Objective:Objective:To observe the maternal and infant outcomes of pregnant women with twins terminating their pregnancy at different timings.Methods:Among the twin pregnant women admitted to our hospital from August ...Objective:Objective:To observe the maternal and infant outcomes of pregnant women with twins terminating their pregnancy at different timings.Methods:Among the twin pregnant women admitted to our hospital from August 2019 to August 2020,50 primiparous women who opted to terminate their pregnancies at 5 different timings of“34--34^(+6) weeks”,“35--35^(+6) weeks”,“36--36^(+6) weeks”,“37--37^(+6) weeks”,“38--38^(+6) weeks”were selected as the research subjects.According to the timing of pregnancy termination,they were divided into 5 groups,each with 10 cases of pregnant women,and the impact of the timing of pregnancy termination on the outcome of the mothers and infants were compared.Results:The“37--37^(+6) weeks”group had the largest amount of postpartum hemorrhage,and the difference in Hb level before and after delivery was the largest.With the increase in gestational week,the weight of both large and small fetuses increased.In terms of neonatal diseases,the comparison between“34--34^(+6) weeks”,“35--35^(+6) weeks”,“36--36^(+6) weeks”and“37--37^(+6) weeks”,“38--38^(+6) weeks”,P<0.05,the comparison between“37--37^(+6) weeks”and“38--38^(+6) weeks”,P>0.05.Conclusions:The extension of the gestational week of twin pregnancies has no effect on postpartum hemorrhage,but it can improve the outcome of infants.展开更多
For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advant...For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.展开更多
Aiming at the problem that the asset’s fluctuation influences the borrower’s repayment ability,a loan with a new and flexible repayment method is designed,which depends on the asset value of the borrower.The repayme...Aiming at the problem that the asset’s fluctuation influences the borrower’s repayment ability,a loan with a new and flexible repayment method is designed,which depends on the asset value of the borrower.The repayment method can reduce the loan default probability,but it causes the uncertainty of the pay off time.Because the repayment term is related to the regular repayment amount in this method,a boundary for the regular repayment amount is set up in order to avoid too long repayment term.This will balance the benefit of borrowers and lenders and improve the applicability of this method.By establishing a mathematical model of the residual value of the loan,this model can be transformed into an initial-boundary problem of a partial differential equation.The analytic solution and the expected time to pay off the loan are obtained.Finally,numerical analysis are shown.展开更多
文摘Objective:Objective:To observe the maternal and infant outcomes of pregnant women with twins terminating their pregnancy at different timings.Methods:Among the twin pregnant women admitted to our hospital from August 2019 to August 2020,50 primiparous women who opted to terminate their pregnancies at 5 different timings of“34--34^(+6) weeks”,“35--35^(+6) weeks”,“36--36^(+6) weeks”,“37--37^(+6) weeks”,“38--38^(+6) weeks”were selected as the research subjects.According to the timing of pregnancy termination,they were divided into 5 groups,each with 10 cases of pregnant women,and the impact of the timing of pregnancy termination on the outcome of the mothers and infants were compared.Results:The“37--37^(+6) weeks”group had the largest amount of postpartum hemorrhage,and the difference in Hb level before and after delivery was the largest.With the increase in gestational week,the weight of both large and small fetuses increased.In terms of neonatal diseases,the comparison between“34--34^(+6) weeks”,“35--35^(+6) weeks”,“36--36^(+6) weeks”and“37--37^(+6) weeks”,“38--38^(+6) weeks”,P<0.05,the comparison between“37--37^(+6) weeks”and“38--38^(+6) weeks”,P>0.05.Conclusions:The extension of the gestational week of twin pregnancies has no effect on postpartum hemorrhage,but it can improve the outcome of infants.
基金National Natural Science Foundation of China(No.61673042)Shanxi Province Science Foundation for Youths(No.201701D221123)。
文摘For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.
基金supported by the National Natural Science Foundation of China(No.11671301).
文摘Aiming at the problem that the asset’s fluctuation influences the borrower’s repayment ability,a loan with a new and flexible repayment method is designed,which depends on the asset value of the borrower.The repayment method can reduce the loan default probability,but it causes the uncertainty of the pay off time.Because the repayment term is related to the regular repayment amount in this method,a boundary for the regular repayment amount is set up in order to avoid too long repayment term.This will balance the benefit of borrowers and lenders and improve the applicability of this method.By establishing a mathematical model of the residual value of the loan,this model can be transformed into an initial-boundary problem of a partial differential equation.The analytic solution and the expected time to pay off the loan are obtained.Finally,numerical analysis are shown.
