One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish au...One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish autonomous tasks. The characteristic model(CM) based all-coefficient adaptive control(ACAC) designed for PPF systems in horizontal and vertical trajectory control is proposed. The method is easy to use and convenient to adjust and test. Just a few parameters are adapted during the control process. In application, vertical and horizontal CMs are designed and ACAC controllers are constructed to control vertical altitude and horizontal trajectory of PPF based on the proposed CMs, respectively. Result analysis of different simulations shows that the applied ACAC control method is effective for trajectory tracking of the PPF systems and the approach guarantees the transient performance of the PPF systems with better disturbance rejection ability.展开更多
Multiple response surface methodology (MRSM) most often involves the analysis of small sample size datasets which have associated inherent statistical modeling problems. Firstly, classical model selection criteria in ...Multiple response surface methodology (MRSM) most often involves the analysis of small sample size datasets which have associated inherent statistical modeling problems. Firstly, classical model selection criteria in use are very inefficient with small sample size datasets. Secondly, classical model selection criteria have an acknowledged selection uncertainty problem. Finally, there is a credibility problem associated with modeling small sample sizes of the order of most MRSM datasets. This work focuses on determination of a solution to these identified problems. The small sample model selection uncertainty problem is analysed using sixteen model selection criteria and a typical two-input MRSM dataset. Selection of candidate models, for the responses in consideration, is done based on response surface conformity to expectation to deliberately avoid selection of models using the problematic classical model selection criteria. A set of permutations of combinations of response models with conforming response surfaces is determined. Each combination is optimised and results are obtained using overlaying of data matrices. The permutation of results is then averaged to obtain credible results. Thus, a transparent multiple model approach is used to obtain the solution which gives some credibility to the small sample size results of the typical MRSM dataset. The conclusion is that, for a two-input process MRSM problem, conformity of response surfaces can be effectively used to select candidate models and thus the use of the problematic model selection criteria is avoidable.展开更多
在足球机器人运动过程中,足球机器人处于一个实时对抗的复杂环境中,这就需要机器人有较高的实时运动过程应对能力。需要对每个关键时刻,例如:多机器人抢球过程、单机器人控球过程等,做出合理的应对措施。许多策略的研究都只注重单机器...在足球机器人运动过程中,足球机器人处于一个实时对抗的复杂环境中,这就需要机器人有较高的实时运动过程应对能力。需要对每个关键时刻,例如:多机器人抢球过程、单机器人控球过程等,做出合理的应对措施。许多策略的研究都只注重单机器人控球过程的路径规划,没有考虑到多机器人竞争的过程,导致足球机器人整个运动过程中的一些关键步骤的缺失,丧失了完整性,忽略了实时的对抗性。拟采用新的策略解决上述问题:第一步是将采用WTA(Winner Take All)竞争模型去有效的解决多机器人竞争问题;第二步将采用一种改进的APF(Artificial Potential Field)路径规划法来进行避障。解决了传统APF算法的弊端,提高了效率。通过仿真实验,验证了理论的正确性,也验证了所提理论的科学性和实用性,为以后在其他科学领域的实践奠定了基础。展开更多
