Function Evolution and Landscape Planning Strategy of Inland Rivers in Beilun Port City of Ningbo

In the history, the main roles of inland rivers in Beilun Port City of Ningbo were desalination,blocking tides, shipping, and flood control. Nowadays, with the continuous spread and deepening ofurbanization, the ecological environment of river courses has been destroyed. In the past, remediationmeasures based on engineering and technology played a certain role, but can not “cure the root cause”. Itshould respect the historical evolution process of river courses, and highlight the ecological service functionand leisure tourism value of river courses from the coordination perspective of urban and rural ecologicalenvironment, economic industries, society and culture in the planning ideas of ecology, production, andlife integration. Four aspects of the measures are as below: protecting and repairing the ecological matrixof river courses;building green space system and maintaining flood control functions through the waternetwork;protecting cultural heritage along the rivers;developing waterfront leisure tourism scenic area.

Research on Evacuation Path Planning Based on Improved Sparrow Search Algorithm

Reducing casualties and property losses through effective evacuation route planning has been a key focus for researchers in recent years.As part of this effort,an enhanced sparrow search algorithm(MSSA)was proposed.Firstly,the Golden Sine algorithm and a nonlinear weight factor optimization strategy were added in the discoverer position update stage of the SSA algorithm.Secondly,the Cauchy-Gaussian perturbation was applied to the optimal position of the SSA algorithm to improve its ability to jump out of local optima.Finally,the local search mechanism based on the mountain climbing method was incorporated into the local search stage of the SSA algorithm,improving its local search ability.To evaluate the effectiveness of the proposed algorithm,the Whale Algorithm,Gray Wolf Algorithm,Improved Gray Wolf Algorithm,Sparrow Search Algorithm,and MSSA Algorithm were employed to solve various test functions.The accuracy and convergence speed of each algorithm were then compared and analyzed.The results indicate that the MSSA algorithm has superior solving ability and stability compared to other algorithms.To further validate the enhanced algorithm’s capabilities for path planning,evacuation experiments were conducted using different maps featuring various obstacle types.Additionally,a multi-exit evacuation scenario was constructed according to the actual building environment of a teaching building.Both the sparrow search algorithm and MSSA algorithm were employed in the simulation experiment for multiexit evacuation path planning.The findings demonstrate that the MSSA algorithm outperforms the comparison algorithm,showcasing its greater advantages and higher application potential.

Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot

Designed for planetary exploration,a spherical mobile robot BHQ-1 was briefly introduced.The mo-tion model of BHQ-1 was established and quasi-velocities were introduced to simplify some dynamic quan-tities.Based on the model,the time- and energy-based optimal trajectory of BHQ-1 was planned withHamiltonian function. The effects of three key coefficients on the shape and direction of the planned tra-jectory were discussed by simulations.Experimental result of the robot ability in avoiding an obstacle waspresented to validate the trajectory planning method.

Localizing the Language Network with fMRI and Functional Connectivity: Implications for Pre-Surgical Planning

Object: Functional MRI is frequently applied to lateralize language in pre-surgical planning, with potential to localize functionally important cortex too. Here we present BOLD signal activation maps and related functional connectivity, in response to three commonly administered fMRI language tasks. Methods: Datasets from 55 pre-surgical fMRI studies were analyzed. Verbal response naming, covert word generation and passive listening tasks were administered in all studies. Single-subject analyses, group analyses and region-of-interest analyses were conducted, and a multi-subject functional connectivity analysis was performed. Results: Single-subject analyses revealed that clinically important language regions were activated in all but three patients using the panel of tasks. Group analyses revealed significant bilateral BOLD signal increases in anterior and posterior language regions in response to verbal response naming and bilateral signal increase in posterior language regions only in response to passive listening. Covert word generation activated anterior language regions bilaterally and posterior language cortex in the dominant hemisphere. Functional connectivity analyses confirmed that activated regions were significantly correlated in all tasks. Conclusion: The findings of single-subject and group analyses add to the evidence supporting the use of a panel of fMRI tasks to map the language network for pre-surgical planning. Our findings support the additional use of functional connectivity analysis in routine language mapping to add to the localization value to fMRI. In addition, the results of our investigation demonstrate these three commonly applied tasks reliably activate unique aspects of the language network, which advocates closer individual inspection, guided by the surgical intervention planned.

