As low-cost and highly autonomous ocean observation platforms,underwater gliders encounter risks during their launch and recovery,especially when coordinating multi-glider deployments.This work focuses on cooperative ...As low-cost and highly autonomous ocean observation platforms,underwater gliders encounter risks during their launch and recovery,especially when coordinating multi-glider deployments.This work focuses on cooperative path planning of an underwater glider fleet with simultaneous launch and recovery to enhance the autonomy of sampling and reduce deployment risks.Specifically,the gliders collaborate to achieve sampling considering the specified routines of interest.The overall paths to be planned are divided into four rectangular parts with the same starting point,and each glider is assigned a local sampling route.A clipped-oriented line-of-sight algorithm is proposed to ensure the coverage of the desired edges.The pitch angle of the glider is selected as the optimizing parameter to coordinate the overall progress considering the susceptibility of gliders to currents and the randomness of paths produced by complex navigational strategies.Therefore,a multi-actuation deep-Q network algorithm is proposed to ensure simultaneous launch and recovery.Simulation results demonstrate the acceptable effectiveness of the proposed method.展开更多
Purpose: The present study aimed to assess the accuracies of arterial stimulation with simultaneous venous sampling(ASVS) in preoperative localization of insulinomas. Materials and Methods: A cohort consisting of 6 ma...Purpose: The present study aimed to assess the accuracies of arterial stimulation with simultaneous venous sampling(ASVS) in preoperative localization of insulinomas. Materials and Methods: A cohort consisting of 6 males and 14 females(median age, 48.5y; range, 28–62y) with pathologically proven insulinomas were included in this study. Selective angiographies were performed with the superior mesenteric artery(SMA), gastroduodenal artery(GDA), proximal splenic artery, and midsplenic artery in all individuals. Then ASVS procedures were followed after angiographies for these arteries. Clinical characteristics of the patient and the tumor number, location, and size were recorded. The accuracy of preoperative localization of insulinomas was tested. Results: A total of 22 tumors were identified by histopathological diagnosis. The mean size of the tumor was 1.40±0.60 cm. Five tumors were in the head/neck region and 17 in the body/tail region. ASVS accurately localized 17/20(85%) cases with only biochemical data and 19/20(95%) cases with biochemical data and angiography images. Variant pancreatic arterial anatomy was revealed in 2 false cases with inferior pancreatic artery replaced by the superior mesenteric artery. Conclusion: ASVS was highly accurate in localizing insulinomas and should be performed in most of the patients with suspected insulinomas before the operation.展开更多
A novel technique of Moveable Reduction Bed Hydride Generator（MRBHG）was applied tohe hydride generation or cold vapor generation of As，Se，Ge，and Hg existing In TraditionalChinese Medicinal Material（TCM）．The si...A novel technique of Moveable Reduction Bed Hydride Generator（MRBHG）was applied tohe hydride generation or cold vapor generation of As，Se，Ge，and Hg existing In TraditionalChinese Medicinal Material（TCM）．The simultaneous determination of the multi－elements wasperformed with ICP－MS．A solid reduction system involving the use of potassiumtetraborohydride and tartaric acid was applied to generating metal hydride or cold vaporefficiently．The factors affecting the metal cold vapor generation were studied．The mainadvantage of the technique is that only a 4μL volume of sample was required for the cold vapor展开更多
In recent years, the modern methods of multi-element analysis of precious metals have attracted wide attention in scientific research and industry. The application and development in the decomposition of samples, sepa...In recent years, the modern methods of multi-element analysis of precious metals have attracted wide attention in scientific research and industry. The application and development in the decomposition of samples, separation and enrichment, and modern instrumental analysis of the platinum-group elements (PGEs) and gold in geological and environmental samples have been reviewed. Finally, the tendency of analysis of precious metals is also prospected.展开更多
We show asymmetric multi-channel sampling on a series of a shift invariant spaces ∑a^m=1v（φ（ta）） with a series of Riesz generators ∑a^m=1φ（ta） in L2（R）, where each channeled signal is assigned a uniform bu...We show asymmetric multi-channel sampling on a series of a shift invariant spaces ∑a^m=1v（φ（ta）） with a series of Riesz generators ∑a^m=1φ（ta） in L2（R）, where each channeled signal is assigned a uniform but distinct sampling rate. We use Fourier duality between ∑a^m=1v（φ（ta））and L2[0, 2π] to find conditions under which there is a stable asymmetric multi-channel sampling formula on ∑a^m=1v（φ（ta））.展开更多
