Lenvatinib, a multi-tyrosine kinase inhibitor that inhibits vascular endothelial growth factor and fibroblast receptors pathway, activated the immune response in tumor microenvironment. However, combination of lenvatinib anti-PD-1 has been reported early phase studies. Hence, this study aims to explore efficacy toxicity combined with nivolumab real-world setting. Advanced HCC patients who underwent (L + N group) treatment at Taipei Veterans General Hospital (Taipei, Taiwan) were reviewed...

Stories are diverse and highly personalized, resulting in a large possible output space for story generation. Existing end-to-end approaches produce monotonous stories because they limited to the vocabulary knowledge single training dataset. This paper introduces KG-Story, three-stage framework that allows generation model take advantage of external Knowledge Graphs interesting stories. KG-Story distills set representative words from input prompts, enriches word by using graphs, finally...

This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state for mobile robots is fully proprioceptive combines data from an inertial measurement unit body velocity within Right Invariant Extended Kalman Filter (RI-EKF). By embedding into SE <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</inf> (3) matrix Lie group, developed DOB-based RI-EKF provides real-time...

This paper reports on a novel nonparametric rigid point cloud registration framework, Semantic Continuous Visual Odometry (CVO), that jointly integrates geometric and semantic measurements such as color or labels into the alignment process does not require explicit data association. The clouds are represented functions in reproducible kernel Hilbert space. problem is formulated maximizing inner product between two functions, essentially sum of weighted kernels, each which exploits local...

This article reports on recent progress in robot perception and control methods developed by taking the symmetry of problem into account. Inspired existing mathematical tools for studying structures geometric spaces, sensor registration, state estimator, provide indispensable insights formulations generalization robotics algorithms to challenging unknown environments. When combined with computational learning hard-to-measure quantities, symmetry-preserving unleash tremendous performance. The...

This work develops a learning-based contact estimator for legged robots that bypasses the need physical sensors and takes multi-modal proprioceptive sensory data as input. Unlike vision-based state estimators, estimators are agnostic to perceptually degraded situations such dark or foggy scenes. While some equipped with dedicated detect necessary estimation, do not have sensors, addition of is non-trivial without redesigning hardware. The trained network can estimate events on different...

In this paper, we extend the recently developed continuous visual odometry framework for RGB-D cameras to an adaptive via online hyperparameter learning. We focus on case of isotropic kernels with a scalar as length-scale. practice and expected, length-scale has remarkable impacts performance original framework. Previously it was handled using fixed set conditions within solver reduce algorithm reaches local minimum. automate process by greedy gradient descent step at each iteration find...

This paper investigates the robot state estimation problem within a non-inertial environment. The proposed approach relaxes common assumption of static ground in system modeling. process and measurement models explicitly treat movement environments without requiring knowledge its motion inertial frame or relying on GPS sensing environmental landmarks. Further, estimator is formulated as an invariant extended Kalman filter (InEKF) with deterministic part model obeying group-affine property,...

Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics dynamics, complicating control state estimation. This work presents novel proprioceptive estimator for tensegrity robots. The initially uses the geometric constraints 3-bar prism structures, combined with IMU motor encoder measurements, reconstruct robot's shape orientation. It then...

”Carbon black” is the major influential factor in categorizine quality rank of rubber. This paper presents a new approach to simplify ranking procedure with limited samples by using grey relational grade method while accuracy ensured. The proposed described as follows: First, rubber are sliced and snapshot into black & white images. These images further enhanced digital image processing methods before applying this clustering approach. Then, ”carbon sampled classified ten ranks according B...

The accuracy of RGB-D SLAM systems is sensitive to the image quality, and can be significantly compromised in adverse situations such as when input images are blurry, lacking texture features, or overexposed. In this paper, based on Continuous Direct Sparse Visual Odometry (CVO), we present a novel Keyframe-based CVO (KF-CVO) with intrinsic keyframe selection mechanism that effectively reduces tracking error. We then extend KF-CVO system, SLAM, equipped place recognition via ORB joint bundle...

This paper reports on developing a real-time invariant proprioceptive robot state estimation framework called DRIFT. A didactic introduction to Kalman filtering is provided make this cutting-edge symmetry-preserving approach accessible broader range of robotics applications. Furthermore, work dives into the development for dead reckoning that only consumes data from an onboard inertial measurement unit and kinematics robot, with two optional modules, contact estimator gyro filter low-cost...

Stories are diverse and highly personalized, resulting in a large possible output space for story generation. Existing end-to-end approaches produce monotonous stories because they limited to the vocabulary knowledge single training dataset. This paper introduces KG-Story, three-stage framework that allows generation model take advantage of external Knowledge Graphs interesting stories. KG-Story distills set representative words from input prompts, enriches word by using graphs, finally...

This paper reports on a robust RGB-D SLAM system that performs well in scarcely textured and structured environments. We present novel keyframe-based continuous visual odometry builds the recently developed sensor registration framework. A joint geometric appearance representation is result of transforming images into functions live Reproducing Kernel Hilbert Space (RKHS). solve both keyframe selection problems via inner product structure available RKHS. also extend proposed method to using...

We have recently proposed a highly effective method for speeding up metaheuristics in solving combinatorial optimization problems called pattern reduction (PR). It is, however, limited to with solutions that are either binary or integer encoded. In this paper, we new algorithm named continuous space (CSPR) overcome limitation. Simulations show the can significantly reduce computation time of k-means genetic (KGA) data clustering problem using encoding.

In this paper, Kalman filter is designed and implemented on a heat deformation tester (HDT) to estimate the LVDT sensor information from noisy measured data sequence. simulation test, output response of can separate noise reference signal outcome closely matched with signal. The low-pass IIR smooth also but some time delay presented. mean squared error (MSE) 0.6354 while MSE reduces 0.1467, significant improvement by 4 times. Also, computational efficiency better than that in application....

<b><sc>Abstract.</sc></b> <b>In Taiwan, there are more than 3 thousand cats and dogs missing every year. Losing pets could be extremely painful for owners. It also places burden on animal shelters in trying to return the Although implanting microchips has always been a way solve pet problem, it may cause health problems (e.g., inflammatory reaction cancer) animals. Hence, noninvasive approach identifying is needed. This work proposed identify noninvasively using face recognition. A database...