The Autonomous Underwater Glider(AUG)is a kind of prevailing underwater intelligent internet vehicle and occupies a dominant position in industrial applications,in which path planning is an essential problem.Due to th...The Autonomous Underwater Glider(AUG)is a kind of prevailing underwater intelligent internet vehicle and occupies a dominant position in industrial applications,in which path planning is an essential problem.Due to the complexity and variability of the ocean,accurate environment modeling and flexible path planning algorithms are pivotal challenges.The traditional models mainly utilize mathematical functions,which are not complete and reliable.Most existing path planning algorithms depend on the environment and lack flexibility.To overcome these challenges,we propose a path planning system for underwater intelligent internet vehicles.It applies digital twins and sensor data to map the real ocean environment to a virtual digital space,which provides a comprehensive and reliable environment for path simulation.We design a value-based reinforcement learning path planning algorithm and explore the optimal network structure parameters.The path simulation is controlled by a closed-loop model integrated into the terminal vehicle through edge computing.The integration of state input enriches the learning of neural networks and helps to improve generalization and flexibility.The task-related reward function promotes the rapid convergence of the training.The experimental results prove that our reinforcement learning based path planning algorithm has great flexibility and can effectively adapt to a variety of different ocean conditions.展开更多
目的:分析原发性高血压患者的心脏结构及功能与中医证型的相关性及差异。方法:选取2020年5月—2021年4月重庆市北碚区中医院收治的原发性高血压患者311例,根据证候调查情况进行中医辨证分型分为肝火亢盛型(n=70)、阴阳两虚型(n=87)、阴...目的:分析原发性高血压患者的心脏结构及功能与中医证型的相关性及差异。方法:选取2020年5月—2021年4月重庆市北碚区中医院收治的原发性高血压患者311例,根据证候调查情况进行中医辨证分型分为肝火亢盛型(n=70)、阴阳两虚型(n=87)、阴虚阳亢型(n=74)、痰湿壅盛型(n=80)4组。所有患者均经胸超声心动图检查,收集相应超声指标,包括升主动脉内径(AO)、左房前后径(LA)、左室舒张末期内径(LVDd)、左心室每搏输出量(LVSV)、室间隔厚度(IVST)、左室后壁厚度(LVPWT)、左室射血分数(LVEF)、左室心肌质量(LVM)、E峰、A峰、E波与A波峰速比值(E/A)、E峰减速时间(E D T),分析各证型患者在心脏结构和功能方面的差异。结果:阴虚阳亢型A O大于肝火亢盛型,差异有统计学意义(P<0.05);阴虚阳亢型L A大于阴阳两虚型,差异有统计学意义(P<0.05)。痰湿壅盛型LVM大于阴阳两虚型,差异有统计学意义(P<0.05);痰湿壅盛型EDT大于阴虚阳亢型及阴阳两虚型,差异有统计学意义(P<0.05)。结论:不同证型的原发性高血压经超声心动图测得的心脏结构及功能各有差异。临床可将超声心动图作为原发性高血压辩证的辅助方法。展开更多
基金supported by the National Natural Science Foundation of China(No.61871283).
文摘The Autonomous Underwater Glider(AUG)is a kind of prevailing underwater intelligent internet vehicle and occupies a dominant position in industrial applications,in which path planning is an essential problem.Due to the complexity and variability of the ocean,accurate environment modeling and flexible path planning algorithms are pivotal challenges.The traditional models mainly utilize mathematical functions,which are not complete and reliable.Most existing path planning algorithms depend on the environment and lack flexibility.To overcome these challenges,we propose a path planning system for underwater intelligent internet vehicles.It applies digital twins and sensor data to map the real ocean environment to a virtual digital space,which provides a comprehensive and reliable environment for path simulation.We design a value-based reinforcement learning path planning algorithm and explore the optimal network structure parameters.The path simulation is controlled by a closed-loop model integrated into the terminal vehicle through edge computing.The integration of state input enriches the learning of neural networks and helps to improve generalization and flexibility.The task-related reward function promotes the rapid convergence of the training.The experimental results prove that our reinforcement learning based path planning algorithm has great flexibility and can effectively adapt to a variety of different ocean conditions.
文摘目的:分析原发性高血压患者的心脏结构及功能与中医证型的相关性及差异。方法:选取2020年5月—2021年4月重庆市北碚区中医院收治的原发性高血压患者311例,根据证候调查情况进行中医辨证分型分为肝火亢盛型(n=70)、阴阳两虚型(n=87)、阴虚阳亢型(n=74)、痰湿壅盛型(n=80)4组。所有患者均经胸超声心动图检查,收集相应超声指标,包括升主动脉内径(AO)、左房前后径(LA)、左室舒张末期内径(LVDd)、左心室每搏输出量(LVSV)、室间隔厚度(IVST)、左室后壁厚度(LVPWT)、左室射血分数(LVEF)、左室心肌质量(LVM)、E峰、A峰、E波与A波峰速比值(E/A)、E峰减速时间(E D T),分析各证型患者在心脏结构和功能方面的差异。结果:阴虚阳亢型A O大于肝火亢盛型,差异有统计学意义(P<0.05);阴虚阳亢型L A大于阴阳两虚型,差异有统计学意义(P<0.05)。痰湿壅盛型LVM大于阴阳两虚型,差异有统计学意义(P<0.05);痰湿壅盛型EDT大于阴虚阳亢型及阴阳两虚型,差异有统计学意义(P<0.05)。结论:不同证型的原发性高血压经超声心动图测得的心脏结构及功能各有差异。临床可将超声心动图作为原发性高血压辩证的辅助方法。
