基于改进Preisach迟滞构架的工业机器人柔性关节深度神经网络迟滞建模研究

针对工业机器人柔性关节所具有非对称、速率相关及强非线性的复杂迟滞特性问题,改进Preisach模型,提出一种描述复杂迟滞特性的深度神经网络迟滞模型。从模型内部迟滞算子和外部网络结构两个角度改进Preisach模型,描述柔性关节的复杂迟滞特性:1)设计一个非对称非线性迟滞函数,替换Preisach模型内部迟滞算子,描述柔性关节的非对称迟滞特性;2)在Preisach模型输出端引入惯性滤波环节,在Preisach模型输入端引入输入输出历史信息,描述柔性关节的速率相关迟滞特性。将改进的Preisach模型与实现非线性映射的全连接神经网络串联构成深度神经网络迟滞模型。通过对比实验验证了所提出的深度神经网络迟滞模型描述工业机器人柔性关节复杂迟滞特性的有效性,其具有良好的预测能力和较高的精度。

Effects of Maillard reaction and its product AGEs on aging and age-related diseases

Maillard reaction(MR)is a non-enzymatic browning reaction commonly seen in food processing,which occurs between reducing sugars and compounds with amino groups.Despite certain advantages based on Maillard reaction products(MRPs)found in some food for health and storage application have appeared,however,the MR occurring in human physiological environment can produce advanced glycation end products(AGEs)by non-enzymatic modification of macromolecules such as proteins,lipids and nucleic acid,which could change the structure and functional activity of the molecules themselves.In this review,we take AGEs as our main object,on the one hand,discuss physiologic aging,that is,age-dependent covalent cross-linking and modification of proteins such as collagen that occur in eyes and skin containing connective tissue.On the other hand,pathological aging associated with autoimmune and inflammatory diseases,neurodegenerative diseases,diabetes and diabetic nephropathy,cardiovascular diseases and bone degenerative diseases have been mainly proposed.Based on the series of adverse effects of accelerated aging and disease pathologies caused by MRPs,the possible harm caused by some MR can be slowed down or inhibited by artificial drug intervention,dietary pattern and lifestyle control.It also stimulates people's curiosity to continue to explore the potential link between the MR and human aging and health,which should be paid more attention to for the development of life sciences.

Low RBC counts predict high on-treatment platelet reactivity in patients undergoing percutaneous coronary intervention and treated with clopidogrel

Dear Editor,Cardiovascular disease is the leading cause of deaths worldwide,with coronary artery disease(CAD)accounting for approximately 50%of its mortality.Dual antiplatelet therapy,including aspirin and a P2Y12 inhibitor,is the most important treatment for CAD patients undergoing percutaneous coronary intervention(PCI)to prevent recurrent ischemic events and cardiac death.Clopidogrel is one of the commonly used P2Y12 inhibitors.However,up to 30%of patients treated with a standard dose of clopidogrel present with high on-treatment platelet reactivity(HOPR),which is associated with the increased ischemic risks[1].The causes of HOPR are multifactorial and complex.

Decarbonizing in Maritime Transportation: Challenges and Opportunities

As global warming caused by greenhouse gases grows (GHGs) into a global environmental threat, carbon dioxide emissions are drawing increasing attention in these years. Among all emission sources, transportation is a major contributor to climate change because of its high dependence on fossil fuels. The International Maritime Organization (IMO) has therefore been promoting the reduction of fuel usage and carbon emissions for container ships by such measures as improving shipping route selection, shipping speed optimization, and constructing clean energy propulsion systems. In this paper, a review of the impact of carbon dioxide emissions on climate change is presented;the current situations of carbon dioxide emissions, decarbonizing methods, IMO regulations, and possible future directions of decarbonizing in the maritime transportation industry are also discussed. Based on the result, it is found that in the case that non intelligent ships still occupy the vast majority of operating ships, the use of new energy as the main propulsion fuel has the defects of high renewal cost and long effective period. It is more likely to achieve energy conservation and emission reduction in the shipping industry in a short period of time by using intelligent means and artificial intelligence to assist ship operation. .