An Exploratory Investigation of Difficulties in Applying Functional Behavior Assessment and Implementing Behavioral Intervention Plans in ADHD Programs in Saudi Arabia

Functional behavior assessment(FBA)and behavioral intervention plans(BIPs)can be effective for students with attention deficit hyperactivity disorder(ADHD);however,teachers may face difficulties when implementing FBA procedures and,in turn,BIPs because of lack of time,insufficient training,and multiplicity of beliefs.Thus,it is important to identify the difficulties teachers may face and the obstacles that can deter them from implementing intervention plans.This is a worthwhile endeavor because nearly all classrooms will have students with behavioral problems who will benefit from specifically designed educational interventions.This study aimed to identify the difficulties in applying FBA and the barriers in implementing BIPs among Saudi teachers in specialized ADHD programs.Using the descriptive-analytical approach,a questionnaire targeting difficulties and barriers was admi-nistered to 209 public school teachers from specialized ADHD programs in Saudi Arabia.The results revealed that the difficulty level of applying FBA in ADHD programs was high.The level of barriers in implementing BIPs was moderate.Finally,the study indicated that barriers in implementing BIPs could be predicted by the difficulties of applying FBA.The results suggest the importance offinding better practices,restructuring the provision of ADHD programs,training teachers,improving assessment tool availability,and ensuring cooperation between school administrators and teachers.

Application of Functional Exercise Nursing Plan Based on Evidence-based Nursing After Hip Replacement

Objective:To explore the effect of functional exercise nursing plan based on evidence-based nursing in patients after hip replacement.Methods:A total of 150 patients who underwent hip replacement in the orthopedic second ward of our hospital during the research period from January 2010 to January 2020 were selected as the research object.The random number expression method was applied to achieve grouping of patients.Among them,the control group received conventional rehabilitation treatment;the experimental group guided rehabilitation exercises according to the functional exercise nursing plan after hip replacement,and the rehabilitation conditions of the two groups were compared.Results:Compared with the patients in the control group,the bed time(7.45±2.10)days and average hospital stay(15.84±3.29)of the experimental group were relatively shorter.The incidence of complications in the experimental group and the control group was 6.67%and 16.00%,which are significantly different.The difference in Harris hip score before surgery was small,and the difference when discharge and after discharge was gradually increased,showing a better care effect in the experimental group.There was no significant difference in preoperative quality of life scores between the two groups before surgery(P>0.05).The life quality of the experimental group was significantly higher than that of the control group at discharge,1 month after discharge and 3 months after discharge,and showed most significantly after 3 months.Conclusion:The effect of functional exercise nursing plan based on evidence-based nursing in patients after hip replacement is remarkable,which can promote the recovery of patients,improve the quality of life,reduce the hospitalization time,reduce the incidence of postoperative complications,and has a positive significance in promoting clinical development in China.

Benthic bacterial communities indicate anthropogenic activity footprints in coastal area under long-term marine spatial planning practice

Marine spatial planning(MSP)is designed to divide the sea area into different types of functional zones,to implement corresponding development activities.However,the long-term impacts of anthropogenic activities associated with MSP practice on the marine microbial biosphere are still unclear.Yalu River Estuary,a coastal region in northeast of China,has been divided into fishery&agricultural(F&A)zone,shipping&port(S&P)zone and marine protected area(MPA)zone by a local MSP guideline that has been run for decades.To examine the effects of long-term executed MSP,benthic bacterial communities from different MSP zones were obtained and compared in this study.The results revealed significant differences in the bacterial community structure and predict functions among different zones.Bacterial genera enriched in different zones were identified,including SBR1031 in MPA,Woeseia and Sva0996 in S&P,and Halioglobus in F&A.In addition,correlations between some bacterial genera and sediment pollutants were uncovered.Furthermore,bacteria related to sulphide production were more abundant in the F&A zone,which was according to the accumulation of sulphides in this area.Moreover,bacteria associated with chemoheterotrophy and fermentation were more predominant in the S&P zone,consistent with high levels of organic matter and petroleum caused by shipping.Our findings indicated benthic bacterial communities could bring to light the anthropogenic activity footprints by different activities induced by long-term MSP practice.

