Machine learning applications in stroke medicine:advancements,challenges,and future prospectives

Stroke is a leading cause of disability and mortality worldwide,necessitating the development of advanced technologies to improve its diagnosis,treatment,and patient outcomes.In recent years,machine learning techniques have emerged as promising tools in stroke medicine,enabling efficient analysis of large-scale datasets and facilitating personalized and precision medicine approaches.This abstract provides a comprehensive overview of machine learning’s applications,challenges,and future directions in stroke medicine.Recently introduced machine learning algorithms have been extensively employed in all the fields of stroke medicine.Machine learning models have demonstrated remarkable accuracy in imaging analysis,diagnosing stroke subtypes,risk stratifications,guiding medical treatment,and predicting patient prognosis.Despite the tremendous potential of machine learning in stroke medicine,several challenges must be addressed.These include the need for standardized and interoperable data collection,robust model validation and generalization,and the ethical considerations surrounding privacy and bias.In addition,integrating machine learning models into clinical workflows and establishing regulatory frameworks are critical for ensuring their widespread adoption and impact in routine stroke care.Machine learning promises to revolutionize stroke medicine by enabling precise diagnosis,tailored treatment selection,and improved prognostication.Continued research and collaboration among clinicians,researchers,and technologists are essential for overcoming challenges and realizing the full potential of machine learning in stroke care,ultimately leading to enhanced patient outcomes and quality of life.This review aims to summarize all the current implications of machine learning in stroke diagnosis,treatment,and prognostic evaluation.At the same time,another purpose of this paper is to explore all the future perspectives these techniques can provide in combating this disabling disease.

Complementary memtransistors for neuromorphic computing: How, what and why

Memtransistors in which the source-drain channel conductance can be nonvolatilely manipulated through the gate signals have emerged as promising components for implementing neuromorphic computing.On the other side,it is known that the complementary metal-oxide-semiconductor(CMOS)field effect transistors have played the fundamental role in the modern integrated circuit technology.Therefore,will complementary memtransistors(CMT)also play such a role in the future neuromorphic circuits and chips?In this review,various types of materials and physical mechanisms for constructing CMT(how)are inspected with their merits and need-to-address challenges discussed.Then the unique properties(what)and poten-tial applications of CMT in different learning algorithms/scenarios of spiking neural networks(why)are reviewed,including super-vised rule,reinforcement one,dynamic vision with in-sensor computing,etc.Through exploiting the complementary structure-related novel functions,significant reduction of hardware consuming,enhancement of energy/efficiency ratio and other advan-tages have been gained,illustrating the alluring prospect of design technology co-optimization(DTCO)of CMT towards neuro-morphic computing.

Local saliency consistency-based label inference for weakly supervised salient object detection using scribble annotations

Recently,weak supervision has received growing attention in the field of salient object detection due to the convenience of labelling.However,there is a large performance gap between weakly supervised and fully supervised salient object detectors because the scribble annotation can only provide very limited foreground/background information.Therefore,an intuitive idea is to infer annotations that cover more complete object and background regions for training.To this end,a label inference strategy is proposed based on the assumption that pixels with similar colours and close positions should have consistent labels.Specifically,k-means clustering algorithm was first performed on both colours and coordinates of original annotations,and then assigned the same labels to points having similar colours with colour cluster centres and near coordinate cluster centres.Next,the same annotations for pixels with similar colours within each kernel neighbourhood was set further.Extensive experiments on six benchmarks demonstrate that our method can significantly improve the performance and achieve the state-of-the-art results.

Meibomian glands segmentation in infrared images with limited annotation

●AIM:To investigate a pioneering framework for the segmentation of meibomian glands(MGs),using limited annotations to reduce the workload on ophthalmologists and enhance the efficiency of clinical diagnosis.●METHODS:Totally 203 infrared meibomian images from 138 patients with dry eye disease,accompanied by corresponding annotations,were gathered for the study.A rectified scribble-supervised gland segmentation(RSSGS)model,incorporating temporal ensemble prediction,uncertainty estimation,and a transformation equivariance constraint,was introduced to address constraints imposed by limited supervision information inherent in scribble annotations.The viability and efficacy of the proposed model were assessed based on accuracy,intersection over union(IoU),and dice coefficient.●RESULTS:Using manual labels as the gold standard,RSSGS demonstrated outcomes with an accuracy of 93.54%,a dice coefficient of 78.02%,and an IoU of 64.18%.Notably,these performance metrics exceed the current weakly supervised state-of-the-art methods by 0.76%,2.06%,and 2.69%,respectively.Furthermore,despite achieving a substantial 80%reduction in annotation costs,it only lags behind fully annotated methods by 0.72%,1.51%,and 2.04%.●CONCLUSION:An innovative automatic segmentation model is developed for MGs in infrared eyelid images,using scribble annotation for training.This model maintains an exceptionally high level of segmentation accuracy while substantially reducing training costs.It holds substantial utility for calculating clinical parameters,thereby greatly enhancing the diagnostic efficiency of ophthalmologists in evaluating meibomian gland dysfunction.