腹腔镜与显微镜手术治疗精索静脉曲张的疗效比较

目的:比较分析显微镜下与腹腔镜下精索静脉高位结扎术治疗精索静脉曲张的疗效及安全性。方法:回顾分析2018年1月至2021年10月收治的126例精索静脉曲张患者的临床资料,对比分析两组患者临床分级、症状、手术时间、术后住院时间、住院费用及并发症等相关指标。结果:显微镜组手术时间长于腹腔镜组(P<0.05),术中出血量、术后住院时间、住院费用少于腹腔镜组(P<0.05)。腹腔镜组术后4例发生阴囊水肿,显微镜组术后发生1例;两组术后均有2例复发、1例切口感染,显微镜组1例发生鞘膜积液,两组并发症情况差异无统计学意义(P>0.05)。术后两组患者复查精液质量,较术前均有明显改善(P<0.05),两组间差异无统计学意义(P>0.05)。结论:显微镜下治疗精索静脉曲张虽然手术时间较长,但可减少术中出血量、缩短住院时间、节省住院费用;在术后并发症、复发率、提高精液质量方面与腹腔镜手术效果相近,值得在基层医院推广应用。

Ellagic acid ameliorates cisplatin-induced acute kidney injury by regulating inflammation and SIRT6/TNF-α signaling

De spite cisplatin has been widely used in the treatment of various cancers,the noteworthy nephrotoxicity greatly constrained its clinical value.For this reason,finding novel targeted therapies to attenuate the nephrotoxicity of cisplatin should be pretty significant.Our previous study found that histone deacetylase sirtuin 6(SIRT6)could be an ideal target for the treatment of cisplatin-induced acute kidney injury.In this study,we explored the protective effects of ellagic acid,a natural polyphenol compound that activates SIRT6,on cisplatin-induced nephrotoxicity.Pre-treatment of ellagic acid attenuated cytotoxicity of cisplatin in primary renal cells and TCMK-1 cells.Moreover,ellagic acid ameliorated renal dysfunction,apoptosis and fibrosis induced by cisplatin in mice.Furthermore,ellagic acid reduced nephrotoxicity-associated inflammatory factor interleukin(IL)-1βand IL-6 expression both in vitro and in vivo.Mechanistically,ellagic acid reversed cisplatin-reduced SIRT6 expression and diminished cisplatin-induced tumor necrosis factor(TNF)-αexpression.And SIRT6 knockdown abrogated the protective effects of ellagic acid on cisplatin-induced cell apoptosis,indicating the renal-protective effects of ellagic acid are mainly dependent on ellagic acid-mediated SIRT6 activation.Our results provide preclinical rationale for using ellagic acid as a feasible and promising agent to ameliorate cisplatin-induced acute kidney injury,and support ellagic acid as a potential adjunctive therapy for future cancer treatment.

High-starchy carbohydrate diet aggravates NAFLD by increasing fatty acids influx mediated by NOX2

Nonalcoholic fatty liver disease(NAFLD)is a high-incidence lipid disorder that affects more than a quarter of the population worldwide,and dietary intervention is the recognized treatment.Starch is the main component of staple foods that are consumed daily,and the effects,metabolic pathway,and molecular mechanism of starch in the context of NAFLD remain unclear.Our study showed that a high-starch carbohydrate diet(HCD)led to the occurrence and exacerbation of NAFLD in mice.Transcriptomics and metabonomic analyses showed that the increased fatty acid influx mediated by NADPH oxidase 2(NOX2)exacerbated NAFLD.Knocking down NOX2 specifically alleviated HCD-induced NAFLD in vivo and in vitro.Moreover,the large amounts of ROS produced by NOX2 further exacerbated insulin resistance and increased lipolysis in perirenal white adipose tissue(periWAT),thereby providing fatty acids for hepatic lipid synthesis.In addition,the interaction between AMPKα1 and p47phox was the pathway that mediated the high expression of NOX2 induced by a HCD.Our study systematically demonstrated the effect of a HCD on NAFLD.Elevated fatty acid influx is a unique molecular regulatory pathway that mediates HCD-induced NAFLD exacerbation,which is different from the effect of simple sugars.Additionally,NOX2 was suggested to be a specific and effective drug target for NAFLD.

