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.

基于物理模型的ISTAVS-Net多线圈MRI图像重建

提高磁共振成像速度是磁共振领域待解决的问题,采用多线圈扫描是一种常用加速方式.但在加速因子大于4时,传统压缩感知磁共振(CS-MRI)重建算法得到的图像质量不高.为此,本文提出一种基于物理模型的ISTAVS-Net多线圈MRI图像重建方法.将ISTA算法与VS-Net网络拆分思想相结合,提出ISTAVS算法,并展开成ISTAVS-Net网络.将每步迭代与网络模块结合,比黑盒U-Net网络的可解释性更强.网络中引入残差机制,增加了网络的非线性表达能力和稳定性.稀疏变换、收缩阈值以及正则化参数在训练中自动学习,提高了重建的灵活性.采用Globus膝关节数据集的测试结果表明不同加速因子下ISTAVS-Net网络效果均优于传统的L1-ESPIRiT和ISTA迭代算法,图像质量和性能指标比U-Net、ISTA-Net+和VS-Net网络提升明显,在高加速因子下对组织细节恢复能力更强.该网络鲁棒性强,更适合对临床扫描数据进行快速高质量重建,可拓宽MRI应用范围.

Ambulatory laparoscopic cholecystectomy: An audit of day case vs overnight surgery at a community hospital in Japan

AIM: To evaluate the applicability and safety of ambulatory laparoscopic cholecystectomy (LC) and to compare day case and overnight stay LC. METHODS: Data were collected retrospectively and consecutively for day case and overnight stay LC patients from July 1, 2009 to April 30, 2011. Outcomes were analyzed for patient demographics, operation time, blood loss during operation and frequency and reasons for unexpected or prolonged hospitalization in each group. RESULTS: There was no hospital mortality and no patient was readmitted with serious morbidity after discharge. 50 patients received a day case LC and 19 had an overnight stay LC. There was a significant difference in age between both groups (P < 0.02). There were no significant differences between the day case LC performed (n = 41) and failed (n = 9) groups and between the day case LC performed and the one night stay LC (n = 12) groups. There was a significant difference in age between the one night stay and more nights stay LC groups (P < 0.05). Thus, elderly patients showed a tendency to like to stay in hospital rather than being a day case. The proportion of unexpected or prolonged hospitalization was not significantly different between the day case and overnight stay LC groups, when the patient’s request was excluded. CONCLUSION: Day case LC can be performed with a low rate of complications. In overnight stay patients, there are many who could be performed safely as a day case. Moreover, we need to take special care to treat elderly patients.

Electrochemical engineering approach of high performance solid-state flexible supercapacitor device based on chemically synthesized VS_2 nanoregime structure

Portable and furnished electronics appliances demand power efficient energy storage devices where electrochemical supercapacitors gain much more attention.In this concern,a simple,low-cost and industry scalable successive ionic layer adsorption and reaction(SILAR)approach has been adopted to deposit nanostructured VS_2onto flexible and light-weight stainless steel(SS)substrate towards supercapacitor application.The nanocrystalline nature with hexagonal crystal structure has been confirmed for VS_2through structural analysis.The VS_2electrode exhibits a maximum specific capacitance of 349 F g^(-1)with a super stable behavior in three-electrode liquid-state configuration.Fabricated flexible symmetric solid-state supercapacitor(FSSC)device using gel electrolyte yields specific power of 1.5 k W kg^(-1)(specific energy of 25.9 Wh kg^(-1))with a widen voltage window of 1.6 V.A red LED has been glown for30 s using the system consisted of two devices in series combination.Furthermore,the system glows a combination of 21 red LEDs network with acronym‘VNIT’,demonstrating commercial exposure.The attribution of device demonstration even under mechanical stress holds great promise towards advanced flexible electronics application.

Optimized Complex Power Quality Classifier Using One vs. Rest Support Vector Machines

Nowadays, power quality issues are becoming a significant research topic because of the increasing inclusion of very sensitive devices and considerable renewable energy sources. In general, most of the previous power quality classification techniques focused on single power quality events and did not include an optimal feature selection process. This paper presents a classification system that employs Wavelet Transform and the RMS profile to extract the main features of the measured waveforms containing either single or complex disturbances. A data mining process is designed to select the optimal set of features that better describes each disturbance present in the waveform. Support Vector Machine binary classifiers organized in a “One Vs Rest” architecture are individually optimized to classify single and complex disturbances. The parameters that rule the performance of each binary classifier are also individually adjusted using a grid search algorithm that helps them achieve optimal performance. This specialized process significantly improves the total classification accuracy. Several single and complex disturbances were simulated in order to train and test the algorithm. The results show that the classifier is capable of identifying >99% of single disturbances and >97% of complex disturbances.