Land Use Land Cover Analysis for Godavari Basin in Maharashtra Using Geographical Information System and Remote Sensing

The dynamic transformation of land use and land cover has emerged as a crucial aspect in the effective management of natural resources and the continual monitoring of environmental shifts. This study focused on the land use and land cover (LULC) changes within the catchment area of the Godavari River, assessing the repercussions of land and water resource exploitation. Utilizing LANDSAT satellite images from 2009, 2014, and 2019, this research employed supervised classification through the Quantum Geographic Information System (QGIS) software’s SCP plugin. Maximum likelihood classification algorithm was used for the assessment of supervised land use classification. Seven distinct LULC classes—forest, irrigated cropland, agricultural land (fallow), barren land, shrub land, water, and urban land—are delineated for classification purposes. The study revealed substantial changes in the Godavari basin’s land use patterns over the ten-year period from 2009 to 2019. Spatial and temporal dynamics of land use/cover changes (2009-2019) were quantified using three Satellite/Landsat images, a supervised classification algorithm and the post classification change detection technique in GIS. The total study area of the Godavari basin in Maharashtra encompasses 5138175.48 hectares. Notably, the built-up area increased from 0.14% in 2009 to 1.94% in 2019. The proportion of irrigated cropland, which was 62.32% in 2009, declined to 41.52% in 2019. Shrub land witnessed a noteworthy increase from 0.05% to 2.05% over the last decade. The key findings underscored significant declines in barren land, agricultural land, and irrigated cropland, juxtaposed with an expansion in forest land, shrub land, and urban land. The classification methodology achieved an overall accuracy of 80%, with a Kappa Statistic of 71.9% for the satellite images. The overall classification accuracy along with the Kappa value for 2009, 2014 and 2019 supervised land use land cover classification was good enough to detect the changing scenarios of Godavari River basin under study. These findings provide valuable insights for discerning land utilization across various categories, facilitating the adoption of appropriate strategies for sustainable land use in the region.

Migration and Spatiotemporal Land Cover Change: A Case of Bosomtwe Lake Basin, Ghana

Internal migration is highly valued due to its increasingly acknowledged potential for social and economic development. However, despite its significant contribution to the development of towns and cities, it has led to the deterioration of many ecosystems globally. Lake Bosomtwe, a natural Lake in Ghana and one of the six major meteoritic lakes in the world is affected by land cover changes caused by the rising effects of migration, population expansion, and urbanization, owing to the development of tourist facilities on the lakeshore. This study investigated land cover change trajectories using a post-classification comparison approach and identified the factors influencing alteration in the Lake Bosomtwe Basin. Using Landsat imagery, an integrated approach of remote sensing, geographical information systems (GIS), and statistical analysis was successfully employed to analyze the land cover change of the basin. The findings show that over the 17 years, the basin’s forest cover decreased significantly by 16.02%, indicating that population expansion significantly affects changes in land cover. Ultimately, this study will raise the awareness of stakeholders, decision-makers, policy-makers, government, and non-governmental agencies to evaluate land use development patterns, optimize land use structures, and provide a reference for the formulation of sustainable development policies to promote the sustainable development of the ecological environment.

