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基于运动轨迹预测控制的机械臂目标捕捉策略
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作者 李双圻 朱天启 冒建亮 《计算机仿真》 2024年第7期479-483,545,共6页
利用机械臂捕捉运动中的物体是一项极具挑战性的任务,目标的轨迹预测、落点计算以及机械臂的运动控制需要在毫秒级内完成。为此提出一种基于运动轨迹预测控制的机械臂目标捕捉策略。首先,结合长短时记忆神经网络和卡尔曼滤波算法,设计... 利用机械臂捕捉运动中的物体是一项极具挑战性的任务,目标的轨迹预测、落点计算以及机械臂的运动控制需要在毫秒级内完成。为此提出一种基于运动轨迹预测控制的机械臂目标捕捉策略。首先,结合长短时记忆神经网络和卡尔曼滤波算法,设计一种改进的运动轨迹预测模型,实现动态目标的落点计算。其次,采用基于模型预测方法的位置视觉伺服控制,用于实时修正机械臂的姿态,从而实现运动物体的捕捉。最后,建立基于UR5机械臂的仿真与实验环境,验证所提方案的有效性。 展开更多
关键词 运动轨迹预测 模型预测控制 运动目标捕捉
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城镇景观格局对区域碳排放影响及其差别化管控研究 被引量:11
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作者 郭杰 丁冠乔 +7 位作者 刘晓曼 蔡博峰 刘红光 袁子坤 朱天琦 干晓宇 马贤磊 蓝菁 《中国人口·资源与环境》 CSSCI CSCD 北大核心 2018年第10期55-61,共7页
建设低碳城市作为可持续发展的重要议题在国内外受到广泛关注,开展城镇景观格局对区域CO_2排放影响及其差别化管制研究对建设低碳城市尤为重要。当前我国缺乏完整的、可信度高的CO_2排放基础数据,地级市尺度上的CO_2排放时空特征及其驱... 建设低碳城市作为可持续发展的重要议题在国内外受到广泛关注,开展城镇景观格局对区域CO_2排放影响及其差别化管制研究对建设低碳城市尤为重要。当前我国缺乏完整的、可信度高的CO_2排放基础数据,地级市尺度上的CO_2排放时空特征及其驱动机制研究非常匮乏。论文基于CHRED数据库的2005年和2012年全国281个地级市CO_2排放数据,结合相应年度的土地利用覆被数据,分析全国及区域(东部、中部、西部)城镇景观格局及其CO_2排放的区域特征,从结构(城镇用地比例)和布局(斑块密度、最大斑块指数、平均最近距离)两方面,实证检验城镇景观格局对区域CO_2排放的影响,最后提出基于碳减排的区域差别化管制政策。研究表明:(1)城镇用地占比、斑块密度、集聚性在空间上呈现出"东高西低"的特征;除了西部地区的集聚性呈缩小趋势外,其他指标均呈现出扩大趋势。(2)西部地区城镇用地占比与地均CO_2排放呈正相关性;中部地区城镇用地平均最近距离与地均CO_2排放呈负相关性;东部、中部地区最大斑块指数与地均CO_2排放呈正相关性。不同区域的城镇景观格局对CO_2排放的影响机制不同,因而应当对城市发展实施差别化管控:东部地区应采取"多核心"的城市发展策略以降低区域CO_2排放水平;中部地区在采用"多核心"的发展策略的同时要兼顾集聚性,发挥其集聚效应;西部地区要显化其全国的生态屏障功能,更加严格地控制建设用地面积,避免城市无序扩张。 展开更多
关键词 城镇景观格局 碳排放 差别化管控
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2005年中国城市CO2排放数据集 被引量:5
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作者 蔡博峰 刘晓曼 +86 位作者 陆军 王金南 刘红光 陈洋 陈占明 丛建辉 崔志鹏 代春艳 董会娟 方恺 冯彤 郭杰 李芬 孟凡鑫 唐伟 王庚哲 谢运生 张建军 阿依吐尔逊·沙木西 布买日也木·买买提 蔡伟光 曾胜 常盼 陈前利 陈振国 单钰理 丁冠乔 独威 范敏 冯相昭 干晓宇 高壮飞 谷雨 何凌昊 何姚 胡鸣明 黄丽珍 黄桥 贾小平 菊春燕 蓝菁 李爽 李松 李耀光 李照令 刘合林 刘婧文 刘庆燕 刘竹 逯飞 马贤磊 欧金沛 潘栋 沈杨 税月 孙露 谭效时 唐敏 唐袆祺 王柯 王思亓 王香爱 王晓培 吴家杰 吴雪萍 肖连香 邢文婷 徐丽笑 叶瑞克 袁子坤 张飞云 张袆 张明 张琦峰 张曦文 张宇 赵晶 赵胜男 郑思伟 周来友 朱天琦 曹丽斌 冯乐 李栋 李一静 龙瀛 孙瑞红 《中国人口·资源与环境》 CSSCI CSCD 北大核心 2018年第4期1-7,共7页
2005年是中国承诺碳减排目标的基准年份,因而也是中国城市碳减排战略制定和近中期低碳转型的基准年份和对照年份。中国城市2005年CO_2排放数据的一致性、全面性和精准性对于中国所有城市和每个具体城市的目标考核和评估都有重要意义。... 2005年是中国承诺碳减排目标的基准年份,因而也是中国城市碳减排战略制定和近中期低碳转型的基准年份和对照年份。中国城市2005年CO_2排放数据的一致性、全面性和精准性对于中国所有城市和每个具体城市的目标考核和评估都有重要意义。基于中国高空间分辨率网格数据(CHRED 2.0)、城市层面统计数据以及大量现场调研和走访,建立2005年中国城市CO_2排放数据集,包括工业能源排放、工业过程排放、农业排放、服务业排放、城镇生活排放、农村生活排放、交通排放7个部门的直接排放数据和间接排放数据。该数据集的建立汇总了86名研究人员的工作成果,在企业、城市不同行业与部门、城市工业和城市总化石能源等不同层面进行了大量的交叉验证和数据分析,有效保障了数据的精确性和准确性。结果显示,2005年中国城市碳排放呈现出较大的体量差异和空间格局差异。排放前10的城市几乎比排放后10的城市的排放量高出两个数量级。高排放城市基本都是城市群的核心城市。东部城市直接排放占全国直接排放比例最高,达到44.59%,其次是西部城市21.76%,中部城市22.70%,东北城市10.95%。 展开更多
关键词 城市 CO 2排放数据集 中国高空间分辨率网格
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盐胁迫对两个高羊茅品种幼苗生长及生理特性的影响 被引量:13
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作者 朱天奇 鲁泽宇 +6 位作者 胡桑源 李光裕 李尤月 游翔凯 高双红 刘铁芫 许岳飞 《草地学报》 CAS CSCD 北大核心 2022年第8期2082-2088,共7页
