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Brain Cognition Mechanism-Inspired Hierarchical Navigation Method for Mobile Robots

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Journal of Bionic Engineering 2024年第2期21卷 852-865页

作者： qiang zou Chengdong Wu Ming Cong Dong Liu Faculty of Robot Science and Engineering Northeastern UniversityShenyang110819China School of Mechanical Engineering Dalian University of TechnologyDalian116024China

Autonomous navigation is a fundamental problem in *** methods generally build point cloud map or dense feature map in perceptual space;due to lack of cognition and memory formation mechanism,traditional methods exist poor robustness and low cognitive *** a new navigation technology that draws inspiration from mammal’s navigation,bionic navigation method can map perceptual information into cognitive space,and have strong autonomy and environment *** improve the robot’s autonomous navigation ability,this paper proposes a cognitive map-based hierarchical navigation ***,the mammals’navigation-related grid cells and head direction cells are modeled to provide the robots with location *** then a global path planning strategy based on cognitive map is proposed,which can anticipate one preferred global path to the target with high efficiency and short ***,a hierarchical motion controlling method is proposed,with which the target navigation can be divided into several sub-target navigation,and the mobile robot can reach to these sub-targets with high confidence ***,some experiments are implemented,the results show that the proposed path planning method can avoid passing through obstacles and obtain one preferred global path to the target with high efficiency,and the time cost does not increase extremely with the increase of experience nodes *** motion controlling results show that the mobile robot can arrive at the target successfully only depending on its self-motion information,which is an effective attempt and reflects strong bionic properties.

关键词： Bionic navigation Spatial localization cells Global path planning Hierarchical motion controlling

Severe liver injury and clinical characteristics of occupational exposure to 2-amino-5-chloro-N,3-dimethylbenzamide: A case series

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Hepatobiliary & Pancreatic Diseases International 2024年第2期23卷 186-194页

作者： Meng-Xiao Feng Hua zou Yuan-qiang Lu Department of Emergency Medicine The First Affiliated HospitalZhejiang University School of MedicineHangzhou 310003China Key Laboratory for Diagnosis and Treatment of Aging and Physic-chemical Injury Diseases of Zhejiang Province Hangzhou 310003China Occupational Health and Radiation Protection Institute Zhejiang Provincial Center for Disease Control and PreventionHangzhou 310051China

Background:The 2-amino-5-chloro-N,3-dimethylbenzamide is a key intermediate in the synthesis of pesticides and ***,no literature currently exists on 2-amino-5-chloro-N,3-dimethylbenzamide poisoning in *** study aimed to reveal the health hazard of this chemical for humans and summarize the clinical characteristics of patients with occupational 2-amino-5-chloro-N,3-dimethylbenzamide ***:This observational study included four patients with 2-amino-5-chloro-N,3-dimethylbenzamide poisoning from June 2022 to July *** entire course of the incidents was described in *** 2-amino-5-chloro-N,3-dimethylbenzamide concentrations were detected by a mass ***-toxylin and eosin staining was performed to assess liver injury,and immunofluorescence was used to evaluate hepatic ***:The 2-amino-5-chloro-N,3-dimethylbenzamide powder(99%purity)entered the human body mainly via the skin and respiratory tract due to poor personal protective *** typical course of 2-amino-5-chloro-N,3-dimethylbenzamide poisoning was divided into latency,rash,fever,organic dam-age,and recovery phases in accordance with the clinical *** and fever may be the important premonitory symptoms for further organ *** chemical was detected in the blood of all patients and caused multiple organ injuries,predominantly liver injury,including kidney,myocardium,and *** patients recovered smoothly after comprehensive treatments,including artificial liver therapy,continuous renal replacement therapy,glucocorticoids,and other symptomatic and supportive *** patient survived by liver *** postoperative pathological findings of the removed liver showed acute liver failure,and immunofluorescence staining confirmed the abundance of mitophagy in residual ***:This study is the first to elaborate the clinical characteristics of patients with 2-amino-5-chloro-N,

关键词： 2-amino-5-chloro-N,3-dimethylbenzamide Poisoning Clinical characteristics Liver injury

