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System Design, Modelling, and Control of a Four-Wheel-Steering Mobile Robot

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System Design, Modelling, and Control of a Four-Wheel-Steeri...

结直肠癌异时性腹膜转移患者远期预后的影响因素及风险预测模型构建

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作者： Maxim Makatchev John J．McPhee S．K．tso sherman y．t．lang Dept．of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong Dept．of Systems Design Engineering University of Waterloo Ontario Canada N2L 3G1 Centre for Intelligent Design Automation and Manufacturing City University of Hong Kong Hong Kong Integrated Manufacturing technologies Institute National Research Council of Canada London OntarioCanada N6G 4X8

＜正＞this paper describes a dynamic model and cross-coupling control of a mobile robot with four independently steered and driven wheels. the dynamic model incorporates the components of the wheel mechanisms, backlash effects of the wheel actuators and nonlinear forces produced by the tire-ground interaction. the problem of computationally efficient control of the vehicle is solved using a low-level control loop that cross-couples steering and driving motors and is utilized in conjunction with a kinematics-based trajectory-tracking controller. the results of simulation show significant reduction of the vehicle slip with moderate trajectory-tracking errors.

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实用癌症杂志 2024年第6期39卷 992-996页

作者：郎杉林素红崔华王蝶郑州大学第一附属医院 450052

目的分析影响结直肠癌异时性腹膜转移患者远期预后的因素,并建立风险预测模型。方法回顾性分析90例接受肿瘤细胞减灭术及腹腔热灌注化疗治疗的结直肠癌异时性腹膜转移患者临床资料,依据随访3年期间预后情况将患者分为病死组(n=65)和存活... 详细信息

目的分析影响结直肠癌异时性腹膜转移患者远期预后的因素,并建立风险预测模型。方法回顾性分析90例接受肿瘤细胞减灭术及腹腔热灌注化疗治疗的结直肠癌异时性腹膜转移患者临床资料,依据随访3年期间预后情况将患者分为病死组(n=65)和存活组(n=25)。采用Cox回归分析影响结直肠癌异时性腹膜转移患者远期预后的因素,依据回归分析结果构建风险预测模型,并绘制受试者工作特征(ROC)曲线评估风险模型的预测效能。结果病死组中年龄≥60岁、原发灶t4分期、出院时癌胚抗原(CEA)≥5μg/L、腹膜癌指数≥20分、肿瘤细胞低分化程度的患者占比均高于存活组,差异有统计学意义(Pt4分期、出院时CEA≥5μg/L、腹膜癌指数≥20分、肿瘤细胞低分化程度为影响结直肠癌异时性腹膜转移患者远期预后病死的危险因素(Py-X直线相近,模型准确度良好;对模型预测效能进行验证,结果显示,风险模型评估结直肠癌异时性腹膜转移患者远期预后病死的曲线下面积(AUC)为0.762,95%CI为:0.636~0.887、P<0.001。结论年龄、出院时CEA水平、原发灶分期、腹膜癌指数及肿瘤细胞分化程度为结直肠癌异时性腹膜转移患者远期预后的影响因素,基于以上因素构建的风险预测模型对结直肠癌异时性腹膜转移患者远期预后具有一定评估价值。

关键词：结直肠癌异时性腹膜转移远期预后影响因素风险预测模型

基于多源数据融合的医用影像辅助诊断模型设计

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现代电子技术 2024年第1期47卷 124-128页

作者：陈迪陈云虹王文军毕卫云李朗空军军医大学基础医学院陕西西安710032 空军军医大学教研保障中心陕西西安710032 空军军医大学第一附属医院陕西西安710032

为了实现对患者的准确分类,辅助医生进行疾病诊断识别,文中提出一种基于多源数据融合的影像数据辅助诊断模型。该模型将MRI和PEt图像进行融合,并以改进的transformer网络t2t-Vit为主干分类网络,通过迁移学习ImageNet数据集的参数,实现... 详细信息

为了实现对患者的准确分类,辅助医生进行疾病诊断识别,文中提出一种基于多源数据融合的影像数据辅助诊断模型。该模型将MRI和PEt图像进行融合,并以改进的transformer网络t2t-Vit为主干分类网络,通过迁移学习ImageNet数据集的参数,实现对阿尔茨海默病的分类。在公开数据集上进行的实验结果表明,所提出模型对于阿尔茨海默症患者的识别准确率可达0.95,优于目前的主流图像分类网络,证明其有效性,能够辅助影像医生进行疾病诊断,具有一定的应用价值。