本研究以两个高羊茅(Festuca arundinacea Schreb.)品种‘钛极-2LS’(Festuca arundinacea‘Titanium 2LS’)和‘易凯’(Festuca arundinacea‘Easycare’)幼苗为研究对象,通过盐浓度递增的方式对其进行14 d高盐处理(500 mmol·L^(-... 本研究以两个高羊茅(Festuca arundinacea Schreb.)品种‘钛极-2LS’(Festuca arundinacea‘Titanium 2LS’)和‘易凯’(Festuca arundinacea‘Easycare’)幼苗为研究对象,通过盐浓度递增的方式对其进行14 d高盐处理(500 mmol·L^(-1) NaCl),测定两个高羊茅品种幼苗的形态、离子含量、光合参数以及抗氧化酶活性等指标,比较其耐盐性差异。结果表明:在盐胁迫下,两个高羊茅品种幼苗地下生物量,K+/Na+,光合、荧光参数,超氧化物歧化酶活性均显著降低(P<0.05),但‘钛极-2LS’的降低幅度低于‘易凯’;两个高羊茅品种幼苗内可溶性糖和脯氨酸含量增加,但‘钛极-2LS’的增加幅度高于‘易凯’;此外,盐胁迫下过氧化物酶活性在‘钛极-2LS’中呈上升趋势而在‘易凯’中呈下降趋势。综上,盐胁迫下‘钛极-2LS’可以维持相对较高的K+/Na+和较好的光合能力,积累更多渗透调节物质来缓解盐胁迫引起的渗透胁迫、离子毒害和氧化胁迫的伤害,从而更有利于植株生长,因此‘钛极-2LS’耐盐性更好。 展开更多
关键词 高羊茅 盐胁迫 离子含量 光合特性 抗氧化酶活性
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智能RGV动态调度问题的研究 被引量:1
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作者 蒋佳烜 朱天奇 +1 位作者 李俊良 吴宇航 《新一代信息技术》 2018年第2期22-29,共8页
本文主要研究生产中智能RGV的动态调度策略,首先了解CNC与RGV的工作流程,对一道工序和两道工序的加工流程进行区分,将在单位时间内加工物料数量最为最终目标,在保证8台CNC能够发挥最大效能的情况下将流程时间作为目标函数,对其进行线性... 本文主要研究生产中智能RGV的动态调度策略,首先了解CNC与RGV的工作流程,对一道工序和两道工序的加工流程进行区分,将在单位时间内加工物料数量最为最终目标,在保证8台CNC能够发挥最大效能的情况下将流程时间作为目标函数,对其进行线性规划,将相关的影响因素作为约束条件来求得RGV动态调度模型。并在考虑CNC可能发生故障的情况下,结合正常情况下建立考虑CNC可能故障的情况下的RGV动态调度模型。 展开更多
关键词 蚁群算法改良 排队论 动态调度模型 线性规划
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基于灰色预测的转炉炼钢烟气反馈智能化
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作者 朱天奇 李俊良 蒋佳烜 《科技创新与生产力》 2019年第1期61-63,共3页
为实现中小型转炉炼钢智能化的目标,需要进行C元素质量分数和钢水温度的动态检测控制,以实现炼钢终点的高命中率。本文运用灰色预测模型对数据进行分析处理,得到各项影响因素的相关参数,建立预测终点C元素质量分数和终点钢水温度的模型... 为实现中小型转炉炼钢智能化的目标,需要进行C元素质量分数和钢水温度的动态检测控制,以实现炼钢终点的高命中率。本文运用灰色预测模型对数据进行分析处理,得到各项影响因素的相关参数,建立预测终点C元素质量分数和终点钢水温度的模型,并利用MATLAB软件对该灰色预测模型进行仿真检验。该研究获取了稳健性高的动态预测模型,实现了转炉炼钢烟气反馈的智能化。 展开更多
关键词 智能炼钢 灰色预测 动态检测 仿真检验
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Randomized comparison of intracoronary tirofiban versus urokinase as an adjunct to primary percutaneous coronary intervention in patients with acute ST-elevation myocardial infarction: results of the ICTUS-AMI trial 被引量:27
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作者 zhu tian-qi ZHANG Qi +9 位作者 DING Feng-hua QIU Jian-ping JIN Hui-geng JIANG Li LU Lin ZHANG Rui-yan HU Jian YANG Zhen-kun SHEN Ying SHEN Wei-feng 《Chinese Medical Journal》 SCIE CAS CSCD 2013年第16期3079-3086,共8页
Background No randomized trial has been performed to compare the efficacy of an intracoronary bolus of tirofiban versus urokinase during primary percutaneous coronary intervention (PCI).We investigated whether the e... Background No randomized trial has been performed to compare the efficacy of an intracoronary bolus of tirofiban versus urokinase during primary percutaneous coronary intervention (PCI).We investigated whether the effects of adjunctive therapy with an intracoronary bolus of urokinase was noninferior to the effects of an intracoronary bolus of tirofiban in patients with ST-elevation myocardial infarction (STEMI) undergoing PCI.Methods A total of 490 patients with acute STEMI undergoing primary PCI were randomized to an intracoronary bolus of tirofiban (10 μg/kg; n=247) or urokinase (250 kU/20 ml; n=243).Serum levels of P-selectin,von Willebrand factor (vWF),CD40 