从“机态辨识”立论的乳腺癌中医平衡调治理念与策略

针对西医学的难点与盲区,如何科学规范中医在乳腺癌中的治疗、提高中医药治疗乳腺癌的参与度是乳腺癌治疗突破的重要着眼点。本文结合国医大师林毅临证经验,在“识病为本、辨证为用”的基础上,总结、凝练乳腺癌癌瘤状态之气血失衡态、痰瘀郁积态、脏腑虚损态、寒热胶结态,并进一步提出乳腺癌平衡调治“六观”,即发病观之“正虚邪侵、癌瘤蔓生”,病机观之“癌毒内踞、阴阳失调”,诊察观之“审机求属、因发知受”,辨证观之“气血阴阳、复衡达和”,治疗观之“扶正祛邪、标本兼顾”,康复观之“调衡致中、以平为期”,致力于整体辨证论治,平衡阴阳气血,从而调和人体内部环境,调动机体免疫、康复功能。

Identification of abnormal movement state and avoidance strategy for mobile robots

Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence ot abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinematics of the normal and abnormal movement states were exploited, 8 kinds of features were extracted. Secondly, 4 multi-layer pereeptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states, i.e. normal, blocked, deadly blocked, and slipping. Finally, avoidance strategies were designed based on this. Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely.