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Multi-locomotion transition of tensegrity mobile robot under different terrains

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Science China(Technological Sciences) 2024年第2期67卷 536-557页

作者： YANG Qi LIU XinYu wang PanFeng SONG yimin SUN Tao Key Laboratory of Mechanism Theory and Equipment Design(Tianjin University) Ministry of EducationTianjin UniversityTianjin 300350China

Knowing how to make a multi-locomotion robot achieve locomotion transition under different terrains is a challenging problem,especially for tensegrity robots with multi-locomotion *** this study,a motion planning method for the transition of a multi-locomotion tensegrity robot(hereafter TJUBot)under different terrains is *** robot can achieve four locomotion modes:earthworm-like,inchworm-like,tumbling,and sliding locomotion with only two *** models of the four locomotion modes under five typical terrains,including flat ground,confined space,obstacle,gap,and descending slope,are established using the energy ***,the kinematic characteristics(driving law and initial position)of the robot under these terrains are *** this basis,motion planning for the locomotion transition of TJUBot is conducted,which includes a perception strategy based on three laser sensors and a transition strategy under different *** driving laws of the two motors that can ensure the effective locomotion transition of TJUBot under different terrains are naturally ***,experiments are *** demonstrate that the robot can achieve effective locomotion transition when the motion planning method is used.

关键词： multi-locomotion robot tensegrity kinematic modeling locomotion transition

Microwave ablation of colorectal liver metastases adjacent to the cardiophrenic angle:Parallel versus non-parallel placement of the antenna relative to the diaphragm

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Journal of Interventional Medicine 2022年第3期5卷 153-158页

作者： Rui Cui Xiaowen Liu Yao Chen Si Qin yimin wang Guangjian Liu Department of Ultrasonography The Sixth Affiliated HospitalSun Yat-sen UniversityGuangzhou510000China

Purpose:Microwave ablation(MWA)is difficult to perform in colorectal liver metastases(CRLMs)adjacent to the cardiophrenic ***,a modified approach involving antenna array placement parallel to the diaphragm was initially *** safety and efficacy were compared with those involving non-parallel ***:Sixty-three patients with CRLMs adjacent to the cardiophrenic angle(lesions within 10 mm of the diaphragm)who underwent MWA were included in the *** patients were further classified into parallel and non-parallel groups according to the method of antenna *** distance between the lesion and diaphragmatic surface before MWA,complications,and local tumor progression(LTP)at the last imaging follow-up were *** in the two groups were compared using the log-rank *** factors for LTP were assessed using the Cox proportional hazards regression ***:Thirty and 33 lesions were ablated using parallel and non-parallel antenna placement,*** the mean follow-up duration of 19.7±8.2 months,the LTP rate in the parallel and non-parallel placement groups were 3.3%(1/30)and 24.2%(8/33),*** log-rank test showed that parallel antenna placement was associated with delayed LTP(p=0.018).Multivariate Cox regression analysis showed that parallel antenna placement was an independent predictor of delayed LTP after adjusting for possible risk factors,including age,sex,tumor size,and KRAS mutation(hazard ratio,0.1;95%confidence interval,0.00,0.80;p=0.034).Conclusion:The placement of the antenna parallel to the diaphragm is an alternative and effective method for MWA of CRLMs near the cardiophrenic angle and can contribute to the reduction of the LTP rate.

关键词： Colorectal cancer Liver metastasis Microwave Cardiophrenic angle Interventional ultrasonography

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中医舌诊现代技术及应用研究进展

天津中医药 2024年第4期41卷 532-536页

作者：张月林马贝田鸽王益民薛晓娟天津中医药大学研究生院天津301617 天津中医药大学中医药研究院天津301617

舌诊是中医诊疗疾病的重要方法和手段,近些年来研究者将中医舌诊与现代技术相结合,对舌象特征进行提取和数字化处理,以及从微观角度探究舌象形成的分子机制,并取得了一定的研究成绩。本文从舌诊的数字化分析方法、现代组学技术以及它们... 详细信息

