Heuristic Expanding Disconnected Graph:A Rapid Path Planning Method for Mobile Robots

Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this paper.Firstly,all obstacles are marked and their corners are located through the map pre-processing.Then,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected nodes.Finally,the EDG*heuristic iterative algorithm is proposed.It selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum offset.Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM.The result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map size.The EDG*showed better performance in terms of path smoothness,and collision avoidance.This shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.

Design of Cold-Junction Compensation and Disconnection Detection Circuits of Various Thermocouples and Implementation of Multi-Channel Interfaces Using Them-A Secondary Publication

Cold-junction compensation(CJC)and disconnection detection circuit design of various thermocouples(TC)and multi-channel TC interface circuits were designed.The CJC and disconnection detection circuit consists of a CJC semiconductor device,an instrumentation amplifier(IA),two resistors,and a diode for disconnection detection.Based on the basic circuit,a multi-channel interface circuit was also implemented.The CJC was implemented using compensation semiconductor and IA,and disconnection detection was detected by using two resistors and a diode so that IA input voltage became-0.42 V.As a result of the experiment using R-type TC,the error of the designed circuit was reduced from 0.14 mV to 3μV after CJC in the temperature range of 0°C to 1400°C.In addition,it was confirmed that the output voltage of IA was saturated from 88 mV to-14.2 V when TC was disconnected from normal.The output voltage of the designed circuit was 0 V to 10 V in the temperature range of 0°C to 1400°C.The results of the 4-channel interface experiment using R-type TC were almost identical to the CJC and disconnection detection results for each channel.The implemented multi-channel interface has a feature that can be applied equally to E,J,K,T,R,and S-type TCs by changing the terminals of CJC semiconductor devices and adjusting the IA gain.

Study on Scavenging and Disconnecting Effects of Nitrosation Reaction by Extracts of Tetradium Ruticarpum and Glycyrrhizae

In order to investigate and compare the effects of Tetradium ruticarpum and Glycyrrhizae extracts in terms of scavenging sodium nitrite and inhibiting N-ni- troso compounds formation, the 1_9（3^3） orthogonal test was conducted to extract the active components. In addition, the capacities of scavenging sodium nitrite and of in- hibiting the N-nitroso compounds formation were measured to confirm the optimum condition of extracting. When the scavenging rate was considered as the main index, the maximum capacities of scavenging sodium nitrite by the extracts of Tetradi- urn ruticarpum and Glycyrrhizae were 0.836 5 and 0.558 0, respectively. Further- more, when the disconnection rate was considered as the main index, the maximum capacities of inhibiting the N-nitroso compounds formation by the extracts of Tetradi- urn ruticarpum and G/ycyrrhizae were 0.922 8 and 0.625 6, respectively. As a re- suit, the capacity of inhibiting nitrosation reaction by Tetradium ruticarpum was shown to be much stronger than G/ycyrrhizae, no matter the scavenging rate or the disconnection rate as the main index to be considered.

Permanent versus disconnectable FPSOs

Floating production storage and offioading （FPSO） vessels offer a cost-effective field development solution, especially in deepwater areas lacking an adequate pipeline network. Most FPSOs are permanently moored, i.e. the complete system is designed to withstand any kind of extreme environment at the field location. FPSOs that can be quickly disconnected from their moorings and risers have also been designed and deployed. The key feature of this type of disconnectable FPSO is that it can be disconnect and so avoid dangerous environmental conditions such as icebergs, hurricanes in the Gulf of Mexico and typhoons in the South China Sea. In this paper, the concept of disconnectable FPSOs for deepwater field development is presented. Key technologies and their engineering analyses are highlighted. The merits and demerits of disconnectable vs permanent FPSOs are then evaluated. The paper concludes that both permanent and disconnectable FPSOs are versatile floating systems and their selection depends on safety, technological, cost and operational considerations.

