Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of th...Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this paper.Firstly,all obstacles are marked and their corners are located through the map pre-processing.Then,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected nodes.Finally,the EDG*heuristic iterative algorithm is proposed.It selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum offset.Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM.The result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map size.The EDG*showed better performance in terms of path smoothness,and collision avoidance.This shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.展开更多
BACKGROUND Endoscopic management is the first-line therapy for post-liver-transplant anas-tomotic strictures.Although the optimal duration of treatment with plastic stents has been reported to be 8-12 months,data on s...BACKGROUND Endoscopic management is the first-line therapy for post-liver-transplant anas-tomotic strictures.Although the optimal duration of treatment with plastic stents has been reported to be 8-12 months,data on safety and duration for metal stents in this setting is scarce.Due to limited access to endoscopic retrograde cholan-giopancreatography(ERCP)during the coronavirus disease 2019 pandemic in our centre,there was a change in practice towards increased usage and length-of-stay of the Kaffes biliary intraductal self-expanding stent in patients with suitable anatomy.This was mainly due to the theoretical benefit of Kaffes stents allowing for longer indwelling periods compared to the traditional plastic stents.METHODS Adult liver transplant recipients aged 18 years and above who underwent ERCP were retrospectively identified during a 10-year period through a database query.Unplanned admissions post-Kaffes stent insertion were identified manually through electronic and scanned medical records.The main outcome was the incidence of complications when stents were left indwelling for 3 months vs 6 months.Stent efficacy was calculated via rates of stricture recurrence between patients that had stenting courses for≤120 d or>120 d.RESULTS During the study period,a total of 66 ERCPs with Kaffes insertion were performed in 54 patients throughout their stenting course.In 33 ERCPs,the stent was removed or exchanged on a 3-month interval.No pancreatitis,perfor-ations or deaths occurred.Minor post-ERCP complications were similar between the 3-month(abdominal pain and intraductal migration)and 6-month(abdominal pain,septic shower and embedded stent)groups-6.1%vs 9.1%respectively,P=0.40.All strictures resolved at the end of the stenting course,but the stenting course was variable from 3 to 22 months.The recurrence rate for stenting courses lasting for up to 120 d was 71.4%and 21.4%for stenting courses of 121 d or over(P=0.03).There were 28 patients that were treated with a single ERCP with Kaffes,21 with removal after 120 d and 7 within 120 d.There was a significant improvement in stricture recurrence when the Kaffes was removed after 120 d when a single ERCP was used for the entire stenting course(71.0%vs 10.0%,P=0.01).CONCLUSION Utilising a single Kaffes intraductal fully-covered metal stent for at least 4 months is safe and efficacious for the management of post-transplant anastomotic strictures.展开更多
The hidden world of amyloid biology has suddenly snapped into atomic-level focus,revealing over 80 amyloid protein fibrils,both pathogenic and functional.Unlike globular proteins,amyloid proteins flatten and stack int...The hidden world of amyloid biology has suddenly snapped into atomic-level focus,revealing over 80 amyloid protein fibrils,both pathogenic and functional.Unlike globular proteins,amyloid proteins flatten and stack into unbranched fibrils.Stranger still,a single protein sequence can adopt wildly different two-dimensional conformations,yielding distinct fibril polymorphs.展开更多
On January 3,2023,China welcomed the first visit in the new year by a foreign head of state,Philippine President Ferdinand Marcos Jr.The visit was also the president’s first official state visit to a country outside ...On January 3,2023,China welcomed the first visit in the new year by a foreign head of state,Philippine President Ferdinand Marcos Jr.The visit was also the president’s first official state visit to a country outside ASEAN since he took office in June 2022,which demonstrated the great importance the two countries attach to their bilateral relations.The three-day visit was fruitful despite a tight schedule.展开更多
