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1,937 results on '"Zhao, Jianguo"'

3. An Integrated Approach to Aerial Grasping: Combining a Bistable Gripper with Adaptive Control

Author

Yadav, Rishabh Dev, Jones, Brycen, Gupta, Saksham, Sharma, Amitabh, Sun, Jiefeng, Zhao, Jianguo, and Roy, Spandan

Subjects
Computer Science - Robotics
Abstract

Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position and orientation relative to the grasping object, while negotiating various forms of uncertainties (e.g., contact force from the object). To address such challenges, in this paper, we integrate a novel passive gripper design and advanced adaptive control methods to enable robust aerial grasping. The gripper is enabled by a pre-stressed band with two stable states (a flat shape and a curled shape). In this case, it can automatically initiate the grasping process upon contact with an object. The gripper also features a cable-driven system by a single DC motor to open the gripper without using cumbersome pneumatics. Since the gripper is passively triggered and initially has a straight shape, it can function without precisely aligning the gripper with the object (within an $80$ mm tolerance). Our adaptive control scheme eliminates the need for any a priori knowledge (nominal or upper bounds) of uncertainties. The closed-loop stability of the system is analyzed via Lyapunov-based method. Combining the gripper and the adaptive control, we conduct comparative real-time experimental results to demonstrate the effectiveness of the proposed integrated system for grasping. Our integrated approach can pave the way to enhance aerial grasping for different applications., Comment: 10 pages, 14 figures

Published
2023

5. MC-MLP:Multiple Coordinate Frames in all-MLP Architecture for Vision

Author

Zhu, Zhimin, Zhao, Jianguo, Mu, Tong, Yang, Yuliang, and Zhu, Mengyu

Subjects
Computer Science - Computer Vision and Pattern Recognition
Abstract

In deep learning, Multi-Layer Perceptrons (MLPs) have once again garnered attention from researchers. This paper introduces MC-MLP, a general MLP-like backbone for computer vision that is composed of a series of fully-connected (FC) layers. In MC-MLP, we propose that the same semantic information has varying levels of difficulty in learning, depending on the coordinate frame of features. To address this, we perform an orthogonal transform on the feature information, equivalent to changing the coordinate frame of features. Through this design, MC-MLP is equipped with multi-coordinate frame receptive fields and the ability to learn information across different coordinate frames. Experiments demonstrate that MC-MLP outperforms most MLPs in image classification tasks, achieving better performance at the same parameter level. The code will be available at: https://github.com/ZZM11/MC-MLP.

Published
2023

6. Study on the Optimization of EUR Evaluation Method for Gas Wells in Mizhi Gas Field

Author

Xu, Guangjun, Fan, Hairun, Zhao, Jianguo, Tian, Guoyong, Mi, Yanhua, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, and Li, Shaofan, editor

Published
2024
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33. Preoperative and intraoperative assessment of myometrial invasion in patients with FIGO stage I non-endometrioid endometrial carcinoma—a large-scale, multi-center, and retrospective study

Author

Yang, Xiaohang, Yin, Jingjing, Fu, Yu, Shen, Yuanming, Zhang, Chuyao, Yao, Shuzhong, Xu, Congjian, Xia, Min, Lou, Ge, Liu, Jihong, Lin, Bei, Wang, Jianliu, Zhao, Weidong, Zhang, Jieqing, Cheng, Wenjun, Guo, Hongyan, Guo, Ruixia, Xue, Fengxia, Wang, Xipeng, Han, Lili, Li, Xiaomao, Zhang, Ping, Zhao, Jianguo, Li, Wenting, Dou, Yingyu, Wang, Zizhuo, Liu, Jingbo, Li, Kezhen, Chen, Gang, Sun, Chaoyang, Sun, Pengming, Lu, Weiguo, and Yao, Qin

Published
2023
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34. MC-MLP: A Multiple Coordinate Frames MLP-Like Architecture for Vision

Author

Zhu, Zhimin, Zhao, Jianguo, Mu, Tong, Yang, Yuliang, Zhu, Mengyu, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Iliadis, Lazaros, editor, Papaleonidas, Antonios, editor, Angelov, Plamen, editor, and Jayne, Chrisina, editor