Transfer Learning Approach to Classify the X-Ray Image that Corresponds to Corona Disease Using ResNet50 Pre-Trained by ChexNet

The COVID-19 pandemic has had a widespread negative impact globally. It shares symptoms with other respiratory illnesses such as pneumonia and influenza, making rapid and accurate diagnosis essential to treat individuals and halt further transmission. X-ray imaging of the lungs is one of the most reliable diagnostic tools. Utilizing deep learning, we can train models to recognize the signs of infection, thus aiding in the identification of COVID-19 cases. For our project, we developed a deep learning model utilizing the ResNet50 architecture, pre-trained with ImageNet and CheXNet datasets. We tackled the challenge of an imbalanced dataset, the CoronaHack Chest X-Ray dataset provided by Kaggle, through both binary and multi-class classification approaches. Additionally, we evaluated the performance impact of using Focal loss versus Cross-entropy loss in our model.

ATFF: Advanced Transformer with Multiscale Contextual Fusion for Medical Image Segmentation

Deep convolutional neural network (CNN) greatly promotes the automatic segmentation of medical images. However, due to the inherent properties of convolution operations, CNN usually cannot establish long-distance interdependence, which limits the segmentation performance. Transformer has been successfully applied to various computer vision, using self-attention mechanism to simulate long-distance interaction, so as to capture global information. However, self-attention lacks spatial location and high-performance computing. In order to solve the above problems, we develop a new medical transformer, which has a multi-scale context fusion function and can be used for medical image segmentation. The proposed model combines convolution operation and attention mechanism to form a u-shaped framework, which can capture both local and global information. First, the traditional converter module is improved to an advanced converter module, which uses post-layer normalization to obtain mild activation values, and uses scaled cosine attention with a moving window to obtain accurate spatial information. Secondly, we also introduce a deep supervision strategy to guide the model to fuse multi-scale feature information. It further enables the proposed model to effectively propagate feature information across layers, Thanks to this, it can achieve better segmentation performance while being more robust and efficient. The proposed model is evaluated on multiple medical image segmentation datasets. Experimental results demonstrate that the proposed model achieves better performance on a challenging dataset (ETIS) compared to existing methods that rely only on convolutional neural networks, transformers, or a combination of both. The mDice and mIou indicators increased by 2.74% and 3.3% respectively.

开展医疗保障经办机构飞行检查的问题及其产生因素的质性研究

目的梳理总结我国开展医疗保障(以下简称“医保”)经办机构飞行检查的问题及其产生因素,为完善我国医保基金飞行检查机制,加强对医保经办机构的监管提供建议和参考。方法于2022年7—9月,采用典型抽样法,选取4个省份的医保专家进行半结构式访谈,样本量的确定以不再出现新的信息为标准,运用colaizzi七步分析法对获取的资料进行归纳分析。结果通过对11名专家访谈资料的分析,归纳提炼开展医保经办机构飞行检查的问题,包括力度不足、队伍构成不健全、缺乏具体内容及标准等,以及导致问题产生的因素,包括选择效应、缺乏标准化做法、区域差异等。结论医保经办机构的行为及工作效率影响着医保基金安全,对其进行监管十分必要,但开展医保经办机构飞行检查的过程中存在诸多问题。建议推进制度建设,加大飞行检查力度;丰富队伍构成,提升飞行检查质量;完善指标建立,规范飞行检查内容。

结核病患者手机应用程序督导服药的应用及其影响因素

目的分析上海市2021年新发非利福平耐药肺结核患者手机应用程序(application,APP)督导服药的应用情况及其影响因素,为进一步优化手机APP督导管理方式的应用策略提供依据。方法通过易督导患者管理系统(e-Patient Service System,e-PSS)平台收集患者管理数据,通过《中国疾病预防控制信息系统》结核病子系统收集患者性别、年龄组、职业、户籍、病原学结果等信息。对手机APP督导管理应用情况及相关影响因素进行统计分析。采用卡方检验和多因素非条件logistic回归分析结核病患者使用手机APP督导服药的影响因素。结果2021年上海市采用e-PSS平台管理患者2687例,其中使用手机APP督导服药的患者790例,占29.4%。使用手机APP督导服药的患者总体服药率为99.8%,总体规则服药率为99.5%,坚持打卡率为24.1%。多因素分析结果显示,病原学结果阳性(OR值为2.328,95%CI为1.474~3.825)及阴性(OR值为1.699,95%CI为1.067~2.809),年龄60岁及以下(≤20岁、>20~40岁、>40~60岁的OR值分别为11.017、16.864、9.002,95%CI分别为3.793~40.430、6.881~55.914、3.674~29.837),职业为农民(OR值为1.801,95%CI为1.289~2.519)的患者更倾向于使用手机APP进行服药管理。结论结核病患者日常服药管理应针对不同类型人群采用不同的督导管理方式,对于>20~40岁年龄组、病原学阳性、职业为农民、有合并症的结核病患者,社区医生可以优先推荐使用手机APP进行服药管理。