ligand (CD40L),and serum amyloid A (SAA) in the coronary sinus were measured before and after intracoronary drug administration.The primary endpoint was the rate of complete (>70%) ST-segment resolution (STR) at 90 minutes after intervention,and the noninferiority margin was set to 15%.Results In the intention-to-treat analysis,complete STR was achieved in 54.4% of patients treated with an intracoronary bolus of urokinase and in 60.6% of those treated with an intracoronary bolus of tirofiban (adjusted difference:-7.0%;95% confidence interval:-15.7% to 1.8%).The corrected TIMI frame count of the infarct-related artery was lower,left ventricular ejection fraction was higher,and the 6-month major adverse cardiac event-free survival tended to be better in the intracoronary tirofiban group.An intracoronary bolus of tirofiban resulted in lower levels of P-selectin,vWF,CD40L,and SAA in the coronary sinus compared with an intracoronary bolus of urokinase after primary PCI (P<0.05).Conclusions An intracoronary bolus of urokinase as an adjunct to primary PCI for acute STEMI is not equally effective to an intracoronary bolus of tirofiban with respect to improvement in myocardial reperfusion assessed by STR.This may be caused by less reduction in coronary circulatory platelet activation and inflammation. 展开更多
关键词 acute myocardial infarction ELECTROCARDIOGRAPHY primary percutaneous coronary intervention tirofiban UROKINASE
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Prevalence, clinical characteristics and outcome in patients with chronic heart failure and diabetes 被引量:15
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作者 SHI Chuan WANG Ling-jie +6 位作者 HU Dan-feng LI Jin-ping zhu tian-qi SHAN Ying ZHAO Jian-rong ZHANG Feng-ru SHEN Wei-feng 《Chinese Medical Journal》 SCIE CAS CSCD 2010年第6期646-650,共5页
Background Chronic heart failure(CHF)and diabetes mellitus portend high morbidity and mortality because of an interrelated pathophysiologic process.This large cohort study aimed to analyze the prevalence,clinicaI ch... Background Chronic heart failure(CHF)and diabetes mellitus portend high morbidity and mortality because of an interrelated pathophysiologic process.This large cohort study aimed to analyze the prevalence,clinicaI characteristics and long-term outcome of patients with CHF and diabetes.Methods A totaI of 1119 patients with NYHA functionaI class Ⅱ-Ⅳ and left ventricular ejection fraction(LVEF)〈45% between January 1995 and May 2009 were recruited.Clinical variables, biochemical and echocardiographic measurements were retrospectively reviewed,and composite major cardiac events (MCE) including death,headtransplantation, and refractory heart failure requiring multiple hospitalizations were recorded.Results The prevalence of CHF with diabetes was progressively increased with time (16.9% in 1995-1999;20.4% in 2000-2004,and 29.1% in 2005-2009)and age(1 8.5% in〈60 years,26.6% in 60-80 years,and 26.6% in〉80 years).Compared with CHF patients without diabetes,those with