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Patterns of local recurrence in rectal cancer after a multidisciplinary approach 被引量:14
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作者 Jose M Enríquez-Navascués Nerea Borda +5 位作者 Aintzane Liz-erazu Carlos Placer Jose L Elosegui Juan P Ciria Adelaida Lacasta Luis Bujanda 《World Journal of Gastroenterology》 SCIE CAS CSCD 2011年第13期1674-1684,共11页
Improvements in surgery and the application of combined approaches to fight rectal cancer have succeeded in reducing the local recurrence (LR) rate and when there is LR it tends to appear later and less often in isola... Improvements in surgery and the application of combined approaches to fight rectal cancer have succeeded in reducing the local recurrence (LR) rate and when there is LR it tends to appear later and less often in isolation. Moreover, a subtle change in the distribution of LRs with respect to the pelvis has been observed. In general terms, prior to total mesorectal excision the most common LRs were central types (perianastomotic and anterior) while lateral and posterior forms (presa-cral) have become more common since the growth in the use of combined treatments. No differences have been reported in the current pattern of LRs as a function of the type of approach used, that is, neo-adjuvant therapies (short-term or long-course radiotherapy, orchemoradiotherapy versus extended lymphadenectomy, though there is a trend towards posterior or presacral LR in patients in the Western world and lateral LR in Asia. Nevertheless, both may arise from the same mechanism. Moreover, as well as the mode of treatment, the type of LR is related to the height of the initial tumor. Nowadays most LRs are related to the advanced nature of the disease. Involvement of the circumferential radial margin and spillage of residual tumor cells from lymphatic leakage in the pelvic side wall are two plausible mechanisms for the genesis of LR. The patterns of pelvic recurrence itself (pelvic subsites) also have important implications for prognosis and are related to the potential success of salvage curative approach. The re-operability for cure and prognosis are generally better for anastomotic and anterior types than for presacral and lateral recurrences. Overall survival after LR diagnosis is lower with radio or chemoradiotherapy plus optimal surgery approaches, compared to optimal surgery alone. 展开更多
关键词 Rectal cancer local neoplasm recurrence pelvis Pattern of recurrence multidisciplinary approach
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Evaluating Local Elasticity of the Metal Nano-films Quantitatively Based on Referencing Approach of Atomic Force Acoustic Microscopy 被引量:1
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作者 ZHANG Gaimei HE Cunfu +1 位作者 WU Bin CHEN Qiang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2012年第6期1281-1286,共6页