术前营养风险筛查在评估前列腺癌根治术快速康复方案可行性中的作用

目的:探讨术前营养风险筛查评估前列腺癌根治术围手术期快速康复可行性的作用。方法:我们进行了一个回顾性队列研究,纳入2013年10月至2018年12月于宜兴市人民医院行前列腺癌根治术的224名患者,所有患者均由同一团队行前列腺癌根治术。我们分别采用NRS-2002评分和PG-SGA评分对所有患者进行术前营养风险筛查,2016年12月起我院采取快速康复外科(enhanced recovery after surgery,ERAS)策略,比较营养风险组和营养正常组术后住院天数、导尿管留置时间、引流管留置时间、首次排便时间、独立活动时间以及术后并发症发生情况等,以及不同营养风险患者在ERAS和常规方案中的住院天数、导尿管留置时间、术后并发症发生情况等的差异。结果:营养风险组和营养正常组患者在年龄、手术时间、术中出血量、术后Gleason评分等方面均无统计学差异,营养状况与BMI具有相关性。根据NRS-2002和PG-SGA量表,营养正常患者中,ERAS组较常规组住院天数、导尿管留置时间、引流管留置时间、首次排便时间以及独立活动时间都有明显改善,差异有统计学意义;而在营养风险患者中,ERAS组较常规组住院天数和首次排便时间都明显延长,差异有统计学意义。结论:术前进行营养评估有助于筛选营养风险患者,避免不必要的术后恢复风险,选择合适的ERAS患者,值得在泌尿外科临床工作中推广应用。

术前综合评价对经尿道前列腺电切术手术效果的预测价值

目的:探讨良性前列腺增生(BPH)术前进行国际前列腺症状评分-排尿症状/储尿症状评分比值(IPSS-V/S)、尿流动力学检查[最大尿流率(Qmax)]及超声检查[膀胱内前列腺突入程度(IPP);残余尿量(PVR)]综合评价能准确预测经尿道前列腺电切术(TURP)的手术效果。方法:回顾性分析宜兴市人民医院2018年12月至2019年12月年收治的103例BPH患者的临床资料,年龄(71.92±7.73)岁,前列腺体积(58.34±15.59)ml。术前IPSS-V/S评分:(23.38±3.36)分,其中排尿期得分(14.38±2.69)分,储尿期得分9(8~10)分,V/S:1.67(1.43~1.88);尿流动力学检查Qmax:7(5~8)ml/s;超声检查:IPP 4(0~5)mm,残余尿量(117.03±20.51)ml。手术时间(83.65±14.31)min,术中出血量(55.32±18.92)ml。由同一名外科医师实施TURP手术。术后3个月回访其IPSS评分以及生活质量评分(QOL),IPSS评分改善超过50%或IPSS评分小于7以及QOL评分达到大致满意均可视为手术效果满意,否则视为手术效果欠佳。比较疗效满意组和疗效欠佳组之间各项术前检查结果的差异。结果:103例患者术后IPSS评分(5.36±1.95)分,较术前IPSS有统计学差异。疗效满意组共计71例(68.93%),年龄(71.04±7.23)岁,前列腺体积(59.68±15.79)ml, IPSS评分(23.87±3.42)分,排尿期得分(14.87±2.34)分,储尿期得分9(8~10)分,V/S:1.67(1.47~1.86),Qmax:6(4~7)ml/s, IPP:5(0~6)mm, PVR:(110.53±17.69)ml,手术时间(85.37±12.28)min,术中出血量(58.08±14.61)ml;疗效欠佳组共计32例(31.07%),年龄(76.91±8.25)岁,前列腺体积(55.38±14.73)ml, IPSS评分(22.53±3.25)分,排尿期得分(13.53±3.21)分,储尿期得分9(8~12)分,V/S:1.36(1.03~1.95),Qmax:8(7~9)ml/s, IPP:0(0~5)mm, PVR:(129.61±20.62)ml,手术时间(78.85±10.04)min,术中出血量(48.76±12.19)ml。结论:年龄较小、术前IPSS得分以排尿期症状为主、IPP较大、PVR较少、Qmax较小的BPH患者TURP的手术效果更好。

