Formation Feedback Applied to Behavior-Based Approach to Formation Keeping

Approaches to the study of formation keeping for multiple mobile robots are analyzed and a behavior-based robot model is built in this paper. And, a kind of coordination architecture is presented, which is similar to the infantry squad organization and is used to realize multiple mobile robots to keep formations. Simulations verify the validity of the approach to keep formation, which combines the behavior-based method and formation feedback. The effects of formation feedback on the performance of the system are analyzed.

Efficiency and safety of laparoscopic left hemihepatectomy: A study of intrathecal vs extrathecal Glissonean pedicle techniques

BACKGROUND Selective hemihepatic vascular occlusion is utilized in both right and left hemihepatectomies to preserve blood supply to the intact lobe,maintain hemo-dynamic stability,and mitigate surgical risks.While this technique encompasses both intrathecal and extrathecal Glissonean pedicle transection methods,there is a lack of systematic comparative reports on these two approaches.AIM To retrospectively analyze the clinical data of patients with hepatocellular carcinoma(HCC)undergoing laparoscopic anatomical hepatectomy in our hospital to explore the feasibility,safety,and short-and long-term efficacy of extrathecal and intrathecal Glissonean pedicle transection methods in laparo-scopic left hemihepatectomy.METHODS A retrospective study was performed to analyze the clinical data of 49 HCC patients who underwent laparoscopic left hemihepatectomy from January 2019 to December 2022 in our hospital.These patients were divided into extrathecal Glissonean pedicle transection(EGP)group(n=24)and intrathecal Glissonean pedicle transection(IGP)group(n=25)according to the different approaches used for selective hemihepatic vascular occlusion.The perioperative indicators,liver function indexes,complications,and follow-up findings were compared between these two groups.RESULTS The surgeries were smooth in both groups,and no perioperative death was noted.The hepatic pedicle transection time and the operation time were(16.1±2.3)minutes and(129.6±19.0)minutes,respectively,in the EGP group,which were significantly shorter than those in the IGP group[(25.5±2.4)minutes and(184.8±26.0)minutes,respectively],both P<0.01.There were no significant differences in intraoperative blood loss,time to anal exhaust,hospital stay,drain indwelling time,and postoperative liver function between the two groups(all P>0.05).The incidence of postoperative complications showed no significant difference[16.67%(4/24)vs 16.0%(4/25),P>0.05].All the 49 HCC patients were followed up after surgery(range:11.2-53.3 months;median:36.4 months).The overall survival rate and disease-free survival rate were not significantly different(both P>0.05).CONCLUSION Both extrathecal and intrathecal Glissonean pedicle approaches are effective and safe hepatic inflow occlusion techniques in laparoscopic left hemihepatectomy for HCC.However,the extrathecal approach simplifies the hepatic pedicle transection,shortens the operation time,and increases the surgical efficiency,making it a more feasible technique.

Study on the Safety and Prevention Technology of Coal Mining under the River in Xingyuan Coal Mine

Coal mining-induced surface subsidence poses significant ecological and infrastructural challenges, necessitating a comprehensive study to ensure safe mining practices, particularly in underwater conditions. This project aims to address the extensive impact of coal mining on the environment, infrastructure, and overall safety, focusing on the Shigong River area above the working face. The study employs qualitative and quantitative analyses, along with on-site engineering measurements, to gather data on crucial parameters such as coal seam characteristics, roof rock lithology, thickness, water resistance, and structural damage degree. The research encompasses a multidisciplinary approach, involving mining, geology, hydrogeology, geophysical exploration, rock mechanics, mine surveying, and computational mathematics. The importance of effective safety measures and prevention techniques is emphasized, laying the foundation for research focused on the Xingyun coal mine. The brief concludes by highlighting the potential economic and social benefits of this project and its contribution to valuable experience for future subsea coal mining.