Prognostic significance and relationship of SMAD3 phosphoisoforms and VEGFR-1 in gastric cancer:A clinicopathological study

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World Journal of Gastrointestinal Oncology 2024年第1期16卷 118-132页

作者： Shi-Lin Lv Pei Guo Jun-Rong zou Ren-sheng Chen Ling-Yu Luo De-qiang Huang Hospital of Gastroenterology Institute of Digestive DiseasesThe First Affiliated Hospital of Nanchang UniversityNanchang 330006Jiangxi ProvinceChina Department of Pathology Shenzhen Hospital of Southern Medical UniversityShenzhen 518000Guangdong ProvinceChina Institute of Urology The First Affiliated Hospital of Gannan Medical UniversityGanzhou 341000Jiangxi ProvinceChina Department of Pathology The First Affiliated Hospital of Nanchang UniversityNanchang 330006Jiangxi ProvinceChina

BACKGROUND The TGF-β/SMAD3 and VEGFR-1 signaling pathways play important roles in gastric cancer ***3 phosphorylation is a crucial prognostic marker in gastric *** To determine the prognostic value and relationship of SMAD3 phospho-isoforms and VEGFR-1 in gastric *** This was a single-center observational study which enrolled 98 gastric cancer patients and 82 adjacent normal gastric tissues from patients aged 32-84 years(median age 65)between July 2006 and April *** were followed up until death or the study ended(median follow-up duration of 28.5 mo).The samples were used to generate tissue microarrays(TMAs)for immunohistochemical(IHC)*** expressions of TGF-β1,pSMAD3C(S423/425),pSMAD3L(S204),and VEGFR-1 in gastric cancer(GC)tumor tissue and normal tissue were measured by IHC staining using TMAs obtained from 98 GC *** and survival information of the patients was recorded by Outdo Biotech from May 2007 to July *** relationship between TGF-β1,pSMAD3C(S423/425),pSMAD3L(S204),and VEGFR-1 protein expression levels was analyzed using Pearson's correlation *** relationship between protein expression levels and clinicopathological parameters was analyzed using the Chi-squared test.A survival curve was generated using the Kaplan-Meier survival *** TGFβ-1 and VEGFR-1 expression was significantly upregulated in gastric cancer tissue compared to adjacent noncancerous *** positive expression of phosphorylated isoforms of Smad3 varied depending on the phosphorylation site[pSMAD3C(S423/425):51.0%and pSMAD3L(S204):31.6%].High expression of pSMAD-3L(S204)was significantly correlated with larger tumors(P=0.038)and later N stages(P=0.035).Additionally,high expression of VEGFR-1 was closely correlated with tumor size(P=0.015)and pathological grading(P=0.013).High expression of both pSMAD3L(S204)and VEGFR-1 was associated with unfavorable outcomes in terms of overall survival(OS).Multiva

关键词： Gastric cancer pSMAD3L(S204) pSMAD3C(S423/425) Survival Transforming growth factor-β1 VEGFR-1

Origin of the Yueguang gold deposit in Xinhua, Hunan Province, South China: insights from fl uid inclusion and hydrogen–oxygen stable isotope analysis

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Acta Geochimica 2024年第2期43卷 235-254页

作者： Hongxin Fan qiang Wang Yulong Yang Yao Tang Hao zou College of Earth Sciences Chengdu University of TechnologyChengdu 610059China College of Earth Sciences Jilin UniversityJilin 130061China

