This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the (...) image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control. (shrink)

ObjectivePrevious studies have demonstrated altered brain activity in strabismic amblyopia. In this study, low-frequency repetitive transcranial magnetic stimulation was applied in children with strabismic amblyopia after they had undergone strabismus surgery. The effect of rTMS was investigated by measuring the changes of brain features using the amplitude of low-frequency fluctuation.Materials and MethodsIn this study, 21 SA patients were recruited based on their age, weight, and sex. They all had SA in their left eyes and they received rTMS treatment one month (...) after strabismus surgery. Their vision before and after surgery were categorized as pre-rTMS and post-rTMS. All participants received rTMS treatment, underwent magnetic resonance imaging, and their data were analyzed using the repeated measures t-test. The team used correlation analysis to explore the relationship between logMAR visual acuity and ALFF.ResultsPre- versus post-rTMS values of ALFF were significantly different within individuals. In the POT group, ALFF values were significantly decreased in the Angular_R, Parietal_Inf_L, and Cingulum_Mid_R while ALFF values were significantly increased in the Fusiform_R and Frontal_Inf_Orb_L compared to the PRT stage.ConclusionOur data showed that ALFF recorded from some brain regions was changed significantly after rTMS in strabismic amblyopes. The results may infer the pathological basis of SA and demonstrate that visual function may be improved using rTMS in strabismic amblyopic patients. (shrink)

Understanding the neural basis of schizophrenia (SZ) is important for shedding light on the neurobiological mechanisms underlying this mental disorder. Structural and functional alterations in the anterior cingulate cortex (ACC), dorsolateral prefrontal cortex (DLPFC), hippocampus, and medial prefrontal cortex (MPFC) have been implicated in the neurobiology of SZ. However, the effective connectivity among them in SZ remains unclear. The current study investigated how neuronal pathways involving these regions were affected in first-episode SZ using functional magnetic resonance imaging (fMRI). Forty-nine patients (...) with a first-episode of psychosis and diagnosis of SZ—according to the Diagnostic and Statistical Manual of Mental Disorders, Fourth Edition, Text Revision—were studied. Fifty healthy controls (HCs) were included for comparison. All subjects underwent resting state fMRI. We used spectral dynamic causal modeling (DCM) to estimate directed connections among the bilateral ACC, DLPFC, hippocampus, and MPFC. We characterized the differences using Bayesian parameter averaging (BPA) in addition to classical inference (t-test). In addition to common effective connectivity in these two groups, HCs displayed widespread significant connections predominantly involved in ACC not detected in SZ patients, but SZ showed few connections. Based on BPA results, SZ patients exhibited anterior cingulate cortico-prefrontal-hippocampal hyperconnectivity, as well as ACC-related and hippocampal-dorsolateral prefrontal-medial prefrontal hypoconnectivity. In summary, spectral DCM revealed the pattern of effective connectivity involving ACC in patients with first-episode SZ. This study provides a potential link between SZ and dysfunction of ACC, creating an ideal situation to associate mechanisms behind SZ with aberrant connectivity among these cognition and emotion-related regions. (shrink)

In connection with the discussion on the problem of logic, both within our country and abroad , it has already turned from the general, comparatively abstract, and difficult-to-resolve problem of the "relationship between formal logic and dialectics" to the more concrete problem of the functional scope of formal logic. Some people have even utilized special articles to inquire about a certain law in formal logic: the functional scope of the law of identity or the law of contradiction. The purpose of (...) these philosophers or logicians is to try to define the functional scope of a certain law in formal logic as a starting point, and then to proceed to study the functional scope of formal logic in the entire thinking process of mankind. If the functional scope of formal logic in mankind's entire thinking process is clearly and precisely defined, the solution of this complicated problem of the "relationship between formal logic and dialectics" would certainly not be very difficult. The basic purpose of Comrade Chu-ko Yin-t'ung's article on the problem of "whether or not formal logic's law of contradiction can be contravened in the dialectical thinking process" of men, which appeared in issue No. 82 of the "Philosophy" supplement of Kuang-ming Daily on April 24, is like this. It should be considered as a rather practical method. But I do not quite agree with his basic points of argument and with his analysis of certain examples of dialectics. I intend to present my superficial views here and to study them with Comrade Chu-ko. (shrink)

