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Lessons learned:Symbiotic autonomous robot ecosystem for nuclear environments

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IET Cyber-Systems and Robotics 2023年第4期5卷 63-86页

作者： Daniel Mitchell Paul Dominick Emor Baniqued Abdul Zahid Andrew West Bahman Nouri Rahmat Abadi Barry Lennox Bin Liu Burak Kizilkaya David Flynn David John Francis Erwin Jose Lopez Pulgarin Guodong Zhao Hasan Kivrak Jamie Rowland Douglas Blanche Jennifer David Jingyan Wang Joseph Bolarinwa Kanzhong Yao Keir Groves Liyuan Qi Mahmoud A.Shawky Manuel Giuliani Melissa Sandison Olaoluwa Popoola Ognjen Marjanovic Paul Bremner Samuel thomas Harper Shivoh Nandakumar Simon Watson Subham Agrawal Theodore Lim thomas johnson Wasim Ahmad Xiangmin Xu Zhen Meng Zhengyi Jiang James Watt School of Engineering Autonomous Systems and Connectivity DivisionUniversity of GlasgowGlasgowUK Department of Electrical and Electronic Engineering The University of ManchesterManchesterUK Bristol Robotics Laboratory University of the West of EnglandBristolUK Heriot-Watt University EdinburghUK

Nuclear facilities have a regulatory requirement to measure radiation levels within Post Operational Clean Out(POCO)around nuclear facilities each year,resulting in a trend towards robotic deployments to gain an improved understanding during nuclear decommissioning phases.The UK Nuclear Decommissioning Authority supports the view that human-in-the-loop(HITL)robotic deployments are a solution to improve procedures and reduce risks within radiation characterisation of nuclear sites.The authors present a novel implementation of a Cyber-Physical System(CPS)deployed in an analogue nuclear environment,comprised of a multi-robot(MR)team coordinated by a HITL operator through a digital twin interface.The development of the CPS created efficient partnerships across systems including robots,digital systems and human.This was presented as a multi-staged mission within an inspection scenario for the hetero-geneous Symbiotic Multi-Robot Fleet(SMuRF).Symbiotic interactions were achieved across the SMuRF where robots utilised automated collaborative governance to work together,where a single robot would face challenges in full characterisation of radiation.Key contributions include the demonstration of symbiotic autonomy and query-based learning of an autonomous mission supporting scalable autonomy and autonomy as a service.The coordination of the CPS was a success and displayed further challenges and improvements related to future MR fleets.

关键词： cyber-systems field robotics hazardous inspection human robot interaction industrial robotics mobile robots multi-agent systems multi-robot systems robotics service robots

紫杉醇局部治疗抑制猪静脉桥新生内膜形成和增厚的实验研究

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中国循环杂志 2003年第6期18卷 465-467页

作者：吴隐雄 Martin H Chamberlain thomas johnson Jason L johnson Andrew C Newby Gianni D Angelin Martin Oberhoff Karl K Karsch 广西壮族自治区医院心脏科广西壮族自治区南宁市530021 Bristol Heart Institute University of Bristol

目的 :局部药物治疗是一个很好的防治静脉桥病变的策略。本研究用抗细胞增殖药物紫杉醇处理大隐静脉桥后植入猪的颈动脉 ,以观察紫杉醇的抗细胞增殖作用在抑制静脉桥内膜平滑肌细胞增殖、迁移导致内膜形成和增厚的效果。方法 :将 10头猪... 详细信息

