In conventional aerial photogrammetry, the high accurate photogrammetric point determination is always carried out by aerotriangulation using a great deal of ground control points around the perimeter and in the cente...In conventional aerial photogrammetry, the high accurate photogrammetric point determination is always carried out by aerotriangulation using a great deal of ground control points around the perimeter and in the center of block area because the exterior orien- tation parameters of aerial photographs are unknown. A technological revolution in pho- togrammetry has taken place since Navstar global positioning system (GPS) was applied to determine the 3D coordinates of exposure station positions during the photo flight missions. GPS-supported aerotriangulation is conducted by a combined bundle adjustment for pho- togrammetric observations and the camera orientation data. In this case, the essential ground control points are replaced by GPS-determined camera positions. Recent investigations show this method is coming to the practice. We have been engaged in the theoretical studies, soft- ware development, and related experiments and production in the field since 1990. So far the abundant research achievements are obtained in terms of the theory and application. In this paper,we first derives the mathematical model of GPS-supported aerotriangulation from the geometry between camera and airborne GPS antenna, then describes briefly a software pack- age WuCAPS (Wuhan combined adjustment program system) developed newly by the au- thor,which serves the purpose of the combined bundle adjustment for photogrammetric and non-photogrammetric observations. At the end of the present work, a set of actual aerial pho- tographs,at the image scale of 1: 34 000, with airborne GPS data taken from Tianjing site, China were processed by WuCAPS. The empirical results have verified that the accuracy of the combined bundle adjustment with 4 XYZ ground control points around the corners of block area is very close to that of the conventional bundle adjustment with 3 additional pa- rameters, that leads to reduce 88% field survey and 75% production cost, and can meet the specification of topographic mapping at small or medium scale by GPS-supported aerotriangu- lation without ground control. This shows the ample applicability and the economic benefit of kinematic GPS relative positioning in high accurate photogrammetric point determination.展开更多
AIM:To examine factors influencing percutaneous endoscopic gastrostomy(PEG) uptake and outcomes in motor neuron disease(MND) in a tertiary care centre.METHODS:Case notes from all patients with a confirmed diagnosis of...AIM:To examine factors influencing percutaneous endoscopic gastrostomy(PEG) uptake and outcomes in motor neuron disease(MND) in a tertiary care centre.METHODS:Case notes from all patients with a confirmed diagnosis of MND who had attended the clinic at the Repatriation General Hospital between January 2007 and January 2011 and who had since died,were audited.Data were extracted for demographics(age and gender),disease characteristics(date of onset,bulbar or peripheral predominance,complications),date and nature of discussion of gastrostomy insertion,nutritional status [weight measurements,body mass index(BMI)],date of gastrostomy insertion and subsequent progress(duration of survival) and quality of life(QoL) [Amyotrophic Lateral Sclerosis Functional Rating Scale-Revised(ALSFRS-R)].In addition,the type of clinician initiating the discussion regarding gastrostomy was recorded as Nutritional Support Team(involved in providing nutrition input viz Gastroenterologist,Speech Pathologist,Dietitian) and other(involved in non-nutritional aspects of patient care).Factors affecting placement and outcomes including length of survival,change in weight and QoL were determined.RESULTS:Case records were available for all 86 patients(49 men,mean age at diagnosis 66.4 years).Thirty-eight patients had bulbar symptoms and 48 had peripheral disease as their presenting feature.Sixty-six patients reported dysphagia.Thirty-one patients had undergone gastrostomy insertion.The major indications for PEG placement were dysphagia and weight loss.Nine patients required immediate full feeding,whereas 17 patients initially used the gastrostomy to supplement oral intake,4 for medication administration and 1 for hydration.Initially the PEG regime met 73% ± 31% of the estimated total energy requirements,increasing to 87% ± 32% prior to death.There was stabilization of weight in patients undergoing gastrostomy [BMI at 3 mo(22.6 ± 2.2 kg/m 2) and 6 mo(22.5 ± 2.0 kg/m 2) after PEG placement compared to weight at the time of the procedure(22.5 ± 3.0 kg/m 2)].However,weight loss recurred in the terminal stages of the illness.There was a strong trend for longer survival from diagnosis among MND in PEG recipients with limb onset presentation compared to similar patients who did not undergo the procedure(P = 0.063).Initial discussions regarding PEG insertion occurred earlier after diagnosis when seen by nutrition support team(NST) clinicians compared to other clinicians.(5.4 ± 7.0 mo vs 11.9 ± 13.4 mo,P = 0.028).There was a significant increase in PEG uptake(56% vs 24%,P = 0.011) if PEG discussions were initiated by the NST staff compared to other clinicians.There was no change in the ALSFRS-R score in patients who underwent PEG(pre 34.1 ± 8.6 vs post 34.8 ± 7.4),although in non-PEG recipients there was a nonsignificant fall in this score(33.7 ± 7.9 vs 31.6 ± 8.8).Four patients died within one month of the procedure,4 developed bacterial site infection requiring antibiotics and 1 required endoscopic therapy for gastric bleeding.Less serious complications attributed to the procedure included persistent gastrostomy site discomfort,poor appetite,altered bowel function and bloating.CONCLUSION:Initial discussion with NST clinicians increases PEG uptake in MND.Gastrostomy stabilizes patient weight but weight loss recurs with advancing disease.展开更多