基于改进OpenPlanner算法的移动机器人局部路径规划

现有局部路径规划算法仅实现了移动机器人在场景内自由移动,但局部路径生成并未考虑场景内道路限制,对于一些规则化的结构道路并不适用。OpenPlanner算法很好地解决了该问题,但传统OpenPlanner算法规划的局部路径不满足移动机器人最大转向曲率约束而无法被移动机器人有效跟踪。针对上述问题,从状态采样和评价函数2个方面对传统OpenPlanner算法进行改进,并将改进OpenPlanner算法用于移动机器人局部路径规划。在状态采样阶段,通过设计双层局部路径簇来扩大最优局部路径解空间,其中首层局部路径簇入段纵向采样距离与行驶速度呈分段线性关系,次层局部路径簇入段纵向采样距离为首层局部路径簇的1.5倍;在路径筛选阶段,将路径曲率代价(由局部路径上各采样点曲率求和得到)引入评价函数,确保局部路径簇满足移动机器人的最大转向曲率约束,从而使局部路径被移动机器人所跟踪。实验结果表明:与传统OpenPlanner算法相比,改进OpenPlanner算法筛选的最优局部路径转向更加平缓,在无障碍物、有障碍物场景下平均曲率分别减小了31.3%,6.2%,且局部路径能够被移动机器人较好地跟踪。

Operations Improvement Function and Organisational Adaptability of Petroleum Tank Farms in South-South, Nigeria

The study examined the nexus between operations improvement function (dimensioned by contingency planning, benchmarking and continuous improvement processes) and organisational adaptability of Petroleum tank farms in South-South, Nigeria. The contingency theory and the theory of routine dynamics underpinned the study, and positivism was the underlying philosophy. The study adopted the cross-sectional survey through the use of questionnaire. 820 middle and top-level managers constituted the elements of the population, and the Krejcie & Morgan’s formula was used to determine the sample size of 262 respondents. Structural Equation Modeling was deployed to test the hypotheses at a 0.05 significance level. The results showed that contingency planning;benchmarking and continuous improvement processes all have a significant positive relationship with organisational adaptability of Petroleum tank farms in South-South, Nigeria. The study concludes that Petroleum tank farms’ operations should focus on the adoption of contingency planning, benchmarking and continuous improvement processes to enhance organisational adaptability. Therefore, it is recommended that the management of Petroleum tank farms should put in place mechanisms to advance continuous improvement processes by allocating the necessary amount of resources, such as energy, time and money, in order to promote the continuous development of the continuous improvement systems. Furthermore, managers of Petroleum tank farms should make better the adoption of contingency planning, ensuring that there is as much necessary training and information for employees on how to act during a crises situation, in order to evaluate safety and prepare in advance for recovery from disasters.

改进蚁群算法的送餐机器人路径规划

蚁群算法拥有良好的全局性、自组织性、鲁棒性,但传统蚁群算法存在许多不足之处。为此,针对算法在路径规划问题中的缺陷,在传统蚁群算法的状态转移公式中,引入目标点距离因素和引导素,加快算法收敛性和改善局部最优缺陷。在带时间窗的车辆路径问题(vehicle routing problem with time windows,VRPTW)上,融合蚁群算法和遗传算法,并将顾客时间窗宽度以及机器人等待时间加入蚁群算法状态转移公式中,以及将蚁群算法的解作为遗传算法的初始种群,提高遗传算法的初始解质量,然后进行编码,设置违反时间窗约束和载重量的惩罚函数和适应度函数,在传统遗传算法的交叉、变异操作后加入了破坏-修复基因的操作来优化每一代新解的质量,在Solomon Benchmark算例上进行仿真,对比算法改进前后的最优解,验证算法可行性。最后在餐厅送餐问题中把带有障碍物的仿真环境路径规划问题和VRPTW问题结合,使用改进后的算法解决餐厅环境下送餐机器人对顾客服务配送问题。