Survey on AI and Machine Learning Techniques for Microgrid Energy Management Systems

In the era of an energy revolution,grid decentralization has emerged as a viable solution to meet the increasing global energy demand by incorporating renewables at the distributed level.Microgrids are considered a driving component for accelerating grid decentralization.To optimally utilize the available resources and address potential challenges,there is a need to have an intelligent and reliable energy management system(EMS)for the microgrid.The artificial intelligence field has the potential to address the problems in EMS and can provide resilient,efficient,reliable,and scalable solutions.This paper presents an overview of existing conventional and AI-based techniques for energy management systems in microgrids.We analyze EMS methods for centralized,decentralized,and distributed microgrids separately.Then,we summarize machine learning techniques such as ANNs,federated learning,LSTMs,RNNs,and reinforcement learning for EMS objectives such as economic dispatch,optimal power flow,and scheduling.With the incorporation of AI,microgrids can achieve greater performance efficiency and more reliability for managing a large number of energy resources.However,challenges such as data privacy,security,scalability,explainability,etc.,need to be addressed.To conclude,the authors state the possible future research directions to explore AI-based EMS's potential in real-world applications.

Foodborne doping and supervision in sports

Cases of foodborne doping are frequently reported in sports events and can cause severe consequences for athletes.The foodborne doping can be divided into natural endogenous and artifi cially added foods according to the sources,including anabolic agents,stimulants,diuretics,β-blockers,β2 agonists and others.In order to control foodborne doping,chromatographic technique,immunoassay,nuclear magnetic resonance,biosensor technology,pyrolytic spectroscopy,comprehensive analysis and electrochemical analysis have usually used as analytical and inspection strategies.Meanwhile,the legislation of anti-doping,the improvement of testing standard and technology,and the prevention and control of food safety,as well as the improvement of risk perception of athletes are highly necessary for achieving the effective risk control and supervision of foodborne doping,which will be benefi cial for athletes,doctors and administrators to avoid the risks of foodborne doping test and reduce foodborne doping risks for the health of athletes.

Research on the intelligent supervision and operation platform of railway real estate

Railway real estate is the fundamental element of railway transportation production and operation.Effective management and rational utilization of railway real estate is essential for railway asset operation.Based on the investigation of the requirements of railway real estate management and operation,combined with Beidou positioning,GIS(Geographic Information System),multi-source data fusion and other cutting-edge technologies,this paper puts forward the multi-dimensional dynamic statistical method of real estate information,the identification method of railway land occupation and the comprehensive evaluation method of real estate development and utilization potential,and build the railway real estate supervision and operation platform,design the function of the platform,so as to provide intelligent solutions for the railway real estate operation.

上海市公共卫生监督技术服务机构消毒产品检验能力现况调查

目的 掌握本市公共卫生监督技术服务机构消毒产品检验能力现状,为完善对该类机构的指导与管理提供科学依据。方法 2021年8—11月,采用信息查询、问卷和现场调查的方法对上海市公共卫生监督技术服务机构中具备消毒产品领域资质的检验检测机构进行调查,描述和分析机构基本情况、专业技术人员、业务能力和业务开展等。结果 调查机构34家,其中企业制机构18家(52.9%)、事业制机构16家(47.1%)。企业制机构和事业制机构在从业人数、实验室面积和专业技术人员的分布上均存在明显差异(P <0.05)。72.2%的企业制机构为小微企业[5.6%微型企业(<10人),66.6%小型企业(10~<100人)],事业制机构从业人数均在100人以上;83.3%的企业制机构实验室面积为2 000 m2以下,87.5%的事业制机构为2 000 m2以上;企业制机构的专业技术人员年龄结构更年轻,学历相对较低,毕业于卫生相关专业的较少,无职称人员占比较高。消毒产品检验能力较为全面的机构占5.9%,各机构检验能力数(以方法计)7~344项,85.3%的机构检验能力数少于30项,只有5.9%的机构能力数达到100项以上。55.9%的机构消毒产品检验领域年业务额为0,41.2%的机构该领域占年总业务额不超过5.0%,2020年较2019年报告量呈明显增加。结论 本市第三方机构在消毒产品检验能力储备、人员能力等方面有待进一步提升,应加强技术能力储备、优化技术人才培养、拓展消毒产品业务领域。建议相关部门加强对机构的指导和引导,进一步加强质量控制机构管理协调职能,推动公共卫生监督技术服务机构健康发展。