Modified laparoscopic splenectomy and azygoportal disconnection combined with cell salvage is feasible and might reduce the need for blood transfusion

AIM: To investigate perioperative outcomes in patients undergoing modified laparoscopic splenectomy and azygoportal disconnection (MLSD) with intraoperative autologous cell salvage.

Perioperative advantages of modified laparoscopic vs open splenectomy and azygoportal disconnection

AIM: To investigate perioperative outcomes in patients undergoing modified laparoscopic splenectomy or open splenectomy and azygoportal disconnection for portal hypertension.

Coupling Effects of A Deep-Water Drilling Riser and the Platform and the Discharging Fluid Column in An Emergency Disconnect Scenario

As drilling operations move into remote locations and extreme water depths, recoil analysis requires more careful considerations and the incidence of emergency disconnect is increased inevitably. To accurately capture the recoil dynamics of a deep-water riser in an emergency disconnect scenario, researchers typically focus on modelling the influential subsystems (e.g., the tensioner, the mud discharge and seawater refilling process) which can be solved in the preprocessing, and then the determined parameters are transmitted into an existing global riser analysis software. Distinctively, the current study devotes efforts into the coupling effects resulting from that the suspended riser reacts the platform heave motion via the tensioner system in the course of recoil and the discharging fluid column follows the oscillation of the riser in the mud discharge process. Four simulation models are established based on lumped mass method employing different formulas for the top boundary condition of the riser and the discharging flow acceleration. It demonstrates that the coupling effects discussed above can significantly affect the recoil behavior during the transition phase from initial disconnect to the final hang-off state. It is recommended to develop a fully- coupled integrated model for recoil analysis and anti-recoil control system design before extreme deep-water applications.

Basal stacking fault induced twin boundary gliding,twinning disconnection and twin growth in hcp Ti from the first-principles

First-principles calculations were performed to investigate the structures and energetics of {101n} coherent twin boundaries(CTBs) and glide twin boundaries(GTBs) in hexagonal close-packed(hcp) Ti. The formation mechanism of GTBs and their correlation with twin growth were fundamentally explored. Results suggested that GTBs can form from the gliding of CTBs, through their interaction with basal stacking fault. The gliding eventually restored the CTB structures by forming a pair of single-layer twinning disconnections. The pile-up of twinning disconnections should be responsible for the wide steps at twin boundaries as observed in high-resolution transmission electron microscopy, which can further promote twin growth. Possible effects of various alloying elements on pinning twin boundaries were also evaluated, to guide the strengthening design of Ti alloys.

Integrated risk management: a Petrobras application in offshore well construction safety to minimize critical emergency disconnections

In order to avoid mistakes and to save a great deal of time in analysis, an innovative methodology was developed that can analyze the well operations and rig characteristics involved to define the best emergency disconnect sequence （EDS） available. A solution was developed based on the characteristics of the rigs and blowout preventers （BOPs）, and six variables were considered that directly affect the choice of EDS. All possible combinations of 64 scenarios were analyzed, and the priority of choice of the EDS was defined empirically. This paper presents an approach to EDS risk management and examples of exposure time （time without riser safety margin and shear capability） for the same well, which can be lowered from 13% to 0.1%. The impact of this reduction is related to the ability of the BOP to cut some of the heavy casings, in addition to improved availability of EDS modes. This implementation opened up many possibilities for the performance of risk exposure analysis, enabling comparison of several BOP configurations of contracted rigs and selection of the best options. This innovative approach allowed a better management of the rig schedules, prioritizing safety aspects and making it possible to allocate the fleet in a systematic way.