diabetes had worse cardiac function,more abnormal biochemical changes.and higher mortality.Treatment with glucose-lowering agents significantly improved LVEF and decreased MCE.An elevated serum HbA1c level was associated with large left ventricular end-systolic diameter (P〈0.05),decreased LVEF(P〈0.01)and reduced survival(P〈0.05).Multivariable Logistic regression analysis revealed that after adjustment for confounding factors,NYHA functional class(OR2.65,95%CI 1.14-6.16,P=0.024)and HbA1c level≥7%(OR2.78, 95%CI 1.00-7.68,P=0.049)were independent risk factors for adverse outcomes in CHF patients with diabetes.Conclusions Prevalence of CHF with diabetes was increasing during past decades,and patients with CHF and diabetes had worse clinical profiles and prognosis.Aggressive anti-CHF and diabetes therapies are needed to improve overall outcomes for these patients. 展开更多
关键词 chronic heart failure diabetes mellitus PROGNOSIS medical treatment
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Improved outcomes from transradial over transfemoral access in primary percutaneous coronary intervention for patients with acute ST-segment elevation myocardial infarction and upstream use of tirofiban 被引量:14
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作者 ZHANG Qi QIU Jian-ping +7 位作者 ZHANG Rui-yan HU Jian YANG Zhen-kun DING Feng-hua DU Run zhu tian-qi ZHANG Jian-sheng SHEN Wei-feng 《Chinese Medical Journal》 SCIE CAS CSCD 2013年第6期1063-1068,共6页
Background Transradial access has been increasingly used during primary percutaneous coronary intervention (PCI) for patients with acute ST-segment elevation myocardial infarction (STEMI) in last decade. Clinical ... Background Transradial access has been increasingly used during primary percutaneous coronary intervention (PCI) for patients with acute ST-segment elevation myocardial infarction (STEMI) in last decade. Clinical benefits of upstream use of tirfiban therapy in STEMI patients treated by primary PCI have been reported. We investigated the merits of transradial vs. transfemoral access in primary PCI for STEMI patients with upstream use of tirofiban. Methods Patients with STEMI treated with tirofiban between December 2006 and October 2012 then by primary PCI were compared between transradial (n=298) and transfemoral (n=314) access. Baseline demographics, angiographic and PCI features and primary endpoint of major adverse cardiac events (MACE) at 30-day clinical follow-up were recorded. Results Baseline and procedural characteristics were comparable between the two groups, apart from more patients in transradial group had hypertension and were treated by thrombus aspiration during primary PCI. Significantly fewer MACE occurred in the transradial group (5.4%) compared with the transfemoral group (9.9%) at 30-day clinical follow-up. Major bleeding events at 30-day clinical follow-up were 0 in transradial group and in 2.9% of transfemoral group. Multivariate analysis confirmed transradial approach as an independent negative predictor of 30-day MACE (HR 0.68; 95% CI 0.35-0.91; P=0.03). Conclusions Using transradial approach in primary PCI for acute STEMI infarction patients treated with tirofiban was clearly beneficial in reducing bleeding complications and improving 30-day clinical outcomes. 展开更多
