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Role Dynamic Allocation of Human-Robot Cooperation Based on Reinforcement Learning in an Installation of Curtain Wall

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工程与科学中的计算机建模(英文) 2024年第1期138卷 473-487页

作者： Zhiguang Liu Shilin wang Jian Zhao jianhong Hao Fei Yu School of Control and Mechanical Engineering Tianjin Chengjian UniversityTianjin300384China Comprehensive Business Department CATARC(Tianjin)Automotive Engineering Research Institute Co.Ltd.300339China School of Mechanical Engineering Hebei University of TechnologyTianjin300130China

A real-time adaptive roles allocation method based on reinforcement learning is proposed to improve humanrobot cooperation performance for a curtain wall installation *** method breaks the traditional idea that the robot is regarded as the follower or only adjusts the leader and the follower in *** this paper,a self-learning method is proposed which can dynamically adapt and continuously adjust the initiative weight of the robot according to the change of the ***,the physical human-robot cooperation model,including the role factor is ***,a reinforcement learningmodel that can adjust the role factor in real time is established,and a reward and actionmodel is *** role factor can be adjusted continuously according to the comprehensive performance of the human-robot interaction force and the robot’s Jerk during the repeated ***,the roles adjustment rule established above continuously improves the comprehensive *** of the dynamic roles allocation and the effect of the performance weighting coefficient on the result have been *** results show that the proposed method can realize the role adaptation and achieve the dual optimization goal of reducing the sum of the cooperator force and the robot’s Jerk.

关键词： Human-robot cooperation roles allocation reinforcement learning

血清KL-6、PTX3、HBP水平与老年重症肺炎合并呼吸衰竭患者预后的相关性

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检验医学与临床 2024年第16期21卷 2380-2384,2389页

作者：宋秉睿王建洪史丽娜李有亮李欣岳树春河北省张家口市第一医院重症医学科河北张家口075000 河北省沧州市青县中医医院重症医学科河北沧州062650

目的探讨血清涎液化糖链抗原(KL-6)、正五聚蛋白3(PTX3)、肝素结合蛋白(HBP)与老年重症肺炎合并呼吸衰竭患者预后的相关性。方法选取2021年12月至2023年5月在张家口市第一医院重症医学科就诊的老年重症肺炎合并呼吸衰竭患者372例作为研... 详细信息

目的探讨血清涎液化糖链抗原(KL-6)、正五聚蛋白3(PTX3)、肝素结合蛋白(HBP)与老年重症肺炎合并呼吸衰竭患者预后的相关性。方法选取2021年12月至2023年5月在张家口市第一医院重症医学科就诊的老年重症肺炎合并呼吸衰竭患者372例作为研究对象,根据患者28 d后转归状况分为死亡组和生存组。采用酶联免疫吸附试验检测血清KL-6、PTX3、HBP水平;采用Pearson相关分析KL-6、PTX3、HBP水平与白细胞计数(WBC)、C反应蛋白(CRP)、降钙素原(PCT)水平及急性生理学和慢性健康状况评价Ⅱ(APACHEⅡ)评分的相关性;采用多因素Logistic回归分析老年重症肺炎合并呼吸衰竭患者预后的影响因素;绘制受试者工作特征(ROC)曲线分析血清KL-6、PTX3、HBP对老年重症肺炎合并呼吸衰竭患者预后的预测价值。结果随访28 d后,372例患者中生存312例(生存组),死亡60例(死亡组)。生存组患者血清KL-6、PTX3、HBP水平显著低于死亡组(P<0.05);两组患者ICU住院时间、机械通气时间、中性粒细胞计数、WBC、氧合指数(PaO_(2)/FiO_(2))、APACHEⅡ评分及血清PCT、CRP、白细胞介素-10水平比较,差异均有统计学意义(P<0.05)。Pearson相关分析结果显示,血清KL-6、PTX3、HBP水平与WBC、APACHEⅡ评分及血清PCT、CRP水平均呈正相关(P<0.05)。多因素Logistic回归分析结果显示,血清KL-6、PTX3、HBP、WBC、PCT、CRP水平是老年重症肺炎合并呼吸衰竭患者死亡的影响因素(P<0.05)。KL-6、PTX3、HBP联合预测老年重症肺炎合并呼吸衰竭患者死亡的曲线下面积(AUC)显著高于各指标单项检测的AUC(Z_(联合***-6)=4.590,P<0.001;Z_(联合***3)=3.823,P=0.001;Z_(联合***)=5.471,P<0.001)。结论老年重症肺炎合并呼吸衰竭患者血清KL-6、PTX3、HBP水平较高,且与患者预后关系密切,故KL-6、PTX3、HBP在评估老年重症肺炎合并呼吸衰竭患者的预后中具有重要作用。