The Yueguang gold deposit is located in Fengjia,Xinhua County,Hunan Province,South *** represents a recently discovered small-scale gold deposit situated in the southwestern region of the Jiangnan Orogenic Belt,west of the Baimashan granitic *** order to discern the characteristics of the ore-formingﬂuids,the underlying mineralization processes,and establish a foundation for the origin of the Yueguang gold depositﬂuid inclusion micro-thermometry,as well as quartz hydrogen and oxygen isotope analysis,have been carried out on samples obtained from various stages of *** hydrothermal miner-alization stages within the Yueguang gold deposit can be categorized into three stages:(i)the barren,pre-ore quartz-pyrite stage(Stage Ⅰ),the quartz-pyrite-gold stage(Stage Ⅱ),and the post-ore quartz-carbonate stage(Stage Ⅲ),with the second stage being the main mineralization ***ﬂuid inclusions identiﬁed in samples from the main min-eralization stage can predominantly be described with the NaCl–H_(2)O and CO_(2)–NaCl–H_(2)O *** inclusions display homogenization temperatures ranging from 158.8 to 334.9℃,and theﬂuid salinity ranges from 0.3%to 4.0%(wt.%NaCl equiv.).Laser Raman spectroscopy analysis of individual inclusions further reveals the presence of gas-phases such as CO_(2),CH_(4),and N_(2).Isotopic analysis indicatesδ^(18)Oﬂuid values ranging from 3.95 to 6.7‰ and δDH_(2)O values ranging from-71.9 to-55.7‰.These results indi-cate that the ore-formingﬂuid of the Yueguang gold deposit belongs to metamorphic hydrothermalﬂuids of middle-low temperature and low *** the process of ore formation,gold is transported in the form of Au(HS)2-complexes,with gold deposition being driven byﬂuid ***,the Yueguang gold deposit is categorized as an orogenic gold deposit dominated by metamorphic hydrother-malﬂ*** may become a new target for gold exploration in the Baimashan region,central Hunan Province.

关键词： Hunan province Yueguang gold deposit Fluid inclusions Hydrogen–oxygen isotopes Laser Raman Fluid immiscibility Orogenic gold deposit

A novel high-Cr CoNi-based superalloy with superior high-temperature microstructural stability, oxidation resistance and mechanical properties

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International Journal of Minerals,Metallurgy and Materials 2024年第6期31卷 1373-1381页

作者： Xiaorui Zhang Min zou Song Lu Longfei Li Xiaoli Zhuang qiang Feng Beijing Advanced Innovation Center for Materials Genome Engineering State Key Laboratory for Advanced MetalsUniversity of Science and Technology BeijingBeijing 100083China

A novel multicomponent high-Cr CoNi-based superalloy with superior comprehensive performance was prepared,and the evaluation of its high-temperature microstructural stability,oxidation resistance,and mechanical properties was conducted mainly using its cast polycrystalline *** results disclosed that the morphology of theγ′phase remained stable,and the coarsening rate was slow during the long-term aging at 900–1000℃.The activation energy forγ′precipitate coarsening of alloy 9CoNi-Cr was(402±51)kJ/mol,which is higher compared with those of CMSX-4 and some other Ni-based and Co-based ***,there was no indica-tion of the formation of topologically close-packed phases during this *** these factors demonstrated the superior microstructural stability of the *** mass gain of alloy 9CoNi-Cr was 0.6 mg/cm^(2) after oxidation at 1000℃ for 100 h,and the oxidation resistance was comparable to advanced Ni-based superalloys CMSX-4,which can be attributed to the formation of a continuous Al_(2)O_(3) protective ***,the compressive yield strength of this cast polycrystalline alloy at high temperatures is clearly higher than that of the conventional Ni-based cast superalloy and the compressive minimum creep rate at 950℃ is comparable to that of the conventional Ni-based cast superalloy,demonstrating the alloy’s good mechanical properties at high *** is partially because high Cr is bene-ficial in improving theγandγ′phase strengths of alloy 9CoNi-Cr.

关键词： CoNi-based superalloys microstructure coarsening oxidation mechanical properties

Development and validation of a model integrating clinical and coronary lesion-based functional assessment for longterm risk prediction in PCI patients

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Journal of Geriatric Cardiology 2024年第1期21卷 44-63页

作者： Shao-Yu WU Rui ZHANG sheng YUAN Zhong-Xing CAI Chang-Dong GUAN Tong-qiang zou Li-Hua XIE Ke-Fei DOU State Key Laboratory of Cardiovascular Disease BeijingChina Cardiometabolic Medicine Center Fu Wai HospitalNational Center for Cardiovascular DiseasesChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijingChina Catheterization Laboratories Fu Wai HospitalNational Center for Cardiovascular DiseasesChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijingChina Department of Cardiology Fu Wai HospitalNational Center for Cardiovascular DiseasesChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijingChina

OBJECTIVES To establish a scoring system combining the ACEF score and the quantitative blood flow ratio(QFR) to improve the long-term risk prediction of patients undergoing percutaneous coronary intervention(PCI).METHODS In this population-based cohort study, a total of 46 features, including patient clinical and coronary lesion characteristics, were assessed for analysis through machine learning models. The ACEF-QFR scoring system was developed using 1263consecutive cases of CAD patients after PCI in PANDA Ⅲ trial database. The newly developed score was then validated on the other remaining 542 patients in the *** In both the Random Forest Model and the Deep Surv Model, age, renal function(creatinine), cardiac function(LVEF)and post-PCI coronary physiological index(QFR) were identified and confirmed to be significant predictive factors for 2-year adverse cardiac events. The ACEF-QFR score was constructed based on the developmental dataset and computed as age(years)/EF(%) + 1(if creatinine ≥ 2.0 mg/d L) + 1(if post-PCI QFR ≤ 0.92). The performance of the ACEF-QFR scoring system was preliminarily evaluated in the developmental dataset, and then further explored in the validation dataset. The ACEF-QFR score showed superior discrimination(C-statistic = 0.651;95% CI: 0.611-0.691, P < 0.05 versus post-PCI physiological index and other commonly used risk scores) and excellent calibration(Hosmer–Lemeshow χ^(2)= 7.070;P = 0.529) for predicting 2-year patient-oriented composite endpoint(POCE). The good prognostic value of the ACEF-QFR score was further validated by multivariable Cox regression and Kaplan–Meier analysis(adjusted HR = 1.89;95% CI: 1.18–3.04;log-rank P < 0.01) after stratified the patients into high-risk group and low-risk *** An improved scoring system combining clinical and coronary lesion-based functional variables(ACEF-QFR)was developed, and its ability for prognostic prediction in patients with PCI was further validated to be signi

关键词： patients coronary prediction

Torque Limit-based Inertial Control Method Based on Delayed Support for Primary Frequency Control of Wind Turbines

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Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 561-570页

作者： Wei Gu Zaiyu Chen Qun Li Minghui Yin qiang Li Yun zou School of Automation Nanjing University of Science and TechnologyNanjing 210094China State Grid Jiangsu Electric Power Co. Ltd.Research InstituteNanjing 211103China

To avoid the secondary frequency dip caused by the steep drop of the electrical power of wind turbines(WTs)at the end of frequency support stage,the torque limit-based iner-tial control(TLIC)method sets the power reference as a linear function of rotor speed,rather than the step form for the step-wise inertial ***,the compensation effect on the frequency nadir(FN)caused by the load surge is weakened as the TLIC power is no longer in the step ***,the maximum point of the frequency response component(FRC)contributed by TLIC occurs earlier than the minimum point of FRC corresponding to the load surge,so that the FN cannot be adequately ***,this paper first investigates the relation between the peak and nadir times of FRCs stimulated by the TLIC and load *** this basis,with the compensation principle of matching the peak and nadir times of FRCs,the improved TLIC method based on delayed support is ***,the effectiveness of the proposed method is validated via the experiments on the test bench of wind-integrated power system.

关键词： Wind turbine frequency response component torque limit inertial control delayed support

I-DCGAN and TOPSIS-IFP:A simulation generation model for radiographic flaw detection images in light alloy castings and an algorithm for quality evaluation of generated images

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China Foundry 2024年第3期21卷 239-247页

作者： Ming-jun Hou Hao Dong Xiao-yuan Ji Wen-bing zou Xiang-sheng Xia Meng Li Ya-jun Yin Bao-hui Li qiang Chen Jian-xin Zhou State Key Laboratory of Materials Processing and Die&Mould Technology Huazhong University of Science and TechnologyWuhan 430074China Xinjiang Technology(Jiangsu)Co. Ltd.Nantong 226100JiangsuChina Southwest Technique and Engineering Research Institute Chongqing 400039China Shanghai Spaceflight Precision Machinery Institute Shanghai 201600China