Probabilistic Analysis of Slope Using Finite Element Approach and Limit Equilibrium Approach around Amalpata Landslide of West Central, Nepal

The stability study of the ongoing and recurring Amalpata landslide in Baglung in Nepal’s Gandaki Province is presented in this research. The impacted slope is around 200 meters high, with two terraces that have different slope inclinations. The lower bench, located above the basement, consistently fails and sets others up for failure. The fluctuating water level of the slope, which travels down the slope masses, exacerbates the slide problem. The majority of these rocks are Amalpata landslide area experiences several structural disruptions. The area’s stability must be evaluated in order to prevent and control more harm from occurring to the nearby agricultural land and people living along the slope. The slopes’ failures increase the damages of house existing in nearby area and the erosion of the slope. Two modeling techniques the finite element approach and the limit equilibrium method were used to simulate the slope. The findings show that, in every case, the terrace above the basement is where the majority of the stress is concentrated, with a safety factor of near unity. Using probabilistic slope stability analysis, the failure probability was predicted to be between 98.90% and 100%.

Comparison of safety,efficacy,and long-term follow-up between“one-step”and“step-up”approaches for infected pancreatic necrosis

BACKGROUND Although the“Step-up”strategy is the primary surgical treatment for infected pancreatic necrosis,it is not suitable for all such patients.The“One-step”strategy represents a novel treatment,but the safety,efficacy,and long-term follow-up have not yet been compared between these two approaches.AIM To compare the safety,efficacy,and long-term follow-up of two surgical approaches to provide a reference for infected pancreatic necrosis treatment.METHODS This was a retrospective analysis of infectious pancreatic necrosis patients who underwent“One-step”or“Step-up”necrosectomy at Xuan Wu Hospital,Capital Medical University,from May 2014 to December 2020.The primary outcome was the composite endpoint of severe complications or death.Patients were followed up every 6 mo after discharge until death or June 30,2021.Statistical analysis was performed using SPSS 21.0 and GraphPad Prism 8.0,and statistical significance was set at P<0.05.RESULTS One-hundred-and-fifty-eight patients were enrolled,of whom 61 patients underwent“One-step”necrosectomy and 97 patients underwent“Step-up”necrosectomy.During the long-term follow-up period,40 patients in the“Onestep”group and 63 patients in the“Step-up”group survived.The time from disease onset to hospital admission(53.69±38.14 vs 32.20±20.75,P<0.001)and to initial surgical treatment was longer in the“Step-up”than in the“One-step”group(54.38±10.46 vs 76.58±17.03,P<0.001).Patients who underwent“Step up”necrosectomy had a longer hospitalization duration(65.41±28.14 vs 52.76±24.71,P=0.02),and more interventions(4.26±1.71 vs 3.18±1.39,P<0.001).Postoperative inflammatory indicator levels were significantly lower than preoperative levels in each group.Although the incisional hernia incidence was higher in the“One-step”group,no significant difference was found in the composite outcomes of severe complications or death,new-onset organ failure,postoperative complications,inflammatory indicators,long-term complications,quality of life,and medical costs between the groups(P>0.05).CONCLUSION Compared with the“Step-up”approach,the“One-step”approach is a safe and effective treatment method with better long-term quality of life and prognosis.It also provides an alternative surgical treatment strategy for patients with infected pancreatic necrosis.

Dynamic probability evaluation of safety levels of earth-rockfill dams using Bayesian approach

In order to accurately predict and control the aging process of dams, new information should be collected continuously to renew the quantitative evaluation of dam safety levels. Owing to the complex structural characteristics of dams, it is quite difficult to predict the time-varying factors affecting their safety levels. It is not feasible to employ dynamic reliability indices to evaluate the actual safety levels of dams. Based on the relevant regulations for dam safety classification in China, a dynamic probability description of dam safety levels was developed. Using the Bayesian approach and effective information mining, as well as real-time information, this study achieved more rational evaluation and prediction of dam safety levels. With the Bayesian expression of discrete stochastic variables, the a priori probabilities of the dam safety levels determined by experts were combined wfth the likelihood probability of the real-time check information, and the probability information for the evaluation of dam safety levels was renewed. The probability index was then applied to dam rehabilitation decision-making. This method helps reduce the difficulty and uncertainty of the evaluation of dam safety levels and complies with the current safe decision-making regulations for dams in China. It also enhances the application of current risk analysis methods for dam safety levels.

A Novel Approach for Evaluation of Food Functions and Safety Applied in RR GM Soybeans

[Objective] This study aimed to evaluate tbe healthy risk of genetically modified （ GM ） soybeans by using a novel approach for functions and safety of food. [ Me^od] Different from traditional evaluation of substantial equivalence, three great innovations were performed in this study, involving in basic diet, evalu- ation approaches and principle, as well as the clarification of connotation differences between absolute and relative mass of organs. Hence a novel BDI-GS （Bendib Damage Index and General Score） evaluation approach was established and applied in comparative evaluation between RR GM and natural soybeans. Healthy male ICR mice during linear growth were selected; experimental mice were fed with 15% RR GM soybeans and 15% natural soybeans blending maize meal diets, and control mice were fed with single maize meal diet for 13 d; the mice were dissected after collecting blood samples and perfectly obtained nine organs or tissues to re- cord their masses and conduct statistical analyses. [Result] Plenty of matching information was obtained through simple design. The growth performance of treated mice was markedly of individual differences, some mice were thwarted due to regular intake of RR soybeans. Meanwhile, the functions and safety of RR soybeans were markedly lowered in overall nutritional and healthy effects than those of natural soybeans expressed in GS values, and presents some declines in nutrition and health of thymus, pancreas and spermary; especially, it can make thymus immune （P 〈0.05） in markedly lower level than that of natural soybeans. [ Conclusion] Therefore, major troubles and risks of RR soybeans intake are of personal risks in different degrees, in addition, it may increase sub-health and related chronic epi- demics risks, and herein it will presents certain safety issues. The creation of this novel evaluation system provides a simple and available evaluation approach for functions and potential risks revelation of food effects, and will yield far-reaching influences to safety evaluation and healthy development of GM foods, as well as public health.

OSH star enterprise pilot scheme——a partnership approach to improve the safety performance of construction industry in Hong Kong SAR

Background: The Occupational Safety and Health Council(OSHC) is committed to improve the safety performance of the high risk construction industry.In the past three years,about 40% of the fatal accidents in the construction industry were related to Renovation,Maintenance,Alteration and Addition(RMAA).Due to the poor safety record,some of the RMAA contractors have difficulty in obtaining the Employees' Compensation Insurance(ECI) cover in the market,or if they could obtain the ECI,the premium rate would be exceedingly high.In view of this,the OSHC,the Labour Department jointly launched"OSH Star Enterprise-Pilot Scheme on Safety Accreditation for the RMAA Industry",which prompts the industry to take practicable safety measures to improve the safety of working environment and reduce occupational injuries.The program also helps the stakeholders and insurers to identify safety-conscious contractors and thereby provide them with a favourable premium rate under the Employees' Compensation Insurance Residual Scheme(ECIRS).Objectives: The OSHC launches the Pilot Scheme to improve the safety performance of the RMAA industry through providing safety training,subsidizing enterprise to purchase safety equipment and providing safety audit.We also use financial incentive to encourage RMAA enterprises to join the Pilot Scheme-for those who are accredited as "OSH Star Enterprise"could receive a premium discount from the ERIRS when obtaining the ECI.The scheme also differentiates those safety-conscious and law-abiding enterprises from the poor performers,which helps the industry and public identifying the RMAA contractors who pay attention to work safety.Methods: The Pilot Scheme targets RMAA enterprises that employ less than 50 employees in Hong Kong.A three-pronged approach is used to improve the safety performance of the RMAA industry: the Pilot Scheme provides(1) financial support for the RMAA contractors to buy a transportable temporary anchor device and full body safety harness and its anchor system;(2) safety training on RMAA work safety and safety & health supervisor course;and(3) safety audit.Results: Enterprises that successfully pass the safety audit and satisfied the Scheme requirements will be accredited as"OSH Star Enterprise",which will be valid for two years.These enterprises can also be upgraded to"OSH Gold Star Enterprise"based on their continuous improvement in safety performance.OSHC will set up a register of OSH-accredited enterprises in RMAA works for reference of the public to facilitate their choosing of accredited contractors.The Employees' Compensation Insurance Residual Scheme Bureau will provide privileged premium rate for enterprises with OSH accreditation."OSH Star Enterprise"could enjoy 40% discounts when joining their insurance scheme.For example,a skilled worker's annual premium can be reduced by about HK $ 36,000.While,the "OSH Gold Star Enterprise"could enjoy 50% discounts when joining their insurance scheme,which means a skilled worker's annual premium can be reduced up to HK $ 45,000.Achievements: This Pilot Scheme offers practical assistance as well as attractive financial incentives for the RMAA industry to improve their safety performance.The Employees'Compensation Insurance Residual Scheme provides premium discounts for enterprises that have a good safety record.It provides incentive for RMAA contractors to actively participate in the Pilot Scheme.The Scheme demonstrates that by providing a safe working environment and appropriate personal protective equipment to workers,the enterprise not only helps to reduce the accident rate of the industry but also receive an economic return.The Pilot Scheme bridges stakeholders of RMAA industry,the government and the insurance industry creating an "all-win"situation.This partnership approach to prevent injuries and accidents in the construction industry could be an effective model for other industries.

