Primary appendiceal neoplasms represent a relatively low percentage of all gastrointestinal cancers. A subset of these neoplasms, those of epithelial origin, are characterised by the production of a considerable amoun...Primary appendiceal neoplasms represent a relatively low percentage of all gastrointestinal cancers. A subset of these neoplasms, those of epithelial origin, are characterised by the production of a considerable amount of mucus, which is referred to as appendiceal mucinous neoplasms (AMN). Appendiceal mucinous neoplasms (AMN) have a low incidence, are easily misdiagnosed, depend on postoperative examination for confirmation of the diagnosis, are prone to form a “diagnosis”, and have a high incidence of the disease. Furthermore, they are prone to form peritoneal pseudomyxoma peritonei (PMP), are controversial in surgical decision-making, are prone to recurring after surgery alone, and are tricky to manage clinically. In this paper, we review the pathological characteristics, diagnosis and treatment of appendiceal mucinous tumours in the light of recent literature reports, with a view to providing certain references for the clinical diagnosis and treatment of this disease. .展开更多
Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal ...Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning layer.To address this issue,this study proposes a safe motion planning and control(SMPAC)framework for AVs.For the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller conservatism.For the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is proposed.The safety sets provide the basis for the subsequent evaluation and ranking of the generated trajectories.An efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the SMPAC.The result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.展开更多
The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In tu...The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion capabilities.In response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control.The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance indicators.To address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed.The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively.Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system.This research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.展开更多
Magnetic metals deposited on graphene hold the key to applications in spintronics. Here, we present the results of Fe islands grown on graphene/Si C(0001) by molecular beam epitaxy, which are investigated by scanning ...Magnetic metals deposited on graphene hold the key to applications in spintronics. Here, we present the results of Fe islands grown on graphene/Si C(0001) by molecular beam epitaxy, which are investigated by scanning tunneling microscopy. The two types of islands distinguished by flat or round tops are revealed, indicating bimodal growth of Fe. The atomic structures on the top surfaces of flat islands are also clearly resolved. Our results may improve the understanding of the mechanisms of metals deposited on graphene and pave the way for future spintronic applications of Fe/graphene systems.展开更多
Due to the complex natures of dietary food components,it is difficult to elucidate how the compounds affect host health.Dietary food often selectively presents its mechanism of action on different cell types,and parti...Due to the complex natures of dietary food components,it is difficult to elucidate how the compounds affect host health.Dietary food often selectively presents its mechanism of action on different cell types,and participates in the modulation of targeted cells and their microenvironments within organs.However,the limitations of traditional in vitro assays or in vivo animal experiments cannot comprehensively examine cellular heterogeneity and the tissue-biased influences.Single-cell RNA sequencing(sc RNA-seq)has emerged as an indispensable methodology to decompose tissues into different cell types for the demonstration of transcriptional profiles of individual cells.Sc RNA-seq applications has been summarized on three typical organs(brain,liver,kidney),and two representative immune-and tumor related health problems.The everincreasing role of sc RNA-seq in dietary food research with further improvement can provide sub-cellular information and the coupling between other cellular modalities.In this review,we propose utilizing sc RNAseq to more effectively capture the subtle and complex effects of food chemicals,and how they may lead to health problems at single-cell resolution.This novel technique will be valuable to elucidate the underlying mechanism of both the health benefits of food nutrients and the detrimental consequences food toxicants at the cellular level.展开更多
The locally noncentrosymmetric heavy fermion superconductor CeRh_(2)As_(2) has attracted considerable interests due to its rich superconducting phases,accompanied by possible quadrupole density wave and pronounced ant...The locally noncentrosymmetric heavy fermion superconductor CeRh_(2)As_(2) has attracted considerable interests due to its rich superconducting phases,accompanied by possible quadrupole density wave and pronounced antiferromagnetic excitations.To understand the underlying physics,here we report measurements from highresolution angle-resolved photoemission.Our results reveal fine splittings of the conduction bands related to the locally noncentrosymmetric structure,as well as a quasi-two-dimensional Fermi surface(FS)with strong 4f contributions.The FS shows signs of nesting with an in-plane vector q_(1)=(π/α,π/α),which is facilitated by the heavy bands nearˉ𝑋arising from the characteristic conduction-X hybridization.The FS nesting provides a natural explanation for the observed antiferromagnetic spin fluctuations at(π/α,π/α),which might be the driving force for its unconventional superconductivity.Our experimental results can be reasonably explained by density functional theory plus dynamical mean field theory calculations,which can capture the strong correlation effects.Our study not only provides spectroscopic signature of the key factors underlying the field-induced superconducting transition,but also uncovers the critical role of FS nesting and lattice Kondo effect in the underlying magnetic fluctuations.展开更多
