Search results for: Weifu Wang

Items from 1 to 18 out of 18 results

article

Rs9303628 and rs2054847 of SLC6A4 are protective factors for the onset of lifelong premature ejaculation among the Chinese population

Fei Wang, Defan Luo, Jianxiang Chen, Cuiqing Pan, more

The purpose of this study was to investigate whether the polymorphisms of SLC6A4 gene affect the occurrence of lifelong premature ejaculation (LPE). In this case–control study, Agena MassARRAY was used to genotype SLC6A4 polymorphisms of 91 LPE patients and 362 controls. Then, genetic model and haplotype analysis were utilised to explore the correlation between SLC6A4 polymorphisms and LPE risk. The...

article

miR-182-5p affects human bladder cancer cell proliferation, migration and invasion through regulating Cofilin 1

Fei Wang, Dinglan Wu, Zhanping Xu, Jianxiang Chen, more

Cancer Cell International > 2019 > 19 > 1 > 1-10

Background Human bladder cancer is one of the common malignant tumors, and it mainly occurs in men. miR-182-5p, a member of miR-183 family, acts as tumor suppressor or oncogene in various kinds of tumors. In this study, we first investigate that the absence of miR-182-5p in human bladder cancer promotes tumor growth by regulating the expression of Cofilin 1, an actin modulating-protein. Methods...

article

Reversible data hiding scheme based on significant-bit-difference expansion

Weiqing Wang, Junyong Ye, Tongqing Wang, Weifu Wang

IET Image Processing > 2017 > 11 > 11 > 1002 - 1014

This study presents a lossless robust data hiding scheme based on significance-bit-difference expansion. The original cover image can be recovered without any distortion after the hidden data have been extracted if the stego image remains intact, on the other hand, the hidden data can be robust against unintentional changes applying to the stego image, such as image compression and sometimes unavoidable...

chapter

Grasping and folding knots

Weifu Wang, Devin Balkcom

2016 IEEE International Conference on Robotics and Automation (ICRA) > 3647 - 3654

2016 IEEE International Conference on Robotics and Automation (ICRA)

String stretched tightly along a sequence of fixed grasp points takes the shape of a polygonal arc. In this work, we investigate how many points are necessary and sufficient to grasp and tie arbitrary knots while maintaining tension, so that the string remains polygonal. This approach allows reasoning that is entirely geometric, which does not rely on potentially inaccurate dynamic models of the string...

chapter

Tying knot precisely

Weifu Wang, Devin Balkcom

2016 IEEE International Conference on Robotics and Automation (ICRA) > 3639 - 3646

2016 IEEE International Conference on Robotics and Automation (ICRA)

Simply pulling on the ends of string is sufficient to tighten simple knots such as the overhand knot, but many knots used for decoration or binding need to be tightened at particular locations along the string. For example, a shoelace knot should have equally-sized bows, as should a decorative cloverleaf knot. Knots tied in sounding lines (historically used to measure depth in the ocean) must be placed...

article

Towards Arranging and Tightening Knots and Unknots With Fixtures

Weifu Wang, Matthew P. Bell, Devin Balkcom

IEEE Transactions on Automation Science and Engineering > 2015 > 12 > 4 > 1318 - 1331

This paper presents a controlled tying approach for knots using fixtures and simple pulling motions applied to the ends of string. Each fixture is specific to a particular knot; the paper gives a design process that allows a suitable fixture to be designed for an input knot. Knot tying is separated into two phases. In the first phase, a fixture is used to loosely arrange the string around a set of...

chapter

Metric cells: Towards complete search for optimal trajectories

Devin Balkcom, Ajay Kannan, Yu-Han Lyu, Weifu Wang, more

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 4941 - 4948

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

This paper presents a definition of convexity useful for describing local optimality in configuration spaces, proves that finding convex regions is relatively easy, and presents an algorithm for approximating the free configuration space using a set of such convex regions. The paper examines simple but interesting systems: serial planar arms with revolute joints, and a Reeds-Shepp car. The paper experimentally...

chapter

An online method for tight-tolerance insertion tasks for string and rope

Weifu Wang, Dmitry Berenson, Devin Balkcom

2015 IEEE International Conference on Robotics and Automation (ICRA) > 2488 - 2495

2015 IEEE International Conference on Robotics and Automation (ICRA)

This paper presents a fast tight-tolerance threading technique for string and rope. Instead of relying on simulations of these deformable objects to plan a path or compute control actions, we control the movement of the string with a virtual magnetic vector field emanating from the narrow openings we wish to thread through. We compute an approximate Jacobian to move the tip of the string through the...

chapter

The bench mover's problem: Minimum-time trajectories, with cost for switching between controls

Yu-Han Lyu, Andrei Furtuna, Weifu Wang, Devin Balkcom

2014 IEEE International Conference on Robotics and Automation (ICRA) > 106 - 112

2014 IEEE International Conference on Robotics and Automation (ICRA)

Analytical results describing the optimal trajectories for general classes of robot systems have proven elusive, in part because the optimal trajectories for a complex system may not exist, or may be computed only numerically from differential equations. This paper studies a simpler optimization problem: finding an optimal sequence and optimal durations of motion primitives (simple preprogrammed actions)...

