Robust control of robot manipulators using hybrid H∞/adaptive controller

A robust hybrid control method for robot manipulators is proposed which integrates an H∞ controller and an adaptive controller. The H∞ controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated from the model error will be quickly compensated and so small tracking errors can be achieved.published_or_final_versio

Viral loads in clinical specimens and SARS manifestations.

1. A high viral load in nasopharyngeal aspirate (with or without a high viral load in serum) is a useful prognostic indicator of respiratory failure or mortality. The presence of viral RNA in multiple body sites is also indicative of poor prognosis. 2. Early treatment with an effective antiviral agent before day 10 may decrease the peak viral load, and thus ameliorate the clinical symptoms and mortality, and reduce viral shedding and the risk of transmissionpublished_or_final_versio

Order statistic correlation coefficient and its application to association measurement of biosignals

In this paper we propose a novel and fast nonlinear association measure based on order statistics and rearrangement inequality. We employ one episode of heart signal, one episode of EEG signal and 1000 white Gaussian noises in our study. Extensive statistical analysis are performed based on one linear model and one nonlinear model. Comparative studies with three other prominent methods are presented. Theoretical derivations and experimental results suggest that our new method has small biasedness, high sensitivity to changes in association, fast computational speed, and robustness under monotone nonlinear transformations. © 2006 IEEE.published_or_final_versio

Order statistics correlation coefficient as a novel association measurement with applications to biosignal analysis

In this paper, we propose a novel correlation coefficient based on order statistics and rearrangement inequality. The proposed coefficient represents a compromise between the Pearson's linear coefficient and the two rank-based coefficients, namely Spearman's rho and Kendall's tau. Theoretical derivations show that our coefficient possesses the same basic properties as the three classical coefficients. Experimental studies based on four models and six biosignals show that our coefficient performs better than the two rank-based coefficients when measuring linear associations; whereas it is well able to detect monotone nonlinear associations like the two rank-based coefficients. Extensive statistical analyses also suggest that our new coefficient has superior anti-noise robustness, small biasedness, high sensitivity to changes in association, accurate time-delay detection ability, fast computational speed, and robustness under monotone nonlinear transformations. © 2007 IEEE.published_or_final_versio

Effects of Repeated Central Administration of Endothelin Type A Receptor Antagonist on the Development of Neuropathic Pain in Rats

published_or_final_versio

Use Of Chinese Medicine Among Colorectal Cancer Patients: A Nationwide Population-Based Study.

Background: Traditional Chinese medicine (CM) appears to be used worldwide, especially by cancer patients. The aim of the present study was to explore CM uses and CM non-users by patients with colorectal cancer (CRC).Materials and methods: A retrospective study was conducted using registration and claims data sets for 2007 from the National Health Insurance Research Database. Patients with colorectal cancer were identified from the Registry for Catastrophic illness Patients. Binary logistic regression was used to estimate odds ratios as the measure of association with the use of CM.Results: A total of 61,211 CRC patients diagnosed in 2007 were analysis. Most CM users preferred to visit private clinics (46.9%) with 306,599 visits. In contrast, the majority of CM non-users preferred to visit private hospitals (42.2%) with 538,769 visits. Among all 176,707 cancer-specific CM visit, there were 66.6% visits to CM outpatient department (OPD) of private hospitals, while in 477,612 non-cancer-specific CM visits, 62.0% was for private clinics. The proportion of expenses for diagnostic fees for CM user in CM visits was much less than that for WM visits and CM non-users (US$4.6 vs. 29.3 vs. 33.5). The average cost for CM user in CM was less than that for WM visits and CM non-users (US$6.3 vs. 25.9 vs. 30.3). Female patients, younger age, and patients not living in the northern region, with higher EC or more comorbidities were more likely to receive CM treatment.Conclusion: The prevalence and costs of insurance-covered CM among CRC patients were low. Further longer longitudinal study is needed to follow up this trend.Key words: Chinese Medicine, Digestive System Neoplasms, Health Insuranc

Minimal clinically important difference of the EORTC QLQ-CIPN20 for worsening peripheral neuropathy in patients receiving neurotoxic chemotherapy.