Connexin 43 hemichannels protect bone loss during estrogen deficiency

Estrogen deficiency in postmenopausal women is a major cause of bone loss,resulting in osteopenia,osteoporosis,and a high risk for bone fracture.Connexin 43 (Cx43) hemichannels (HCs) in osteocytes play an important role in osteocyte viability,bone formation,and remodeling.We showed here that estrogen deficiency reduced Cx43 expression and HC function.To determine if functional HCs protect osteocytes and bone loss during estrogen deficiency,we adopted an ovariectomy model in wild-type (WT) and two transgenic Cx43 mice:R76W (dominant-negative mutant inhibiting only gap junction channels) and Cx43 Δ130–136 (dominant-negative mutant compromising both gap junction channels and HCs).The bone mineral density (BMD),bone structure,and histomorphometric changes of cortical and trabecular bones after ovariectomy were investigated.Our results showed that the Δ130–136 transgenic cohort had greatly decreased vertebral trabecular bone mass compared to WT and R76W mice,associated with a significant increase in the number of apoptotic osteocyte and empty lacunae.Moreover,osteoclast surfaces in trabecular and cortical bones were increased after ovariectomy in the R76W and WT mice,respectively,but not in Δ130–136 mice.These data demonstrate that impairment of Cx43 HCs in osteocytes accelerates vertebral trabecular bone loss and increase in osteocyte apoptosis,and further suggest that Cx43 HCs in osteocytes protect trabecular bone against catabolic effects due to estrogen deficiency.

Mechanotransduction via the coordinated actions of integrins,PI3K signaling and Connexin hemichannels

Mechanical loading opens connexin 43(Cx43)hemichannels(HCs),leading to the release of bone anabolic molecules,such as prostaglandins,from mechanosensitive osteocytes,which is essential for bone formation and remodeling.However,the mechanotransduction mechanism that activates HCs remains elusive.Here,we report a unique pathway by which mechanical signals are effectively transferred between integrin molecules located in different regions of the cell,resulting in HC activation.Both integrinα5 andαV were activated upon mechanical stimulation via either fluid dropping or flow shear stress(FSS).Inhibition of integrinαV activation or ablation of integrinα5 prevented HC opening on the cell body when dendrites were mechanically stimulated,suggesting mechanical transmission from the dendritic integrinαV toα5 in the cell body during HC activation.In addition,HC function was compromised in vivo,as determined by utilizing an antibody blockingαV activation andα5-deficient osteocyte-specific knockout mice.Furthermore,inhibition of integrinαV activation,but not that ofα5,attenuated activation of the phosphoinositide 3-kinase(PI3K)-protein kinase B(AKT)signaling pathway upon mechanical loading,and the inhibition of PI3K/AKT activation blocked integrinα5 activation and HC opening.Moreover,HC opening was blocked only by an anti-integrinαV antibody at low but not high FSS levels,suggesting that dendriticαV is a more sensitive mechanosensor thanα5 for activating HCs.Together,these results reveal a new molecular mechanism of mechanotransduction involving the coordinated actions of integrins and PI3K/AKT in osteocytic dendritic processes and cell bodies that leads to HC opening and the release of key bone anabolic factors.

Combine intravitreal bevacizumab with Nd: YAG laser hyaloidotomy for valsalva pre-macular haemorrhage and observe the internal limiting membrane changes: a spectralis study

Valsalva retinopathy was described as a particular form of retinopathy, pre-retinal and subinternal limiting membrane haemorrhages in nature that rarely may break through and become subhyloid or intravitreal, secondary to a sudden increase in intrathoracic pressure. We reported a new way that Nd:YAG laser for ILM hyaloidotomy in order to drain the sub-ILM blood into vitreous cavity combined with intravitreal bevacizumab to improve the absorption of blood. Therapeutic alliance make significant outcome, protecting vision in time. We used spectralis OCT to observe sub-ILM mix cells and special ILM structure in this lesion for the first time, as the spectralis OCT can reach histology level imagination.

Osteocytes regulate bone anabolic response to mechanical loading in male mice via activation of integrinα5

Physical mechanical stimulation can maintain and even increase bone mass.Here,we report an important role of osteocytic integrinα5 in regulating the anabolic response of bone to mechanical loading using an Itga5 conditional gene knockout(cKO)mouse model.Integrinα5 gene deletion increased apoptotic osteocytes and reduced cortical anabolic responses to tibial compression including decreased endosteal osteoblasts and bone formation,and increased endosteal osteoclasts and bone resorption,contributing to the decreased bone area fraction and biomechanical properties,leading to an enlarged bone marrow area in cKO mice.Similar disruption of anabolic responses to mechanical loading was also detected in cKO trabecular bone.Moreover,integrinα5 deficiency impeded load-induced Cx43 hemichannel opening,and production and release of PGE2,an anabolic factor,resulting in attenuated effects of the loading on catabolic sclerostin(SOST)reduction and anabolicβ-catenin increase.Together,this study shows an indispensable role of integrinα5 in osteocytes in the anabolic action of mechanical loading on skeletal tissue through activation of hemichannels and PGE2-evoked gene expression.Integrinα5 could act as a potential new therapeutic target for bone loss,especially in the elderly population with impeded mechanical sensitivity.