基于多学科团队(multi-disciplinary team,MDT)参与的加速康复外科(enhanced recovery after surgery,ERAS)(ERAS-MDT)构架下建立的All in One(AO)病房,通过外科联合具有综合属性的内科协助外科治疗作为AO病房的主体病房,纳入在专业治...基于多学科团队(multi-disciplinary team,MDT)参与的加速康复外科(enhanced recovery after surgery,ERAS)(ERAS-MDT)构架下建立的All in One(AO)病房,通过外科联合具有综合属性的内科协助外科治疗作为AO病房的主体病房,纳入在专业治疗上需要进行深度介入干预的相应专业组成的辅助病房以及协助外科完成治疗工作的相关专业组成的支持治疗病房,组成综合性独立单元体,其目标是探索多学科协同促进外科患者围手术期加速康复的策略。通过在加速康复AO病房实施LEER模式工作流程(即“少痛”“早动”“早食”“安心”)来实现患者术后加速康复这一共同目标。通过AO病房的治疗,期望增加老年、危重症患者的手术率,减少术后并发症的发生率,缩短外科患者平均住院时间,加快外科病房周转,节约有限的医疗资源,并拓展ERAS的应用领域。从形式和内容上创新了MDT,不仅有利于医院通过内部资源整合为外科纾困解难,也为进一步探索和深化慢病管理和临床专业协同工作模式提供了一种有益借鉴。展开更多
To establish a stable and reliable model of refractory hypoxemia acute respiratory distress syndrome （ARDS） and examine its pathological mechanisms, a total of 144 healthy male Wistar rats were randomized into 4 gro...To establish a stable and reliable model of refractory hypoxemia acute respiratory distress syndrome （ARDS） and examine its pathological mechanisms, a total of 144 healthy male Wistar rats were randomized into 4 groups： group Ⅰ （saline control group）, group Ⅱ （LPS intravenous ＂single-hit＂ group）, group Ⅲ （LPS intratracheal ＂single-hit＂ group） and Group IV （LPS ＂two-hit＂ group）. Rats were intravenously injected or intratracheally instilled with a large dose of LPS （10 mg/kg in 0.5 mL） to simulate a single attack of ARDS, or intraperitoneally injected with a small dose of LPS （1 mg/kg） followed by tracheal instillation with median dose of LPS （5 mg/kg） to establish a ＂two-hit＂ model. Rats in each group were monitored by arterial blood gas analysis and visual inspection for three consecutive days. Arterial blood gas values, lung wet/dry weight ratio and pathological pulmonary changes were analyzed to determine the effects of each ALI/ARDS model. Concentrations of TNF-α, IL-1 and IL-10 in the bronchoalveolar lavage fluid （BALF） and blood plasma were meastired by using enzyme-linked immunosorbent assays （ELISA）. Our resulsts showed that single LPS-stimulation, whether through intravenous injection or tracheal instillation, could only induce ALl and temporary hypoxemia in rats. A two-hit LPS stimulation induces prolonged hypoxemia and specific pulmonary injury in rats, and is therefore a more ideal approximation of ARDS in the animal model. The pathogenesis of LPS two-hit-induced ARDS is associated with an uncontrolled systemic inflammatory response and inflammatory injury. It is concluded that the rat ARDS model produced by our LPS two-hit method is more stable and reliable than previous models, and closer to the diagnostic criteria of ARDS, and better mimics the pathological process of ARDS.展开更多
目的构建并验证包含血清Klotho蛋白在内的机器学习(machine learning,ML)模型来预测慢性肾脏病(chronic kidney disease,CKD)患者全因死亡的风险。方法研究采用回顾性队列研究设计方案。选取2012年2月7日至2019年10月18日我科收治的CKD...目的构建并验证包含血清Klotho蛋白在内的机器学习(machine learning,ML)模型来预测慢性肾脏病(chronic kidney disease,CKD)患者全因死亡的风险。方法研究采用回顾性队列研究设计方案。选取2012年2月7日至2019年10月18日我科收治的CKD1~5期非透析成年患者病例资料,按照7∶3分为训练集和内部验证集。将47项常规临床特征(包括血清Klotho蛋白)用于为模型提供变量信息,在训练集中利用单因素Cox回归筛选可能的风险因素、Lasso-Cox回归模型筛选风险因素、多因素Cox逐步回归构建列线图风险预测模型,内部验证评估模型性能。结果共400例病例资料纳入分析,训练集280例,验证集120例。训练集有52例死亡,228例存活;验证集有21例死亡,99例存活。全因死亡风险预测模型显示5年生存率受试者工作曲线下面积(area under the curve,AUC)在训练集和验证集分别为0.760(95%CI:0.676,0.844)和0.788(95%CI:0.679,0.897),模型总体C指数在训练集和验证集分别为0.755(95%CI:0.685,0.826)和0.720(95%CI:0.614,0.826)。单因素Cox回归分析结果显示,年龄、心血管疾病病史、胱抑素C、碱性磷酸酶、白蛋白、嗜酸性粒细胞、血红蛋白、补体C3、钙、C反应蛋白、肿瘤坏死因子-α(TNF-α)以及血清Klotho蛋白可能是全因死亡的预测因子(P<0.05)。多因素Cox逐步回归最终筛选出年龄、白蛋白、补体C3及血清Klotho蛋白共4个独立预测因子(P<0.05),模型最终纳入了年龄、白蛋白、补体C3、血清Klotho蛋白共4个指标。结论成功构建并验证了基于血清Klotho蛋白的慢性肾脏病全因死亡预测机器学习模型;年龄大是CKD患者全因死亡的危险因素,白蛋白、补体C3及血清Klotho蛋白高是CKD患者全因死亡的保护因素。展开更多