Traditional technique such nanoindenter(NI) can't measure the local elastic modulus at nano-scale(lateral). Atomic force acoustic microscopy (AFAM) is a dynamic method, which can quantitatively determine indent... Traditional technique such nanoindenter(NI) can't measure the local elastic modulus at nano-scale(lateral). Atomic force acoustic microscopy (AFAM) is a dynamic method, which can quantitatively determine indentation modulus by measuring the contact resonance spectra for high order modes of the cantilever. But there are few reports on the effect of experimental factors, such length of cantilever, contact stiffness on measured value. For three different samples, including copper(Cu) film with 110 nm thickness, zinc(Zn) film of 90 nm thickness and glass slides, are prepared and tested, using referencing approach in which measurements are performed on the test and reference samples (it's elastic modulus is known), and their contact resonance spectra are measured used the AFAM system experimentally. According to the vibration theory, from the lowest two contact resonance frequencies, the tip-sample contact stiffness is calculated, and then the values for the elastic properties of test sample, such as the indentation modulus, are determined. Using AFAM system, the measured indentation modulus of copper nano-film, zinc nano-film and glass slides are 113.53 GPa, 87.92 GPa and 57.04 GPa, which are agreement with literature values Mcu--105-130 GPa, Mzn = 88.44 GPa and Molass = 50-90 GPa. Furthermore, the sensitivity of contact resonance frequency to contact stiffness is analyzed theoretically. The results show that for the cantilevers with the length 160 pm, 225 μm and 520 μm respectively, when contact stiffness increases from 400 N/m to 600 N/m, the increments of first contact resonance frequency are 126 kHz, 93 kHz and 0.6 kHz, which show that the sensitivity of the contact resonance frequency to the contact stiffness reduces with the length of cantilever increasing. The novel method presented can characterize elastic modulus of near surface for nano-film and bulk material, and local elasticity of near surface can be evaluated by optimizing the experimental parameters using the AFAM system. 展开更多
关键词 local elasticity atomic force acoustic microscope(AFAM) contact stiffness referencing approach
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Variational Approach for the Adapted Solution of Backw ard Stochastic Differential Equations with Locally Lipschitz Diffusion Coefficients 被引量:1
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作者 谢臻赟 刘奕 《Journal of Donghua University(English Edition)》 EI CAS 2012年第4期341-350,共10页
One existence integral condition was obtained for the adapted solution of the general backward stochastic differential equations(BSDEs). Then by solving the integral constraint condition, and using a limit procedure, ... One existence integral condition was obtained for the adapted solution of the general backward stochastic differential equations(BSDEs). Then by solving the integral constraint condition, and using a limit procedure, a new approach method is proposed and the existence of the solution was proved for the BSDEs if the diffusion coefficients satisfy the locally Lipschitz condition. In the special case the solution was a Brownian bridge. The uniqueness is also considered in the meaning of "F0-integrable equivalent class" . The new approach method would give us an efficient way to control the main object instead of the "noise". 展开更多