I'm now in my forties, but my teacher is still alive and well; so I'm still one of the junior generation. When I was a graduate student, my teacher told me that I didn't have enough background in Chinese traditional studies, and in a burst of energy I went off and read my way, albeit in a rather random fashion, through everything from the Four Books to the Cheng brothers [Cheng Hao and Cheng Yi, Confucian scholars of the Song dynasty] (...) and Zhu Xi. My studies had started off with fiction, and the Four Books came afterwards; I had started off as an "educated youth," and became a student later. Doing things that way round, one can expect to have problems; but even so, when I read the ancient classics, I still feel some singular emotions, which I cherish purely because they are my own. When I finished reading the Analects and closed my eyes to think about it, I felt that to utter those great truths so often and so earnestly Confucius must have been a very sweet and naive old man. His students were always hanging on his every word and, in his concern for them, he said that A could do this, or B could do that, like an old lady listing the characteristics of her grandchildren. Sometimes the old gentleman had a furtive side to him, as in the chapter "The Master went to see Nanzi" [See Analects VI. 28; Nanzi was the wife of Duke Ling of Wei]. When he emerged, he insisted that he had committed no "impropriety." In a nutshell, I liked him, and if I had been born during the Spring and Autumn period [722-481 b.c.e.], I would have gone and studied under him, because the atmosphere round him was like that of the Pickwick Club. His ideas were actually pretty ordinary, and there is nothing special about them to win our admiration. The ceremonial on which he laid such particular emphasis was in my view much the same as the rituals performed during the Cultural Revolution—I've been through all those morning requests for instructions and evening reports myself and it wasn't very interesting. It may be indispensable for the very young, but for educated adults it is a burden. However, if I'd gone along to be taught by Confucius, I would have gone for the atmosphere, and I would not have expected to learn much. (shrink)

Having read the works of Wang Ch'ung [A.D. 27-c. 100], I realized that they need to be recapitulated. Here I shall evaluate Wang Ch'ung and his thought and present what I feel to be the real significance that Wang Ch'ung's thought still has today.

In ancient times in our country, Wang Ch'ung was an eminent materialist and a brilliant atheist, a progressive thinker who opposed the orthodox feudal thought. This has gone basically unquestioned. This year the February 21 issue of Kuang-ming jih-pao printed in its philosophy section an article by Comrade T'ung Mo-an, "Is Wang Ch'ung a Peasant Class Thinker?" The article is an evaluation completely denying this. T'ung believes that the purpose of Wang Ch'ung's works was "to (...) uphold the rule of the Han," "ardently and unconditionally to sing the praises of the Han ruler and court," "to make sacred the rule of the Han," "to get the populace to live quietly, forever in a servile position," and "to view inimically and to slander peasant uprisings." "Wang Ch'ung was an orthodox thinker of the landlord class," "a thinker produced in the interests of the rule of the landlord class who confirmed the feudal orthodoxy." Although I myself am not praising Wang Ch'ung as a peasant class thinker or denying that in Wang Ch'ung's thought there are negative elements, I am completely unable to agree with the basic viewpoint that the author puts forward. (shrink)

기의 순환원리에 의해 21세기는 우리 민족의 시대가 된다는 저자가 한반도로 밀려오는 氣의 제현상을 전기현상론적 아날로지 관점에서 분석하고 있다. 한반도에 사는 쥬신족(조선족)의 영고성쇠와 2000년대의 전망을 동양철학과 서양과학을 융합시킨 氣 입장에서 고찰.

There have been many discussions on problems of logic over the past several years. While the problem of the nature of the law of contradiction, one of the laws of formal logic, has received particular attention by everyone, the question has not been posed very precisely in the arguments. Actually, the question is not whether the movement, change, and development of things can be reflected in consciousness by use of the methods of formal logic, or in distinguishing the effectiveness of (...) the law of contradiction in disputation, proofs, or theoretical systems from its effectiveness in the general process of cognition, when applied to phenomena. If the development of reality cannot at all be reflected by the use of the logical tools of formal logic, what use do they have? No one denies that formal logic does not suffice as a method of cognition. If, in disputations and proofs, or in the establishment of theoretical systems, one relies only on the logical tools of formal logic, this is also not enough. The scope of applicability of the laws of formal logic, as laws that are studied by a concrete science, is necessarily limited. It is impossible for them to be all-powerful; it is of course impossible, relying on the law of contradiction, to know and grasp the contradictions in reality — the unity and conflict of opposites. All disputations and proofs, and the establishment of theoretical systems, are, in fact, efforts to know real objects, efforts of the subjective to grasp the objective. In principle, the use of formal logic in disputations and proofs and in the establishment of theoretical systems, and its use in knowing an object, should be no different. What, then, is the question? The question should be posed as follows: can thought contravene the law of contradiction? (shrink)