Posterior quadrantic disconnection maintains the activity of isolated temporal-parietal-occipital nerve tissue: neuroprotective measures in the surgical treatment of epilepsy

Extensive lesions involving the posterior quadrant of the cerebral hemisphere （temporal, parietal, and occipital lobes） induce intractable epilepsy. These patients are potential candidates for surgical treatmenttu. Maintenance of isolated nerve tissue activity after surgery plays a crucial role in the neuroprotective effects of neurosurgery treatment. Disconnection surgery of the posterior quadrant is used to completely isolate nerve fibers, while blood supply at the isolated lobes is maintained. Subsequently, cavities caused by cystic or necrotic nerve tissues should be reduced as much as possible,

Road Lateral Disconnection and Crossing Impacts in River Landscape of Lancang River Valley in Yunnan Province,China

Roads are conspicuous components in a river landscape;however,their impacts on river landscape patterns and ecological processes have not been systematically studied at the watershed scale.In this paper,the Lancang River Valley in Yunnan Province,China was selected as a case to study road lateral disconnection and crossing impacts and identify river-road network interaction.This study was primarily focused on the road impacts on soil erosion intensity and patch density by using GIS analysis at different scales and explored their distribution with terrain factors.The results showed that river density revealed spatial autocorrelation although both of the roads and rivers were distributed unevenly in the valley.The lateral road(road curvature≥1.1)proportion correlated with soil erosion intensity(p 0.01)at the small sub-basin scale.Soil erosion intensity decreased with increasing lateral road buffer width.Light erosion generally accounted for a large proportion of the erosion in the lateral road buffer zones(1.0–4.0 km),while higher class lateral roads imposed greater impacts on soil erosion than lower class roads,which primarily had a moderate erosion level.In addition,the results of road-river intersection density indicated that road crossing impacts were significantly correlated with patch density at the small sub-basin scale.Topography factor(percent of slope>25°in each sub-basin had a close relationship with the ratio of total length of road line with curvature value≥1.1 to the total number of intersections.The correlation(p 0.01)between road impacts and terrain factor revealed that topography affected the road impact distribution in the Lancang River Valley.

Management of the late effects of disconnected pancreatic duct syndrome: A case report

BACKGROUND There have been few reports about the late effects of disconnected pancreatic duct syndrome(DPDS). Although few reports have described the recurrence interval of pancreatitis, it might be rare for recurrence to occur more than 5 years later.Herein, we describe a case of recurrence in an 81-year-old man after the treatment of walled-off necrosis(WON) with pancreatic transection 7 years ago.CASE SUMMARY An 81-year-old man visited our hospital with chief complaints of fever and abdominal pain 7 years after the onset of WON due to severe necrotic pancreatitis. His medical history included an abdominal aortic aneurysm(AAA),hypertension, dyslipidemia, and chronic kidney disease. Computed tomography(CT) scan showed that the pancreatic fluid collection(PFC) had spread to the aorta with inflammation surrounding it, and CT findings suggested that bleeding occurred from the vasodilation due to splenic vein occlusion. First, we attempted to perform transpapillary drainage because of venous dilation around the residual stomach and the PFC. However, pancreatic duct drainage failed because of complete main pancreatic duct disruption. Second, we performed endoscopic ultrasound-guided drainage. After transmural drainage, the inflammation improved and stenting for the AAA was performed successfully. The inflammation was resolved, and he has been free from infection for more than 2 years after the procedure.CONCLUSION This case highlights the importance of continued follow-up of patients for recurrence after the treatment of WON with pancreatic transection.

Fragility of disconnect switch subjected to random earthquake ground motions

A fragility calculation scheme is estabtished in this paper for porcelain-type equipments subjected to random earthquake ground motions. All steps of the method are illustrated by the seismic damage analysis of GW4-110 disconnect switch. The model of the equipment is built applying the finite element method with flexible joints, and the seismic response of the equipment is analyzed using elastic time history method. On the base, according to the strength damage index and Monte-Carlo Method, the seismic damage ratios are counted and the seismic fragility curves are presented. Then the seismic damage of GW4-110 disconnect switch can be predicted.