Road transportation plays a crucial role in society and daily life,as the functioning and durability of roads can significantly impact a nation's economic development.In the whole life cycle of the road,the emerge...Road transportation plays a crucial role in society and daily life,as the functioning and durability of roads can significantly impact a nation's economic development.In the whole life cycle of the road,the emergence of disease is unavoidable,so it is necessary to adopt relevant technical means to deal with the disease.This study comprehensively reviews the advancements in computer vision,artificial intelligence,and mobile robotics in the road domain and examines their progress and applications in road detection,diagnosis,and treatment,especially asphalt roads.Specifically,it analyzes the research progress in detecting and diagnosing surface and internal road distress and related techniques and algorithms are compared.In addition,also introduces various road gover-nance technologies,including automated repairs,intelligent construction,and path planning for crack sealing.Despite their proven effectiveness in detecting road distress,analyzing diagnoses,and planning maintenance,these technologies still confront challenges in data collection,parameter optimization,model portability,system accuracy,robustness,and real-time performance.Consequently,the integration of multidisciplinary technologies is imperative to enable the development of an integrated approach that includes road detection,diagnosis,and treatment.This paper addresses the challenges of precise defect detection,condition assessment,and unmanned construction.At the same time,the efficiency of labor liberation and road maintenance is achieved,and the automation level of the road engineering industry is improved.展开更多
Objective: Around 50% of new nasopharyngeal carcinoma (NPC) cases come from China. The present study aimed to update the surveillance of NPC survival in southern China, and investigate the survival disparities between...Objective: Around 50% of new nasopharyngeal carcinoma (NPC) cases come from China. The present study aimed to update the surveillance of NPC survival in southern China, and investigate the survival disparities between sexes within this patient population. Methods: Patients diagnosed with primary and invasive NPC between 2000 and 2015 were included in this study. Data on demographics, diagnosis, and follow-up to December 2020 were collected. Patients were stratified by diagnosis period, sex, and age at diagnosis. Survival analysis employed cohort and Life Table methods, Kaplan-Meier curves, log-rank tests, and Cox regression. Results: The study included 32,901 patients, of whom 69.6% were males. The overall 5-year survival rate rose from 69.6% in 2000-2003 to 83.3% in 2013-2015, with a consistent average increase of 3.3% every 3 years. For males, the 5-year survival rate increased from 66.3% to 82.0%, faster than females. Kaplan-Meier curves demonstrated a significantly higher survival rate for females than males, and subgroup analysis confirmed this advantage. The Cox proportional hazards model confirmed the lower mortality risk for females (HR 0.75, 95% CI: 0.71 - 0.78), patients with younger ages at diagnosis, and patients diagnosed in more recent years (All P Conclusions: The 5-year survival rate for NPC patients in southern China has significantly and steadily improved from 2000 to 2015, indicating the improved quality of cancer care in China. The survival advantage of female patients is not limited to younger patients but is also observed in postmenopausal patients, despite the gradual narrowing of the gender gap.展开更多
In the process of human behavior recognition, the traditional dense optical flow method has too many pixels and too much overhead, which limits the running speed. This paper proposed a method combing YOLOv3 (You Only ...In the process of human behavior recognition, the traditional dense optical flow method has too many pixels and too much overhead, which limits the running speed. This paper proposed a method combing YOLOv3 (You Only Look Once v3) and local optical flow method. Based on the dense optical flow method, the optical flow modulus of the area where the human target is detected is calculated to reduce the amount of computation and save the cost in terms of time. And then, a threshold value is set to complete the human behavior identification. Through design algorithm, experimental verification and other steps, the walking, running and falling state of human body in real life indoor sports video was identified. Experimental results show that this algorithm is more advantageous for jogging behavior recognition.展开更多
Insects are posited to be declining globally.This stark reality poses a grave threat to the delicate balance of ecosystems that depend on these creatures for pollination,decomposition,and as a vital food source.Recent...Insects are posited to be declining globally.This stark reality poses a grave threat to the delicate balance of ecosystems that depend on these creatures for pollination,decomposition,and as a vital food source.Recent studies emphasize three interconnected forces driving this decline:The substantial impact of climate change on insect populations,widespread habitat destruction due to human activities,and the farreaching consequences of modern agricultural practices,particularly the extensive use of pesticides.Addressing these interconnected threats is more urgent than ever,as the future of ecosystems and the benefits they provide to human societies are increasingly at risk.展开更多
文摘Primary appendiceal neoplasms represent a relatively low percentage of all gastrointestinal cancers. A subset of these neoplasms, those of epithelial origin, are characterised by the production of a considerable amount of mucus, which is referred to as appendiceal mucinous neoplasms (AMN). Appendiceal mucinous neoplasms (AMN) have a low incidence, are easily misdiagnosed, depend on postoperative examination for confirmation of the diagnosis, are prone to form a “diagnosis”, and have a high incidence of the disease. Furthermore, they are prone to form peritoneal pseudomyxoma peritonei (PMP), are controversial in surgical decision-making, are prone to recurring after surgery alone, and are tricky to manage clinically. In this paper, we review the pathological characteristics, diagnosis and treatment of appendiceal mucinous tumours in the light of recent literature reports, with a view to providing certain references for the clinical diagnosis and treatment of this disease. .