Context/objectivesThis is the first study to determine the minimal clinically important difference (MCID) of the European Organisation of Research and Treatment of Cancer Quality of Life Questionnaire-CIPN twenty-item scale (EORTC QLQ-CIPN20), a validated instrument designed to elicit cancer patients' experience of symptoms and functional limitations related to chemotherapy-induced peripheral neuropathy.MethodsCancer patients receiving neurotoxic chemotherapy completed EORTC QLQ-CIPN20 and the Functional Assessment of Cancer Therapy/Gynecologic Oncology Group-Neurotoxicity [FACT/GOG-NTX] at baseline, second cycle of chemotherapy (T2, n = 287), and 12 months after chemotherapy (T3, n = 191). Anchor-based approach used the validated FACT/GOG-NTX neurotoxicity (Ntx) subscale to identify optimal MCID cutoff for deterioration. Distribution-based approach used one-third standard deviation (SD), half SD, and one standard error of measurement of the total EORTC QLQ-CIPN20 score.ResultsThere was a moderate correlation between the change scores of the Ntx subscale and sensory and motor subscales of QLQ-CIPN20 (T2: r = - 0.722, p < 0.001 and r = - 0.518, p < 0.001, respectively; T3: r = - 0.699; p < 0.001 and r = - 0.523, p < 0.001, respectively). The correlation between the change scores of the Ntx subscale and the QLQ-CIPN20 autonomic subscale was poor (T2: r = - 0.354, p < 0.001; T3: r = 0.286, p < 0.001). Based on the MCID derived using distribution-based method, the MCID for the QLQ-CIPN20 sensory subscale was 2.5-5.9 (6.9% to 16.4% of the subdomain score) and for motor subscale was 2.6-5.0 (8.1%-15.6% of the subdomain score).ConclusionThe MCID for the EORTC QLQ-CIPN20 established using distribution-based approaches was 2.5-5.9 for the sensory subscale and 2.6-5.0 for the motor subscale. When noted in assessments even with small change in scores, clinicians can be alerted for appropriate intervention

Early detection of neurodegeneration in brain ischemia by manganese-enhanced MRI

This study aims to employ in vivo manganese-enhanced MRI (MEMRI) to detect neurodegenerative changes in two models of brain ischemia, photothrombotic cortical injury (PCI) and transient middle cerebral artery occlusion (MCAO) in rodents. After systemic Mn 2+ injection to both ischemic models, a close pattern of Tl-weighted hyperintensity was observed throughout different brain regions in comparison to the distribution of GFAP, MnSOD and GS immunoreactivities, whereby conventional MRI could hardly detect such. In addition, the infarct volumes in the posterior parts of the brain had significantly reduced after Mn 2+ injection to the MCAO model. It is suggested that exogenous Mn 2+ injection may provide enhanced MEMRI detection of oxidative stress and gliosis early after brain ischemia. Manganese may also mediate infarctions at remote brain regions in transient focal cerebral ischemia before delayed secondary damage takes place. © 2008 IEEE.published_or_final_versionThe 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS) 2008, Vancouver, BC., 20-25 August 2008. in Proceedings of the 30th EMBS, 2008, p. 3884-388

A computational study on altered theta-gamma coupling during learning and phase coding

There is considerable interest in the role of coupling between theta and gamma oscillations in the brain in the context of learning and memory. Here we have used a neural network model which is capable of producing coupling of theta phase to gamma amplitude firstly to explore its ability to reproduce reported learning changes and secondly to memory-span and phase coding effects. The spiking neural network incorporates two kinetically different GABAA receptor-mediated currents to generate both theta and gamma rhythms and we have found that by selective alteration of both NMDA receptors and GABAA,slow receptors it can reproduce learning-related changes in the strength of coupling between theta and gamma either with or without coincident changes in theta amplitude. When the model was used to explore the relationship between theta and gamma oscillations, working memory capacity and phase coding it showed that the potential storage capacity of short term memories, in terms of nested gamma-subcycles, coincides with the maximal theta power. Increasing theta power is also related to the precision of theta phase which functions as a potential timing clock for neuronal firing in the cortex or hippocampus

Modulated Instability in Five-Dimensional U(1) Charged AdS Black Hole with R**2-term

We study the effect of R**2 term to the modulated instability in the U(1) charged black hole in five-dimensional Anti-de Sitter space-time. We consider the first-order corrections of R**2 term to the background and the linear order perturbations in the equations of motion. From the analysis, we clarify the effect of R**2 term in the modulated instability, and conclude that fluctuations are stable in the whole bulk in the range of values the coefficient of R**2 term can take.Comment: 19 pages, 1 figures; (v4) Published version in JHE