关键词： Ⅱ型肺泡细胞表面抗原正五聚蛋白3 肝素结合蛋白老年重症肺炎呼吸衰竭预后

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Post-acute ischemic stroke hyperglycemia aggravates destruction of the blood-brain barrier

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Neural Regeneration Research 2024年第6期19卷 1344-1350页

作者： Tianqi Xu jianhong Yang Yao Xu Xiaofeng wang Xiang Gao Jie Sun Chenhui Zhou Yi Huang Department of Neurology The First Affiliated Hospital of Ningbo UniversityNingboZhejiang ProvinceChina Department of General Surgery The First Affiliated Hospital of Ningbo UniversityNingboZhejiang ProvinceChina Department of Neurosurgery The First Affiliated Hospital of Ningbo UniversityNingboZhejiang ProvinceChina Key Laboratory of Precision Medicine for Atherosclerotic Diseases of Zhejiang Province NingboZhejiang ProvinceChina

Post-acute ischemic stroke hyperglycemia increases the risk of hemorrhagic transformation,which is associated with blood-brain barrier *** microvascular endothelial cells are a major component of the blood-brain *** mitochondrial transfer has emerged as a novel paradigm for repairing cells with mitochondrial *** this study,we first investigated whether mitochondrial transfer exists between brain microvascular endothelial cells,and then investigated the effects of post-acute ischemic stroke hyperglycemia on mitochondrial transfer between brain microvascular endothelial *** found that healthy brain microvascular endothelial cells can transfer intact mitochondria to oxygen glucose deprivation-injured brain microvascular endothelial ***,post-oxygen glucose deprivation hyperglycemia hindered mitochondrial transfer and exacerbated mitochondrial *** established an in vitro brain microvascular endothelial cell model of the blood-brain *** found that post-acute ischemic stroke hyperglycemia reduced the overall energy metabolism levels of brain microvascular endothelial cells and increased permeability of the blood-brain *** a clinical study,we retrospectively analyzed the relationship between post-acute ischemic stroke hyperglycemia and the severity of hemorrhagic *** found that post-acute ischemic stroke hyperglycemia serves as an independent predictor of severe hemorrhagic *** findings suggest that post-acute ischemic stroke hyperglycemia can aggravate disruption of the blood-brain barrier by inhibiting mitochondrial transfer.

关键词： acute ischemic stroke blood-brain barrier brain microvascular endothelial cells mitochondrial transfer stress hyperglycemia

外周血IL-6、IL-10、SIRI在细菌性肺炎感染患者中的表达特征

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临床医学研究与实践 2024年第25期9卷 18-21页

作者：冯宁陈帅窦明月李英超王建红乔彩霞赵顺锋聊城市第三人民医院检验科山东聊城252000 聊城市第三人民医院重症医学科山东聊城252000

目的探讨细菌性肺炎感染患者外周血炎症指标的表达特征,分析其与疾病严重程度的关系。方法选取2023年1月至2024年1月就诊于聊城市第三人民医院的50例重症肺炎(SP)患者作为SP组,选取同期住院的43例非重症肺炎(NSP)患者作为NSP组和30例健... 详细信息

