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.

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.

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.

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.

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.

Hopping Parameter Expansion Technique in Noise Method for Disconnected Quark Loops

We investigate the effectiveness of the hopping parameter expansion（HPE） combined with the Z（2） noise method in the calculation of the trace of the inverse of Wilson＇s Dirac operator and some other disconnected contributions.A numerical comparison of the standard deviation for the Z（2） noise method and HPE with the Z（2） noise method is carried out. It is found that there are noise reductions in all the quantities we calculated using the HPE with the Z（2） noise method. For the trace of the inverse of Wilson＇s Dirac operator, the HPE can reduce the statistical error by about 60%.

Deep Foundation Pit Excavations Adjacent to Disconnected Piled Rafts: A Review on Risk Control Practice

Foundation pit excavation engineering is an old subject full of decision making. Yet, it still deserves further research due to the associated high failure cost and the complexity of the geological conditions and/or the surrounding existing infrastructure around it. This article overviews the risk control practice of foundation pit excavation projects in close proximity to existing disconnected piled raft. More focus is given to geotechnical aspects. The review begins with achievements to ensure excavation performance requirements, and follows to discuss the complex soil structure interaction involved among the fundamental components: the retaining wall, mat, piles, cushion, and the soil. After bringing consensus points to practicing engineers and decision makers, it then suggests possible future research directions.

Endoscopic pancreatogastric anastomosis in the treatment of symptoms associated with inflammatory diseases of the pancreas

BACKGROUND The outflow of pancreatic juice into the duodenum is often impaired in pancreatic inflammatory diseases.The basis of interventional treatment in these cases is anatomical transpapillary access of the main pancreatic duct during endoscopic retrograde cholangiopancreatography(ERCP),which ensures the physiological outflow of pancreatic juice into the lumen of the digestive tract.However,in some patients,anatomical changes prevent transpapillary drainage of the main pancreatic duct.Surgery is the treatment of choice in such cases.AIM To evaluate the effectiveness and safety of endoscopic pancreaticogastrostomy under endoscopic ultrasound(EUS)guidance.METHODS Retrospective analysis of treatment outcomes of all patients with acute or chronic pancreatitis who underwent endoscopic pancreatogastric anastomosis under EUS guidance in 2018-2023 at the Department of General,Gastroenterological and Oncological Surgery,Ludwik Rydygier Collegium Medicum in Bydgoszcz,Nicolaus Copernicus University in Toruń,Poland.RESULTS In 9 patients[7 men,2 women;mean age 53.45(36-66)years],endoscopic pancreatogastric anastomosis under EUS guidance was performed because of the lack of transpapillary access during ERCP.Narrowing of the main pancreatic duct at the head of the pancreas was observed in 4/9 patients(44.44%).Pancreatic fragmentation(disconnected pancreatic duct syndrome)was diagnosed in 3/9 patients(33.33%).In 2/9 patients(22.22%),narrowing of the pancreatoenteric anastomosis was observed after pancreaticoduodenectomy.Technical success of endoscopic pancreaticogastrostomy was observed in 8/9 patients(88.89%).Endotherapeutic complications were observed in 2/9 patients(22.22%).Clinical success was achieved in 8/9 patients(88.89%).The mean follow-up period was 451(42-988)d.Long-term success of endoscopic pancreatogastric anastomosis was achieved in 7/9 patients(77.78%).CONCLUSION Endoscopic pancreaticogastrostomy under EUS guidance is an effective and safe treatment method,especially in the absence of transpapillary access to the main pancreatic duct.

Calculation of disconnected quark loops in lattice QCD

Calculation of disconnected quark loops in lattice QCD is very time consuming.Stochastic noise methods are generally used to estimate these loops.However,stochastic estimation gives large errors in the calculations of disconnected diagrams.We use the symmetric multi-probing source(SMP)method to estimate the disconnected quark loops,and compare the results with the Z(2)noise method and the spin-color explicit(SCE)method on a quenched lattice QCD ensemble with lattice volume 12^3×24 and lattice spacing a≈0.1 fm.The results show that the SMP method is very suitable for the calculation of pseudoscalar disconnected quark loops.However,the SMP and SCE methods do not have an obvious advantage over the Z(2)noise method in the evaluation of the scalar disconnected loops.

