目的:探讨临床护理路径在体外膜肺氧合(ECMO)治疗中的应用及对患者预后的影响。方法:选取2016年1月-2019年3月本院行ECMO治疗患者58例,依据不同护理干预方式分成两组,每组各29例。对照组应用常规护理,研究组应用临床护理路径。观察比较...目的:探讨临床护理路径在体外膜肺氧合(ECMO)治疗中的应用及对患者预后的影响。方法:选取2016年1月-2019年3月本院行ECMO治疗患者58例,依据不同护理干预方式分成两组,每组各29例。对照组应用常规护理,研究组应用临床护理路径。观察比较两组干预前后的相关血气指标:血二氧化碳分压(partial pressure of carbon dioxide,PaCO2)及血氧分压(partial pressure of oxygen,PaO2)水平差异及变化情况。两组干预前后的相关心功能指标:心排血量(cardiac output,CO)、射血分数(EF)及每搏输出量(stroke volume,SV)水平差异及变化情况。比较两组机械通气时间、ICU住院时间、总住院时间及预后。结果:干预后,研究组PaCO2水平低于对照组,PaO2水平高于对照组(P<0.05)。干预后,研究组CO、EF及SV水平均显著高于对照组(P<0.05)。研究组机械通气时长、ICU住院时长及总住院时长均显著短于对照组(P<0.05)。研究组并发症发生率低于对照组(P<0.05)。结论:在ECMO的临床护理过程中应用临床护理路径,可显著改善患者的血气指标与心功能指标水平,缩短住院时长,降低发生各种并发症的风险,提高预后。展开更多
This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual le...This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a time-varying reference attitude is assigned. The first controller achieves attitude synchronization for a group of spacecraft with a leaderless communication topology having a directed spanning tree. The second controller guarantees that all spacecraft track the reference attitude if the virtual leader has a directed path to all other spacecraft. Simulation examples are presented to illustrate the effectiveness of the results.展开更多
Distributed consensus problems for multiple Euler-Lagrange systems are addressed on the basis of event-triggered information in this study. Distributed consensus protocols are first designed in terms of two event-trig...Distributed consensus problems for multiple Euler-Lagrange systems are addressed on the basis of event-triggered information in this study. Distributed consensus protocols are first designed in terms of two event-triggered scenarios: a decentralized strategy and a distributed strategy. Sufficient conditions that guarantee the event-triggered consensus for multiple Euler-Lagrange systems are then presented, with the associated advantages of reducing controller update times. It is shown that the Zeno behavior of triggering time sequences is excluded for both strategies. Finally, multiple Euler-Lagrange systems that consist of six two-link manipulators are considered to illustrate the effectiveness of the proposed theoretical algorithms.展开更多
This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control pr...This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control process by comparing the directions of sliding vector and friction. Utilizing the weighting factor, model-based and model-free adaptive friction compensation controllers are designed to achieve asymptotical tracking of the desired joint-space trajectory according to the knowledge of friction. The damping property of friction is fully used to improve the control performance by compensating the friction harmful for the stability, and on the other hand, utilizing the beneficial friction. Numerical simulations are given to demonstrate the control performance of the proposed approach.展开更多
文摘目的:探讨临床护理路径在体外膜肺氧合(ECMO)治疗中的应用及对患者预后的影响。方法:选取2016年1月-2019年3月本院行ECMO治疗患者58例,依据不同护理干预方式分成两组,每组各29例。对照组应用常规护理,研究组应用临床护理路径。观察比较两组干预前后的相关血气指标:血二氧化碳分压(partial pressure of carbon dioxide,PaCO2)及血氧分压(partial pressure of oxygen,PaO2)水平差异及变化情况。两组干预前后的相关心功能指标:心排血量(cardiac output,CO)、射血分数(EF)及每搏输出量(stroke volume,SV)水平差异及变化情况。比较两组机械通气时间、ICU住院时间、总住院时间及预后。结果:干预后,研究组PaCO2水平低于对照组,PaO2水平高于对照组(P<0.05)。干预后,研究组CO、EF及SV水平均显著高于对照组(P<0.05)。研究组机械通气时长、ICU住院时长及总住院时长均显著短于对照组(P<0.05)。研究组并发症发生率低于对照组(P<0.05)。结论:在ECMO的临床护理过程中应用临床护理路径,可显著改善患者的血气指标与心功能指标水平,缩短住院时长,降低发生各种并发症的风险,提高预后。
基金supported by the National Natural Science Foundation of China (Grant Nos. 10832006, 60974078)China Postdoctoral Science Foundation (Grant No. 20100480211)
文摘This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a time-varying reference attitude is assigned. The first controller achieves attitude synchronization for a group of spacecraft with a leaderless communication topology having a directed spanning tree. The second controller guarantees that all spacecraft track the reference attitude if the virtual leader has a directed path to all other spacecraft. Simulation examples are presented to illustrate the effectiveness of the results.
基金supported by the National Natural Science Foundation of China(Grant Nos.61225013&11332001)
文摘Distributed consensus problems for multiple Euler-Lagrange systems are addressed on the basis of event-triggered information in this study. Distributed consensus protocols are first designed in terms of two event-triggered scenarios: a decentralized strategy and a distributed strategy. Sufficient conditions that guarantee the event-triggered consensus for multiple Euler-Lagrange systems are then presented, with the associated advantages of reducing controller update times. It is shown that the Zeno behavior of triggering time sequences is excluded for both strategies. Finally, multiple Euler-Lagrange systems that consist of six two-link manipulators are considered to illustrate the effectiveness of the proposed theoretical algorithms.
基金the National Natural Science Foundation of China(Grant Nos.11932003,U1713223,62003013 and 61673026)the National Key R&D Program of China(Grant No.2018AAA0102703)the China Postdoctoral Science Foundation(Grant Nos.BX20190025 and2019M660405)。
文摘This paper solves the robust control problem of robotic manipulator systems with uncertain dynamics by friction compensation approach. A weighting factor is introduced to distinguish the role of friction in control process by comparing the directions of sliding vector and friction. Utilizing the weighting factor, model-based and model-free adaptive friction compensation controllers are designed to achieve asymptotical tracking of the desired joint-space trajectory according to the knowledge of friction. The damping property of friction is fully used to improve the control performance by compensating the friction harmful for the stability, and on the other hand, utilizing the beneficial friction. Numerical simulations are given to demonstrate the control performance of the proposed approach.