关键词：多源数据迁移学习辅助诊断 t2t-Vit网络 transformer 识别准确率

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Molecular evolution of pancreatic ribonuclease gene(RNase1)in Rodentia

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Journal of Genetics and Genomics 2017年第4期44卷 219-222页

作者： Da-tian lang Xiao-Ping Wang Lei Wang Li yu Chemistry and Life Science Department Zhaotong UniversityZhaotong 657000China state key laboratory for conservation and utilization of bio-resource in yunnan yunnan universitykunming 650091china key laboratory for animal genetic diversity and evolution of high education in yunnan province yunnan universitykunming 650091china

Pancreatic ribonuclease,which is encoded by RNase1,is a digestive enzyme secreted by the pancreas of vertebrates,and has been recognized to be a classic example for molecular evolutionary studies due to the frequent occurrence of gene duplication and functional divergence in organisms（Zhang et al.,2002,2006;yu and Zhang,2006;yu et al.,2010;Xu et al.,2013;Liu et al.,2014）.RNase1 has been extensively studied in many mammals,

关键词： RNase in Rodentia classic divergence digestive evolutionary duplication pancreas branch clade

Increased susceptibility for intrahepatic cholestasis of pregnancy and contraceptive-induced cholestasis in carriers of the 1331t>C polymorphism in the bile salt export pump

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World Journal of Gastroenterology 2008年第1期14卷 38-45页

作者： yvonne Meier tina Zodan Carmen lang Roland Zimmermann Gerd A Kullak-Ublick Peter J Meier Bruno Stieger Christiane Pauli-Magnus Division of Clinical Pharmacology and toxicology Department of Internal Medicine University Hospital Zurich Zurich Switzerland Department of Gynecology and Obstetrics University Hospital Zurich Zurich Switzerland Division of Clinical Pharmacology and toxicology Department of Internal Medicine University Hospital Zurich Zurich Switzerland Clinical Trial Unit University Hospital Basel Basel Switzerland

AIM： to study the association of three common ABCB11 and ABCC2 polymorphisms （ABCB11： 1331t〉C→V444A; ABCC2： 3563t〉A → V1188E and 4544G 〉A → C1515y） with intrahepatic cholestasis of pregnancy （ICP） and contraceptive-induced cholestasis （CIC）. MEtHODS： ABCB11 and ABCC2 genotyping data were available from four CIC patients and from 42 and 33 ICP patients, respectively. Allele-frequencies of the studied polymorphisms were compared with those in healthy pregnant controls and Caucasian individuals. Furthermore, serum bile acid levels were correlated with the presence or absence of the 1331 C allele. RESULtS： the ABCB11 1331t〉C polymorphism was significantly more frequent in cholestatic patients than in pregnant controls： C allele 76.2% （CI, 58.0-94.4） vs 51.3% （CI 35.8-66.7）, respectively （P = 0.0007）; and CC allele 57.1% （CI 36.0-78.3） vs 20% （CI 7.6-32.4）, respectively （P = 0.0065）. All four CIC patients were homozygous carriers of the C allele. In contrast, none of the studied ABCC2 polymorphism was overrepresented in ICP or CIC patients. Higher serum bile acid levels were found in carriers of the 1331CC genotype compared to carriers of the tt genotype. CONCLUSION： Our data support a role for the ABCB11 1331t〉C polymorphism as a susceptibility factor for the development of estrogen-induced cholestasis, whereas no such association was found for ABCC2. Serum bile acid and 7-glutamyl transferase levels might help to distinguish ABCB4- and ABCB11-related forms of ICP and CIC.

关键词： Cholestasis of pregnancy Contraceptive-induced cholestasis Bile salt export pump Multidrugresistance associated protein 2 Pharmacogenetics

Collagen-based materials in reproductive medicine and engineered reproductive tissues

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Journal of Leather Science and Engineering 2022年第1期4卷 37-51页

作者： Hanxiao Chen Luqi Xue Guidong Gong Jiezhou Pan Xiaoling Wang yaoyao Zhang Junling Guo lang Qin Department of Obstetrics and Gynecology The Reproductive Medical CenterWest China Second University HospitalSichuan UniversityChengdu 610041China Key Laboratory of Birth Defects and Related of Women and Children of Ministry of Education West China Second University HospitalSichuan UniversityChengdu 610041China West China School of Medicine Sichuan UniversityChengdu 610041China BMI Center for Biomass Materials and Nanointerfaces College of Biomass Science and EngineeringSichuan UniversityChengdu 610065SichuanChina State Key Laboratory of Polymer Materials Engineering Sichuan UniversityChengdu 610065SichuanChina.