Scattering of SH-wave from interface cylindrical elastic inclusion with a semicircular disconnected curve

Scattering of SH wave from an interface cylindrical elastic inclusion with a semicircular disconnected curve is investigated. The solution of dynamic stress concentration factor is given using the Green＇s function and the method of complex variable functions. First, the space is divided into upper and lower parts along the interface. In the lower half space, a suitable Green＇s function for the problem is constructed. It is an essential solution of the displacement field for an elastic half space with a semi-cylindrical hill of cylindrical elastic inclusion while bearing out-plane harmonic line source load at the horizontal surface. Thus, the semicircular disconnected curve can be constructed when the two parts are bonded and continuous on the interface loading the undetermined anti-plane forces on the horizontal surfaces. Also, the expressions of displacement and stress fields are obtained in this situation. Finally, examples and results of dynamic stress concentration factor are given. Influences of the cylindrical inclusion and the difference parameters of the two mediators are discussed.

A New Simulation Model for Recoil Analysis of Deep-Water Drilling Risers After Emergency Disconnection

The recoil response of a deep-water drilling riser following an ED(Emergency Disconnection)scenario is a transient and sensitive process.The recoiling displacement of the riser is the resultant of recoil motion and axial stretch.How-ever,it is typically represented by one variable in recoil simulations.As axial deformation is quite small compared with axial motion in the recoil process,it inevitably introduces numerical errors(i.e.,a large number annihilating a small number).Thus,it is hard to perform a quantitative analysis of axial deformation,although a consensus initial deformation is essential for recoil dynamics.Moreover,the triggered axial natural modes have never been examined before.In this study,the recoil response is decomposed into two parts:recoil motion and axial deformation,and a novel model is developed by Galerkin method.It has demonstrated that the initial stretch has a significant effect at the initial stage in recoil.The existing models underestimate the effects of axial deformation.The new model can capture information of triggered natural modes and figure out the modes undergoing dynamic compression.This study can be beneficial to overpull setting,determination of ED time and anti-recoil control optimization.

Gastroduodenal artery disconnection during liver transplantation decreases non-anastomotic stricture incidence

Background:The hepatic artery is the only blood source nourishing the biliary duct and associated with biliary complication after liver transplantation(LT).Gastroduodenal artery(GDA)disconnection increased proper hepatic artery flow.Whether this procedure attenuates biliary non-anastomotic stricture(NAS)is not clear.Methods:A total of 241 patients with LT were retrospectively analyzed.The patients were divided into the GDA disconnection(GDA-)and GDA preservation(GDA+)groups.Propensity score matching(PSM)was administrated to reduce bias.Logistic regression was conducted to analyze risk factors for biliary NAS before and after PSM.Postoperative complications were compared.Kaplan-Meier survival analysis and log-rank tests were performed to compare overall survival.Results:In all,99 patients(41.1%)underwent GDA disconnection,and 49(20.3%)developed NAS.Multivariate logistic regression revealed that GDA preservation(OR=2.24,95%CI:1.11-4.53;P=0.025)and model for end-stage liver disease(MELD)score>15(OR=2.14,95%CI:1.12-4.11;P=0.022)were risk factors for biliary NAS.PSM provided 66 pairs using 1:2 matching method,including 66 GDA disconnection and 99 GDA preservation patients.Multivariate logistic regression after PSM also showed that GDA preservation(OR=3.15,95%CI:1.26-7.89;P=0.014)and MELD score>15(OR=2.41,95%CI:1.08-5.36;P=0.031)were risk factors for NAS.When comparing complications between the two groups,GDA preservation was associated with a higher incidence of biliary NAS before and after PSM(P=0.031 and 0.017,respectively).In contrast,other complications including early allograft dysfunction(P=0.620),small-for-size graft syndrome(P=0.441),abdominal hemorrhage(P=1.000),major complications(Clavien-Dindo grade≥3,P=0.318),and overall survival(P=0.088)were not significantly different between the two groups.Conclusions:GDA disconnection during LT ameliorates biliary NAS incidence and may be recommended for application in clinical practice.