三维重建及3D打印技术在精准胸腔镜肺段切除术中的应用

目的:探讨三维重建及3D打印技术在精准胸腔镜肺段切除术中的应用。方法:选取2020年1月至2022年12月在我院行精准胸腔镜肺段切除术患者105例,用随机数表法分为2组,对照组(53例)和研究组(52例),对照组给予三维重建制定术前计划,研究组给予三维重建及3D打印技术制定术前计划。比较两组围术期相关指标,术前、术后3 d、术后3个月的肺功能指标,临床治疗疗效以及并发症发生情况。结果:研究组术中出血量、住院费用与对照组比较,差异均无统计学意义(P>0.05),研究组手术时间、拔管时间、住院时间明显短于对照组(P<0.05),研究组淋巴结清扫个数明显高于对照组(P<0.05),研究组术后总引流量明显低于对照组(P<0.05)。术后3 d研究组用力肺活量(FVC)、第1秒用力呼气容积(FEV1)、呼气流量峰值(PEF)、每分钟最大通气量(MVV)、肺一氧化碳弥散量(DLCO)较术前均降低(P<0.05),术后3 d、术后3个月对照组FVC、FEV1、PEF、MVV、DLCO较术前均降低(P<0.05),术后3 d对照组FEV1/FVC较术前升高(P<0.05),术后3个月对照组FEV1/FVC较术前降低(P<0.05),且术后3 d、术后3个月研究组FVC、FEV1、PEF、MVV、DLCO明显高于对照组(P<0.05),术后3个月研究组FEV1/FVC明显高于对照组(P<0.05)。研究组临床治疗疗效优于对照组,且研究组的临床治疗总有效率为94.23%,明显高于对照组(67.92%)(P<0.05)。研究组的并发症发生率为19.23%,与对照组(24.53%)比较,差异无统计学意义(P>0.05)。结论:三维重建及3D打印技术应用在精准胸腔镜肺段切除术中,可有效缩短手术时间,促进患者康复,改善肺功能,提高临床治疗疗效,且安全性较好。

国土空间规划下海岸带的功能定位及空间响应——以上海海岸带为例

海岸带规划作为国土空间规划体系中的唯一涉海规划,不仅要对海岸带地区进行陆海统筹综合管控,而且要对海岸带地区的发展进行战略功能引导,以适应海洋强国建设的蓝色发展要求。文章分析新一轮国土空间规划对海岸带规划的新要求,提出海岸带规划进行功能定位和空间响应的规划策略和方法;结合上海海岸带发展实际,从多维战略对接、区域功能耦合、未来发展趋势应对3个方面谋划海岸带功能定位,提出海岸带“三心二市”的功能内涵;在此基础上提出海岸带空间响应策略,主要包括对接国土空间分层逻辑、海洋功能区划和岸线区段功能耦合、开放式分圈层分区划分、落实核心功能诉求。

机械臂多目标最优轨迹的自适应惩罚MOEA/D规划

为了减少机械臂的工作时间和工作过程中的冲击量,提出了基于自适应惩罚MOEA/D算法的时间-冲击多目标规划方法。介绍了PUMA560机械臂结构,并建立了机械臂的连杆坐标系。建立了以减小机械臂工作时间和冲击为综合目标的优化模型,并分析了5次多项式插值函数。通过编码和建立适应度函数,将轨迹规划问题转化为最优基因搜索问题。根据邻域内解的密度设置了自适应惩罚因子,提出了机械臂轨迹的自适应惩罚MOEA/D规划方法。经仿真验证,自适应惩罚MOEA/D算法搜索的Pareto前沿解质量高于标准MOEA/D算法、文献[10]新型MOEA/D算法。且经过优化,机械臂工作时间减少了7.68%,冲击减少了17.32%。实验结果表明,自适应惩罚MOEA/D算法在机械臂轨迹规划中具有优越性。

基于正余弦函数设计位移运动算法的研究与实现

为实现机床加工运动过程中算法规划能输出连续的运动指令,提高位置控制精度,文章基于正余弦函数值周期连续变化的特性,设计出位移运动指令随时间连续变化的算法模型并进行公式推导。结合Matlab对算法的规划细节进行仿真分析,得到算法规划的控制指令平稳且连续,证明了算法模型建立与公式推导过程的正确性。选择机床加工PCB覆铜板运动过程为试验研究对象,使用激光干涉仪对机床加工实际位移距离进行测量,测得采用所设计的位移运动算法进行运动过程规划,位置控制精度能达到1.788μm,验证了位移运动算法的正确性。

改进布谷鸟算法在装配序列规划中的应用研究

针对装配序列规划问题,建立考虑装配序列的几何可行性、稳定性、聚合性、重定向性的装配关系模型以及基于适应度函数的装配序列优化数学模型。提出一种改进布谷鸟算法对装配序列规划问题进行求解,采用随机键和最小位置规则的方法设计基于零件编号、装配方向、装配工具的3层编码方案;设计基于最小装配成本的初始化策略与随机初始化策略相结合的混合种群初始化策略,提高种群质量;改进种群进化和搜索方式,将种群分为3个子群,并分别采用自适应步长飞行、标准步长飞行和交叉、变异的方式进行种群更新,提高算法的收敛速度和求解精度。最后通过实例应用及与其他算法的比较,验证了所提出的改进布谷鸟算法在求解装配序列规划问题上的有效性和优越性。

