栅格环境下A*算法规划出的移动机器人路径存在折线多、转折次数多、累计转折角度大等问题.为获得较优路径,提出平滑A*算法.在A*算法规划的路径基础上,遍历路径中的所有节点,当某一节点前后节点连线上无障碍物时,将延长线路的这一中间节...栅格环境下A*算法规划出的移动机器人路径存在折线多、转折次数多、累计转折角度大等问题.为获得较优路径,提出平滑A*算法.在A*算法规划的路径基础上,遍历路径中的所有节点,当某一节点前后节点连线上无障碍物时,将延长线路的这一中间节点删除,建立平滑A*模型.仿真结果表明,平滑A*算法优于Ant(蚁群),Anyti me D*算法.平滑A*算法路径长度降低约5%,累计转折次数降低约50%,累计转折角度减少30%～60%.平滑A*算法能处理不同栅格规模下、障碍物随机分布的复杂环境下移动机器人路径规划问题.展开更多
OBJECTIVE: To investigate the therapeutic effect of the herbal medication Xiao Pi-II on the symptoms and gastric motility of patients with functional dysepsia (FD). METHODS: A total of 180 FD patients were divided ran...OBJECTIVE: To investigate the therapeutic effect of the herbal medication Xiao Pi-II on the symptoms and gastric motility of patients with functional dysepsia (FD). METHODS: A total of 180 FD patients were divided randomly and equally into Xiao Pi-II and mosapride groups. The two groups were treated with Xiao Pi-II (100 mL, t.d.s., ante cibum) and mosapride (5 mg, t. d.s., ante cibum) for 2 weeks. Before treatment and 3 days after all medication was stopped, patients responded to a questionnaire evaluating gastrointestinal symptoms and were assessed with abdominal three dimensional ultrasonography (3D-US) for gastric motility. RESULTS: Gastrointestinal symptoms (especially bloating, post-prandial fullness and eructation) were improved significantly in FD patients treated with Xiao Pi-II (P<0.05, P<0.05, and P<0.05), but no significant difference was found in the mosapride group (P>0.05). The effective rates in the Xiao Pi-II and mosapride group were 86.7% and 60.0%, respectively (P<0.05). The gastric liquid emptyingrate (GLER) in the Xiao Pi-II group showed a significant increase (P<0.01) after 2 weeks of treatment but there was no significant change (P>0.05) of GLER in the mosapride group. CONCLUSION: Compared with mosapride, Xiao Pi-II improved symptoms and GLER significantly in FD patients with delayed gastric emptying.展开更多
Objective:To observe the clinical efficacy of fire-needle therapy in treating deglutition disorders due to pseudobulbar palsy in the remission stage of stroke.Methods:Sixty-two eligible subjects were divided into a fi...Objective:To observe the clinical efficacy of fire-needle therapy in treating deglutition disorders due to pseudobulbar palsy in the remission stage of stroke.Methods:Sixty-two eligible subjects were divided into a fire-needle group and a rehabilitation group by a simple randomization method at a ratio of 1:1.The two groups received same basic intervention;in addition,the fire-needle group received fire-needle treatment,while the rehabilitation group received rehabilitation training.The two groups of subjects all received a 3-week treatment and were evaluated by the dysphagia severity rating scale (DSRS),modified Mann assessment of swallow ability (MMASA) and Kubota Toshio swallow test (KTST) before and after the intervention.The complications and adverse events occurred during the trial were recorded.The data were statistically analyzed.Results:At the third week,the DSRS,MMASA and KTST scores changed significantly compared with the baseline in both groups (P<0.05),and the changes in the fire-needle group were more significant than those in the rehabilitation group (P<0.05).The between-group comparison at the third week showed that the therapeutic efficacy in the fire-needle group was superior to that in the rehabilitation group (P<0.05).Conclusion:Fire-needle therapy can obviously change the DSRS,MMASA and KTST scores in pseudobulbar palsy in the remission stage of stroke,and significantly enhance the therapeutic efficacy of the treatment of deglutition disorders in this stage.展开更多
文摘栅格环境下A*算法规划出的移动机器人路径存在折线多、转折次数多、累计转折角度大等问题.为获得较优路径,提出平滑A*算法.在A*算法规划的路径基础上,遍历路径中的所有节点,当某一节点前后节点连线上无障碍物时,将延长线路的这一中间节点删除,建立平滑A*模型.仿真结果表明,平滑A*算法优于Ant(蚁群),Anyti me D*算法.平滑A*算法路径长度降低约5%,累计转折次数降低约50%,累计转折角度减少30%～60%.平滑A*算法能处理不同栅格规模下、障碍物随机分布的复杂环境下移动机器人路径规划问题.
文摘OBJECTIVE: To investigate the therapeutic effect of the herbal medication Xiao Pi-II on the symptoms and gastric motility of patients with functional dysepsia (FD). METHODS: A total of 180 FD patients were divided randomly and equally into Xiao Pi-II and mosapride groups. The two groups were treated with Xiao Pi-II (100 mL, t.d.s., ante cibum) and mosapride (5 mg, t. d.s., ante cibum) for 2 weeks. Before treatment and 3 days after all medication was stopped, patients responded to a questionnaire evaluating gastrointestinal symptoms and were assessed with abdominal three dimensional ultrasonography (3D-US) for gastric motility. RESULTS: Gastrointestinal symptoms (especially bloating, post-prandial fullness and eructation) were improved significantly in FD patients treated with Xiao Pi-II (P<0.05, P<0.05, and P<0.05), but no significant difference was found in the mosapride group (P>0.05). The effective rates in the Xiao Pi-II and mosapride group were 86.7% and 60.0%, respectively (P<0.05). The gastric liquid emptyingrate (GLER) in the Xiao Pi-II group showed a significant increase (P<0.01) after 2 weeks of treatment but there was no significant change (P>0.05) of GLER in the mosapride group. CONCLUSION: Compared with mosapride, Xiao Pi-II improved symptoms and GLER significantly in FD patients with delayed gastric emptying.
基金National Natural Science Foundation of China(国家自然科学基金,81473761,81704181)Key Research Project of Economic and Social Development in Heilongjiang Province(黑龙江省经济社会发展重点研究课题,JD2017019).
文摘Objective:To observe the clinical efficacy of fire-needle therapy in treating deglutition disorders due to pseudobulbar palsy in the remission stage of stroke.Methods:Sixty-two eligible subjects were divided into a fire-needle group and a rehabilitation group by a simple randomization method at a ratio of 1:1.The two groups received same basic intervention;in addition,the fire-needle group received fire-needle treatment,while the rehabilitation group received rehabilitation training.The two groups of subjects all received a 3-week treatment and were evaluated by the dysphagia severity rating scale (DSRS),modified Mann assessment of swallow ability (MMASA) and Kubota Toshio swallow test (KTST) before and after the intervention.The complications and adverse events occurred during the trial were recorded.The data were statistically analyzed.Results:At the third week,the DSRS,MMASA and KTST scores changed significantly compared with the baseline in both groups (P<0.05),and the changes in the fire-needle group were more significant than those in the rehabilitation group (P<0.05).The between-group comparison at the third week showed that the therapeutic efficacy in the fire-needle group was superior to that in the rehabilitation group (P<0.05).Conclusion:Fire-needle therapy can obviously change the DSRS,MMASA and KTST scores in pseudobulbar palsy in the remission stage of stroke,and significantly enhance the therapeutic efficacy of the treatment of deglutition disorders in this stage.