关键词 backward stochastic differential equation (BSDE) variational approach locally Lipschitz condition EXISTENCE Fointegrable equivalent class UNIQUENESS Brownian bridge
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Application of the local approach to the fatigue assessment for welded joints
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作者 王东坡 张玉凤 +2 位作者 霍立兴 陈俊梅 王文先 《China Welding》 EI CAS 2003年第2期116-121,共6页
The fatigue behavior of welded structures is currently determined by means of recommendations defined in terms of S-N curve corresponding to the detail classes of welded joints without taking account of the actual geo... The fatigue behavior of welded structures is currently determined by means of recommendations defined in terms of S-N curve corresponding to the detail classes of welded joints without taking account of the actual geometry of the weld. A new fatigue strength assessment method based on Dang Van multiaxial fatigue limit criterion was introduced, which is named the local approach and presented by Institut de Soudure recently. The local approach has advantages in taking welding residual stresses and the geometry of the weld toe and weld root into consideration. The application of the local approach to the fatigue strength assessment of low carbon steel Q235B welded joints was studied. The fatigue tests and finite element analysis results show that the local approach parameters recommended by Institut de Soudure were incorrectly for low carbon steel Q235B welded joints. With aluminum alloy welded joints being used widely, the parameters of the local approach used for aluminum alloy welded joints were obtained and verified on bases of the fatigue tests and finite element analysis. 展开更多
关键词 fatigue strength local approach local stresses residual stresses
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ANALYSIS OF THE LOCALIZATION OF DAMAGE AND THE COMPLETE (STRESS-STRAIN) RELATION FOR MESOSCOPIC HETEROGENEOUS ROCK UNDER UNIAXIAL TENSILE LOADING
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作者 周小平 王建华 +1 位作者 张永兴 哈秋聆 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2004年第9期1031-1038,共8页
The mechanical behavior of rock under uniaxial tensile loading is different from that of rock under compressive loads. A micromechanics-based model was proposed for mesoscopic heterogeneous brittle rock undergoing irr... The mechanical behavior of rock under uniaxial tensile loading is different from that of rock under compressive loads. A micromechanics-based model was proposed for mesoscopic heterogeneous brittle rock undergoing irreversible changes of their microscopic structures due to microcrack growth. The complete stress-strain relation including linear elasticity, nonlinear hardening,rapid stress drop and strain softening was obtained. The influence of all microcracks with different sizes and orientations were introduced into the constitutive relation by using the probability density function describing the distribution of orientations and the probability density function describing the distribution of sizes. The influence of Weibull distribution describing the distribution of orientations and Rayleigh function describing the distribution of sizes on the constitutive relation were researched. Theoretical predictions have shown to be consistent with the experimental results. 展开更多