China and FAO assist Uganda to become self-sufficent in food production, and serve as the food basket of the region Eighty percent of Uganda’s economy depends on agriculture, according to the Uganda Bureau of Statist...China and FAO assist Uganda to become self-sufficent in food production, and serve as the food basket of the region Eighty percent of Uganda’s economy depends on agriculture, according to the Uganda Bureau of Statistics. For this reason, Frank Tumwebaze, Uganda’s minister of agriculture, animal industry and fisheries, said in an interview recently that since the majority of the country’s population is involved in agriculture.展开更多
目的了解北京市3岁前儿童非免疫规划(non-expanded programme on immunization,non-EPI)疫苗接种水平和变化趋势,为加强对非EPI疫苗管理提供参考。方法2023年9月1日,采用系统抽样方法随机抽取北京市免疫规划信息管理系统中2011、2014、2...目的了解北京市3岁前儿童非免疫规划(non-expanded programme on immunization,non-EPI)疫苗接种水平和变化趋势,为加强对非EPI疫苗管理提供参考。方法2023年9月1日,采用系统抽样方法随机抽取北京市免疫规划信息管理系统中2011、2014、2017和2020年的8月份出生的所有儿童个案,分析各年份抽样儿童3岁前接种非EPI疫苗的种类及户籍分布、首剂接种比例、全程免疫完成比例及其变化趋势。结果研究对象共108210名。非EPI疫苗总剂次分别为88019、109442、104451和130501剂次。研究对象3岁前水痘疫苗、肠道病毒71型灭活疫苗(EV71疫苗)和吸附无细胞百白破灭活脊髓灰质炎和b型流感嗜血杆菌(结合)联合疫苗(DTaP-IPV-Hib五联疫苗)首剂接种比例均逐年增加,由最初的<10%分别增加至82.20%、61.07%和39.20%;2020年研究对象中,接种总剂次居前5位的非免疫规划疫苗是13价肺炎疫苗、DTaP-IPV-Hib五联疫苗、EV71疫苗、5价轮状病毒疫苗和水痘疫苗,首剂接种比例分别为48.30%、39.20%、61.07%、30.58%和82.20%,京籍儿童均高于非京籍儿童(P<0.05);3岁前DTaP-IPV-Hib五联疫苗、EV71疫苗和5价轮状病毒疫苗在接种首剂后的多剂次疫苗的全程免疫完成比例分别为92.26%、96.56%和94.37%,京籍儿童均高于非京籍儿童(P<0.05)。结论北京市3岁前儿童非EPI疫苗接种数量和新疫苗种类不断增加,全程接种依从性较高。而在非EPI疫苗的首剂接种比例和非京籍儿童中均需进一步提高。建议开展相关影响因素研究,加强非免疫规划疫苗的技术指导,进一步提高全市非免疫规划疫苗接种数量和质量。展开更多
基金Supported by National Key Research and Development Program of China(Grant No.2022YFB4700402).
文摘Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this paper.Firstly,all obstacles are marked and their corners are located through the map pre-processing.Then,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected nodes.Finally,the EDG*heuristic iterative algorithm is proposed.It selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum offset.Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM.The result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map size.The EDG*showed better performance in terms of path smoothness,and collision avoidance.This shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.
文摘BACKGROUND Endoscopic management is the first-line therapy for post-liver-transplant anas-tomotic strictures.Although the optimal duration of treatment with plastic stents has been reported to be 8-12 months,data on safety and duration for metal stents in this setting is scarce.Due to limited access to endoscopic retrograde cholan-giopancreatography(ERCP)during the coronavirus disease 2019 pandemic in our centre,there was a change in practice towards increased usage and length-of-stay of the Kaffes biliary intraductal self-expanding stent in patients with suitable anatomy.This was mainly due to the theoretical benefit of Kaffes stents allowing for longer indwelling periods compared to the traditional plastic stents.METHODS Adult liver transplant recipients aged 18 years and above who underwent ERCP were retrospectively identified during a 10-year period through a database query.Unplanned admissions post-Kaffes stent insertion were identified manually through electronic and scanned medical records.The main outcome was the incidence of complications when stents were left indwelling for 3 months vs 6 months.Stent efficacy was calculated via rates of stricture recurrence between patients that had stenting courses for≤120 d or>120 d.RESULTS During the study period,a total of 66 ERCPs with Kaffes insertion were performed in 54 patients throughout their stenting course.In 33 ERCPs,the stent was removed or exchanged on a 3-month interval.No pancreatitis,perfor-ations or deaths occurred.Minor post-ERCP complications were similar between the 3-month(abdominal pain and intraductal migration)and 6-month(abdominal pain,septic shower and embedded stent)groups-6.1%vs 9.1%respectively,P=0.40.All strictures resolved at the end of the stenting course,but the stenting course was variable from 3 to 22 months.The recurrence rate for stenting courses lasting for up to 120 d was 71.4%and 21.4%for stenting courses of 121 d or over(P=0.03).There were 28 patients that were treated with a single ERCP with Kaffes,21 with removal after 120 d and 7 within 120 d.There was a significant improvement in stricture recurrence when the Kaffes was removed after 120 d when a single ERCP was used for the entire stenting course(71.0%vs 10.0%,P=0.01).CONCLUSION Utilising a single Kaffes intraductal fully-covered metal stent for at least 4 months is safe and efficacious for the management of post-transplant anastomotic strictures.