基金supported by the National Natural Science Foundation of China(51875061)China Scholarship Council(202206050107)。
文摘Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning layer.To address this issue,this study proposes a safe motion planning and control(SMPAC)framework for AVs.For the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller conservatism.For the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is proposed.The safety sets provide the basis for the subsequent evaluation and ranking of the generated trajectories.An efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the SMPAC.The result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.
基金Supported by Shanghai Municipal Science and Technology Major Project of China(Grant No.2021SHZDZX).
文摘The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion capabilities.In response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control.The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance indicators.To address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed.The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively.Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system.This research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.
基金the Ministry of Science and Technology of China (Grant Nos. 2019YFA0308600 and 2020YFA0309000)the National Natural Science Foundation of China (Grant Nos. 92365302, 92065201, 22325203, 92265105, 12074247, and 12174252)+2 种基金the Strategic Priority Research Program of Chinese Academy of Sciences (Grant No. XDB28000000)the Science and Technology Commission of Shanghai Municipality (Grant Nos. 2019SHZDZX01, 19JC1412701 and 20QA1405100) for financial supportfinancial support from the Innovation Program for Quantum Science and Technology (Grant No. 2021ZD0302500)。
文摘Magnetic metals deposited on graphene hold the key to applications in spintronics. Here, we present the results of Fe islands grown on graphene/Si C(0001) by molecular beam epitaxy, which are investigated by scanning tunneling microscopy. The two types of islands distinguished by flat or round tops are revealed, indicating bimodal growth of Fe. The atomic structures on the top surfaces of flat islands are also clearly resolved. Our results may improve the understanding of the mechanisms of metals deposited on graphene and pave the way for future spintronic applications of Fe/graphene systems.
基金funded by the National Natural Science Foundation of China(32170495)the Emergency Project for Risk Assessment of Areca Nut(Key Project of Department of Agriculture and Rural Affairs of Hainan Province&Wanning Municipal People’s Government)。
文摘Due to the complex natures of dietary food components,it is difficult to elucidate how the compounds affect host health.Dietary food often selectively presents its mechanism of action on different cell types,and participates in the modulation of targeted cells and their microenvironments within organs.However,the limitations of traditional in vitro assays or in vivo animal experiments cannot comprehensively examine cellular heterogeneity and the tissue-biased influences.Single-cell RNA sequencing(sc RNA-seq)has emerged as an indispensable methodology to decompose tissues into different cell types for the demonstration of transcriptional profiles of individual cells.Sc RNA-seq applications has been summarized on three typical organs(brain,liver,kidney),and two representative immune-and tumor related health problems.The everincreasing role of sc RNA-seq in dietary food research with further improvement can provide sub-cellular information and the coupling between other cellular modalities.In this review,we propose utilizing sc RNAseq to more effectively capture the subtle and complex effects of food chemicals,and how they may lead to health problems at single-cell resolution.This novel technique will be valuable to elucidate the underlying mechanism of both the health benefits of food nutrients and the detrimental consequences food toxicants at the cellular level.
基金supported by the National Key R&D Program of China(Grant Nos.2022YFA140220 and 2023YFA1406303)the State Key Project of Zhejiang Province(Grant No.LZ22A040007)+2 种基金the National Natural Science Foundation of China(Grant Nos.U23A20580,12174331,12204159,and 12274364)the Key R&D Program of Zhejiang Province,China(Grant No.2021C01002)the Bridging Grant(Grant No.BG11-072020)with China,Japan,South Korea and ASEAN region funded by the Swiss State Secretariat for Education,Research and Innovation。
文摘The locally noncentrosymmetric heavy fermion superconductor CeRh_(2)As_(2) has attracted considerable interests due to its rich superconducting phases,accompanied by possible quadrupole density wave and pronounced antiferromagnetic excitations.To understand the underlying physics,here we report measurements from highresolution angle-resolved photoemission.Our results reveal fine splittings of the conduction bands related to the locally noncentrosymmetric structure,as well as a quasi-two-dimensional Fermi surface(FS)with strong 4f contributions.The FS shows signs of nesting with an in-plane vector q_(1)=(π/α,π/α),which is facilitated by the heavy bands nearˉ𝑋arising from the characteristic conduction-X hybridization.The FS nesting provides a natural explanation for the observed antiferromagnetic spin fluctuations at(π/α,π/α),which might be the driving force for its unconventional superconductivity.Our experimental results can be reasonably explained by density functional theory plus dynamical mean field theory calculations,which can capture the strong correlation effects.Our study not only provides spectroscopic signature of the key factors underlying the field-induced superconducting transition,but also uncovers the critical role of FS nesting and lattice Kondo effect in the underlying magnetic fluctuations.
