基于快速扩展随机树(rapidly exploring random tree,RRT)的运动规划算法,通过随机采样的方式探索未知任务空间,具有概率完备性和较高的计算效率.该类算法在应用于无人机运动规划时必须对飞行距离、过程安全性和航路平滑度进一步优化....基于快速扩展随机树(rapidly exploring random tree,RRT)的运动规划算法,通过随机采样的方式探索未知任务空间,具有概率完备性和较高的计算效率.该类算法在应用于无人机运动规划时必须对飞行距离、过程安全性和航路平滑度进一步优化.针对这一问题,首先对威胁环境、无人机运动学性能和探测能力建模,然后根据飞行特征设计了随机采样、威胁规避、路径可跟踪性以及全局与局部平滑性等优化策略,并构建快速平滑收敛RRT(quick and smooth convergence RRT,QS-RRT),最后以此为基础分别提出了面向已知和未知任务空间的无人机运动规划算法.仿真结果表明,该算法能够在保证飞行路径收敛性、安全性及其规划效率的基础上,有效缩短飞行距离,改善航路的可跟踪性和平滑度,增强在实际飞行过程中的可操作性.此外,该算法还易于在航路优化效果和规划效率之间权衡,增强了对不同规划任务需求的适应性.展开更多
OBJECTIVE: To document the therapeutic effects of Feiwei granules (FGs) for idiopathic pulmonary fi-brosis (IPF).METHODS: One hundred cases with IPF were ran- domized into the treatment group (80) and control ...OBJECTIVE: To document the therapeutic effects of Feiwei granules (FGs) for idiopathic pulmonary fi-brosis (IPF).METHODS: One hundred cases with IPF were ran- domized into the treatment group (80) and control group (20). Both groups were given basic treat- ment with prednisone. The treatment group was given FGs, and the control group was given Jinshui- bao capsules (JCs). Treatment lasted for 6 months. The Medical Research Council Dyspnea Scale (MRCDS), the Saint George's Hospital Respiratory Questionnaire (SGHRQ), pulmonary function, the Traditional Chinese Medicine Syndrome Score (TC- MSS), 6-min walking test (6MWT) and blood gas analyses were recorded before the study as well as 3 months and 6 months after treatment.RESULTS: FGs showed greater efficacy than the control in certain parameters between before the study and 6 months, and between 3 months and 6 months, in the MRCDS, some indicators in the SGHRQ, and the TCMSS. There were no significant differences between the treatment group and con- trol group in the remainder of the indices evaluat- ed. In the treatment group, there were significant differences in before and after treatment in the MRCDS, SGHRQ, TCMSS and 6MWT.展开更多
In previous studies, N,O-carboxymethyl chitosan has been shown to decrease the incidence and intensity of abdominal adhesions. In the present study, adhesions were induced in 220 rabbits using a double uterine horn mo...In previous studies, N,O-carboxymethyl chitosan has been shown to decrease the incidence and intensity of abdominal adhesions. In the present study, adhesions were induced in 220 rabbits using a double uterine horn model. Rabbits were randomized to receive an operation only or an operation+medical chitosan intraperitoneally. Twenty-two rabbits from each group were euthanized at one of five different times(Day 3, 7, 14, 28, or 42), and adhesion formation was given gross and histopathological scores. Reductions were observed in adhesion extent(P=0.0337) and tenacity(P=0.0271) as well as inflammation(P<0.0001) on Day 3 when medical chitosan was applied. Prior to Day 14, fibrosis was less obvious in the medical chitosan group(P<0.0005). The tenacity scores were significantly lower in the medical chitosan group following Day 14(P<0.05), while the type scores were lower in the medical chitosan group following Day 28(P<0.03). Thus, medical chitosan decreased both the gross and the histopathological scores of the induced adhesions.展开更多
文摘基于快速扩展随机树(rapidly exploring random tree,RRT)的运动规划算法,通过随机采样的方式探索未知任务空间,具有概率完备性和较高的计算效率.该类算法在应用于无人机运动规划时必须对飞行距离、过程安全性和航路平滑度进一步优化.针对这一问题,首先对威胁环境、无人机运动学性能和探测能力建模,然后根据飞行特征设计了随机采样、威胁规避、路径可跟踪性以及全局与局部平滑性等优化策略,并构建快速平滑收敛RRT(quick and smooth convergence RRT,QS-RRT),最后以此为基础分别提出了面向已知和未知任务空间的无人机运动规划算法.仿真结果表明,该算法能够在保证飞行路径收敛性、安全性及其规划效率的基础上,有效缩短飞行距离,改善航路的可跟踪性和平滑度,增强在实际飞行过程中的可操作性.此外,该算法还易于在航路优化效果和规划效率之间权衡,增强了对不同规划任务需求的适应性.
基金Supported by the Special Scientific Research for Traditional Chinese Medicine of State Administration of Traditional Chinese Medicine of China:Effects of Feiwei Granules in the treatment of IPF(No.200807046)
文摘OBJECTIVE: To document the therapeutic effects of Feiwei granules (FGs) for idiopathic pulmonary fi-brosis (IPF).METHODS: One hundred cases with IPF were ran- domized into the treatment group (80) and control group (20). Both groups were given basic treat- ment with prednisone. The treatment group was given FGs, and the control group was given Jinshui- bao capsules (JCs). Treatment lasted for 6 months. The Medical Research Council Dyspnea Scale (MRCDS), the Saint George's Hospital Respiratory Questionnaire (SGHRQ), pulmonary function, the Traditional Chinese Medicine Syndrome Score (TC- MSS), 6-min walking test (6MWT) and blood gas analyses were recorded before the study as well as 3 months and 6 months after treatment.RESULTS: FGs showed greater efficacy than the control in certain parameters between before the study and 6 months, and between 3 months and 6 months, in the MRCDS, some indicators in the SGHRQ, and the TCMSS. There were no significant differences between the treatment group and con- trol group in the remainder of the indices evaluat- ed. In the treatment group, there were significant differences in before and after treatment in the MRCDS, SGHRQ, TCMSS and 6MWT.
文摘In previous studies, N,O-carboxymethyl chitosan has been shown to decrease the incidence and intensity of abdominal adhesions. In the present study, adhesions were induced in 220 rabbits using a double uterine horn model. Rabbits were randomized to receive an operation only or an operation+medical chitosan intraperitoneally. Twenty-two rabbits from each group were euthanized at one of five different times(Day 3, 7, 14, 28, or 42), and adhesion formation was given gross and histopathological scores. Reductions were observed in adhesion extent(P=0.0337) and tenacity(P=0.0271) as well as inflammation(P<0.0001) on Day 3 when medical chitosan was applied. Prior to Day 14, fibrosis was less obvious in the medical chitosan group(P<0.0005). The tenacity scores were significantly lower in the medical chitosan group following Day 14(P<0.05), while the type scores were lower in the medical chitosan group following Day 28(P<0.03). Thus, medical chitosan decreased both the gross and the histopathological scores of the induced adhesions.