Collagen,the main component of mammal skin,has been traditionally used in leather manufacturing for thousands of years due to its diverse physicochemical *** is the most abundant protein in mammals and the main component of the extracellular matrix(ECM).the properties of collagen also make it an ideal building block for the engineering of materials for a range of biomedical *** medicine,especially human fertility preservation strategies and reproductive organ regeneration,has attracted significant attention in recent years as it is key in resolving the growing social concern over aging populations ***-based biomaterials such as collagen hydrogels,decellularized ECM(dECM),and bioengineering techniques including collagen-based 3D bio-printing have facilitated the engineering of reproductive *** review summarizes the recent progress in apply-ing collagen-based biomaterials in ***,we discuss the prospects of collagen-based materials for engineering artificial reproductive tissues,hormone replacement therapy,and reproductive organ reconstruction,aiming to inspire new thoughts and advancements in engineered reproductive tissues research.

关键词： Collagen-based biomaterials Leather and collagen Leather tanning process Reproductive medicine Reproductive tissues

Adenine base editor incorporating the N-methylpurine DNA glycosylase MPGv3 enables efficient A-to-K base editing in rice

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Plant Communications 2023年第6期4卷 230-233页

作者： Xuemei Wu Bin Ren lang Liu Shengqun Qiu Xin’ge Li Peijing Li Fang yan Honghui Lin Xueping Zhou Dawei Zhang Huanbin Zhou Ministry of Education Key Laboratory for Bio-Resource and Eco-Environment College of Life ScienceState Key Laboratory of Hydraulics and Mountain River EngineeringSichuan UniversityChengdu 610064China State Key Laboratory for Biology of Plant Diseases and Insect Pests Institute of Plant ProtectionChinese Academy of Agricultural SciencesBeijing 100193China Scientific Observing and Experimental Station of Crop Pests in Guilin Ministry of Agriculture and Rural AffairsGuilin 541399China Department of Plant Pathology China Agricultural UniversityBeijing 100193China State Key Laboratory of North China Crop Improvement and Regulation College of Plant ProtectionHebei Agricultural UniversityBaoding 071000China School of Life Science and technology Hubei Engineering UniversityXiaogan 432000China State Key Laboratory of Rice Biology Institute of BiotechnologyZhejiang UniversityHangzhou 310058China Hainan yazhou Bay Seed Lab/National Nanfan Research Institute(Sanya) Chinese Academy of Agricultural SciencesSanya 572024China

Dear Editor,Crop genetic diversity and elite agronomic traits are mainly caused by genetic variants,approximately half of which are single-nucleotide *** nucleotide substitution through CRISPR–Cas-mediated base editors has been widely used to correct defective alleles and create novel alleles by artificial evolution for rapid crop genetic *** 2017,cytosine base editors(CBEs)and adenine base editors(ABEs)have been successively developed in many plant species and have been continuously optimized to generate highly efficient C-to-t and A-to-G transitions,as well as by-product C-to-A/G conversion with low efficiency(Ren et al.,2018;yan et al.,2021).

关键词： elite base editor

Performance and calibration of quark/gluon-jet taggers using 140 fb^(-1) of pp collisions at √s=13 teV with the AtLAS detector

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Chinese Physics C 2024年第2期48卷 1-25页