A learning controller of nonhonolomic robot in real-time based on support vector machine(SVM)is presented.The controller includes two parts:one is kinematic controller based on nonlinear law,and the other is dynamic c...A learning controller of nonhonolomic robot in real-time based on support vector machine(SVM)is presented.The controller includes two parts:one is kinematic controller based on nonlinear law,and the other is dynamic controller based on SVM.The kinematic controller is aimed to provide desired velocity which can make the steering system stable.The dynamic controller is aimed to transform the desired velocity to control torque.The parameters of the dynamic system of the robot are estimated through SVM learning algorithm according to the training data of sliding windows in real time.The proposed controller can adapt to the changes in the robot model and uncertainties in the environment.Compared with artificial neural network(ANN)controller,SVM controller can converge to the reference trajectory more quickly and the tracking error is smaller.The simulation results verify the effectiveness of the method proposed.展开更多
Accurate classification of EEG left and right hand motor imagery is an important issue in brain-computer interface. Firstly, discrete wavelet transform method was used to decompose the average power of C3 electrode an...Accurate classification of EEG left and right hand motor imagery is an important issue in brain-computer interface. Firstly, discrete wavelet transform method was used to decompose the average power of C3 electrode and C4 electrode in left-right hands imagery movement during some periods of time. The reconstructed signal of approximation coefficient A6 on the 6al level was selected to build up a feature signal. Secondly, the performances by Fisher Linear Discriminant Analysis with two different threshold calculation ways and Support Vector Machine methods were compared. The final classification results showed that false classification rate by Support Vector Machine was lower and gained an ideal classification results.展开更多
Background difference method[l] is one of the effective paths of improving robot＇ s vision reaction ability, and robots use background difference method to find the moving object in vision range and conduct tracking ...Background difference method[l] is one of the effective paths of improving robot＇ s vision reaction ability, and robots use background difference method to find the moving object in vision range and conduct tracking monitoring of moving objects. Then it uses support vector to conduct learning fitting of moving object, which can effectively predict the moving trend of moving object, and then it fabricates corresponding decision programs to conduct intercept capture of moving objects.展开更多
文摘In conventional aerial photogrammetry, the high accurate photogrammetric point determination is always carried out by aerotriangulation using a great deal of ground control points around the perimeter and in the center of block area because the exterior orien- tation parameters of aerial photographs are unknown. A technological revolution in pho- togrammetry has taken place since Navstar global positioning system (GPS) was applied to determine the 3D coordinates of exposure station positions during the photo flight missions. GPS-supported aerotriangulation is conducted by a combined bundle adjustment for pho- togrammetric observations and the camera orientation data. In this case, the essential ground control points are replaced by GPS-determined camera positions. Recent investigations show this method is coming to the practice. We have been engaged in the theoretical studies, soft- ware development, and related experiments and production in the field since 1990. So far the abundant research achievements are obtained in terms of the theory and application. In this paper,we first derives the mathematical model of GPS-supported aerotriangulation from the geometry between camera and airborne GPS antenna, then describes briefly a software pack- age WuCAPS (Wuhan combined adjustment program system) developed newly by the au- thor,which serves the purpose of the combined bundle adjustment for photogrammetric and non-photogrammetric observations. At the end of the present work, a set of actual aerial pho- tographs,at the image scale of 1: 34 000, with airborne GPS data taken from Tianjing site, China were processed by WuCAPS. The empirical results have verified that the accuracy of the combined bundle adjustment with 4 XYZ ground control points around the corners of block area is very close to that of the conventional bundle adjustment with 3 additional pa- rameters, that leads to reduce 88% field survey and 75% production cost, and can meet the specification of topographic mapping at small or medium scale by GPS-supported aerotriangu- lation without ground control. This shows the ample applicability and the economic benefit of kinematic GPS relative positioning in high accurate photogrammetric point determination.
