995-99 and 2005-09 have generally been slight. For women diagnosed with ovarian cancer in 2005-09, 5-year survival was 40% or higher only in Ecuador, the USA, and 17 countries in Asia and Europe. 5-year survival for stomach cancer in 2005-09 was high (54-58%) in Japan and South Korea, compared with less than 40% in other countries. By contrast, 5-year survival from adult leukaemia in Japan and South Korea (18-23%) is lower than in most other countries. 5-year survival from childhood acute lymphoblastic leukaemia is less than 60% in several countries, but as high as 90% in Canada and four European countries, which suggests major deficiencies in the management of a largely curable disease. INTERPRETATION: International comparison of survival trends reveals very wide differences that are likely to be attributable to differences in access to early diagnosis and optimum treatment. Continuous worldwide surveillance of cancer survival should become an indispensable source of information for cancer patients and researchers and a stimulus for politicians to improve health policy and health-care systems