目的探讨细菌性肺炎感染患者外周血炎症指标的表达特征,分析其与疾病严重程度的关系。方法选取2023年1月至2024年1月就诊于聊城市第三人民医院的50例重症肺炎(SP)患者作为SP组,选取同期住院的43例非重症肺炎(NSP)患者作为NSP组和30例健康体检者作为健康对照(HC)组。比较三组的肿瘤坏死因子-α(TNF-α)、干扰素-γ(IFN-γ)、白细胞介素-2(IL-2)、白细胞介素-4(IL-4)、白细胞介素-6(IL-6)、白细胞介素-10(IL-10)、超敏C反应蛋白(hs-CRP)、降钙素原(PCT)水平及中性粒细胞与淋巴细胞比率(NLR)、血小板与淋巴细胞比值(PLR)、单核细胞与淋巴细胞的比值(MLR)、全身免疫炎症指数(SII)和全身炎症反应指数(SIRI)。采用多因素Logistic回归分析探究SP发生的影响因素,以受试工作者特征(ROC)曲线评价相关指标对SP的诊断效能。结果NSP组和SP组的IL-6、IL-10、hs-CRP水平及NLR、PLR、MLR、SII、SIRI显著高于HC组,差异具有统计学意义(P<0.05);SP组的IL-6、IL-10、hs-CRP、PCT水平及NLR、SII、SIRI显著高于NSP组,差异具有统计学意义(P<0.05);SP组的PCT水平显著高于HC组,差异具有统计学意义(P<0.05)。多因素Logistic回归分析结果显示,IL-6、IL-10、SIRI是SP发生的独立危险因素(P<0.05)。ROC曲线分析显示,IL-6、IL-10、SIRI单独诊断SP的曲线下面积(AUC)分别为0.918、0.793、0.719;IL-6+IL-10+SIRI联合诊断SP的AUC为0.952,灵敏度为87.76%,特异度为92.86%。结论外周血炎症指标的检测有助于评估细菌性肺炎患者病情严重程度。IL-6、IL-10、SIRI是SP发生的独立危险因素,三者联合对于SP的诊断价值更高。

关键词：细菌性肺炎白细胞介素-6 白细胞介素-10 全身炎症反应指数

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多米诺肝移植临床效果分析(附2例报告)

精准医学杂志 2024年第1期39卷 71-73,77页

作者：张慧王建红王淑贤冯帅刘金泉徐祥美戴德淑孙爽许传屾青岛大学附属医院器官移植中心山东青岛266003

目的探讨多米诺肝移植(DLT)的临床疗效,为肝移植手术扩大供肝来源提供借鉴。方法收集我院2021年完成的2例DLT患者的临床资料,并进行文献复习。结果供者1为健康人,受者1(DLT供者)为鸟氨酸氨甲酰基转移酶缺乏症(OTCD)患者,受者2(DLT受者)... 详细信息

目的探讨多米诺肝移植(DLT)的临床疗效,为肝移植手术扩大供肝来源提供借鉴。方法收集我院2021年完成的2例DLT患者的临床资料,并进行文献复习。结果供者1为健康人,受者1(DLT供者)为鸟氨酸氨甲酰基转移酶缺乏症(OTCD)患者,受者2(DLT受者)为Cirgler-Najiar综合征患者;供者2为国际标准化脑死亡捐献者,受者3(DLT供者)为家族性高胆固醇血症(FH)患者,受者4(DLT受者)为肝脏恶性肿瘤患者。所有患者的肝功能均于术后1周左右基本恢复正常,住院治疗2~4周后均顺利出院。其中受者2(DLT受者)术后第4天发现门静脉左支血栓形成,行急诊溶栓加药物抗凝治疗,门静脉血流得到有效改善,未造成严重后果,胆红素于术后1周恢复正常。受者4(DLT受者)术后出现高脂血症,联合应用阿托伐他汀+依折麦布调脂治疗,随访至今未出现其他并发症。结论采用DLT可有效扩大肝移植手术供肝来源。

关键词：肝移植移植受体活体供者治疗结果病例报告

Correlation between Thymidylate Synthase Genotype and Susceptibility to Gastric Carcinoma

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Chinese Journal of Clinical Oncology 2008年第6期5卷 448-452页

作者： Lei Yang Mingbing Xiao Runzhou Ni Qinghe Tan Jinzhi Wei jianhong wang Bojian Ge Department of Medicine Tumor Hospitalof Nantong University Nantong 226361Jiangsu Province China.