Microstructure and thermal stability of sintered pure tungsten processed by multiple direction compression

Multiple direction compression(MDC)was conducted on sintered pure tungsten(99.9%,mass fraction)with different reductions at 1423 K.The microstructure,microhardness and thermal stability of the MDC-processed samples were studied by X-ray diffraction(XRD),electron backscattered diffraction(EBSD)and differential scanning calorimetry(DSC)compared with those of the initial sintered tungsten.The results show that the dislocation density increases significantly with the reduction of MDC,ranging from 3.08×1014 m-2 for the initial sintered tungsten to 8.08×1014 m-2 for the tungsten after MDC with the reduction of 50%.The average grain size decreases from 83.8 to 14.7μm and the microhardness value increases from HV0.2 417 to HV0.2 521.The recrystallization temperature for the tungsten samples processed by MDC is approximately constant at around 1600 K.The MDC of sintered tungsten results in a decrease of grain size concurrent with an increase of uniformly distributed nucleation sites,which leads to the improvement of the thermal stability.

Hospital based epidemiological study for diabetic retinopathy:study design and preliminary results

AIM: To describe the design and preliminary results of the hospital based epidemiological study for diabetic retinopathy (HBESDR), an ongoing epidemiological study to estimate the prevalence of diabetic retinopathy (DR) and to elucidate the clinical, anthropometric, biochemical and any other risk factors associated with diabetic retinopathy. METHODS: Totally 2000 diabetes will be recruited from the Diabetes eye clinic in the First Affiliated Hospital of China Medical University. All subjects underwent blood sugar estimation and Oral Glucose Tolerance Test to diagnose diabetes. All diabetes would undergo complete questionnaire, a comprehensive eye examination. Blood and urine would be collected for biochemical investigations. All fundus photographs for any DR will be graded. Participants who need treatment will be sent to the ophthalmic clinic and follow-up interval program for all subjects will be suggested. A computerized database is created for the records. RESULTS: To date, 1174 diabetes have been recruited, there were 350 (29.81%) DR in all diabetes, most of them were with mild non-proliferative diabetic retinopathy (NPDR) (139, 39.71%); 71 (20.29%) moderate NPDR, 66 (18.86%) severe NPDR, 74 (21.14%) proliferative diabetic retinopathy (PDR). Females, longer duration of diabetes, family history of diabetes and hypertension had a statistically significant increase in risk of any DR. CONCLUSION: The study is expected to provide an estimate of the overall prevalence of DR and the prevalence with different duration of diabetes and also a better understanding of the risk factors associated with DR.

Spectrum Sensing for OFDMA Using Multicarrier Covariance Matrix Aware CNN

We consider spectrum sensing problems in the orthogonal frequency division multiplexing access(OFDMA)cognitive radio scenario,where a secondary user with multiple antennas detects several consecutive subcarriers of an entire OFDM symbol occupied by multiple primary users.Specifically,an OFDM multicarrier covariance matrix convolutional neural network(CNN)-based approach is proposed for simultaneously detecting the occupancy of all OFDM subcarriers,where the multicarrier sample covariance matrix array is specially set as the input of the CNN.The proposed approach can efficiently learn the energy information and correlation information between antennas and between subcarriers to significantly improve the spectrum sensing performance.Numerical results demonstrate that the proposed method has a substantial performance advantage over the state-of-the-art spectrum sensing methods in an OFDM A scenario under the 5 G new radio network.