基金Project(61273138)supported by the National Natural Science Foundation of ChinaProject(14JCZDJC39300)supported by the Key Fund of Tianjin,China
文摘One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish autonomous tasks. The characteristic model(CM) based all-coefficient adaptive control(ACAC) designed for PPF systems in horizontal and vertical trajectory control is proposed. The method is easy to use and convenient to adjust and test. Just a few parameters are adapted during the control process. In application, vertical and horizontal CMs are designed and ACAC controllers are constructed to control vertical altitude and horizontal trajectory of PPF based on the proposed CMs, respectively. Result analysis of different simulations shows that the applied ACAC control method is effective for trajectory tracking of the PPF systems and the approach guarantees the transient performance of the PPF systems with better disturbance rejection ability.
文摘Multiple response surface methodology (MRSM) most often involves the analysis of small sample size datasets which have associated inherent statistical modeling problems. Firstly, classical model selection criteria in use are very inefficient with small sample size datasets. Secondly, classical model selection criteria have an acknowledged selection uncertainty problem. Finally, there is a credibility problem associated with modeling small sample sizes of the order of most MRSM datasets. This work focuses on determination of a solution to these identified problems. The small sample model selection uncertainty problem is analysed using sixteen model selection criteria and a typical two-input MRSM dataset. Selection of candidate models, for the responses in consideration, is done based on response surface conformity to expectation to deliberately avoid selection of models using the problematic classical model selection criteria. A set of permutations of combinations of response models with conforming response surfaces is determined. Each combination is optimised and results are obtained using overlaying of data matrices. The permutation of results is then averaged to obtain credible results. Thus, a transparent multiple model approach is used to obtain the solution which gives some credibility to the small sample size results of the typical MRSM dataset. The conclusion is that, for a two-input process MRSM problem, conformity of response surfaces can be effectively used to select candidate models and thus the use of the problematic model selection criteria is avoidable.
文摘在足球机器人运动过程中,足球机器人处于一个实时对抗的复杂环境中,这就需要机器人有较高的实时运动过程应对能力。需要对每个关键时刻,例如:多机器人抢球过程、单机器人控球过程等,做出合理的应对措施。许多策略的研究都只注重单机器人控球过程的路径规划,没有考虑到多机器人竞争的过程,导致足球机器人整个运动过程中的一些关键步骤的缺失,丧失了完整性,忽略了实时的对抗性。拟采用新的策略解决上述问题:第一步是将采用WTA(Winner Take All)竞争模型去有效的解决多机器人竞争问题;第二步将采用一种改进的APF(Artificial Potential Field)路径规划法来进行避障。解决了传统APF算法的弊端,提高了效率。通过仿真实验,验证了理论的正确性,也验证了所提理论的科学性和实用性,为以后在其他科学领域的实践奠定了基础。