目的 :局部药物治疗是一个很好的防治静脉桥病变的策略。本研究用抗细胞增殖药物紫杉醇处理大隐静脉桥后植入猪的颈动脉 ,以观察紫杉醇的抗细胞增殖作用在抑制静脉桥内膜平滑肌细胞增殖、迁移导致内膜形成和增厚的效果。方法 :将 10头猪的 2 0只大隐静脉桥分为两组。治疗组 :将大隐静脉桥 10只置于含有 10 μmol/L浓度的紫杉醇溶液中 (先用该溶液灌洗 )浸泡 1h后植入猪的颈动脉 ,紫杉醇是溶解在 2 5 μl/L的无水酒精中 ,对照组 10只大隐静脉桥置于单纯的酒精中浸泡。 4周后取开放的静脉桥进行组织学分析。结果 :①治疗组静脉桥新生内膜面积 (1 5 9± 0 95 )mm2 ,对照组新生内膜面积高达 (2 43± 1 3 5 )mm2 ,治疗组显著低于对照组 ,两组比较有非常显著的差异 ,P <0 0 1;②治疗组内膜平滑肌细胞密度均值为 (3 681± 193 5 ) /mm2 ,对照组为 (4 60 7± 1993 ) /mm2 ,两组比较有显著性差异 ,P <0 0 5 ;中膜平滑肌细胞密度均值治疗组 (2 13 9± 73 4) /mm2 ,对照组(3 62 9± 3 2 0 7) /mm2 ,两组比较有显著性的差异 ,P <0 0 5。结论 :紫杉醇可显著抑制静脉桥内膜、中膜平滑肌细胞的增殖 ,抑制新生内膜的形成 ,证明紫杉醇可在防治静脉桥闭塞方面发挥独特作用。

关键词：紫杉醇药物治疗猪新生内膜实验静脉桥闭塞冠状动脉搭桥术冠心病

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如何加强供应链中最薄弱的环节

科技智囊 2006年第E3期 21-25页

作者： Arpad Hevizi thomas johnson Patrick Hayes 毕博战略远见研究院研究员毕博零售与批发咨询业务董事总经理毕博电信与内容部门董事总经理

有三位潜在顾客在一家书店里。第一位是银行高管，希望在开会间隙的10分钟内购买一本新书。她的期望十分简单：她希望买到这本书，然后回去工作。

关键词：供应链潜在顾客银行购买企业差异化战略运营模型

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架构以客户为中心的供应链

当代经理人 2006年第6期 98-101页

作者： Arpad Hevizi thomas johnson Patrick Hayes 毕博

下一代供应链管理差异化战略将实现以客户为中心的供应链架构——典型的转变是将供应链信息。

关键词：供应链管理客户主体差异化战略客户关系合作伙伴项目

植入携带有治疗性腺病毒的包裹支架对猪冠状动脉再狭窄的预防作用

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第一军医大学学报 2003年第12期23卷 1263-1265页

作者：吴隐雄 thomas johnson Christian Herdeg Andreas Baumbach Andrew C Newby KarlK Karsch Martin Oberhoff 广西自治区医院心血管内科广西南宁530021 英国布里斯托大学心脏研究所图比根大学附属医院心内科

目的寻找一种有效转送治疗基因到所扩张冠状动扩脉的靶部位的方法,以预防冠状动脉损伤后再狭窄。方法大白猪14只,随机分治疗组(包裹支架)和对照组(非包裹支架),每组7只,治疗组用高分子聚合物phosphorylocholine包裹不锈钢丝的包裹支架,... 详细信息

目的寻找一种有效转送治疗基因到所扩张冠状动扩脉的靶部位的方法,以预防冠状动脉损伤后再狭窄。方法大白猪14只,随机分治疗组(包裹支架)和对照组(非包裹支架),每组7只,治疗组用高分子聚合物phosphorylocholine包裹不锈钢丝的包裹支架,对照组用非包裹支架,经复制缺陷的重组腺病毒RadTIMP-3处理后,植入猪的冠状动脉,4周后,行冠状动脉造影,取新鲜的心脏用福尔马林固定,进行组织形态分析。结果治疗组的血管腔内径平均值为(2.32±0.185) mm, 而非包裹支架的对照组平均直径为(1.79±0.31) mm,治疗组显著高于对照组,P=0.014。TiMP-3治疗组冠状动脉内膜的厚度为(0.34±0.17) mm,对照组为(0.81±0.32) mm,显著高于治疗组,P= 0.0059。结论经PC包裹支架输送含有TIMP-3基因的腺病毒到冠状动脉,可有效地抑制内膜平滑肌细胞的增生,减轻再狭窄。

关键词：治疗性腺病毒包裹支架植入猪冠状动脉再狭窄预防血管腔内径

包裹支架转移治疗基因到猪冠状动脉的实验研究

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中山大学学报（医学科学版） 2003年第5期24卷 471-474,478页