End-to-end learning for high-precision lane keeping via multi-state model

High-precision lane keeping is essential for the future autonomous driving.However,due to the imbalanced and inaccurate datasets collected by human drivers,current end-to-end driving models have poor lane keeping the effect.To improve the precision of lane keeping,this study presents a novel multi-state model-based end-to-end lane keeping method.First,three driving states will be defined:going straight,turning right and turning left.Second,the finite-state machine(FSM)table as well as three kinds of training datasets will be generated based on the three driving states.Instead of collecting the dataset by human drivers,the accurate dataset will be collected by the high-performance path following controller.Third,three sets of parameters based on 3DCNN-LSTM model will be trained for going straight,turning left and turning right,which will be combined with FSM table to form a multi-state model.This study evaluates the multi-state model by testing it on five tracks and recording the lane keeping error.The result shows the multi-state model-based end-to-end method performs the higher precision of lane keeping than the traditional single end-to-end model.

用VS 2005开发AutoCAD Map 3D 2008地图数据检查程序

介绍了VC++开发AutoCAD Map 3D 2008组合环境配置以及工程属性设置,并详细说明了地图采集数据检查程序的流程和代码实现。

3D Track-keeping Method for Autonomous Underwater Vehicle

In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.

Ruxolitinib add-on in corticosteroid-refractory graft-vs-host disease after allogeneic stem cell transplantation:Results from a retrospective study on 38 Chinese patients

BACKGROUND Graft-vs-host disease (GVHD) is a major cause of mortality after allogeneic hematopoietic stem cell transplantation.Some patients have steroid-refractory(SR) GVHD.AIM To evaluate the effect and safety of ruxolitinib add-on in the treatment of patients with SR acute (a) and chronic (c) GVHD.METHODS We retrospectively analyzed 38 patients administered ruxolitinib add-on to standard immunosuppressive therapy for SR-aGVHD or SR-cGVHD following allogeneic hematopoietic stem cell transplantation.Ruxolitinib was administered5-10 mg/d depending on disease severity,patient status,and the use of antifungal drugs.Overall response rate,time to best response,malignancy relapse rate,infection rate,and treatment-related adverse events were assessed.RESULTS The analysis included 10 patients with SR-aGVHD (gradeⅢ/Ⅳ,n=9) and 28patients with SR-cGVHD (moderate/severe,n=24).For the SR-aGVHD and SRcGVHD groups,respectively:Median number of previous GVHD therapies was 2(range:1-3) and 2 (1-4);median follow-up was 2.5 (1.5-4) and 5 (1.5-10) mo;median time to best response was 1 (0.5-2.5) and 3 (1-9.5) mo;and overall response rate was 100%(complete response:80%) and 82.1%(complete response:10.7%) with a response observed in all GVHD-affected organs.The malignancy relapse rates for the SR-aGVHD and SR-cGVHD groups were 10.0%and 10.7%,respectively.Reactivation rates for cytomegalovirus,Epstein-Barr virus,and varicella-zoster virus,respectively,were 30.0%,10.0%,and 0%for the SR-aGVHD group and 0%,14.3%,and 7.1%for the SR-cGVHD group.CONCLUSION Ruxolitinib add-on was effective and safe as salvage therapy for SR-GVHD.

Gut microbiome in allogeneic hematopoietic stem cell transplantation and specific changes associated with acute graft vs host disease

Allogeneic hematopoietic stem cell transplantation(aHSCT)is a standard validated therapy for patients suffering from malignant and nonmalignant hematological diseases.However,aHSCT procedures are limited by potentially life-threatening complications,and one of the most serious complications is acute graft-versus-host disease(GVHD).During the last decades,DNA sequencing technologies were used to investigate relationship between composition or function of the gut microbiome and disease states.Even if it remains unclear whether these microbiome alterations are causative or secondary to the presence of the disease,they may be useful for diagnosis,prevention and therapy in aHSCT recipients.Here,we summarized the most recent findings of the association between human gut microbiome changes and acute GVHD in patients receiving aHSCT.