“智慧+食品监管”:发展历程、应用现状与未来方向

大食物观为食品产业的未来发展提出了新的需求。随着食品产业的扩大和升级,影响食品安全的因素将变得越来越复杂,因而带来更为艰巨的食品安全风险防控任务。只有保障业态安全,食品产业才能健康和顺利发展。当前,有限的监管资源和力量与食品产业中繁重复杂的监管任务之间的矛盾日益凸显,传统的监管手段和方式难以满足食品产业的高质量发展需求。数据驱动下的计算机科学和智能技术为食品监管提供了技术切入点。在食品产业链中,实时采集各种信息形成“数据智能”,发展食品行业的智慧监管技术,有助于建设规范有序、协同高效的食品产业生态环境,为食品行业高质量发展提供保障。介绍了食品产业中智慧监管从初始到繁荣的发展历程,分析了智能技术在食品全产业链和食品监管体系数字化建设中的应用,指出了以安全为底线,以品质监测、营养分析、风味评估为新导向的食品智慧监管未来发展方向,探讨了食品行业智慧监管面临的机遇和挑战,希望为食品监管的智能化和高质量发展提供技术参考。

ECOD算法在飞机不稳定进近检测中的应用

在飞机进近和着陆阶段,一旦发生不稳定进近就可能导致航空事故发生,因此终端空域内不稳定进近检测是航空器运行监控领域的热点研究问题。针对终端区的不稳定进近检测,利用OpenSky提供的开源航空器监视数据提出了基于数据驱动的检测方法。从能量管理的角度入手,构建基于无监督异常检测(Empirical-Cumulative-Distribution-based Outlier Detection,ECOD)算法的不稳定进近检测模型,并结合主成分分析(Principal Components Analysis,PCA),获取了飞机能量状态的异常评分进而实现检测。复飞事件检测的验证分析结果表明检测模型在准确率与效率方面具有优势,模型可实现实时部署与在线更新。

混合进近运行下平行跑道进场容量评估

本文以仪表着陆系统(ILS,instrument landing system)和建立要求特殊授权的所需导航性能(RNP AR,required navigation performance authorization required)进近(EoR,established on RNP AR)混合程序为研究对象,探讨混合进近下跑道进场容量。首先,研究了飞机尾流消散和运动规律,提出混合进近条件下安全间距计算方法;其次,根据混合进近运行特征,建立混合进近平行跑道进场容量模型;最后,以昆明长水国际机场为例,构建全空域机场仿真模型,对模型进行验证,并在此基础上,设置多个运行场景对影响混合进近条件下跑道进场容量的因素,包括程序结构、机型和RNP AR能力飞机比例进行分析。研究结果表明:容量评估模型能够对混合进近运行下平行跑道进场容量进行精确、客观的评价;且固定半径转弯(RF,constant radius to fix)航段半径越大,跑道进场容量越大;RF航段半径为4~7 km时,RNP AR能力飞机比例越大,跑道进场容量越大;中型机比例越多,跑道进场容量越大。

