A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism prop...A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples＇ weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.展开更多
This paper presents a practical topological navigation system for indoor mobile robots, making use of a novel artificial landmark which is called MR code. This new kind of paper-made landmarks earl be easi- ly attache...This paper presents a practical topological navigation system for indoor mobile robots, making use of a novel artificial landmark which is called MR code. This new kind of paper-made landmarks earl be easi- ly attached on the ceilings or on the walls, lmealization algorithms for the two cases are given respective- ly. A docking control algorithm is also described, which a robot employs to approach its current goal. A simple topological navigation algorithm is proposed. Experiment results show the effectiveness of the method in real environment.展开更多
Objective cytomorphometric differential diagnostic criteria of breast, thyroid, stomach, and cervical cancer were obtained with the method of atomic force microscopy. Statistically significant increased ratio of the n...Objective cytomorphometric differential diagnostic criteria of breast, thyroid, stomach, and cervical cancer were obtained with the method of atomic force microscopy. Statistically significant increased ratio of the nucleus and the cytoplasm height and the nucleolus and the nucleus height is characteristically for cancer cells compared to normal cells. AFM method allows determining the viral changes in squamous cells by detecting the perinuclear area of enlightenment. AFM allows objectifying immunocytochemistry data by quantifying the height of immune complexes. Possibilities of quantitative immunocytochemistry with AFM are shown in the model of Her2/neu oncoprotein expression in breast cancer and thyroglobulin in papillary thyroid cancer.展开更多
基金Supported by the National Natural Science Foundation of China (No. 60875055)Natural Science Foundation of Tianjin (No. 07JCY-BJC05400)Program for New Century Excellent Talents in University (No. NCET-06-0210)
文摘A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples＇ weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.
基金supported by the National High Technology Research and Development Programme of China(No.2006AA04Z2422006AA04Z258)the National Natural Science Foundation of China(No.60705026)and CASIA Innovation Fund For Young Scientists
文摘This paper presents a practical topological navigation system for indoor mobile robots, making use of a novel artificial landmark which is called MR code. This new kind of paper-made landmarks earl be easi- ly attached on the ceilings or on the walls, lmealization algorithms for the two cases are given respective- ly. A docking control algorithm is also described, which a robot employs to approach its current goal. A simple topological navigation algorithm is proposed. Experiment results show the effectiveness of the method in real environment.
文摘Objective cytomorphometric differential diagnostic criteria of breast, thyroid, stomach, and cervical cancer were obtained with the method of atomic force microscopy. Statistically significant increased ratio of the nucleus and the cytoplasm height and the nucleolus and the nucleus height is characteristically for cancer cells compared to normal cells. AFM method allows determining the viral changes in squamous cells by detecting the perinuclear area of enlightenment. AFM allows objectifying immunocytochemistry data by quantifying the height of immune complexes. Possibilities of quantitative immunocytochemistry with AFM are shown in the model of Her2/neu oncoprotein expression in breast cancer and thyroglobulin in papillary thyroid cancer.