文摘基于多学科团队(multi-disciplinary team,MDT)参与的加速康复外科(enhanced recovery after surgery,ERAS)(ERAS-MDT)构架下建立的All in One(AO)病房,通过外科联合具有综合属性的内科协助外科治疗作为AO病房的主体病房,纳入在专业治疗上需要进行深度介入干预的相应专业组成的辅助病房以及协助外科完成治疗工作的相关专业组成的支持治疗病房,组成综合性独立单元体,其目标是探索多学科协同促进外科患者围手术期加速康复的策略。通过在加速康复AO病房实施LEER模式工作流程(即“少痛”“早动”“早食”“安心”)来实现患者术后加速康复这一共同目标。通过AO病房的治疗,期望增加老年、危重症患者的手术率,减少术后并发症的发生率,缩短外科患者平均住院时间,加快外科病房周转,节约有限的医疗资源,并拓展ERAS的应用领域。从形式和内容上创新了MDT,不仅有利于医院通过内部资源整合为外科纾困解难,也为进一步探索和深化慢病管理和临床专业协同工作模式提供了一种有益借鉴。
基金supported by a grant from the Shanghai Education Committee(No.2005-81)
文摘To establish a stable and reliable model of refractory hypoxemia acute respiratory distress syndrome （ARDS） and examine its pathological mechanisms, a total of 144 healthy male Wistar rats were randomized into 4 groups： group Ⅰ （saline control group）, group Ⅱ （LPS intravenous ＂single-hit＂ group）, group Ⅲ （LPS intratracheal ＂single-hit＂ group） and Group IV （LPS ＂two-hit＂ group）. Rats were intravenously injected or intratracheally instilled with a large dose of LPS （10 mg/kg in 0.5 mL） to simulate a single attack of ARDS, or intraperitoneally injected with a small dose of LPS （1 mg/kg） followed by tracheal instillation with median dose of LPS （5 mg/kg） to establish a ＂two-hit＂ model. Rats in each group were monitored by arterial blood gas analysis and visual inspection for three consecutive days. Arterial blood gas values, lung wet/dry weight ratio and pathological pulmonary changes were analyzed to determine the effects of each ALI/ARDS model. Concentrations of TNF-α, IL-1 and IL-10 in the bronchoalveolar lavage fluid （BALF） and blood plasma were meastired by using enzyme-linked immunosorbent assays （ELISA）. Our resulsts showed that single LPS-stimulation, whether through intravenous injection or tracheal instillation, could only induce ALl and temporary hypoxemia in rats. A two-hit LPS stimulation induces prolonged hypoxemia and specific pulmonary injury in rats, and is therefore a more ideal approximation of ARDS in the animal model. The pathogenesis of LPS two-hit-induced ARDS is associated with an uncontrolled systemic inflammatory response and inflammatory injury. It is concluded that the rat ARDS model produced by our LPS two-hit method is more stable and reliable than previous models, and closer to the diagnostic criteria of ARDS, and better mimics the pathological process of ARDS.
文摘目的构建并验证包含血清Klotho蛋白在内的机器学习(machine learning,ML)模型来预测慢性肾脏病(chronic kidney disease,CKD)患者全因死亡的风险。方法研究采用回顾性队列研究设计方案。选取2012年2月7日至2019年10月18日我科收治的CKD1~5期非透析成年患者病例资料,按照7∶3分为训练集和内部验证集。将47项常规临床特征(包括血清Klotho蛋白)用于为模型提供变量信息,在训练集中利用单因素Cox回归筛选可能的风险因素、Lasso-Cox回归模型筛选风险因素、多因素Cox逐步回归构建列线图风险预测模型,内部验证评估模型性能。结果共400例病例资料纳入分析,训练集280例,验证集120例。训练集有52例死亡,228例存活;验证集有21例死亡,99例存活。全因死亡风险预测模型显示5年生存率受试者工作曲线下面积(area under the curve,AUC)在训练集和验证集分别为0.760(95%CI:0.676,0.844)和0.788(95%CI:0.679,0.897),模型总体C指数在训练集和验证集分别为0.755(95%CI:0.685,0.826)和0.720(95%CI:0.614,0.826)。单因素Cox回归分析结果显示,年龄、心血管疾病病史、胱抑素C、碱性磷酸酶、白蛋白、嗜酸性粒细胞、血红蛋白、补体C3、钙、C反应蛋白、肿瘤坏死因子-α(TNF-α)以及血清Klotho蛋白可能是全因死亡的预测因子(P<0.05)。多因素Cox逐步回归最终筛选出年龄、白蛋白、补体C3及血清Klotho蛋白共4个独立预测因子(P<0.05),模型最终纳入了年龄、白蛋白、补体C3、血清Klotho蛋白共4个指标。结论成功构建并验证了基于血清Klotho蛋白的慢性肾脏病全因死亡预测机器学习模型;年龄大是CKD患者全因死亡的危险因素,白蛋白、补体C3及血清Klotho蛋白高是CKD患者全因死亡的保护因素。