文摘AIM:To examine factors influencing percutaneous endoscopic gastrostomy(PEG) uptake and outcomes in motor neuron disease(MND) in a tertiary care centre.METHODS:Case notes from all patients with a confirmed diagnosis of MND who had attended the clinic at the Repatriation General Hospital between January 2007 and January 2011 and who had since died,were audited.Data were extracted for demographics(age and gender),disease characteristics(date of onset,bulbar or peripheral predominance,complications),date and nature of discussion of gastrostomy insertion,nutritional status [weight measurements,body mass index(BMI)],date of gastrostomy insertion and subsequent progress(duration of survival) and quality of life(QoL) [Amyotrophic Lateral Sclerosis Functional Rating Scale-Revised(ALSFRS-R)].In addition,the type of clinician initiating the discussion regarding gastrostomy was recorded as Nutritional Support Team(involved in providing nutrition input viz Gastroenterologist,Speech Pathologist,Dietitian) and other(involved in non-nutritional aspects of patient care).Factors affecting placement and outcomes including length of survival,change in weight and QoL were determined.RESULTS:Case records were available for all 86 patients(49 men,mean age at diagnosis 66.4 years).Thirty-eight patients had bulbar symptoms and 48 had peripheral disease as their presenting feature.Sixty-six patients reported dysphagia.Thirty-one patients had undergone gastrostomy insertion.The major indications for PEG placement were dysphagia and weight loss.Nine patients required immediate full feeding,whereas 17 patients initially used the gastrostomy to supplement oral intake,4 for medication administration and 1 for hydration.Initially the PEG regime met 73% ± 31% of the estimated total energy requirements,increasing to 87% ± 32% prior to death.There was stabilization of weight in patients undergoing gastrostomy [BMI at 3 mo(22.6 ± 2.2 kg/m 2) and 6 mo(22.5 ± 2.0 kg/m 2) after PEG placement compared to weight at the time of the procedure(22.5 ± 3.0 kg/m 2)].However,weight loss recurred in the terminal stages of the illness.There was a strong trend for longer survival from diagnosis among MND in PEG recipients with limb onset presentation compared to similar patients who did not undergo the procedure(P = 0.063).Initial discussions regarding PEG insertion occurred earlier after diagnosis when seen by nutrition support team(NST) clinicians compared to other clinicians.(5.4 ± 7.0 mo vs 11.9 ± 13.4 mo,P = 0.028).There was a significant increase in PEG uptake(56% vs 24%,P = 0.011) if PEG discussions were initiated by the NST staff compared to other clinicians.There was no change in the ALSFRS-R score in patients who underwent PEG(pre 34.1 ± 8.6 vs post 34.8 ± 7.4),although in non-PEG recipients there was a nonsignificant fall in this score(33.7 ± 7.9 vs 31.6 ± 8.8).Four patients died within one month of the procedure,4 developed bacterial site infection requiring antibiotics and 1 required endoscopic therapy for gastric bleeding.Less serious complications attributed to the procedure included persistent gastrostomy site discomfort,poor appetite,altered bowel function and bloating.CONCLUSION:Initial discussion with NST clinicians increases PEG uptake in MND.Gastrostomy stabilizes patient weight but weight loss recurs with advancing disease.
基金Project(60910005)supported by the National Natural Science Foundation of China
文摘A learning controller of nonhonolomic robot in real-time based on support vector machine(SVM)is presented.The controller includes two parts:one is kinematic controller based on nonlinear law,and the other is dynamic controller based on SVM.The kinematic controller is aimed to provide desired velocity which can make the steering system stable.The dynamic controller is aimed to transform the desired velocity to control torque.The parameters of the dynamic system of the robot are estimated through SVM learning algorithm according to the training data of sliding windows in real time.The proposed controller can adapt to the changes in the robot model and uncertainties in the environment.Compared with artificial neural network(ANN)controller,SVM controller can converge to the reference trajectory more quickly and the tracking error is smaller.The simulation results verify the effectiveness of the method proposed.
基金The Open Project of the State Key Laboratory of Robotics and System (HIT)the State Key Laboratory of Cognitive Neuroscience and Learning+3 种基金Natural Science Fund for Colleges and Universities in Jiangsu Provincegrant number:105TB51003Natural Science Fund in Changzhougrant number:CJ20110023
文摘Accurate classification of EEG left and right hand motor imagery is an important issue in brain-computer interface. Firstly, discrete wavelet transform method was used to decompose the average power of C3 electrode and C4 electrode in left-right hands imagery movement during some periods of time. The reconstructed signal of approximation coefficient A6 on the 6al level was selected to build up a feature signal. Secondly, the performances by Fisher Linear Discriminant Analysis with two different threshold calculation ways and Support Vector Machine methods were compared. The final classification results showed that false classification rate by Support Vector Machine was lower and gained an ideal classification results.
文摘Background difference method[l] is one of the effective paths of improving robot＇ s vision reaction ability, and robots use background difference method to find the moving object in vision range and conduct tracking monitoring of moving objects. Then it uses support vector to conduct learning fitting of moving object, which can effectively predict the moving trend of moving object, and then it fabricates corresponding decision programs to conduct intercept capture of moving objects.