The intelligent detection technology driven by X-ray images and deep learning represents the forefront of advanced techniques and development trends in flaw detection and automated evaluation of light alloy ***,the efficacy of deep learning models hinges upon a substantial abundance of flaw *** existing research on X-ray image augmentation for flaw detection suffers from shortcomings such as poor diversity of flaw samples and low reliability of quality *** this end,a novel approach was put forward,which involves the creation of the Interpolation-Deep Convolutional Generative Adversarial Network(I-DCGAN)for flaw detection image generation and a comprehensive evaluation algorithm named TOPSIS-IFP.I-DCGAN enables the generation of high-resolution,diverse simulated images with multiple appearances,achieving an improvement in sample diversity and quality while maintaining a relatively lower computational ***-IFP facilitates multi-dimensional quality evaluation,including aspects such as diversity,authenticity,image distribution difference,and image distortion *** results indicate that the X-ray radiographic images of magnesium and aluminum alloy castings achieve optimal performance when trained up to the 800th and 600th epochs,*** TOPSIS-IFP value reaches 78.7%and 73.8%similarity to the ideal solution,*** to single index evaluation,the TOPSIS-IFP algorithm achieves higher-quality simulated images at the optimal training *** approach successfully mitigates the issue of unreliable quality associated with single index *** image generation and comprehensive quality evaluation method developed in this paper provides a novel approach for image augmentation in flaw recognition,holding significant importance for enhancing the robustness of subsequent flaw recognition networks.

关键词： light alloy casting flaw detection image generator discriminator comprehensive evaluation index

Effect of MgO-Cr_(2)O_(3) and Mg0-MgAl_(2)0_(4)-based refractories on refractory-steel interface reaction and cleanliness of pipeline steel

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Journal of Iron and Steel Research(International) 2024年第4期31卷 849-860页

作者： Guang-mei Yang Cheng Yuan Chang Liu qiang Wang Guang-qiang Li Yong-shun zou Ao Huang The State Key Laboratory of Refractories and Metallurgy Wuhan University of Science and TechnologyWuhan 430081HubeiChina Key Laboratory for Ferrous Metallurgy and Resources Utilization of Ministry of Education Wuhan University of Science and TechnologyWuhan 430081HubeiChina

The interaction of MgO-MgAl_(2)O_(4)-based and MgO-Cr_(2)O_(3)-based refractories with X70 molten steel was studied by immersion experiments at 1560℃.The effects of immersion time(30 and 60 min)on the contents of total oxygen(TO),Al,Nb,Si,Mn,and Cr as well as the composition,number density,and size distribution of inclusions in the molten steel were *** influence of the penetration and erosion degree of the molten steel to the refractory on the steel-refractory interface layer was *** results show that,at 1560℃,the MgO-MgAl_(2)O_(4)-based refractory can better control the contents of TO and the composition of molten steel compared with the MgO-Cr_(2)O_(3)-based *** TO content is only 16×10^(-4) wt.%in the molten steel after reacted with the Mg0-MgAl_(2)O_(4)-based refractory at the end point of refining,4 accounting for 11.5%of that reacted with the MgO-Cr_(2)O_(3)-based refractory(139×10^(-4) wt.%).The number density of inclusions is only 14 mm^(-2),and the average size ofinclusions is only 1.31μm,with thelargest proportion of inclusions in 1-2μm(70%).The Al_(2)O_(3)-MnS-CaO complex inclusions in the original steel changed to complex inclusions dominated by Cr-Nb-Mn-S-O and ***_(2)O_(3),corresponding to the MgO-Cr_(2)O_(3)-based and MgO-MgAl_(2)O_(4)-based refractories,*** ***_(2)O_(3) layer was formed at the reaction interface between MgO-MgAl_(2)O_(4)-based refractory and molten steel,which is helpful to restrict the erosion of refractories and the pollution of molten *** damage mechanism of the MgO-Cr_(2)O_(3)-based refractory is mainly permeation and chemical reaction,while the damage of the MgO-MgAl_(2)O_(4)-based refractory is mainlyscouring erosion.

关键词： MgO-Cr_(2)O_(3)-based refractory MgO-MgAl O_(4)-based refractory Nonmetallic inclusion Erosion interface layer Steel penetration