Spoil characterisation using UAV-based optical remote sensing in coal mine dumps

The structural integrity of mine dumps is crucial for mining operations to avoid adverse impacts on the triple bottom-line.Routine temporal assessments of coal mine dumps are a compliant requirement to ensure design reconciliation as spoil off-loading continues over time.Generally,the conventional in-situ coal spoil characterisation is inefficient,laborious,hazardous,and prone to experts'observation biases.To this end,this study explores a novel approach to develop automated coal spoil characterisation using unmanned aerial vehicle(UAV)based optical remote sensing.The textural and spectral properties of the high-resolution UAV images were utilised to derive lithology and geotechnical parameters(i.e.,fabric structure and relative density/consistency)in the proposed workflow.The raw images were converted to an orthomosaic using structure from motion aided processing.Then,structural descriptors were computed per pixel to enhance feature modalities of the spoil materials.Finally,machine learning algorithms were employed with ground truth from experts as training and testing data to characterise spoil rapidly with minimal human intervention.The characterisation accuracies achieved from the proposed approach manifest a digital solution to address the limitations in the conventional characterisation approach.

Deep Learning Models Based on Weakly Supervised Learning and Clustering Visualization for Disease Diagnosis

The coronavirus disease 2019(COVID-19)has severely disrupted both human life and the health care system.Timely diagnosis and treatment have become increasingly important;however,the distribution and size of lesions vary widely among individuals,making it challenging to accurately diagnose the disease.This study proposed a deep-learning disease diagnosismodel based onweakly supervised learning and clustering visualization(W_CVNet)that fused classification with segmentation.First,the data were preprocessed.An optimizable weakly supervised segmentation preprocessing method(O-WSSPM)was used to remove redundant data and solve the category imbalance problem.Second,a deep-learning fusion method was used for feature extraction and classification recognition.A dual asymmetric complementary bilinear feature extraction method(D-CBM)was used to fully extract complementary features,which solved the problem of insufficient feature extraction by a single deep learning network.Third,an unsupervised learning method based on Fuzzy C-Means(FCM)clustering was used to segment and visualize COVID-19 lesions enabling physicians to accurately assess lesion distribution and disease severity.In this study,5-fold cross-validation methods were used,and the results showed that the network had an average classification accuracy of 85.8%,outperforming six recent advanced classification models.W_CVNet can effectively help physicians with automated aid in diagnosis to determine if the disease is present and,in the case of COVID-19 patients,to further predict the area of the lesion.

Sparse Seismic Data Reconstruction Based on a Convolutional Neural Network Algorithm

At present,the acquisition of seismic data is developing toward high-precision and high-density methods.However,complex natural environments and cultural factors in many exploration areas cause difficulties in achieving uniform and intensive acquisition,which makes complete seismic data collection impossible.Therefore,data reconstruction is required in the processing link to ensure imaging accuracy.Deep learning,as a new field in rapid development,presents clear advantages in feature extraction and modeling.In this study,the convolutional neural network deep learning algorithm is applied to seismic data reconstruction.Based on the convolutional neural network algorithm and combined with the characteristics of seismic data acquisition,two training strategies of supervised and unsupervised learning are designed to reconstruct sparse acquisition seismic records.First,a supervised learning strategy is proposed for labeled data,wherein the complete seismic data are segmented as the input of the training set and are randomly sampled before each training,thereby increasing the number of samples and the richness of features.Second,an unsupervised learning strategy based on large samples is proposed for unlabeled data,and the rolling segmentation method is used to update(pseudo)labels and training parameters in the training process.Through the reconstruction test of simulated and actual data,the deep learning algorithm based on a convolutional neural network shows better reconstruction quality and higher accuracy than compressed sensing based on Curvelet transform.

