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基于坐标注意力的杂乱环境中机器人推抓协同学习
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作者 左国玉 赵敏 +1 位作者 黄高 龚道雄 《北京工业大学学报》 CAS CSCD 北大核心 2024年第6期674-682,共9页
为提升机器人在杂乱环境中推抓协同性能、增强网络感知物体位置和物体间的位置信息的能力,提出一种基于物体位置信息的推动与抓取协同网络来解决机器人在杂乱环境中的抓取问题。该网络使用2个全卷积网络分别从视觉观察中推断出抓取和推... 为提升机器人在杂乱环境中推抓协同性能、增强网络感知物体位置和物体间的位置信息的能力,提出一种基于物体位置信息的推动与抓取协同网络来解决机器人在杂乱环境中的抓取问题。该网络使用2个全卷积网络分别从视觉观察中推断出抓取和推动操作的位置与方向。使用坐标注意力模块分别沿着二维空间的2个方向聚合特征,即在水平空间方向上捕获长距离依赖关系的同时在垂直空间方向上保持物体的位置信息。然后生成推动和抓取的位置特征的注意力图,以提升网络推断操作位置的准确性。提出物体分散度从全局角度衡量环境中物体间的分散程度,并设计基于物体分散度的推动奖励函数来提升推动动作的质量。在仿真实验中,该网络的抓取成功率和动作效率分别为75.1%和73.2%。在现实世界中,该网络的抓取成功率和动作效率分别为80.1%和76.2%。 展开更多
关键词 机器人学习 推抓协同 杂乱环境 物体位置信息 坐标注意力 物体分散度
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Bioavailability of 10-hydroxycamptothecin-phospholipid complex loaded by solid dispersion and lipid-based formulations 被引量:3
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作者 吴先闯 郝海军 +3 位作者 刘瑜新 宋晓勇 张永州 张红芹 《Journal of Chinese Pharmaceutical Sciences》 CAS CSCD 2015年第12期780-788,共9页
Previous study has shown that 10-hydroxycamptothecin(HCPT) has well-established pharmacological effects in vitro.However,its in vivo bioavailability is very poor due to various problems,which severely restricts its ... Previous study has shown that 10-hydroxycamptothecin(HCPT) has well-established pharmacological effects in vitro.However,its in vivo bioavailability is very poor due to various problems,which severely restricts its clinical applications.In the present study,phospholipid complex(PC) technology was employed to improve the solubility and bioavailability of HCPT.XRD data confirmed the formation of HCPT-PC.However,our previously prepared HCPT-PC is too sticky,which may result in the slow dissolution rate and negative effects on its absorption.Therefore,we prepared HCPT-PC-solid dispersion(HCPT-PC-SD)and lipid-based formulations of HCPT-PC through simple preparation process.The results showed that the dissolution rate of HCPT-PC was effectively improved by solid dispersion technology,which reached 91.73%in 45 min.Pharmacokinetic study revealed that the AUC_(0-t) of HCPT-PC-SD and HCPT-PC lipid-based formulations was effectively further increased compared with HCPT-PC.Moreover,we found that the combination of SD technology and lipid-base formulations could be a promising drug-delivery system to improve the oral bioavailability of HCPT-PC.In addition,we showed that the bioavailability of HCPT-PC lipid-base formulations was even greater than that of HCPT-PC-SD.In particular,lipid-base formulations could be prepared just by a simple method,suggesting its feasibility of industrialization. 展开更多
关键词 10-HYDROXYCAMPTOTHECIN Phospholipid complex Solid dispersion Lipid-based formulations BIOAVAILABILITY
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Quercetin-phospholipids complex solid dispersion and quercetin solid dispersion: preparation and evaluation 被引量:4
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作者 Zhengsheng Liu Haijun Hao Mingsong Fan 《Journal of Chinese Pharmaceutical Sciences》 CAS CSCD 2019年第12期868-877,共10页
Quercetin(QUE)has many beneficial biological activities and pharmacological actions in vitro.However,its oral bioavailability in vivo was very poor due to poor solubility,and severely restricted its clinical applicati... Quercetin(QUE)has many beneficial biological activities and pharmacological actions in vitro.However,its oral bioavailability in vivo was very poor due to poor solubility,and severely restricted its clinical applications.In this study,we prepared quercetin solid dispersion(QUE-SD)and quercetin phospholipids complex solid dispersion(QUE-PC-SD)by a solvent evaporation method to improve the absorption of QUE in vivo.The results of XRD of QUE-SD and QUE-PC-SD showed that QUE was dispersed homogeneously in an amorphous or molecular state in QUE-SD and QUE-PC-SD,which could contribute to improve the solubility and dissolution of QUE.The solubility of QUE-SD and QUE-PC-SD was enhanced from(4.03±0.02)μg/mL to(26.91=1=0.06)μg/mL and(30.65±0.06)μg/mL,respectively.The solubility of QUE-PC-SD was higher than that of QUE-SD.In vitro dissolution study,it was showed that the maximum dissolution of QUE(9.57%)from the QUE-SD and QUE-PC-SD was enhanced to 93.81%and 94.16%,respectively.The results of pharmacokinetic experiment indicated that the QUE-SD and QUE-PC-SD exhibited considerable enhancement in the oral bioavailability.The relative bioavailability of QUE-SD and QUE-PC-SD compared with QUE were 149.49%and 198.32%,respectively.In addition,the relative bioavailability of QUE-PC-SD was also higher than that of QUE-SD.Therefore,in regard to drugs with poor solubility and low permeation,an active constituent-PC-SD system could result to a better absorption and higher bioavailability. 展开更多
关键词 QUERCETIN Solid dispersion Phospholipids complex BIOAVAILABILITY
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