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| 1 | Path tracking control of autonomous agricultural mobile robots显示文摘In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model. | ZHU Zhong-xiang CHEN Jun YOSHIDA Toyofumi TORISU Ryo SONG Zheng-he MAO En-rong | 2007 | Journal of Zhejiang University-Science A(Applied Physics & Engineering)2007，8，10： | 14 |
| 2 | Unexpected metastasis of intraductal papillary neoplasm of the bile duct without an invasive component to the brain and lungs:A case report显示文摘BACKGROUND Despite an expanding number of studies on intraductal papillary neoplasm of the bile duct(IPNB),distant metastasis remains unexplained especially in cases of carcinoma in situ.In the present study,we report a rare and interesting case of IPNB without invasive components that later metastasized to lungs and brain.CASE SUMMARY A 69-year-old male was referred to our hospital due to suspected cholangiocarcinoma.Laboratory tests on admission reported a mild elevation of alkaline phosphatase,γ-glutamyl transpeptidase,and total bilirubin in serum.Endoscopic retrograde cholangiography revealed a filling defect in the common bile duct(CBD)extending to the left hepatic duct.Peroral cholangioscopy delineated a tumor in the CBD that had a papillary pattern.Multidetector computed tomography and magnetic resonance cholangiopancreatography detected partial blockage ot interlude in the CBD leading to cholestasis without evidence of metastasis.Therefore,a diagnosis of IPNB cT1N0M0 was established.Left hepatectomy with bile duct reconstruction was performed.Pathological examination confirmed an intraepithelial neoplasia pattern without an invasive component and an R0 resection achievement.The patient was monitored carefully by regular examinations.However,at 32 mo after the operation,a 26 mm tumor in the lungs and a 12 mm lesion in the brain were detected following a suspicious elevated CA 19-9 level.Video-assisted thoracoscopic surgery of left upper lobectomy and stereotactic radiotherapy are indicated.In addition to histopathological results,a genomic profiling analysis using whole exome sequencing subsequently confirmed lung metastasis originating from bile duct cancer.CONCLUSION This case highlights the important role of genomic profiling analysis using whole exome sequencing in identifying the origin of metastasis in patients with IPNB. | Nguyen Hai Nam Kojiro Taura Masashi Kanai Keita Fukuyama Norimitsu Uza Hirona Maeda Yojiro Yutaka Toyofumi F Chen-Yoshikawa Manabu Muto Shinji Uemoto | 2020 | World Journal of Gastroenterology2020，26，3： | 5 |
| 3 | Hydrogen-Rich University of Wisconsin Solution Attenuates Renal Cold Ischemia–Reperfusion Injury显示文摘 | Toyofumi Abe Xiao-Kang Li Koji Yazawa Naoyuki Hatayama Lin Xie Bunpei Sato Yoichi Kakuta Koichi Tsutahara Masayoshi Okumi Hidetoshi Tsuda Jun-ya Kaimori Yoshitaka Isaka Michiya Natori Shiro Takahara Norio Nonomura | 2012 | Transplantation Journal2012，，1： | 2 |
| 4 | Microalloyed steels for automobile components 显示文摘 | Yoshitake Matsushima Toyofumi Hasegawa | 1997 | Kobe Steel Engineering Reports1997，47，9： | 1 |
| 5 | Clinical significance of global two-dimensional strain as a surrogate parameter of myocardial fibrosis and cardiac events in patients with hypertrophic cardiomyopathy显示文摘 | Makoto Saito Hideki Okayama Toyofumi Yoshii Haruhiko Higashi Hiroe Morioka Go Hiasa Takumi Sumimoto Shinji Inaba Kazuhisa Nishimura Katsuji Inoue Akiyoshi Ogimoto Yuji Shigematsu Mareomi Hamada Jitsuo Higaki | 2012 | European Heart Journal – Cardiovascular Imaging2012，，7： | 1 |
| 6 | Development of Laminated Tin Free Steel (TFS) 'UNIVERSAL BRITE?' Type F for Food Cans显示文摘 | Yamanaka Yoichiro Iwasa Hiroki Watanabe Toyofumi | 2007 | JFE Technical Report2007，，9： | 1 |
| 7 | Path tracking control of autonomous agricultural mobile robots显示文摘 | Zhong-xiang Zhu Jun Chen Toyofumi Yoshida Ryo Torisu Zheng-he Song En-rong Mao | 2007 | Journal of Zhejiang University SCIENCE A2007，，10： | 1 |
| 8 | Alloying reactions in hot dip galvanizing and galvannealing processes 显示文摘 | Jun-ichi Inagaki Michitaka Sakurai Toyofumi Watanabe | 1995 | ISIJ International1995，35，11： | 1 |
| 9 | Development of Wire Rods with Improved Cold Headability显示文摘 | Goro Anan Yuichi Namimura Toyofumi Hasegawa | 1998 | Kobe Steel Engineering Reports1998，48，1： | 1 |
| 10 | P-glycoprotein mediates brain-to-blood efflux transport of buprenorphine across the blood brain barrier显示文摘 | Suzuki Toyofumi Zaima | 2007 | J Drug Targeting2007，15，1： | 1 |
| 11 | Attenuation of Inflammatory Vascular Remodeling by Angiotensin II Type 1 Receptor–Associated Protein显示文摘 | Akira Oshita Masaru Iwai Rui Chen Ayumi Ide Midori Okumura Shiori Fukunaga Toyofumi Yoshii Masaki Mogi Jitsuo Higaki Masatsugu Horiuchi | 2006 | Hypertension2006，，4： | 1 |
| 12 | Regression of atherosclerosis by amlodipine via anti-inflammatory and anti-oxidative stress actions 显示文摘 | Toyofumi YOSHII Zhen L Masaru IWAI Zhen LI | 2006 | Hypertens Res2006，29，： | 1 |
| 13 | Detec- tion and identification protein variants and adducts in blood and tissues: an application of soft ionization mass spec- trometry to clinical diagnosis 显示文摘 | SHIMIZU A TOYOFUMI N MASAHIKI K | 2002 | J Chromatogr B2002，776，1： | 1 |
| 14 | Detection and identification protein variants and adducts in blood and tis- sues: an application of soft ionization mass spectrometry to clinical diagnosis 显示文摘 | Shimizu A Toyofumi N Masahiki K | 2002 | Journal of Chromatography B2002，776，1： | 1 |
| 15 | Development of Wire Rods with Improved Cold Headability 显示文摘 | Goro Anan Yuichi Namimura Toyofumi Hasegawa | 1998 | Kobe Steel Engineering Reports1998，48，1： | 1 |
| 16 | Catalogue of soluble proteins in the human vitreous humor:comparison between diabetic retinopathy and macular hole显示文摘 | Toyofumi N Reiko K Tsunchiko I | 2002 | Chromatography B2002，776，： | 1 |
| 17 | Acoustic CT system for temperature distribution measurement显示文摘In this paper, a measurement method for cross-sectional temperature distribution is addressed. A novel method based on an acoustic CT technique is proposed. Specifically, the temperature distributions are estimated using the time of flight data of several ultrasonic propagation paths. The times of the flight data contain both temperature and wind effect, and the method to select only temperature component is introduced. A filtered back projection method is applied to reconstruct the temperature distributions from the time of flight data. An experimental system was designed and fabricated to realize simultaneous temperature and wind velocity distribution measurements. Through this system, the effectiveness of the proposed measurement method is confirmed. | Shinji Ohyama Toyofumi Oga Kazuo Oshima Junya Takayama | 2008 | 仪器仪表学报2008，29，5： | 0 |
| 18 | Multiobjective Optimization of Truss Topology by Linear/Sequential Linear Programming Method显示文摘 | Toyofumi Takada | 2012 | Journal of Mechanics Engineering and Automation2012，2，10： | 0 |
| 19 | Shared-Tree Selection Method for Aggregated Multicast显示文摘 | Yusuke Sekine Taiju Mikoshi and Toyofumi Takenaka | 2013 | 通讯和计算机(中英文版)2013，10，4： | 0 |
| 20 | High-Accuracy and High-Speed Calculation Method for Large-Scale Multi-layer Network Designs by Integrated Decomposition Method显示文摘 | Koudai Takahashi Taiju Mikoshi Toyofumi Takenaka | 2014 | 通讯和计算机(中英文版)2014，11，6： | 0 |
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