3redon-Illman cohomology with actions of ;otally disconnected groups

We study the Bredon-IUman cohomology with local coefficients for a G-space X in the case of G being a totally disconnected, locally compact group. We prove that any short exact sequence of equivariant local coefficients systems on X gives a long exact sequence of the associated Bredon-Illman cohomology groups with local coefficients.

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.

RECOGNITION OF ESSENTIALLY DISCONNECTED BENZENOIDS

A benzenoid, or a benzenoid system, is a connected planar graph whose every interiorface is a regular hexagon. A peak (resp. valley) of a benzenoid is a vertex which lies above(resp. below) all its first neighbors. A Kekulean benzenoid is a benzenoid with at least oneperfect matching. An essentially disconnected benzenoid is a Kekulean benzenoid which hassome fixed bonds. Essentially disconnected benzenoids have proved to be very useful incertain enumeration techniques for Derfect matching. Hence the problem of recognizing

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.

A Study of Digital Disconnection Among Older Adults in the Internet Age

With internet and smartphone usage increasing every year,seniors are being exposed to digital media,either actively or passively.To better integrate into the information society for the elderly,efforts are also needed to clarify the causes of their digital disconnection and develop appropriate solutions.In this study,semi-structured interviews are utilized to investigate the self-adjustment and external intervention of the elderly in the age of digital media and to explore the ways,causes,and effects of digital disconnection of the elderly.The focus issue of this study is to clarify the subjective and objective factors of digital disconnection,especially cognitive problems,group influences,and technological access barriers in the elderly population concerning digital devices and the Internet.

Study of the Impact of Grid Disconnections on the Production of a Photovoltaic Solar Power Plant: Case of Diamniadio Power Plant

Today, renewable energy projects connected to the interconnected network, with powers of the order of tens of megawatts, are more and more numerous in sub-Saharan Africa. And financing these investments requires a reliable amortization schedule. In the context of photovoltaic systems connected to the interconnected electricity grid, the quintessence of damping is the amount of energy injected into the grid. Thus it is fundamental to know the parameters of this network and their variation. This paper presents an evaluation of the impact of power grid disturbances on the performance of a solar PV plant under real conditions. The CICAD photovoltaic solar plant, connected to the Senelec distribution network, with an installed capacity of 2 MWp is the study setting. An energy audit of the plant is carried out. Then the percentage of each loss is determined: voltage drops, module degradation, inverter efficiency. The duration of each disconnection is measured and recorded daily. The corresponding quantity of lost energy is thus calculated from meteorological data (irradiation, temperature, wind speed, illumination) recorded by the measurement unit in one-minute steps. The observation period is three months. The total duration of disconnections related to the instability of the electrical network during the study period is 46.7 hours. The amount of energy lost is estimated at 22.6 MWh. This represents 2.4% of the actual calculated production.

Morphogenesis of Floating Bone Segments: A Legacy of Serial Tensile Cross-Strut Microdamage in Trabecular Disconnection “Crumple Zones”?

Trabecular bone disconnection “hotspots” of real termini (ReTm) previously mapped as loci of weakness in the female aging spine and hip may be a source of free-floating cancellous segments found in the medullary space using a bespoke, thick slice histological method for identifying ReTm. A factor in their origin is apparently microdamage proliferation (differentiated by en bloc silver staining) with occasional callus moderation. Validation of similar “floating segments” (FS) in the ex-breeder rat suggested a pilot model for a potentially common phenomenon. Following marrow elution and density fractionation of the isolated floating segments from the whole proximal rat femora, scanning electron microscopy (SEM) and elemental microanalysis (EDS) was performed. The eluent contained numbers of vertically truncated, laterally branched floating segments (acute severance of sequential tensile cross-struts, causing chronic compression overload of axial-struts, with ii) inadequate stabilising callus, facilitating ReTm stacking into predetermined, substructural “crumple zones” of force containment, spheroidal attrition and particulate dissociation. As a catabolic outcome of altered tensile and hormonal influence, FS number may add a novel variable to cancellous bone kinetics particularly in women of relevance to fracture predisposition.

The Absurdity of Happy Days

Happy Days,one of Samuel Beckett's renowned works,is remarkable for its absurdity.The paper approaches the predominant feature from such aspects as fragmented characters,disconnected language,peculiar structure and grotesque stagecraft.

拓扑空间中的强半开集

对拓朴空间中的强半开集进行了探讨,给出了它的等价刻划及一些特征性质,研究了它与半开集。