Surgical vs percutaneous radiofrequency ablation for hepatocellular carcinoma in dangerous locations

AIM:To compare the long-term outcome of percutaneous vs surgical radiofrequency ablation(RFA) for hepatocellular carcinoma(HCC) in dangerous locations.METHODS:One hundred and sixty-two patients with HCC in dangerous locations treated with percutaneous or surgical RFA were enrolled in this study.The patients were divided into percutaneous RFA group and surgical RFA group.After the patients were regularly followed up for a long time,their curative rate,hospital stay time,postoperative complications and 5-year local tumor progression were compared and analyzed.RESULTS:No significant difference was observed in curative rate between the two groups(91.3% vs 96.8%,P = 0.841).The hospital stay time was longer and more analgesics were required while the incidence of bile duct injury and RFA-related hemorrhage was lower in surgical RFA group than in percutaneous RFA group(P < 0.05).The local progression rate of HCC in dangerous locations was significantly lower in surgical RFA group than in percutaneous RFA group(P = 0.05).The relative risk of local tumor progression was 14.315 in percutaneous RFA group.CONCLUSION:The incidence of severe postoperative complications and local tumor progression is lower after surgical RFA than after percutaneous RFA.

AN INTRODUCTION TO KEEPING-FIT MASSAGE(1)

Massage,called Anmo (pressing andrubbing) in ancient times,is a non-drugtherapy,characterized by its simplicity,con-venience,cheapness and effectiveness,whichhas been used as one of the effectivekeeping-fit measures since thausands ofyears ago.With gradual improvement of people’sliving standard,the problem of health carehas been put on the agenda,receiving a wideattention from the medical circle.SinceChina has a long history of civilization,scholars of successive ages have left to ournation ample valuable knowledge of healthcare.Among many theories I am much infavour of the keeping fit idea,the“

Influence of hydroxypropyl methylcellulose edible coating on fresh-keeping and storability of tomato

The effect of application of cellulose-based edible coating, hydroxypropyl methylcellulose (HPMC) to mature-green tomatoes on the firmness and color was investigated. Tomatoes were stored at 20℃ for up to 18 days. Firmness decreased as storage time increased in all treatments. However, application of HPMC edible coating delayed softening of tomatoes during 18 days of storage at 20℃ . At days 7, 13 and 18,the firmness of tomatoes coated with HPMC was significantly ( P ≤ 0.05) greater than the firmness of uncoated tomatoes. The study also confirmed that HPMC coatings could significantly (P≤0.05) delay the changes in color of tomatoes stored at 20℃ . The ripening of tomatoes from the pink stage to the red stage was successfully retarded. HPMC coating could extend the shelf life of fresh tomatoes. The retardation of the rate of loss of firmness could reduce the economic loss that would result from spoilage by mechanical injury during transportation of tomatoes.

Laparoscopic calibrated total vs partial fundoplication following Heller myotomy for oesophageal achalasia

AIM:To compare the mid-term outcomes of laparoscopic calibrated Nissen-Rossetti fundoplication with Dor fundoplication performed after Heller myotomy for oesophageal achalasia.METHODS:Fifty-six patients(26 men,30 women;mean age 42.8±14.7 years)presenting for minimally invasive surgery for oesophageal achalasia,were enrolled.All patients underwent laparoscopic Heller myotomy followed by a 180°anterior partial fundoplication in 30 cases(group 1)and calibrated NissenRossetti fundoplication in 26(group 2).Intraoperative endoscopy and manometry were used to calibrate the myotomy and fundoplication.A 6-mo follow-up period with symptomatic evaluation and barium swallow was undertaken.One and two years after surgery,the patients underwent symptom questionnaires,endoscopy,oesophageal manometry and 24 h oesophago-gastric pH monitoring.RESULTS:At the 2-year follow-up,no significant difference in the median symptom score was observed between the 2 groups(P=0.66;Mann-WhitneyU-test).The median percentage time with oesophageal pH< 4 was significantly higher in the Dor group compared to the Nissen-Rossetti group(2;range 0.8-10 vs 0.35;range 0-2)(P<0.0001;Mann-WhitneyU-test).CONCLUSION:Laparoscopic Dor and calibrated Nissen-Rossetti fundoplication achieved similar results in the resolution of dysphagia.Nissen-Rossetti fundoplication seems to be more effective in suppressing oesophageal acid exposure.