关键词 uniaxial tensile loading mesoscopic heterogeneous rock localization of damage and deformation complete stress-strain relation
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ANALYSIS OF THE LOCALIZATION OF DAMAGE AND THE COMPLETE STRESS-STRAIN RELATION FOR MESOSCOPIC HETEROGENEOUS BRITTLE ROCK SUBJECTED TO COMPRESSIVE LOADS
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作者 周小平 张永兴 +1 位作者 哈秋聆 王建华 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2004年第9期1039-1046,共8页
A micromechanics-based model is established. The model takes the interaction among sliding cracks into account, and it is able to quantify the effect of various parameters on the localization condition of damage and d... A micromechanics-based model is established. The model takes the interaction among sliding cracks into account, and it is able to quantify the effect of various parameters on the localization condition of damage and deformation for brittle rock subjected to compressive loads. The closed-form explicit expression for the complete stress-strain relation of rock containing microcracks subjected to compressive loads was obtained. It is showed that the complete stress-strain relation includes linear elasticity,nonlinear hardening,rapid stress drop and strain softening.The behavior of rapid stress drop and strain softening is due to localization of deformation and damage. Theoretical predictions have shown to be consistent with the experimental results. 展开更多
关键词 compressive load mesoscopic heterogeneous rock complete stress-strain relation localization of damage and deformation
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Local Polynomial Regression Estimator of the Finite Population Total under Stratified Random Sampling: A Model-Based Approach
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作者 Charles K. Syengo Sarah Pyeye +1 位作者 George O. Orwa Romanus O. Odhiambo 《Open Journal of Statistics》 2016年第6期1085-1097,共13页
In this paper, auxiliary information is used to determine an estimator of finite population total using nonparametric regression under stratified random sampling. To achieve this, a model-based approach is adopted by ... In this paper, auxiliary information is used to determine an estimator of finite population total using nonparametric regression under stratified random sampling. To achieve this, a model-based approach is adopted by making use of the local polynomial regression estimation to predict the nonsampled values of the survey variable y. The performance of the proposed estimator is investigated against some design-based and model-based regression estimators. The simulation experiments show that the resulting estimator exhibits good properties. Generally, good confidence intervals are seen for the nonparametric regression estimators, and use of the proposed estimator leads to relatively smaller values of RE compared to other estimators. 展开更多