作者： G. Aad B. Abbott K. Abeling N.J. Abicht S.H. Abidi A. Aboulhorma H. Abramowicz H. Abreu y. Abulaiti B.S. Acharya C. Adam Bourdarios L. Adamczyk S.V. Addepalli M.J. Addison J. Adelman A. Adiguzel t. Adye A.A. Affolder y. Afik M.N. Agaras J. Agarwala A. Aggarwal C. Agheorghiesei A. Ahmad F. Ahmadov W.S. Ahmed S. Ahuja X. Ai G. Aielli A. Aikot M. Ait tamlihat B. Aitbenchikh I. Aizenberg M. Akbiyik t.P.A. Åkesson A.V. Akimov D. Akiyama N.N. Akolkar K. Al Khoury G.L. Alberghi J. Albert P. Albicocco G.L. Albouy S. Alderweireldt M. Aleksa I.N. Aleksandrov C. Alexa t. Alexopoulos F. Alfonsi M. Algren M. Alhroob B. Ali H.M.J. Ali S. Ali S.W. Alibocus M. Aliev G. Alimonti W. Alkakhi C. Allaire B.M.M. Allbrooke J.F. Allen C.A. Allendes Flores P.P. Allport A. Aloisio F. Alonso C. Alpigiani M. Alvarez Estevez A. Alvarez Fernandez M. Alves Cardoso M.G. Alviggi M. Aly y. Amaral Coutinho A. Ambler C. Amelung M. Amerl C.G. Ames D. Amidei S.P. Amor Dos Santos K.R. Amos V. Ananiev C. Anastopoulos t. Andeen J.K. Anders S.y. Andrean A. Andreazza S. Angelidakis A. Angerami A.V. Anisenkov A. Annovi C. Antel M.t. Anthony E. Antipov M. Antonelli F. Anulli M. Aoki t. Aoki J.A. Aparisi Pozo M.A. Aparo L. Aperio Bella C. Appelt A. Apyan N. Aranzabal S.J. Arbiol Val C. Arcangeletti A.t.H. Arce E. Arena J-F. Arguin S. Argyropoulos J.-H. Arling O. Arnaez H. Arnold G. Artoni H. Asada K. Asai S. Asai N.A. Asbah J. Assahsah K. Assamagan R. Astalos S. Atashi R.J. Atkin M. Atkinson H. Atmani P.A. Atmasiddha K. Augsten S. Auricchio A.D. Auriol V.A. Austrup G. Avolio K. Axiotis G. Azuelos D. Babal H. Bachacou K. Bachas A. Bachiu F. Backman A. Badea P. Bagnaia M. Bahmani A.J. Bailey V.R. Bailey J.t. Baines L. Baines O.K. Baker E. Bakos D. Bakshi Gupta V. Balakrishnan R. Balasubramanian E.M. Baldin P. Balek E. Ballabene F. Balli L.M. Baltes W.K. Balunas J. Balz E. Banas M. Bandieramonte A. Bandyopadhyay S. Bansal L. Barak M. Barakat E.L. Barberio D. Barberis M. Barbero M.Z. Barel K.N. Barends t. Barillari M-S. Barisits t. Barklow P. Baron D.A. Baron Mo the AtLAS Collaboration

the identification of jets originating from quarks and gluons,often referred to as quark/gluon tagging,plays an important role in various analyses performed at the Large Hadron Collider,as Standard Model measurements and searches for new particles decaying to quarks often rely on suppressing a large gluon-induced *** paper describes the measurement of the efficiencies of quark/gluon taggers developed within the AtLAS Collaboration,using √s=13 teV proton–proton collision data with an integrated luminosity of 140 fb^(-1) collected by the AtLAS *** taggers with high performances in rejecting jets from gluon over jets from quarks are studied:one tagger is based on requirements on the number of inner-detector tracks associated with the jet,and the other combines several jet substructure observables using a boosted decision tree.A method is established to determine the quark/gluon fraction in data,by using quark/gluon-enriched subsamples defined by the jet *** in tagging efficiency between data and simulation are provided for jets with transverse momentum between 500 GeV and 2 teV and for multiple tagger working points.

关键词： AtLAS JEt QUARK GLUON tAGGING

yNbO_4∶tm^(3+)/yb^(3+)上转换发光特性研究

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发光学报 2018年第4期39卷 449-456页

作者：李磊伟吕勇牛春晖郎晓萍北京信息科技大学仪器科学与光电工程学院北京100192

按照50Nb_2O_5-(46-x)y_2O_3-4yb_2O_3-x tm_2O_3(x=0.1,0.2,0.5,1,2)的配比方式,采用高温固相法制备出了掺杂tm^(3+)/yb^(3+)的yNb O_4晶体粉末。在980 nm红外光激发下,观测到波长为478,645,707 nm的上转换荧光,分别对应于tm^(3+)离子的~1G_4→~3H_6、~1G_4→~3F_4、~3F_3→~3H_6能级跃迁过程。利用上转换发射功率与980 nm激光器工作电流关系估算出跃迁过程吸收光子数目为2.72,2.69,2.01,从而确定出前两者为三光子吸收过程,最后一个对应于双光子吸收过程。运用Judd-Ofelt理论研究样品光谱特性,根据样品的吸收谱得到样品的谱线强度参数Ω_t(t=2,4,6),进而得出理论振子强度及实验振子强度,二者均方根偏差δ_(rms)=1.299×10^(-7)。计算了tm^(3+)离子向下能级跃迁的跃迁几率、跃迁分支比等参数。最后得出结论:(1)~3F_4能级寿命较长,适合作为上转换中间能级;(2)~3H_5能级寿命较长,且~3H_5→~3H_6跃迁分支比(96.46%)接近100%,可用于产生1 216 nm激光。

关键词： tm3+ yNbO4 上转换发光 J-O理论