Detection of early gastric cancer using hydro-stomach CT:Blinded vs unblinded analysis

AIM:To evaluate the difference in diagnostic performance of hydro-stomach computed tomography(CT) to detect early gastric cancer(EGC) between blinded and unblinded analysis and to assess independent factors affecting visibility of cancer foci.METHODS:Two radiologists initially blinded and then unblinded to gastroscopic and surgical-histological findings independently reviewed hydro-stomach CT images of 110 patients with single EGC.They graded the visibility of cancer foci for each of three gastric segments(upper,middle and lower thirds) using a 4-point scale(1:definitely absent,2:probably absent,3:probably present,and 4:definitely present).The sensitivity and specificity for detecting an EGC were calculated.Intraobserver and interobserver agreements were analyzed.The visibility of an EGC was evaluated with regard to tumor size,invasion depth,gastric segments,histological type and gross morphology using univariate and multivariate analysis.RESULTS:The respective sensitivities and specificities [reviewer 1:blinded,20%(22/110) and 98%(215/220);unblinded,27%(30/110) and 100%(219/220)/reviewer 2:blinded,19%(21/110) and 98%(216/220);unblinded,25%(27/110) and 98%(215/220)] were not significantly different.Although intraobserver agreements were good(weighted κ = 0.677 and 0.666),interobserver agreements were fair(blinded,0.371) or moderate(unblinded,0.558).For both univariate and multivariate analyses,the tumor size and invasion depth were statistically significant factors affecting visibility.CONCLUSION:The diagnostic performance of hydrostomach CT to detect an EGC was not significantly different between blinded and unblinded analysis.The tumor size and invasion depth were independent factors for visibility.

VS.NET移动电子商务B to B平台的构建

大多数经济发达国家,都在大规模地推动电子商务的发展,并以此取代或改造传统的商务活动方式。基于此分析了目前B2B的现状及发展趋势,全面介绍了电子商务B2B的理论以及开发环境、技术支持、设计思路,并使用流行的VS.net、IIS以及SQL技术,设计并实现了B2B子系统。

Effects of Using Different Percentages of Fenugreek Flour to Improve the Sensory, Rheological Properties and Keeping Quality in Maize Dough to Produces Gluten-free Breads

Adding different percentages 1%, 3% and 5% of fenugreek flour depending on maize flour base to gluten free bread recipe for making tanoor bread was used to improve the tanoor bread quality, in term of sensory properties like volume, crust, color, symmetry, bake uniformity, texture, grain, aroma and taste. Also some rheological properties like gelatinization temperature and maximum viscosity of dough with bread keeping quality were used. The aim of this work is to produce suitable bread with maintaining the bread quality by selecting the suitable percentage to produce gluten free bread for people who suffering from celiac diseases and its contribution to health benefits. Significant differences were observed by using 5% of fenugreek flour in term of gelatinization temperature, maximum viscosity, breed keeping quality and volume. While using 1% of fenugreek flour significantly improved symmetry value, bread texture, crumb color, aroma and taste.

Open Inventor在VS2005中的环境搭建与开发研究

Open Inventor(OVI)是基于OpenGL的面向对象的开发三维图形软件开发包,可以用它快速、简洁地开发出各种类型的交互式三维图形软件。首先介绍了OVI的体系结构,然后详细研究、讨论了使用OVI开发程序的步骤以及在VS2005下开发OVI程序的环境搭建步骤,最后以一个简单程序说明使用OVI开发交互式三维图形软件的简单、快捷,并证明在VS2005下搭建OVI开发环境的正确性。

Oral graft vs host disease:An immune system disorder in hematopoietic cell transplantation

Graft vs host disease(GVHD) is a complication of patients who are treated by hematopoietic cell transplantation.National Institutes of Health in 2005 by Working Group on Diagnosis and Staging Consensus Development Project on Criteria for Clinical Trials in Chronic GVHD(cGVHD) established 2 principal categories of oral GVHD, acute and chronic. The oral mucosa may be the first site of manifestation of the disease. Clinical diagnosis needs to be confirmed by a biopsy of oral mucosa and minor salivary glands. Microscopic results have played a major role in the diagnosis and management of acute and chronic oral GVHD. Development of second malignancies is the greatest risk of oral cGVHD patients, mostly regarding squamous cell carcinoma. The focus of oral GVHD therapy is to improve symptoms and maintain oral function. The aim of this review article is to update the information on the oral GVHD in its clinical, microscopic features and their complications.

Double-entry Bookkeeping and Paciolo's Bookkeeping Theory: Dedicated to the 500th Anniversary of the Publication of Paciolo's Treatise on Bookkeeping

In 1494, Luca Paciolo,the Father of Modern Accounting, published his famous work, SUMMA DE ARITHMETICA, GEOMETRIA, PROPORTIONI ET PROPORTIONALITA (hereinafter referred to as the SUMMA). In Chapter 3 of the SUMMA,"Particulatis De Computis et Scripturis" (Details of Accounting and Recording), the author systematically introduced