改进A^(*)算法的移动机器人全局路径规划

针对A^(*)算法在移动机器人路径规划存在搜索效率低,路径斜穿障碍物顶点,路径拐弯多等问题。提出一种改进的A^(*)算法,首先在A^(*)算法的邻域扩展中采用避免斜穿障碍物顶点的策略;再引入障碍物因素对评价函数进行指数加权,减少不必要的搜索,提高A^(*)算法的效率和灵活性,使算法偏向于选择障碍物较少的路径;最后使用三次优化折线的策略,加入障碍物安全距离,减少路径上的冗余节点和拐弯。使用MATLAB进行实验仿真,结果表明,在20 m×20 m、40 m×40 m、60 m×60 m栅格地图环境下,改进A^(*)算法较传统A^(*)算法,搜索时间分别减少70.12%、84.31%、91.44%,扩展节点分别减少53.77%、71.20%、74.30%,路径累计拐弯角度分别减少70.48%、76.31%、82.18%,改进A^(*)算法能够有效的提高移动机器人路径规划的效率,路径更为平滑和安全,且在复杂环境中优势更为明显。

皱肺定喘膏对慢性阻塞性肺疾病急性加重及相关炎症介质的临床观察

目的:观察皱肺定喘膏对慢性阻塞性肺疾病(COPD)患者急性加重次数及相关炎症介质的影响。方法:选取2019年4月至2020年4月苏州市中医医院和通安卫生院收治的稳定期COPD患者66例作为研究对象,随机分为对照组(n=32)和膏方组(n=34)。对照组予以噻托溴铵吸入剂治疗,膏方组在对照组治疗的基础上加用皱肺定喘膏,比较2组治疗后急性加重次数及急性加重风险炎症指标白细胞介素-6(IL-6)、IL-8、IL-17a、肿瘤坏死因子-α(TNF-α)的变化情况。结果:膏方组在治疗后COPD急性加重次数低于对照组(P<0.05);膏方组治疗后IL-6、TNF-α、IL-17a水平明显降低,优于对照组(均P<0.05),IL-8水平与对照组比较,差异无统计学意义(P>0.05)。结论:皱肺定喘膏可抑制COPD稳定期患者体内的IL-6、TNF-α、IL-17a水平,减少急性加重次数,从而发挥治疗作用。

3D打印术前设计辅助重建钢板内固定治疗髋臼后壁骨折的临床效果

目的评价3D打印辅助术前设计个体化钢板在髋臼后壁骨折手术治疗中的临床应用效果。方法回顾性分析2016年2月—2022年12月于张家港市第一人民医院骨科住院治疗的61例髋臼后壁骨折患者的临床资料,按手术方法分为3D组和传统组。3D组(n=31)根据患者3D打印骨折模型设计个体化钢板,传统组(n=30)采用传统手术方法。比较两组患者的骨折解剖复位结果、髋关节功能恢复评分、手术时间、出血量及术后并发症发生情况。结果3D组的骨折复位优良率为96.77%,显著优于传统组的83.33%,差异有统计学意义(χ^(2)=6.207,P<0.05)。3D组术后3、6、12个月复查髋关节功能优良率均在93.00%以上,均显著高于传统组,差异有统计学意义(P均<0.05)。3D组术中出血量少于传统组,差异有统计学意义(t=10.557,P<0.05)。3D组的术后并发症总发生率为3.23%,显著低于传统组的20.00%,差异有统计学意义(χ^(2)=5.613,P<0.05)。结论3D打印辅助术前设计可提高髋臼后壁骨折患者的骨折复位质量和髋关节功能恢复,增强手术过程的精准性和安全性。

基于改进蚁群优化算法的AUV三维路径规划

针对蚁群算法在三维路径规划时收敛速度慢且难以收敛至最优的缺点,提出一种新的改进蚁群算法,并将其应用于自主式水下机器人(autonomous underwater vehicle,AUV)三维路径规划。与现有算法相比,改进算法优点主要体现在3个方面:首先,引进伪随机状态转移概率提升算法全局搜索能力;其次,将距离和轨迹限定因子引入启发式函数,距离因子保证搜索不断趋近目标点,在轨迹限定因子约束下,轨迹累计转角更小,以此提升收敛速度和精度;最后,通过扩大信息素增量差距并逐步提高信息素衰减系数,进一步提高路径规划效率。实验结果表明,改进蚁群算法能够获得累计转角更小路径,且路径长度更小,收敛速度更快。