关键词 Sample Surveys Stratified Random Sampling Auxiliary Information local Polynomial Regression Model-Based approach Nonparametric Regression
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The multispeciality approach to the management of localised kidney cancer
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作者 Grant D Stewart 《四川生理科学杂志》 2022年第7期1169-1169,共1页
Historically,kidney cancer was approached in a siloed single-speciality way,with urological surgeons managing the localised stages of the disease and medical oncologists caring for patients if metastases developed.How... Historically,kidney cancer was approached in a siloed single-speciality way,with urological surgeons managing the localised stages of the disease and medical oncologists caring for patients if metastases developed.However,improvements in the management of localised kidney cancer have occurred rapidly over the past two decades with greater understanding of the disease biology,diagnostic options,and innovations in curative treatments.These developments are favourable for patients but provide a substantially more complex landscape for patients and clinicians to navigate,with associated challenging decisions about who to treat,how,and when.As such,the skill sets needed to manage the various aspects of the disease and guide patients appropriately outstrips the capabilities of one particular specialist,and the evolution of a multispeciality approach to the management of kidney cancer is now essential.In this Review,we summarise the current best multispeciality practice for the management of localised kidney cancer and the areas in need of further research and development. 展开更多
关键词 KIDNEY local approach
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汉语乡土语言英译的人本路径——兼论《汉语乡土语言英译行为批评研究》
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作者 陈静 《山东外语教学》 北大核心 2024年第2期126-133,共8页
新时期中国文学和文化的对外传播离不开翻译的独特作用,作为中国乡土文学外译的重要组成部分,汉语乡土语言及其翻译活动逐渐受到学界关注,但目前该领域相关研究较为零散,缺乏系统性的理论思考和应用探索。针对此现状,本文结合周领顺等... 新时期中国文学和文化的对外传播离不开翻译的独特作用,作为中国乡土文学外译的重要组成部分,汉语乡土语言及其翻译活动逐渐受到学界关注,但目前该领域相关研究较为零散,缺乏系统性的理论思考和应用探索。针对此现状,本文结合周领顺等著《汉语乡土语言英译行为批评研究》中所使用的译者行为批评理论与汉语乡土语言英译实践素材,从研究对象的厘定、研究方法的应用、研究思路的确立以及研究结论的归纳四个方面探索汉语乡土语言翻译研究的人本路径,为中国乡土文学外译活动及研究提供镜鉴。 展开更多
关键词 乡土文学 乡土语言 翻译研究 人本路径 译者行为批评
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新质生产力推动地方本科高校教育改革创新研究
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作者 王福军 张超 《黑河学院学报》 2024年第9期95-97,共3页
新质生产力发展对人才培养的需求,要求地方本科高校教育进一步适应社会发展,专业设置应以市场需求为导向,优化专业课程体系,打造“双师型”师资队伍,推动教学方法改革,加强实践教学平台建设,深化校企合作模式,推进教育信息化建设等,以... 新质生产力发展对人才培养的需求,要求地方本科高校教育进一步适应社会发展,专业设置应以市场需求为导向,优化专业课程体系,打造“双师型”师资队伍,推动教学方法改革,加强实践教学平台建设,深化校企合作模式,推进教育信息化建设等,以期提升地方本科高校新质生产力人才培养效能。 展开更多
关键词 新质生产力 地方本科高校 改革创新 实践路径
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近海复杂环境下UUV动态路径规划方法研究
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作者 张宏瀚 王亚博 +2 位作者 李娟 王元慧 严浙平 《智能系统学报》 CSCD 北大核心 2024年第1期114-121,共8页