基于行船视距的船舶会遇安全距离研究

近年来船舶交通流量大幅增加,船舶会遇愈加频繁。为降低船舶会遇避让时的碰撞危险,在行车视距基础上,提出行船视距的概念,并引入航速、避让航向角等参数,构建基于行船视距的船舶领域模型,船舶采取避让操作时,可利用该模型判断应与他船保持的安全距离和最佳航速及避让航向角。从仿真结果发现:船舶追越时应尽量与他船保持3.5倍船长以上距离,并在船尾与他船达到2倍船长以上距离时回到原航向;对遇时应尽量与他船保持7倍船长以上距离采取避让,如果航道宽裕,避让时应尽量与他船横距保持1.8倍船长以上,如果航道较窄,也应尽量保证船舶在可航水域内进行大角度避让,并与他船横距保持0.72倍船长以上。研究结果可为实际船舶避让提供指导建议。

肿瘤静脉化疗安全用药规范的构建

目的 :构建一套由多学科团队参与、涵盖化疗用药全环节的肿瘤静脉化疗安全用药规范,为化疗药物规范化使用提供参考。方法 :以物理-事理-人理系统方法论为指导,采用文献研究法形成规范初稿,通过专家会议对初稿进行讨论和修订后形成咨询稿,应用德尔菲专家咨询形成终稿。结果 :共对18名专家进行了3轮专家咨询,问卷回收率均为100%,专家权威系数分别为0.895、0.890、0.885,总条目的肯德尔协调系数为0.147~0.166(均P<0.001),三级条目的可操作性肯德尔协调系数为0.168~0.207(均P<0.001)。肿瘤静脉化疗安全用药规范包括4个一级条目(人员、环境、流程、监测与随访)、14个二级条目、47个三级条目,以及36个条目说明。结论:本研究构建的肿瘤静脉化疗安全用药规范纳入了“医-药-护”多学科专业规范要求,包含人员资质、用药环境、用药流程、监测与随访等全流程,有利于静脉化疗实践的多学科沟通合作,促进化疗用药过程的规范化和同质化,保障患者化疗用药安全。

化工过程系统韧性研究进展与展望

为推动对化工过程系统韧性的研究,通过文献综述的方法,辨析系统韧性概念,解析化工过程系统韧性概念框架,从定性与定量2方面分析化工过程系统韧性评估研究的进展,探讨目前的研究挑战并展望未来研究方向。研究结果表明:化工过程系统韧性表示系统应对不利事件的预测、吸收、适应、恢复和学习能力;扰动下基于系统性能的概率方法是当前化工过程系统韧性定量评估的热点;韧性定量研究的主要挑战为扰动辨识与韧性建模等;未来研究应更多关注耦合扰动下韧性分析、综合韧性建模、动态韧性评估与韧性设计优化等方向。研究结果可为化工过程系统韧性的研究与应用提供参考。

安全工程专业工程教育认证与注册安全工程师衔接的实践研究——以辽宁工程技术大学为例

针对安全工程专业工程教育认证与注册安全工程师如何衔接的问题,参考国外工程师培养与成长衔接实践,开展专业认证标准与注册安全工程师执业资格标准衔接研究。在分析中国注册安全工程师执业资格标准的基础上,确定安全工程专业培养目标、毕业要求以及培养内容,探索安全工程专业认证标准与注册安全工程师职业资格标准有效衔接的实现路径。研究表明:通过认证的安全工程专业培养的人才能够达到注册安全工程师执业资格标准的要求。研究结论为进一步提高安全工程专业人才培养质量提供参考。