作者：吴隐雄 thomas johnson Christian Herdeg Andreas Baumbach Andrew C Newby Karl K Karsch Martin Oberhoff 广西自治区医院心血管内科广西南宁530021 英国布里斯托大学心脏研究所图比根大学附属医院心内科

【目的】寻找一种有效转送治疗基因到扩张冠状动脉的靶部位的运载工具,用于预防冠状动脉损伤后再狭窄。【方法】治疗组用高分子聚合物phosphorylocholine(PC)包裹不锈钢丝的包裹支架,对照组用非包裹支架。①体外研究:经用复制缺陷的重... 详细信息

【目的】寻找一种有效转送治疗基因到扩张冠状动脉的靶部位的运载工具,用于预防冠状动脉损伤后再狭窄。【方法】治疗组用高分子聚合物phosphorylocholine(PC)包裹不锈钢丝的包裹支架,对照组用非包裹支架。①体外研究:经用复制缺陷的重组腺病毒β-Gal(1x109pfu/ml)处理后,将支架植入刚获得的新鲜猪冠状动脉内,植入了支架的冠状动脉分别用一种液体冲洗,共分成5组,每组5例,1组无冲洗、2组生理盐水、3组造影剂、4组血液、5组培养液。对照组用生理盐水冲洗。然后培养48h后固定,X-Gal染色,进行组织学分析。②在体研究:支架经用复制缺陷的重组腺病毒RvdTIMP3处理后,植入猪的冠状动脉,7d后处死猪,取血标本作血液学检验。心脏、脑、肺、肝、脾组织、部分冠状动脉靶部位置入液氮保存,作PCR分析。【结果】①体外包裹支架传移率分别为:无冲洗组6.9%±3.7%,生理盐水组6.6%±3.6%,培养液组7.2%±2.5%,造影剂组7.4%±1.9%,血液组16.2%±9.3%。对照组1.9%±0.5%,与生理盐水冲洗的治疗组比较差异有显著性,P=0.025。②仅治疗组在治疗部位的冠状动脉及远端血管组织中有TIMP3出现,其他器官组织中均未发现有TIMP3。【结论】经PC包裹的支架可有效地输送含有治疗基因的腺病毒到冠状动脉靶部位,液体的冲洗对传移率无明显影响,这?

关键词：冠状动脉损伤再狭窄包裹支架腺病毒基因治疗

Hepatic grooves:An observational study at laparoscopic surgery

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World Journal of Experimental Medicine 2024年第2期14卷 97-102页

作者： Shamir O Cawich Dexter A thomas Fawwaz Mohammed Michael T Gardner Marlene Craigie Shaneeta johnson Ramnanand S Kedambady Department of Surgery University of the West IndiesSt Augustine 000000Trinidad and Tobago Department of Surgery Port of Spain General HospitalPort of Spain 000000Trinidad and Tobago Section of Anatomy Basic Medical SciencesUniversity of the West IndiesKingston 000000Jamaica Department of Radiology University of the West IndiesKingston 000000Jamaica Department of Surgery Morehouse School of MedicineAtlantaGA 30310United States Section of Anatomy Department of Basic Medical SciencesUniversity of the West IndiesKingston KIN7Jamaica

BACKGROUND In traditional descriptions,the upper surface of the liver is smooth and convex,but deep depressions are variants that are present in 5%-40%of patients.We sought to determine the relationship between surface depressions and the diaphragm.AIM To use exploratory laparoscopy to determine the relationship between surface depressions and the diaphragm.METHODS An observational study was performed in all patients undergoing laparoscopic upper gastro-intestinal operations between January 1,2023 and January 20,2024.A thirty-degree laparoscope was used to inspect the liver and diaphragm.When surface depressions were present,we recorded patient demographics,presence of diaphragmatic bands,rib protrusions and/or any other source of compression during inspection.RESULTS Of 394 patients,343 had normal surface anatomy,and 51(12.9%)had prominent surface depressions on the liver.There was no significant relationship between the presence of surface depressions and gender nor the presence of rib projections.However,there was significant association between the presence of surface depressions and diaphragmatic muscular bands(P<0.001).CONCLUSION With these data,the diaphragmatic-band theory has gained increased importance over other theories for surface depressions.Further studies are warranted using cross sectional imaging to confirm relationships with intersectional planes as well as beta-catenin assays in the affected liver parenchyma.