为解决近海环境下水下无人航行器(unmanned underwater vehicle,UUV)的动态路径规划问题,本文提出一种结合全局和局部动态路径规划的算法。首先,本文提出一种基于自适应目标引导的快速拓展随机树算法,以增加随机树生长的方向性,并通过... 为解决近海环境下水下无人航行器(unmanned underwater vehicle,UUV)的动态路径规划问题,本文提出一种结合全局和局部动态路径规划的算法。首先,本文提出一种基于自适应目标引导的快速拓展随机树算法,以增加随机树生长的方向性,并通过转向和重选策略减少无效拓展加快算法的收敛速度。接着,获得全局路径之后使用自适应子节点选取策略获取动态窗口法的子目标点,将复杂的全局动态任务规划分解为多个简单的动态路劲规划,从而防止动态窗口法陷入局部极小值。最后,通过UUV出港任务仿真实验验证了算法的有效性和实用性。 展开更多
关键词 水下无人航行器 动态路径规划 快速拓展随机树 动态窗口 自适应 水下环境 局部路径规划 避障
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地方工科大学“工程化”的时代意蕴与发展策略——基于浙江工业大学的案例分析
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作者 凌健 张杨敏 《浙江工业大学学报(社会科学版)》 2024年第2期218-224,共7页
地方工科大学应避免陷入工程教育“理科化”的单向失衡,实现科学教育与工程教育二元融合的“工程化”。通过分析浙江工业大学“工程化”的实践探索,提出地方工科大学“工程化”建设应立足自身定位,面向国家和区域重大需求,打造工程特色... 地方工科大学应避免陷入工程教育“理科化”的单向失衡,实现科学教育与工程教育二元融合的“工程化”。通过分析浙江工业大学“工程化”的实践探索,提出地方工科大学“工程化”建设应立足自身定位,面向国家和区域重大需求,打造工程特色鲜明的路径支撑,构建有组织的工程科研结构,依托优势学科设置交叉学科专业和科研大平台,培养出复合型、创新型的工程科学技术人才。 展开更多
关键词 工程化 工科理科化 地方工科大学 跨学科
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改良双入路法内窥镜下跖筋膜松解术联合跟骨局部减压治疗跖筋膜炎的效果
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作者 陈波杰 王敷强 +1 位作者 胡伟全 林小福 《中国当代医药》 CAS 2024年第19期43-46,50,共5页
目的探究改良双入路法内窥镜下跖筋膜松解术联合跟骨局部减压治疗对跖筋膜炎患者临床疗效、足底压痛及足踝功能的影响。方法选取2020年7月至2023年7月赣州市人民医院收治的81例跖筋膜炎患者作为研究对象,按照随机数字表法分为对照组(40... 目的探究改良双入路法内窥镜下跖筋膜松解术联合跟骨局部减压治疗对跖筋膜炎患者临床疗效、足底压痛及足踝功能的影响。方法选取2020年7月至2023年7月赣州市人民医院收治的81例跖筋膜炎患者作为研究对象,按照随机数字表法分为对照组(40例)和研究组(41例)。对照组实施改良双入路法内窥镜下跖筋膜松解术治疗,研究组实施改良双入路法内窥镜下跖筋膜松解术联合跟骨局部减压治疗。比较两组的临床总有效率;分别于术前及术后3个月比较两组患者的足底压痛[视觉模拟评分法(VAS)评分]、足踝功能[美国足踝外科协会踝-后足评分(AOFAS-AH)]、踝关节功能[足踝表现评分量表(FAOS)]。结果研究组的临床总有效率高于对照组,差异有统计学意义(P<0.05);术后3个月,两组的VAS评分均低于本组术前,且研究组低于对照组,差异有统计学意义(P<0.05);术后3个月,两组的AOFAS-AH评分高于本组术前,且研究组高于对照组,差异有统计学意义(P<0.05);术后3个月,两组的FAOS评分高于本组术前,且研究组高于对照组,差异有统计学意义(P<0.05)。结论改良双入路法内窥镜下跖筋膜松解术中采取跟骨局部减压治疗不仅明显缓解跖筋膜炎患者足底压痛、肿胀及活动受限等临床症状,还有效提升跖筋膜炎患者的足踝功能及临床疗效。 展开更多
关键词 改良双入路法内窥镜下跖筋膜松解术 跟骨局部减压 跖筋膜炎 足踝功能
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新形势下地方政府招商引资的创新实践与策略研究——以甘肃省为例
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作者 付英 王玉涛 《甘肃科技纵横》 2024年第4期11-17,共7页
研究着眼于破解地方政府招商引资工作困局,以甘肃省为例,采用线上+线下方式,面向全省招商引资落户企业和政府工作人员,开展问卷调查、实地考察、现场座谈等,分析了经济新常态下招商引资工作现状和政策执行情况,从产业链招商、园区承载... 研究着眼于破解地方政府招商引资工作困局,以甘肃省为例,采用线上+线下方式,面向全省招商引资落户企业和政府工作人员,开展问卷调查、实地考察、现场座谈等,分析了经济新常态下招商引资工作现状和政策执行情况,从产业链招商、园区承载力、项目招引落地、招商工作队伍、招商政策优化等维度,深入剖析地方政府招商引资工作中存在的问题,梳理总结其他地区招商引资政策与模式的做法和启示,提出了推进落实五大政策支持体系,健全“五位一体”服务体系,持续完善五大工作机制,全面优化市场环境、政务环境、法治环境、人文环境“四大环境”等实践策略,以期为地方政府高效推进招商引资工作提供借鉴。 展开更多
关键词 招商引资 政策执行 模式做法 实践策略 地方政府
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中国地方金融监管体制改革的历史进程与优化进路 被引量:2
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作者 唐皇凤 崔洋 《湘潭大学学报(哲学社会科学版)》 CSSCI 北大核心 2024年第2期27-34,40,共9页
在社会主义市场经济条件下,实施高质量的金融监管是中国经济健康可持续发展的重要秘诀,地方金融监管体制改革则是构建现代化经济体系的基础性、战略性工程。新中国成立以来,我国地方金融监管体制经历了监管与业务混同、地方参与监管、... 在社会主义市场经济条件下,实施高质量的金融监管是中国经济健康可持续发展的重要秘诀,地方金融监管体制改革则是构建现代化经济体系的基础性、战略性工程。新中国成立以来,我国地方金融监管体制经历了监管与业务混同、地方参与监管、中央单层监管和央地分层监管等阶段。面对地方金融监管权责划分不够明确、加强监管与推动经济发展难以平衡、地方金融监管的法律保障尚不健全等现实困境,新时代新征程的地方金融监管体制改革需要聚焦于建立党对金融工作的统一领导体制、加强地方金融监管领域法治建设、优化地方金融监管部门职责和健全以中央金融管理部门地方派出机构为主的地方金融监管体制,重点解决地方金融委员会办事机构设置、地方金融监管部门非监管职能划转和完善市县两级地方金融监管部门管理体制的问题。 展开更多