OBJECTIVE To investigate the correlation between polymorphism of the 5′-untranslated region （5′-UTR） of thymidylate synthase genes, as well as the lifestyle, and the susceptibility of gastric carcinoma. METHODS A case-control study, with 60 cases of gastric carcinoma and 170 cases of general risk population-based controls from Nantong, Jiangsu province, China, was conducted. The epidemiological data, such as living habits of the cancer patients, were collected. DNA of peripheral blood leukocytes was obtained from all of the subjects. The TS 5′-UTR tandem repeat genotype was detected using polymerase chain reaction （PCR）. RESULTS There were three TS 5′-UTR genotypes in the group of gastric cancer cases （2R/2R, 2R/3R and 3R/3R） and six TS 5′-UTR genotypes in the group of the controls （2R/2R, 2R/3R, 3W3R, 2R/4R, 2R/5R and 3R/4R）. The genotypic frequencies were respectively 5.0%, 43.3% and 51.7% in the gastric cancer group. Compared with the parameters in the control group, i.e., 4.7%, 31.7%, 60.6%, 1.2%, 1.2% and 0.6%. There were no significant differences between the two groups. Compared with the 3R/3R- genotype individuals who where non-smokers, drank alcohol twice or less each week, drank tea and did not intake pickled food （PF）, the risk of gastric cancer significantly went up in the 2R/2R or 2R/3R-genotype people who had habits of smoking, drinking alcohol more than twice each week, no tea drinking but with frequent intake of PF. The adjusted ORs were as follows, 3.79 （95% CI： 2.45-8.64）, 3.41 （95% CI and 3.61 （95% CI： 1.81-8.78）. CONCLUSION There is 1.21-8.47）, 5.99 （95% Ch 3.01-14.7）, an obvious correlation between the polymorphisms of TS 5′-UTR genotypes and the lifestyle of individuals in the development of gastric carcinoma.

关键词： gastric cancer thymidylate synthase genotype smoking alcohol drinking tea drinking pickled food.

Modification of LiMn_(0.6)Fe_(0.4)PO_(4)lithium-ion battery cathode materials with a fluorine-doped carbon coating

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Particuology 2024年第9期92卷 278-287页

作者： Debao Pan Ziyuan Liu Chengping Li Rundong Wan Jinsong wang Jiangzhao Chen Ding wang Jinkun Liu Yingjie Zhang jianhong Yi Rui Bao Zhengfu Zhang Peng Dong Faculty of Materials Science and Engineering Kunming University of Science and TechnologyKunming 650093China Faculty of Metallurgical and Energy Engineering Kunming University of Science and TechnologyKunming 650093China

In this study,glucose and NH4F were utilized as sources of carbon and fluorine,respectively,for the synthesis of LiMn_(0.6)Fe_(0.4)PO_(4)(LMFP)*** nanoscales were subsequently modified with varying levels of fluorine-doped carbon through co-precipitation and mechanical ball milling *** LMFP,incorporating carbon and varying levels of fluoride ions,exhibit higher specific discharge capacities at 0.2 Cand electrochemical characteristics compared to the original LMFP coated solely with *** inclusion of fluorine-doped carbon in the composite material creates numerous pathways for expeditious electron ***,the partial formation of metal fluoride at the interface between the surface of LMFP and the layer of carbon coating doped with fluorine enhances the reduction in the charge-transfer *** modified ferromanganese phosphate cathode material reveals an outstanding discharge capacity displaying a reversible discharge specific capacity value of 131.73 mA h g^(−1)at 10C and 154.6 mA h g^(−1)at 0.2C,due to its unique structure.