关键词： Liver Variant Vein Hepatic Surgery

Comparison of a Spectral Bin and Two Multi-Moment Bulk Microphysics Schemes for Supercell Simulation:Investigation into Key Processes Responsible for Hydrometeor Distributions and Precipitation

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Advances in Atmospheric Sciences 2024年第5期41卷 784-800页

作者： Marcus johnson Ming XUE Youngsun JUNG Center for Analysis and Prediction of Storms University of OklahomaNormanOK 73072USA School of Meteorology University of OklahomaNormanOK 73072USA Office of Science and Technology Integration National Weather ServiceSilver SpringMD 20910USA

There are more uncertainties with ice hydrometeor representations and related processes than liquid hydrometeors within microphysics parameterization(MP)schemes because of their complicated geometries and physical properties.Idealized supercell simulations are produced using the WRF model coupled with“full”Hebrew University spectral bin MP(HU-SBM),and NSSL and Thompson bulk MP(BMP)schemes.HU-SBM downdrafts are typically weaker than those of the NSSL and Thompson simulations,accompanied by less rain evaporation.HU-SBM produces more cloud ice(plates),graupel,and hail than the BMPs,yet precipitates less at the surface.The limiting mass bins(and subsequently,particle size)of rimed ice in HU-SBM and slower rimed ice fall speeds lead to smaller melting-level net rimed ice fluxes than those of the BMPs.Aggregation from plates in HU-SBM,together with snow–graupel collisions,leads to a greater snow contribution to rain than those of the BMPs.Replacing HU-SBM’s fall speeds using the formulations of the BMPs after aggregating the discrete bin values to mass mixing ratios and total number concentrations increases net rain and rimed ice fluxes.Still,they are smaller in magnitude than bulk rain,NSSL hail,and Thompson graupel net fluxes near the surface.Conversely,the melting-layer net rimed ice fluxes are reduced when the fall speeds for the NSSL and Thompson simulations are calculated using HU-SBM fall speed formulations after discretizing the bulk particle size distributions(PSDs)into spectral bins.The results highlight precipitation sensitivity to storm dynamics,fall speed,hydrometeor evolution governed by process rates,and MP PSD design.

关键词： precipitation spectral bin microphysics bulk microphysics parameterization microphysics processes WRF model supercell storm

nfertility, impotence, and emasculation - psychosocia ：ontexts for abandoning reproduction

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Asian Journal of Andrology 2016年第3期18卷 403-408,I0008页

作者： Erik Wibowo thomas W johnson Richard J Wassersug Vancouver Prostate Centre Vancouver Coastal Health Vancouver British Corumbia Canada Department of Anthropology (Emeritus) California State University ChicoCA USA Department of Medical Neuroscience Dalhousie University Halifax Nova Scotia Canada Australian ResearchCentre in sex Health and Society La-Trobe University Melbourne Victoria Australia.

From a Darwinian perspective we live to reproduce, but in various situations genetic males elect not to reproduce by choosing medical treatments leading to infertility, impotence, and, in the extreme, emasculation. For many men, infertility can be psychologically distressing. However, for certain genetic males, being infertile may improve their quality of life. Examples include （1） men who seek vasectomy, （2） individuals with Gender Dysphoria （e.g., transwomen, and modern day voluntary eunuchs）, （3） most gay men, and （4） men treated for testicular and prostate cancer. Men who desire vasectomy typically have a Darwinian fitness W 〉1 at the time of their vasectomies; i.e., after they have their desired number of offspring or consider themselves past an age for parenting newborns. In contrast, prostate and testicular cancer patients, along with individuals with extreme Gender Dysphoria, do not necessarily seek to be sterile, but accept it as an unavoidable consequence of the treatment for their condition undertaken for survival （in case of cancer patients） or to achieve a better quality of life （for those with Gender Dysphoria）. Most gay men do not father children, but they may play an avuncular role, providing for their siblings＇ offspring＇s welfare, thus improving their inclusive fitness through kin selection. In a strictly Darwinian model, the primary motivation for all individuals is to reproduce, but there are many situations for men to remove themselves from the breeding populations because they have achieved a fitness W 〉1, or have stronger medical or psychological needs that preclude remaining fertile.

关键词： emasculation impotence infertility psychological distress