关键词 地方金融 监管体制 权责划分 改革进路
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市域社会治理地方立法:功能定位、模式选择与实现路径 被引量:1
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作者 阿力木·沙塔尔 林星君 《新疆大学学报(哲学社会科学版)》 CSSCI 北大核心 2024年第2期99-107,共9页
立法是市域社会治理现代化的重要依托。目前,各地对于市域社会治理的立法还在探索之中,市域社会治理地方立法存有功能定位不确定、立法模式尚未形成共识的问题。从现实需求和基础理论出发,市域社会治理地方立法的功能定位应选择促进型,... 立法是市域社会治理现代化的重要依托。目前,各地对于市域社会治理的立法还在探索之中,市域社会治理地方立法存有功能定位不确定、立法模式尚未形成共识的问题。从现实需求和基础理论出发,市域社会治理地方立法的功能定位应选择促进型,构筑“全域综合性立法为主,单域集合性立法为辅”的复合型立法模式,以地方特色与共性经验相融合的立法路径,实现更高效引领和保障市域社会治理的目标,为市域社会治理地方立法工作提供理论基础与发展方向。 展开更多
关键词 市域社会治理 地方立法 促进型法 地方特色与共性经验
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教科书的乡土文化呈现及教学实现 被引量:1
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作者 李志超 王盼 《教育理论与实践》 北大核心 2024年第13期52-57,共6页
教科书是传播知识、传承文化和弘扬社会主流价值的重要载体。乡土文化是中华民族繁衍发展的文化基因和智慧结晶,是中华民族的精神家园所在。乡土文化进入教科书,旨在以文化传承增进学生文化认同,以乡约教化启蒙学生生存智慧,以“位育”... 教科书是传播知识、传承文化和弘扬社会主流价值的重要载体。乡土文化是中华民族繁衍发展的文化基因和智慧结晶,是中华民族的精神家园所在。乡土文化进入教科书,旨在以文化传承增进学生文化认同,以乡约教化启蒙学生生存智慧,以“位育”思想厚植学生乡土情怀。乡土文化在教科书中的呈现方式主要表现为以文本叙事描述有机循环的生命力量、以空间插图展现天人合一的价值信念以及以地方话语呈现伦理本位的社会形态。要充分发挥乡土文化的育人价值,就需要教师在教学时明晰育人目标,提升文化理解力;立足学生本位,解读跨时空图文;挖掘本土资源,创设真实情境。 展开更多
关键词 教科书 乡土文化呈现 教学实现 文本叙事 空间插图 地方话语 育人目标 学生本位 本土资源
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乡土叙事中民间伦理书写的经典路径——基于《红高粱家族》与《边城》之比较
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作者 刘志峰 《牡丹江大学学报》 2024年第4期15-22,共8页
不同的乡土叙事路径折射出莫言、沈从文小说独特而异质的民间叙事伦理,两者“同途而殊归”。莫言对民间根部的生存伦理的追慕,始终建立在现实批判的基础之上,在《红高粱家族》中,时间意义上的“过去”构成了一种新型伦理秩序的精神来源... 不同的乡土叙事路径折射出莫言、沈从文小说独特而异质的民间叙事伦理,两者“同途而殊归”。莫言对民间根部的生存伦理的追慕,始终建立在现实批判的基础之上,在《红高粱家族》中,时间意义上的“过去”构成了一种新型伦理秩序的精神来源。沈从文对边地人情与爱情的想象,则是在压抑现实中悲剧性因素的前提下,在对“过去”的永恒之美的体认中,隐隐地透露出一种知识者的悲悯。然而,《边城》中的“过去”所营造的伦理境遇却潜在地将读者引向伦理判断的虚空。在20世纪中国文学民间伦理书写层面,这两种路径颇具代表性且影响深远。 展开更多
关键词 《红高粱家族》 《边城》 乡土叙事路径 叙事伦理 民间伦理
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融合改进A^(*)算法与动态窗口法的煤矿足式机器人路径规划
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作者 王利民 孙瑞峰 +4 位作者 翟国栋 张佳伟 徐弘 赵杰 化一行 《工矿自动化》 CSCD 北大核心 2024年第6期112-119,共8页
为提高煤矿足式机器人路径规划算法的运行效率、搜索精度及避障灵活性,提出了一种融合改进A^(*)算法与动态窗口法(DWA)的煤矿足式机器人路径规划方法。首先对A^(*)算法进行改进,通过去冗余节点策略减短规划路径的长度,通过改进邻域搜索... 为提高煤矿足式机器人路径规划算法的运行效率、搜索精度及避障灵活性,提出了一种融合改进A^(*)算法与动态窗口法(DWA)的煤矿足式机器人路径规划方法。首先对A^(*)算法进行改进,通过去冗余节点策略减短规划路径的长度,通过改进邻域搜索方式和代价函数提高路径规划速度,采用分段二阶贝塞尔曲线进行路径平滑。将改进A^(*)算法规划出的路径节点依次作为局部路径规划DWA的局部目标点进行算法融合,筛选邻近的障碍物节点,从而再次缩短路径长度,并通过调整DWA代价函数中的权值比例提升避障性能。针对机器人遇到无法避开的障碍物而陷入“假死”状态的问题,以当前初始点为起点,重新调用融合算法,即重新进行全局路径规划,将得到的新节点代替原有的局部目标点,按照新路径进行后续工作。仿真结果表明:在保证机器人行走安全稳定的基础上,改进A^(*)算法较传统A^(*)算法的计算时间缩短了65%,路径长度缩短了24.1%,路径节点数量减少了27.65%,最终得出的路径更为平滑;融合算法进一步提升了全局路径规划能力,在多障碍物环境下能够绕开新增的动态和静态障碍物;机器人遇到“L”型障碍物进入“假死”状态时,在“假死”位置重新进行全局路径规划,更新行走路径,成功到达了最终目标点。基于融合算法的JetHexa六足机器人路径规划实验结果验证了融合算法的有效性和优越性。 展开更多
关键词 煤矿足式机器人 路径规划 A^(*)算法 动态窗口法 复杂环境避障 全局路径规划 局部路径规划
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Glocalization与一名多译 被引量:2
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作者 陈历明 《外国语文》 北大核心 2012年第6期108-111,共4页
以文化关键词"glocalization"为个案,通过从词源上把握其复杂的内涵,根据术语翻译的一般原则,探讨既有译名的得失,分析特定情况下"一名多译"的可能性与必要性,并就长期未决的术语翻译问题,尝试提出一个综合解决方案。
关键词 GlocalIZATION 术语翻译 一名多译 综合方案
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