关键词： Lithium manganese iron phosphate Anode Electrochemical Fluorine-doped carbon

Transgenic rhesus monkeys carrying the human MCPH1 gene copies show human-like neoteny of brain development

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National Science Review 2019年第3期6卷 480-493页

作者： Lei Shi Xin Luo Jin Jiang Yongchang Chen Cirong Liu Ting Hu Min Li Qiang Lin Yanjiao Li Jun Huang Hong wang Yuyu Niu Yundi Shi Martin Styner jianhong wang Yi Lu Xuejin Sun Hualin Yu Weizhi Ji Bing Su State Key Laboratory of Genetic Resources and Evolution Kunming Institute of Zoology Chinese Academy of Sciences Primate Research Center Kunming Institute of Zoology Chinese Academy of Sciences Center for Excellence in Animal Evolution and Genetics Chinese Academy of Sciences Kunming College of Life Science University of Chinese Academy of Sciences Yunnan Key Laboratory of Primate Biomedical Research Institute of Primate Translation Medicine Kunming University of Science and Technology Department of Psychiatry University of North CarolinaChapel Hill Department of Computer Science University of North CarolinaChapel Hill Key Laboratory of Animal Models and Human Disease Mechanisms Kunming Institute of Zoology Chinese Academy of Sciences Department of Medical Imaging the First Affiliated Hospital of Kunming Medical University Department of Minimally Invasive Neurosurgery the First Affiliated Hospital of Kunming Medical University

Brain size and cognitive skills are the most dramatically changed traits in humans during evolution and yet the genetic mechanisms underlying these human-specific changes remain elusive. Here, we successfully generated 11 transgenic rhesus monkeys(8 first-generation and 3 second-generation) carrying human copies of MCPH1, an important gene for brain development and brain evolution. Brain-image and tissue-section analyses indicated an altered pattern of neural-cell differentiation, resulting in a delayed neuronal maturation and neural-fiber myelination of the transgenic monkeys, similar to the known evolutionary change of developmental delay(neoteny) in humans. Further brain-transcriptome and tissue-section analyses of major developmental stages showed a marked human-like expression delay of neuron differentiation and synaptic-signaling genes, providing a molecular explanation for the observed brain-developmental delay of the transgenic monkeys. More importantly, the transgenic monkeys exhibited better short-term memory and shorter reaction time compared with the wild-type controls in the delayed-matching-to-sample task. The presented data represent the first attempt to experimentally interrogate the genetic basis of human brain origin using a transgenic monkey model and it values the use of non-human primates in understanding unique human traits.

关键词： human evolution brain development MCPH1 transgenic monkey neoteny cognition

基于凸优化理论的无人机编队自主重构算法研究

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中国科学：技术科学 2017年第3期47卷 249-258页

作者：王寅王道波王建宏南京航空航天大学航天学院南京210016 南京航空航天大学自动化学院南京210016 中国电子科技集团公司第二十八研究所南京210007

针对无人机编队自主重构中的最优重构航迹规划问题开展研究,通过综合考虑无人机飞行动力学特性和重构航迹代价,将其转化为多目标组合优化问题进行求解.为提高寻优效率,本文首先提出将多目标组合优化问题转换为非线性单目标优化模型进行... 详细信息

针对无人机编队自主重构中的最优重构航迹规划问题开展研究,通过综合考虑无人机飞行动力学特性和重构航迹代价,将其转化为多目标组合优化问题进行求解.为提高寻优效率,本文首先提出将多目标组合优化问题转换为非线性单目标优化模型进行求解,并针对两类优化问题等价性进行了理论分析.通过引入松弛算子和规范参数,本文所提出的内点优化算法能够改善经典内点法中的矩阵秩亏损现象,提高了所得解的最优性.通过仿真验证了本文所提出的自主重构算法的可行性和有效性.

关键词：无人机编队编队重构内点算法多目标优化