chapter

A fast streaming spanner algorithm for incrementally constructing sparse roadmaps

Weifu Wang, Devin Balkcom, Amit Chakrabarti

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems > 1257 - 1263

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Sampling-based probabilistic roadmap algorithms such as PRM and PRM∗ have been shown to be effective at solving certain motion planning problems, but the large graphs generated to express the connectivity and a metric on the configuration space may require much storage space and be expensive to search. Recent work by Marble and Bekris [14], [19] applied spanner algorithms to PRM∗ these algorithms...

chapter

Structure and geometry of minimum-time trajectories for planar rigid bodies

Andrei A. Furtuna, Weifu Wang, Yu-Han Lyu, Devin Balkcom

2013 51st Annual Allerton Conference on Communication, Control, and Computing (Allerton) > 1584 - 1591

2013 51st Annual Allerton Conference on Communication, Control, and Computing (Allerton)

This paper explores the structure of the time optimal trajectories for a rigid body in the unobstructed plane. The available controls for the system are the velocity and angular velocity of the body, in its own frame of reference. Controls are bounded by a closed convex polyhedron. The paper shows that the structure of the optimal trajectories may be completely described analytically.

chapter

Analytical time-optimal trajectories for an omni-directional vehicle

Weifu Wang, Devin J. Balkcom

2012 IEEE International Conference on Robotics and Automation > 4519 - 4524

2012 IEEE International Conference on Robotics and Automation (ICRA)

We present the first analytical solution method for finding a time-optimal trajectory between any given pair of configurations for a three-wheeled omni-directional vehicle in an obstacle-free plane. The mathematical model of the vehicle bounds the velocities of the wheels independently. The timeoptimal trajectories can be divided into two categories: singular and generic. An analytical solution method...

chapter

Minimum-time trajectories for kinematic mobile robots and other planar rigid bodies with finite control sets

Andrei A. Furtuna, Wenyu Lu, Weifu Wang, Devin J. Balkcom

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems > 4321 - 4328

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)

This paper presents first attempts at a method for searching for time-optimal trajectories for a general model of mobile robots that includes Dubins and Reeds-Shepp cars, differential-drive robots, and omnidirectional robots as special cases. The paper takes as a starting point recent results by the authors that describe necessary conditions on the trajectories, based on Pontryagin's Maximum Principle...

chapter

Minimum-time trajectories for kinematic mobile robots and other planar rigid bodies with finite control sets

Andrei A. Furtuna, Wenyu Lu, Weifu Wang, Devin J. Balkcom

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems > 4321 - 4328

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)

article

Modeling of laser cladding with diode laser robotized system

Jianhua Yao, V. S. Kovalenko, Qunli Zhang, Anyakin Mykola, more

Surface Engineering and Applied Electrochemistry > 2010 > 46 > 3 > 266-270

The choice of proper working conditions is a problem for any processing. But for laser processing this procedure is much more serious. The final results of the processing are usually influenced by over 100 factors. So the best way to choose more cheaply and fast the working conditions is to use the processing simulation. Different tactics of this procedure is discussed and the statistical modeling...

chapter

An Enhanced RED Algorithm with Adaptive Parameters

Xiurong Qiu, Haiyu Huang, Weifu Wang, Jingke Li

2008 IEEE International Symposium on Knowledge Acquisition and Modeling Workshop > 675 - 677

2008 IEEE International Symposium on Knowledge Acquisition and Modeling Workshop

The merit and demerit as well as the principle of RED algorithm are investigated. To overcome the difficulty in right parameters determination, an enhanced RED algorithm with adaptive parameters is proposed. The simulation results show that this enhanced RED algorithm can effectively reduce average queue length and packet loss. The algorithm has improved the adaptability of the RED algorithm.

article

Research on the microstructure and wear resistance of titanium alloy structural members repaired by laser cladding

Weifu Wang, Maocai Wang, Zhang Jie, Fengjiu Sun, more

Optics and Lasers in Engineering > 2008 > 46 > 11 > 810-816

Aero-engine overhaul calls for low-cost and high-quality method to solve the failure of structural members. This paper presents a pulsed-laser cladding (repair coating) of near α titanium alloy used for structural member repairing and investigates the microstructures, microhardness and wear resistance of the repair coating. The repair coating is mainly composed of α′ martensite. The center region...

article

Proposals or Findings for a New Approach about How to Define and Diagnose Premature Ejaculation

Weifu Wang, Pardeep Kumar, Suks Minhas, David Ralph

European Urology > 2005 > 48 > 3 > 418-423

To review and present the proposals or findings for a new approach about how to define and diagnose premature ejaculation (PE).Using Medline to search for international peer reviewed manuscripts published from 1996 to 2004 about the definition and diagnosis of PE.PE, to date, has not a universally agreed definition and diagnostic criterion. Many definitions are partial, subjective and nonspecific...

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