First report of small cell lung cancer with PTHrP-induced hypercalcemic pancreatitis causing disconnected duct syndrome

Here we report a patient diagnosed with small cell lung cancer after first presenting with parathyroid hormonerelated peptide-induced hypercalcemic pancreatitis and developed walled-off necrosis that resulted in disruption of the main pancreatic duct.Disconnected duct syndrome (DDS) is a rare syndrome that occurs when the main pancreatic duct exocrine flow is disrupted resulting in leakage of pancreatic enzymes and further inflammatory sequela.To date,no prior reports have described DDS occurring with paraneoplastic reactions.Diagnostic imaging techniques and therapeutic interventions are reviewed to provide insight into current approaches to DDS.

Constrained consensuses in disconnected topologies

This paper is concerned with the constrained consensuses problem for a group of agents in disconnected topologies. By dividing the communication topology into a combination of directed trees, some necessary and sufficient conditions are derived for all the agents to asymptotically reach a single consensus and multiple consensuses, respectively. The obtained results indicate that arbitrary anticipant consensuses can be achieved, if additional constrained controllers are added to those agents with specific indexes. Some illustrative examples are provided to demonstrate the effectiveness of the proposed theoretical results.

Layer stacked SiO_(x) microparticle with disconnected interstices enables stable interphase and particle integrity for lithium-ion batteries

Severe mechanical fractu re and unstable interphase,associated with the large volumetric expansion/contraction,significantly hinder the application of high-capacity SiO_(x)materials in lithium-ion batteries.Herein,we report the design and facile synthesis of a layer stacked SiO_(x)microparticle(LS-SiO_(x))material,which presents a stacking structure of SiO_(x)layers with abundant disconnected interstices.This LS-SiO_(x)microparticle can effectively accommodate the volume expansion,while ensuring negligible particle expansion.More importantly,the interstices within SiO_(x)microparticle are disconnected from each other,which efficiently prevent the electrolyte from infiltration into the interior,achieving stable electrode/-electrolyte interface.Accordingly,the LS-SiO_(x)material without any coating delivers ultrahigh average Coulombic efficiency,outstanding cycling stability,and full-cell applicability.Only 6 cycles can attain>99.92%Coulombic efficiency and the capacity retention at 0.05 A g^(-1)for 100 cycles exceeds99%.After 800 cycles at 1 A g^(-1),the thickness swelling of LS-SiO_(x)electrode is as low as 0.87%.Moreover,the full cell with pure LS-SiO_(x)anode exhibits capacity retention of 91.2%after 300 cycles at 0.2 C.This work provides a novel concept and effective approach to rationally design silicon-based and other electrode materials with huge volume variation for electrochemical energy storage applications.

Description of interhemispheric disconnection syndrome in a patient with Marchiafava-Bignami disease

Interhemispheric disconnection syndrome (IDS), described by Sperry, Gazzaniga and Bogen, is characterized by the presence of visual and tactile anomia, absence of interhemispheric transference of unilateral somatosensory stimulation of both hands, hemialexia and unilateral left-side apraxia. Subsequently, changes were also observed in the sensory interhemispheric transfer and in tests of crossed motor control. In Marchiafava-Bignami disease (MBD) there have been descriptions of partial IDS. The aim is to describe the dissociations in IDS that are presented in a patient with MBD, using a specialized assessment methodology. Patient and Method: A 54-year-old patient, righthanded, with 11 years of schooling, presented with antecedent chronic alcoholism. Neuropsychological tests were administered for general assessment along with specific tests of interhemispheric transference. Results: Borderline changes were found in visual memory, visual-constructive abilities and attention and executive functioning. In tasks of interhemispheric transference the patient showed changes in: the imitation of hand poses;inter-manual pressure point localization (tactile stimulation);reading aloud of words by visual hemifield;and movement control. Conclusion: Our patient showed a wide lesion of the Corpus Callosum (CC) with relative preservation of the splenium, accompanied by partial disconnection syndrome in the context of a global cognitive deterioration from his chronic alcoholism.