Published
2023
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35. Evaluation of Cognitive Impairment in Patients with Minimal Hepatic Encephalopathy Based on Degree Centrality of Resting-state Blood Oxygenation Level-dependent Functional Magnetic Resonance Imaging

Author

YANG Xuhong, WANG Minglei, LIU Wenxiao, MA Wanlong, ZHAO Jianguo, HUANG Xueying, WANG Minxing, DING Xiangchun, WANG Xiaodong

Subjects
hepatic encephalopathy, minimal hepatic encephalopathy, magnetic resonance imaging, blood oxygenation level dependent functional magnetic resonance imaging, degree centrality, cognitive impairment, cognition disorders, Medicine
Abstract

Background Minimal hepatic encephalopathy has atypical clinical symptoms but mild neuropsychiatric deficits, which are easily neglected by patients and their family members as a specific type of hepatic encephalopathy. The degree centrality (DC) analysis method based on resting-state blood oxygenation level-dependent functional magnetic resonance imaging (BOLD-fMRI) is a data analysis method derived from graph-theoretic approach reflecting whole-brain network connectivity, which can provide a more complete, faster and better representation of brain function. Objective To explore the effects of abnormal changes in the brain functional network connectivity properties and functional brain regions on cognitive function in patients with minimal hepatic encephalopathy and their neuroimaging mechanisms. Methods A total of 65 patients with hepatitis B cirrhosis hospitalized in the department of infectious diseases in General Hospital of Ningxia Medical University from October 2020 to February 2022 and 40 healthy volunteers recruited during the same period were selected as the study subjects. Gender, age, education level, number connection test A (NCT-A) score, digit symbol test (DST) score and Montreal cognitive assessment (MoCA) score of the study subjects were collected. Finally, patients with hepatitis B cirrhosis were divided into cirrhosis group (n=30) and MHE group (n=28) according to NCT-A and DST scores, and the recruited healthy volunteers were considered as the healthy control group (n=34) . The DC values of brain regions in each group were calculate, the differences in DC values of brain image between MHE group and cirrhosis group, cirrhosis group and healthy control group, MHE group and healthy control group were compared, respectively. The correlations between the DC values of brain regions with the scores of NCT-A, DST and MoCA in MHE patients was analyzed by using person correlation analysis, the distribution of brain regions with DC values correlated with the scores of above scales and the corresponding scatter plots were drawn. Results The NCT-A score in the healthy control and cirrhotic group was lower than MHE group, DST score and MoCA score in the healthy control and cirrhotic group were higher than MHE group (P18, P18, P18, P

Published
2023
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36. Clinical significance of the detection of serum IgG4 and IgG4/IgG ratio in patients with thyroid-associated ophthalmopathy

Author

Zhao JianGuo, Ge Yajing, Li Wenjing, and Jiang Zipei

Subjects
thyroid-associated ophthalmopathy, immunoglobulin g4, immunoglobulin-g4-related disease, Biology (General), QH301-705.5
Abstract

To evaluate the clinical significance of detecting serum IgG4 and the IgG4/IgG ratio in patients with thyroid-associated ophthalmopathy (TAO) and to explore whether high serum IgG4 levels and the IgG4/IgG ratio are associated with the severity and activity of TAO, we retrospectively assessed the records of 78 TAO patients and 32 controls collected in our hospital from July 2020 to July 2022. The TAO patients were divided into TAO inactive and TAO active phase groups according to the clinical activity score (CAS), and we evaluated the association between the serum IgG4 levels, the IgG4/IgG ratio, and the clinical data of the participants. The levels of IgG4 significantly increased in the TAO active group compared to those in the inactive and control groups (P < 0.05). Additionally, the number of patients with increased IgG4 levels (≥135 mg/dL) in the TAO active group was markedly higher than that in the inactive and control groups (P < 0.05). The IgG4/IgG ratio was also significantly enhanced in the TAO active group compared to the inactive and control groups (P < 0.05). CAS was identified as an independent factor influencing IgG4 levels in patients with TAO. The levels of serum IgG4, as well as the IgG4/IgG ratio, were significantly increased in some patients with active TAO, and they were related to the CAS, suggesting that the pathogenesis of TAO may be heterogeneous.

Published
2023
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