基于文献回顾的有色金属冶炼废渣的特征、资源化途径及其安全利用评价

冶炼废渣作为冶炼过程中产生的工业副产物,由于其缺乏安全、合理的防护和管理措施可能导致环境问题。通过全面分析近年来发表的相关文献,本文对有色金属冶炼废渣的特性、资源化利用途径及安全利用评价等方面的最新研究进展进行了介绍。研究结果表明,不同的原生精矿、冶炼条件和冶炼类型决定了冶炼废渣的化学和矿物学特征。此外,冶炼废渣在各种资源化利用中表现出极高的灵活性,不仅可以用于金属回收和建筑材料,还可以作为农业肥料和修复剂。同时,本文强调了在各种利用情景下对废渣进行安全性评估的重要性,以降低其潜在环境风险。此外,本文还强调了未来的研究方向,包括建立一种综合且量化的土渣混合体中重金属环境风险评价方法,以及探索更多创新的冶炼废渣资源化利用方法。综上所述,本文对于推动冶炼废渣在环境保护和资源可持续利用方面的研究有重要意义。

中国食品安全风险治理政策工具治理效能评估研究

文章立足政府、市场、社会共治中国食品安全风险的时代要求,认为中国食品安全风险治理历程政策工具基本形成强制型、引导型、自愿型三类工具相互组合的基本格局。采用国际惯常政策工具分类的概念模型,选取2006—2019年中国政府食品安全风险治理所实施的政策工具数量的时间序列数据,通过构建GRA—VAR模型,综合评估了食品安全风险治理政策工具的治理效能。研究发现:强制型、引导型、自愿型三类工具与食品安全风险总值的平均灰色关联度分别为0.807、0.779、0.771;食品技术标准、政策宣传、投诉举报分别是9项强制型、12项引导型、4项自愿型政策工具中与食品安全风险总值灰色关联度最高的3项细分工具,关联度在全部25项细分政策工具类型中分别位列第4位、第1位、第2位。总体而言,强制型工具治理效能显著,而引导型和自愿型工具尚未发挥应有的治理效能。据此,需要深化改革与完善政策工具体系,提高政策工具的科学性、靶向性等。

内镜辅助下长轴入路血肿清除术治疗中等量幕上自发性脑出血的临床研究

目的 探讨内镜辅助下长轴入路血肿清除术治疗中等量幕上自发性脑出血(SICH)的临床效果。方法 选取2018年7月—2022年9月宜兴市人民医院收治的75例中等量幕上SICH患者,根据入路方式不同分为研究组(39例)与对照组(36例)。对照组接受内镜辅助下非长轴入路血肿清除术(经颞顶入路),研究组接受内镜辅助下长轴入路血肿清除术(经眶上锁孔长轴入路)。对比两组手术相关指标、日常生活能力、神经功能、并发症、预后及经济学指标。结果 研究组血肿清除率高于对照组(P <0.05),手术时间短于对照组(P <0.05),术中出血量低于对照组(P <0.05)。两组手术前后的日常生活活动能力量表(ADL)评分差值、美国国立卫生研究院卒中量表(NHISS)评分差值比较,差异均无统计学意义(P>0.05)。研究组术后再出血、肺部感染发生率均低于对照组(P <0.05);两组颅内感染、下肢静脉血栓形成、消化道出血发生率比较,差异均无统计学意义(P>0.05)。两组预后良好率比较,差异无统计学意义(P>0.05)。研究组住院费用低于对照组(P <0.05),总住院时间和ICU住院时间均短于对照组(P <0.05)。结论 相比于内镜辅助下非长轴入路血肿清除术,内镜辅助下长轴入路血肿清除术治疗中等量幕上SICH患者效果确切,可降低术后再出血、肺部感染发生风险,提高血肿清除率,减轻患者经济负担与手术创伤,并缩短手术时间及住院时间。

食品质量安全监管的原则与方法研究

本研究针对食品质量安全监管工作的核心意义进行了深度分析,同时提出了多种展开安全监管的有效原则。在此基础上进一步提出了实施安全监管工作的高质量方法,能够为未来相关活动的开展奠定坚实基础,具有重要的参考意义。