Model-constrained and data-driven double-supervision acoustic impedance inversion

Seismic impedance inversion is an important technique for structure identification and reservoir prediction.Model-based and data-driven impedance inversion are the commonly used inversion methods.In practice,the geophysical inversion problem is essentially an ill-posedness problem,which means that there are many solutions corresponding to the same seismic data.Therefore,regularization schemes,which can provide stable and unique inversion results to some extent,have been introduced into the objective function as constrain terms.Among them,given a low-frequency initial impedance model is the most commonly used regularization method,which can provide a smooth and stable solution.However,this model-based inversion method relies heavily on the initial model and the inversion result is band limited to the effective frequency bandwidth of seismic data,which cannot effectively improve the seismic vertical resolution and is difficult to be applied to complex structural regions.Therefore,we propose a data-driven approach for high-resolution impedance inversion based on the bidirectional long short-term memory recurrent neural network,which regards seismic data as time-series rather than image-like patches.Compared with the model-based inversion method,the data-driven approach provides higher resolution inversion results,which demonstrates the effectiveness of the data-driven method for recovering the high-frequency components.However,judging from the inversion results for characterization the spatial distribution of thin-layer sands,the accuracy of high-frequency components is difficult to guarantee.Therefore,we add the model constraint to the objective function to overcome the shortages of relying only on the data-driven schemes.First,constructing the supervisor1 based on the bidirectional long short-term memory recurrent neural network,which provides the predicted impedance with higher resolution.Then,convolution constraint as supervisor2 is introduced into the objective function to guarantee the reliability and accuracy of the inversion results,which makes the synthetic seismic data obtained from the inversion result consistent with the input data.Finally,we test the proposed scheme based on the synthetic and field seismic data.Compared to model-based and purely data-driven impedance inversion methods,the proposed approach provides more accurate and reliable inversion results while with higher vertical resolution and better spatial continuity.The inversion results accurately characterize the spatial distribution relationship of thin sands.The model tests demonstrate that the model-constrained and data-driven impedance inversion scheme can effectively improve the thin-layer structure characterization based on the seismic data.Moreover,tests on the oil field data indicate the practicality and adaptability of the proposed method.

Combination of density-clustering and supervised classification for event identification in single-molecule force spectroscopy data

Single-molecule force spectroscopy(SMFS)measurements of the dynamics of biomolecules typically require identifying massive events and states from large data sets,such as extracting rupture forces from force-extension curves(FECs)in pulling experiments and identifying states from extension-time trajectories(ETTs)in force-clamp experiments.The former is often accomplished manually and hence is time-consuming and laborious while the latter is always impeded by the presence of baseline drift.In this study,we attempt to accurately and automatically identify the events and states from SMFS experiments with a machine learning approach,which combines clustering and classification for event identification of SMFS(ACCESS).As demonstrated by analysis of a series of data sets,ACCESS can extract the rupture forces from FECs containing multiple unfolding steps and classify the rupture forces into the corresponding conformational transitions.Moreover,ACCESS successfully identifies the unfolded and folded states even though the ETTs display severe nonmonotonic baseline drift.Besides,ACCESS is straightforward in use as it requires only three easy-to-interpret parameters.As such,we anticipate that ACCESS will be a useful,easy-to-implement and high-performance tool for event and state identification across a range of single-molecule experiments.

Impact point prediction guidance of ballistic missile in high maneuver penetration condition

An impact point prediction(IPP) guidance based on supervised learning is proposed to address the problem of precise guidance for the ballistic missile in high maneuver penetration condition.An accurate ballistic trajectory model is applied to generate training samples,and ablation experiments are conducted to determine the mapping relationship between the flight state and the impact point.At the same time,the impact point coordinates are decoupled to improve the prediction accuracy,and the sigmoid activation function is improved to ameliorate the prediction efficiency.Therefore,an IPP neural network model,which solves the contradiction between the accuracy and the speed of the IPP,is established.In view of the performance deviation of the divert control system,the mapping relationship between the guidance parameters and the impact deviation is analysed based on the variational principle.In addition,a fast iterative model of guidance parameters is designed for reference to the Newton iteration method,which solves the nonlinear strong coupling problem of the guidance parameter solution.Monte Carlo simulation results show that the prediction accuracy of the impact point is high,with a 3 σ prediction error of 4.5 m,and the guidance method is robust,with a 3 σ error of 7.5 m.On the STM32F407 singlechip microcomputer,a single IPP takes about 2.374 ms,and a single guidance solution takes about9.936 ms,which has a good real-time performance and a certain engineering application value.