基金supported by the National Key Research and Development Program of China (No.2021YFB2601000)National Natural Science Foundation of China (Nos.52078049,52378431)+2 种基金Fundamental Research Funds for the Central Universities,CHD (Nos.300102210302,300102210118)the 111 Proj-ect of Sustainable Transportation for Urban Agglomeration in Western China (No.B20035)Natural Science Foundation of Shaanxi Province of China (No.S2022-JM-193).
文摘Road transportation plays a crucial role in society and daily life,as the functioning and durability of roads can significantly impact a nation's economic development.In the whole life cycle of the road,the emergence of disease is unavoidable,so it is necessary to adopt relevant technical means to deal with the disease.This study comprehensively reviews the advancements in computer vision,artificial intelligence,and mobile robotics in the road domain and examines their progress and applications in road detection,diagnosis,and treatment,especially asphalt roads.Specifically,it analyzes the research progress in detecting and diagnosing surface and internal road distress and related techniques and algorithms are compared.In addition,also introduces various road gover-nance technologies,including automated repairs,intelligent construction,and path planning for crack sealing.Despite their proven effectiveness in detecting road distress,analyzing diagnoses,and planning maintenance,these technologies still confront challenges in data collection,parameter optimization,model portability,system accuracy,robustness,and real-time performance.Consequently,the integration of multidisciplinary technologies is imperative to enable the development of an integrated approach that includes road detection,diagnosis,and treatment.This paper addresses the challenges of precise defect detection,condition assessment,and unmanned construction.At the same time,the efficiency of labor liberation and road maintenance is achieved,and the automation level of the road engineering industry is improved.
文摘Objective: Around 50% of new nasopharyngeal carcinoma (NPC) cases come from China. The present study aimed to update the surveillance of NPC survival in southern China, and investigate the survival disparities between sexes within this patient population. Methods: Patients diagnosed with primary and invasive NPC between 2000 and 2015 were included in this study. Data on demographics, diagnosis, and follow-up to December 2020 were collected. Patients were stratified by diagnosis period, sex, and age at diagnosis. Survival analysis employed cohort and Life Table methods, Kaplan-Meier curves, log-rank tests, and Cox regression. Results: The study included 32,901 patients, of whom 69.6% were males. The overall 5-year survival rate rose from 69.6% in 2000-2003 to 83.3% in 2013-2015, with a consistent average increase of 3.3% every 3 years. For males, the 5-year survival rate increased from 66.3% to 82.0%, faster than females. Kaplan-Meier curves demonstrated a significantly higher survival rate for females than males, and subgroup analysis confirmed this advantage. The Cox proportional hazards model confirmed the lower mortality risk for females (HR 0.75, 95% CI: 0.71 - 0.78), patients with younger ages at diagnosis, and patients diagnosed in more recent years (All P Conclusions: The 5-year survival rate for NPC patients in southern China has significantly and steadily improved from 2000 to 2015, indicating the improved quality of cancer care in China. The survival advantage of female patients is not limited to younger patients but is also observed in postmenopausal patients, despite the gradual narrowing of the gender gap.
文摘In the process of human behavior recognition, the traditional dense optical flow method has too many pixels and too much overhead, which limits the running speed. This paper proposed a method combing YOLOv3 (You Only Look Once v3) and local optical flow method. Based on the dense optical flow method, the optical flow modulus of the area where the human target is detected is calculated to reduce the amount of computation and save the cost in terms of time. And then, a threshold value is set to complete the human behavior identification. Through design algorithm, experimental verification and other steps, the walking, running and falling state of human body in real life indoor sports video was identified. Experimental results show that this algorithm is more advantageous for jogging behavior recognition.
文摘Insects are posited to be declining globally.This stark reality poses a grave threat to the delicate balance of ecosystems that depend on these creatures for pollination,decomposition,and as a vital food source.Recent studies emphasize three interconnected forces driving this decline:The substantial impact of climate change on insect populations,widespread habitat destruction due to human activities,and the farreaching consequences of modern agricultural practices,particularly the extensive use of pesticides.Addressing these interconnected threats is more urgent than ever,as the future of ecosystems and the benefits they provide to human societies are increasingly at risk.