关键词 acute myocardial infarction TRANSRADIAL percutaneous coronary intervention OUTCOME
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Impact of angina prior to acute ST-elevation myocardial infarction on short-term outcomes after primary percutaneous coronary intervention: results from the Shanghai Registry of Acute Coronary Syndrome (SRACE) 被引量:7
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作者 ZHANG Qi ZHANG Rui-yan +6 位作者 zhu tian-qi HU Jian YANG Zhen-kun DING Feng-hua DU Run zhu Zheng-bin SHEN Wei-feng 《Chinese Medical Journal》 SCIE CAS CSCD 2012年第6期977-982,共6页
Background The clinical significance of ischemic chest pain before acute ST-elevation myocardial infarction (STEMI) remains an interesting issue of investigation particularly in the era of percutaneous coronary inte... Background The clinical significance of ischemic chest pain before acute ST-elevation myocardial infarction (STEMI) remains an interesting issue of investigation particularly in the era of percutaneous coronary intervention (PCI). This study aimed to assess the impact of angina prior to STEMI on short-term clinical outcomes in patients with acute STEMI undergoing primary PCI. Methods Among a total of 875 consecutive patients with STEMI undergoing primary PCI, 292 had episodes of angina within 24 hours of STEMI (PA group) and the remaining 583 were free of anginal symptoms (non-PA group). Clinical characteristics, angiographic and procedural features, and in-hospital and 30-day outcomes were compared between the two groups. Results Diabetes was less common (17.5% vs. 23.3%, P=-0.04) and symptom-to-door time was shortened ((191.6_+96.8) minutes vs. (357.2_+341.9) minutes, P 〈0.001) in the PA group than in the non-PA group. Patients with angina prior to STEMI had fewer totally or nearly totally occluded infarct-related artery (TIMI flow grade 0-1) at initial angiography (75.0% vs. 90.7%, P 〈0.001), and achieved more TIMI flow grade 3 after primary PCI (84.2% vs. 78.2%, P=0.04). These were associated with higher rates of overall procedural success (95.9% vs. 91.8%, P=0.02) and of complete ST-segment resolution at 90 minutes after the procedure (51.7% vs. 40.3%, P=0.001). During a 30-day clinical follow-up, the left ventricular ejection fraction was significantly improved ((53.0±8.6)% vs. (51.1±9.7)%, P=-0.002) and the primary endpoint of major adverse cardiac events was reduced in the PA group (7.2% vs. 12.7%, P=0.01). Conclusion Presence of angina prior to acute STEMI is associated with better outcome at a 30-day clinical follow-up in patients undergoing primary PCI. 展开更多
关键词 acute myocardial infarction preinfarction angina primary angioplasty STENT OUTCOMES
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