In this paper, a fast algorithm to reconstruct the spectrum of non-uniformly sampled signals is proposed. Compared with the original algorithm, the fast algorithm has a higher computational efficiency, especially when...In this paper, a fast algorithm to reconstruct the spectrum of non-uniformly sampled signals is proposed. Compared with the original algorithm, the fast algorithm has a higher computational efficiency, especially when sampling sequence is long. Particularly, a transformation matrix is built, and the reconstructed spectrum is perfectly synthesized from the spectrum of every sampling channel. The fast algorithm has solved efficiency issues of spectrum reconstruction algorithm, and making it possible for the actual application of spectrum reconstruction algorithm in multi-channel Synthetic Aperture Radar (SAR).展开更多
针对高动态环境下实时定位与建图(Simultaneous Localization and Mapping,SLAM)系统精度下降的问题,给出了一种基于ORB-SLAM2的动态环境RGB-D SLAM算法.对于一般动态环境SLAM算法中深度学习网络的实时性问题,使用YOLOv5目标检测轻量级...针对高动态环境下实时定位与建图(Simultaneous Localization and Mapping,SLAM)系统精度下降的问题,给出了一种基于ORB-SLAM2的动态环境RGB-D SLAM算法.对于一般动态环境SLAM算法中深度学习网络的实时性问题,使用YOLOv5目标检测轻量级网络获得场景语义信息,即保留了场景中的语义信息,同时满足SLAM系统的实时性要求.对于目标检测网络获取的场景语义信息冗余的问题,设计一种深度信息随机采样一致性(Depth-RANSAC)算法,将语义先验信息与场景深度信息相关联,对待检测区域的动态特征信息进行过滤,避免了特征信息误剔除,保留了静态的场景信息,使估计的相机轨迹更加精确.在TUM数据集下对此算法的进行验证,实验数据表明,本文算法在高动态序列场景下比ORB-SLAM2具有更好的表现.展开更多
将电喷雾解吸电离质谱(DESI-MS)用于临床尿样的分析,优化了电喷雾溶剂流速、电喷雾电压和喷雾锥距离等重要参数.采用普通滤纸作为样品载体,在不需要样品预处理的前提下同时快速测定了临床尿样中的钾、钠、尿素、尿酸、丙酮酸和肌苷等多...将电喷雾解吸电离质谱(DESI-MS)用于临床尿样的分析,优化了电喷雾溶剂流速、电喷雾电压和喷雾锥距离等重要参数.采用普通滤纸作为样品载体,在不需要样品预处理的前提下同时快速测定了临床尿样中的钾、钠、尿素、尿酸、丙酮酸和肌苷等多种成分,并对各种成分的主要离子进行了串联质谱鉴定.DESI-MS在进行多组分同时测定时不需要进行样品预处理,缩短了测定时间,单个样品的分析时间不到1 m in.同时,采用内标法对所测定组分进行了半定量分析.展开更多
基金supported by the National Natural Science Foundation of China(No.51909252)the Fundamental Research Funds for the Central Universities(No.202061004)This work is also partly supported by the China Scholar Council.
文摘As low-cost and highly autonomous ocean observation platforms,underwater gliders encounter risks during their launch and recovery,especially when coordinating multi-glider deployments.This work focuses on cooperative path planning of an underwater glider fleet with simultaneous launch and recovery to enhance the autonomy of sampling and reduce deployment risks.Specifically,the gliders collaborate to achieve sampling considering the specified routines of interest.The overall paths to be planned are divided into four rectangular parts with the same starting point,and each glider is assigned a local sampling route.A clipped-oriented line-of-sight algorithm is proposed to ensure the coverage of the desired edges.The pitch angle of the glider is selected as the optimizing parameter to coordinate the overall progress considering the susceptibility of gliders to currents and the randomness of paths produced by complex navigational strategies.Therefore,a multi-actuation deep-Q network algorithm is proposed to ensure simultaneous launch and recovery.Simulation results demonstrate the acceptable effectiveness of the proposed method.
基金This work was supported by the Shanghai Pujiang Program(16PJ1406200)the Scientific Research Innovation Projects of Shanghai Municipal Education Commission(15ZZ060)
文摘Purpose: The present study aimed to assess the accuracies of arterial stimulation with simultaneous venous sampling(ASVS) in preoperative localization of insulinomas. Materials and Methods: A cohort consisting of 6 males and 14 females(median age, 48.5y; range, 28–62y) with pathologically proven insulinomas were included in this study. Selective angiographies were performed with the superior mesenteric artery(SMA), gastroduodenal artery(GDA), proximal splenic artery, and midsplenic artery in all individuals. Then ASVS procedures were followed after angiographies for these arteries. Clinical characteristics of the patient and the tumor number, location, and size were recorded. The accuracy of preoperative localization of insulinomas was tested. Results: A total of 22 tumors were identified by histopathological diagnosis. The mean size of the tumor was 1.40±0.60 cm. Five tumors were in the head/neck region and 17 in the body/tail region. ASVS accurately localized 17/20(85%) cases with only biochemical data and 19/20(95%) cases with biochemical data and angiography images. Variant pancreatic arterial anatomy was revealed in 2 false cases with inferior pancreatic artery replaced by the superior mesenteric artery. Conclusion: ASVS was highly accurate in localizing insulinomas and should be performed in most of the patients with suspected insulinomas before the operation.
