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基于多模态时间序列建模的机器人安全监控 被引量:3
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作者 吴鸿敏 张国英 +1 位作者 管贻生 juan rojas 《哈尔滨工业大学学报》 EI CAS CSCD 北大核心 2020年第1期126-132,共7页
针对多模态时间序列建模的机器人安全监控问题,基于多模态粘性层级狄利克雷过程隐马尔可夫模型(MD-sHDPHMM)提出了一种能准确、可靠、快速、通用地实现机器人执行过程识别与异常事件监测的方法.该方法首先把机器人的执行任务分割成序列... 针对多模态时间序列建模的机器人安全监控问题,基于多模态粘性层级狄利克雷过程隐马尔可夫模型(MD-sHDPHMM)提出了一种能准确、可靠、快速、通用地实现机器人执行过程识别与异常事件监测的方法.该方法首先把机器人的执行任务分割成序列化的执行过程,然后通过对比执行过程中累积观察数据的对数似然函数值的大小实现执行过程的识别.在此基础上,根据正常执行过程训练得到的对数似然函数值的梯度阈值,实现了机器人执行过程中的实时异常监测.实验结果表明,该方法能有效地实现基于多模态时间序列建模的机器人安全监控. 展开更多
关键词 多模态时间序列 安全监控 执行过程识别 异常监测 层级狄利克雷过程隐马尔可夫模型 梯度阈值
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Glutathione peroxidase activity in cell cultures from different regions of human epididymis 被引量:2
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作者 Enrique Castellon Hernan Rioseco +4 位作者 juan rojas Michel Royer Eduardo Salas Hoctor Contreras Christian Huidobro 《Asian Journal of Andrology》 SCIE CAS CSCD 2005年第1期33-37, ,共5页
Aim: To study the secretory activity and androgen regulation of glutathione peroxidase (GPx) in epithelial cell cultures from human epididymis. Methods: Tissue was obtained from patients undergoing therapeutic orchide... Aim: To study the secretory activity and androgen regulation of glutathione peroxidase (GPx) in epithelial cell cultures from human epididymis. Methods: Tissue was obtained from patients undergoing therapeutic orchidectomy for prostatic cancer. Epithelial cell cultures were obtained from the caput, corpus and cauda epididymides. Enzymatic activity was measured in conditioned media by colorimetric methods in absence or presence of 1, 10 or 100 nrnoI.L^(-1) testosterone. The effect of 1 μmol.L^(-1) flutamide was also evaluated. Results: GPx activity was higher in cultures from corpus and cauda than caput epididymidis. The presence of different concentrations of testosterone increase enzyme activity in cell cultures from all epididymal regions. Addition of flutamide reverses the androgen dependent increase of GPx activity. Conclusion: GPx activity is secreted from human epididymal cells in a region dependent manner and is regulated by androgens. 展开更多
关键词 glutathione peroxidase human epididymis cell culture androgen regulation
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