Distributed Multi-Cell Multi-User MISO Downlink Beamforming via Deep Reinforcement Learning

The sum rate maximization beamforming problem for a multi-cell multi-user multiple-input single-output interference channel(MISO-IC)system is considered.Conventionally,the centralized and distributed beamforming solutions to the MISO-IC system have high computational complexity and bear a heavy burden of channel state information exchange between base stations(BSs),which becomes even much worse in a large-scale antenna system.To address this,we propose a distributed deep reinforcement learning(DRL)based approach with lim⁃ited information exchange.Specifically,the original beamforming problem is decomposed of the problems of beam direction design and power allocation and the costs of information exchange between BSs are significantly reduced.In particular,each BS is provided with an inde⁃pendent deep deterministic policy gradient network that can learn to choose the beam direction scheme and simultaneously allocate power to users.Simulation results illustrate that the proposed DRL-based approach has comparable sum rate performance with much less information exchange over the conventional distributed beamforming solutions.

理解规律 领悟方法 提升素养——2023年全国高考理综甲卷第25题赏析及拓展

2023年全国高考理综甲卷第25题考查了电磁感应现象与动量、能量的综合应用。文章对该题展开赏析,通过一题多解,归纳出“单棒切割”模型中各物理量之间的线性关系和求解此类情境中变力问题的方法,再结合拓展变式,对易错点和成因进行了探讨,以期为教学和复习备考提供有效借鉴。

Efficacy and Safety of All-oral,12-week Ravidasvir Plus Ritonavir-boosted Danoprevir and Ribavirin in Treatment-naive Noncirrhotic HCV Genotype 1 Patients:Results from a Phase 2/3 Clinical Trial in China

Background and Aims:Ravidasvir(RDV)is a new generation pangenotypic hepatitis C virus(HCV)NS5A inhibitor,with high barrier to baseline resistance-associated species.This is the first phase 2/3 study conducted in China's Mainland confirming the efficacy and safety of RDV+ritonavir-boosted danoprevir+ribavirin for 12 weeks in treatment-naive noncirrhotic patients with genotype 1 infection in a large population.Methods:In this multicenter,randomized,doubleblinded,placebo-controlled phase 2/3 trial(NCT03362814),we enrolled 424 treatment-nafve,noncirrhotic adult HCV genotype 1 patients.All patients were randomized at 3∶1 ratio to receive a combination of RDV 200mg once daily plus ritonavir-boosted danoprevir 100mg/100mg twice daily and oral ribavirin 1000/1200mg/day(body weight<75/≥75 kg)(n=318)or placebo(n=106)for 12 weeks.The primary end-point was the rate of sustained virologic response 12 weeks after the end of treatment,and the safety was evaluated and compared between treatment and placebo groups.Results:The overall rate of sustained virological response at 12 weeks after treatment is 99%(306/309,95%,CI:97%-100%)under per protocol set analysis.All patients harboring baseline NS5A resistance-associated species in the treatment group(76/76,per protocol set)achieved sustained virological response at 12 weeks after treatment.No treatment-related serious adverse events were reported.Laboratory abnormalities showed mild or moderate severity(grade 1 and grade 2)in liver function tests.Conclusions:In treatment-na(i)ve,noncirrhotic HCV Chinese patients infected with HCV genotype 1,all-oral regimen of RDV+ritonavir-boosted danoprevir+ribavirin for 12 weeks was highly efficacious,safe,and well tolerated.

Microstructural evolution and fracture mechanism of a new AlZn-Mg-Cu-Zr alloy processed by equal-channel angular pressing

Equal-channel angular pressing(ECAP) is considered to be one of the most effective processing procedures to produce ultrafine-grained(UFG) materials.A new AI-ZnMg-Cu-Zr alloy was subjected to ECAP experiment in Route B_(C)(i.e.,rotated 90° in the same sense between each pass).The effect of ECAP on the microstructural evolution and fracture mechanism of the alloy was analyzed by optical microscope(OM),X-ray diffraction(XRD),tensile test(at room temperature),and scanning electron microscope(SEM).The results show that the main strengthening phase of the alloy is MgZn_(2),whose content increases apparently after ECAP,the dislocation density increases by one order of magnitude,the hardness value of the 1 pass ECAPed sample increases by 53 %,the ultimate tensile strength(UTS)increases by 29 %,and the true strain increases by 15.4 %.But the further increase in the strength with the passes increasing would cost a slight drop in the true strain.The morphology of the tensile dimples is converted from elongated one to equiaxed one with a uniform distribution of size and depth after pressing.