文摘A novel technique of Moveable Reduction Bed Hydride Generator（MRBHG）was applied tohe hydride generation or cold vapor generation of As，Se，Ge，and Hg existing In TraditionalChinese Medicinal Material（TCM）．The simultaneous determination of the multi－elements wasperformed with ICP－MS．A solid reduction system involving the use of potassiumtetraborohydride and tartaric acid was applied to generating metal hydride or cold vaporefficiently．The factors affecting the metal cold vapor generation were studied．The mainadvantage of the technique is that only a 4μL volume of sample was required for the cold vapor
文摘In recent years, the modern methods of multi-element analysis of precious metals have attracted wide attention in scientific research and industry. The application and development in the decomposition of samples, separation and enrichment, and modern instrumental analysis of the platinum-group elements (PGEs) and gold in geological and environmental samples have been reviewed. Finally, the tendency of analysis of precious metals is also prospected.
文摘We show asymmetric multi-channel sampling on a series of a shift invariant spaces ∑a^m=1v（φ（ta）） with a series of Riesz generators ∑a^m=1φ（ta） in L2（R）, where each channeled signal is assigned a uniform but distinct sampling rate. We use Fourier duality between ∑a^m=1v（φ（ta））and L2[0, 2π] to find conditions under which there is a stable asymmetric multi-channel sampling formula on ∑a^m=1v（φ（ta））.
文摘目的 探讨2根4F MPA1导管经右肘静脉行双侧肾上腺静脉同步采血术(AVS)的可行性和安全性。方法 连续纳入2021年10月至2022年10月在襄阳市中心医院需行AVS的51例原发性醛固酮增多症患者,采用2根4F MPA1导管(其中1根塑形成猪尾形)经右肘静脉行双侧同步AVS。统计选用导管、双侧肾上腺静脉同步采血成功率、并发症发生率。结果 对右肾上腺静脉均使用4 F MPA1导管,左肾上腺总干静脉、左肾上腺中央静脉均使用经特殊塑形的4 F MPA1导管。双侧同步AVS成功率为92.2%(47/51)。发生1例(1.96%)肾上腺血肿。结论 经右肘静脉使用2根4 F MPA1导管行双侧同步AVS,导管选择及操作简单、创伤小、安全可行,但因样本量小,仍需进一步研究验证。
文摘In this paper, a fast algorithm to reconstruct the spectrum of non-uniformly sampled signals is proposed. Compared with the original algorithm, the fast algorithm has a higher computational efficiency, especially when sampling sequence is long. Particularly, a transformation matrix is built, and the reconstructed spectrum is perfectly synthesized from the spectrum of every sampling channel. The fast algorithm has solved efficiency issues of spectrum reconstruction algorithm, and making it possible for the actual application of spectrum reconstruction algorithm in multi-channel Synthetic Aperture Radar (SAR).
文摘针对高动态环境下实时定位与建图(Simultaneous Localization and Mapping,SLAM)系统精度下降的问题,给出了一种基于ORB-SLAM2的动态环境RGB-D SLAM算法.对于一般动态环境SLAM算法中深度学习网络的实时性问题,使用YOLOv5目标检测轻量级网络获得场景语义信息,即保留了场景中的语义信息,同时满足SLAM系统的实时性要求.对于目标检测网络获取的场景语义信息冗余的问题,设计一种深度信息随机采样一致性(Depth-RANSAC)算法,将语义先验信息与场景深度信息相关联,对待检测区域的动态特征信息进行过滤,避免了特征信息误剔除,保留了静态的场景信息,使估计的相机轨迹更加精确.在TUM数据集下对此算法的进行验证,实验数据表明,本文算法在高动态序列场景下比ORB-SLAM2具有更好的表现.
文摘将电喷雾解吸电离质谱(DESI-MS)用于临床尿样的分析,优化了电喷雾溶剂流速、电喷雾电压和喷雾锥距离等重要参数.采用普通滤纸作为样品载体,在不需要样品预处理的前提下同时快速测定了临床尿样中的钾、钠、尿素、尿酸、丙酮酸和肌苷等多种成分,并对各种成分的主要离子进行了串联质谱鉴定.DESI-MS在进行多组分同时测定时不需要进行样品预处理,缩短了测定时间,单个样品的分析时间不到1 m in.同时,采用内标法对所测定组分进行了半定量分析.