文摘The hidden world of amyloid biology has suddenly snapped into atomic-level focus,revealing over 80 amyloid protein fibrils,both pathogenic and functional.Unlike globular proteins,amyloid proteins flatten and stack into unbranched fibrils.Stranger still,a single protein sequence can adopt wildly different two-dimensional conformations,yielding distinct fibril polymorphs.
文摘On January 3,2023,China welcomed the first visit in the new year by a foreign head of state,Philippine President Ferdinand Marcos Jr.The visit was also the president’s first official state visit to a country outside ASEAN since he took office in June 2022,which demonstrated the great importance the two countries attach to their bilateral relations.The three-day visit was fruitful despite a tight schedule.
文摘China and FAO assist Uganda to become self-sufficent in food production, and serve as the food basket of the region Eighty percent of Uganda’s economy depends on agriculture, according to the Uganda Bureau of Statistics. For this reason, Frank Tumwebaze, Uganda’s minister of agriculture, animal industry and fisheries, said in an interview recently that since the majority of the country’s population is involved in agriculture.
文摘目的了解北京市3岁前儿童非免疫规划(non-expanded programme on immunization,non-EPI)疫苗接种水平和变化趋势,为加强对非EPI疫苗管理提供参考。方法2023年9月1日,采用系统抽样方法随机抽取北京市免疫规划信息管理系统中2011、2014、2017和2020年的8月份出生的所有儿童个案,分析各年份抽样儿童3岁前接种非EPI疫苗的种类及户籍分布、首剂接种比例、全程免疫完成比例及其变化趋势。结果研究对象共108210名。非EPI疫苗总剂次分别为88019、109442、104451和130501剂次。研究对象3岁前水痘疫苗、肠道病毒71型灭活疫苗(EV71疫苗)和吸附无细胞百白破灭活脊髓灰质炎和b型流感嗜血杆菌(结合)联合疫苗(DTaP-IPV-Hib五联疫苗)首剂接种比例均逐年增加,由最初的<10%分别增加至82.20%、61.07%和39.20%;2020年研究对象中,接种总剂次居前5位的非免疫规划疫苗是13价肺炎疫苗、DTaP-IPV-Hib五联疫苗、EV71疫苗、5价轮状病毒疫苗和水痘疫苗,首剂接种比例分别为48.30%、39.20%、61.07%、30.58%和82.20%,京籍儿童均高于非京籍儿童(P<0.05);3岁前DTaP-IPV-Hib五联疫苗、EV71疫苗和5价轮状病毒疫苗在接种首剂后的多剂次疫苗的全程免疫完成比例分别为92.26%、96.56%和94.37%,京籍儿童均高于非京籍儿童(P<0.05)。结论北京市3岁前儿童非EPI疫苗接种数量和新疫苗种类不断增加,全程接种依从性较高。而在非EPI疫苗的首剂接种比例和非京籍儿童中均需进一步提高。建议开展相关影响因素研究,加强非免疫规划疫苗的技术指导,进一步提高全市非免疫规划疫苗接种数量和质量。