舌诊是中医诊疗疾病的重要方法和手段,近些年来研究者将中医舌诊与现代技术相结合,对舌象特征进行提取和数字化处理,以及从微观角度探究舌象形成的分子机制,并取得了一定的研究成绩。本文从舌诊的数字化分析方法、现代组学技术以及它们在临床应用方面进行了归纳,总结了研究现状、当前研究存在的问题,以及对未来研究趋势的展望,为后续的舌诊客观化研究提供一定的思路和参考。

关键词：中医舌诊中医舌诊现代技术舌诊客观化

Shallow Convection Dataset Simulated by Three Different Large Eddy Models

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Advances in Atmospheric Sciences 2024年第4期41卷 754-766页

作者： Yaxin ZHAO Xiaocong wang yimin LIU Guoxiong WU Yanjie LIU College of Earth and Planetary Sciences University of Chinese Academy of Sciences(UCAS)Beijing 100029China State Key Laboratory of Numerical Modeling for Atmospheric Sciences and Geophysical Fluid Dynamics(LASG) Institute of Atmospheric Physics(IAP)Chinese Academy of Sciences(CAS)Beijing 100029China

Shallow convection plays an important role in transporting heat and moisture from the near-surface to higher altitudes,yet its parameterization in numerical models remains a great challenge,partly due to the lack of high-resolution *** study describes a large eddy simulation(LES)dataset for four shallow convection cases that differ primarily in inversion strength,which can be used as a surrogate for real *** reduce the uncertainty in LES modeling,three different large eddy models were used,including SAM(System for Atmospheric Modeling),WRF(Weather Research and Forecasting model),and *** show that the different models generally exhibit similar behavior for each shallow convection case,despite some differences in the details of the convective *** addition to grid-averaged fields,conditionally sampled variables,such as in-cloud moisture and vertical velocity,are also provided,which are indispensable for calculation of the entrainment/detrainment *** the essentiality of the entraining/detraining process in the parameterization of cumulus convection,the dataset presented in this study is potentially useful for validation and improvement of the parameterization of shallow convection.

关键词： large eddy simulation SAM WRF UCLA-LES shallow convection entraining process

新质生产力赋能中医药传承创新发展的策略与思考

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天津中医药 2024年第7期41卷 935-938页

作者：黄明杨丰文王益民刘耀远薛晓娟天津中医药大学天津301617

文章探讨了新质生产力在推动中医药传承创新发展方面的策略与思考。科技创新交叉融合突破所产生的新质生产力,为中医药领域带来了前所未有的发展机遇。文章探讨了新质生产力在医药领域的潜力和发展方向,强调了其在推动中医药传承创新中... 详细信息

文章探讨了新质生产力在推动中医药传承创新发展方面的策略与思考。科技创新交叉融合突破所产生的新质生产力,为中医药领域带来了前所未有的发展机遇。文章探讨了新质生产力在医药领域的潜力和发展方向,强调了其在推动中医药传承创新中的重要作用;分析了现代信息技术对中医药传承创新发展的影响,重点介绍了中药材大数据云服务平台、人工智能赋能、先进设备智能制造、大数据超算以及中医药循证研究证据库等方面的应用;展望了人工智能大模型在医药领域的发展方向,为未来中医药传承创新发展提供了新的视角和思路。

关键词：新质生产力科技创新中医药

26-electrons redox-active polyoxovanadate clusters for aqueous zincion batteries

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Nano Research 2024年第5期17卷 4047-4054页

作者： yimin Xing Wen Yan Haiyang Wu Peng Huang Chao wang Chao Lai School of Chemistry and Materials Science Jiangsu Normal UniversityXuzhou 221116China

Aqueous zinc-ion batteries(ZIBs)are attaining increasing attention for their high safety and low *** significant progresses in realizing high-performance cathode material for ZIBs,simultaneously endowing them with high capacity and fast-charging capability,the long-term cycling stability remains a major unsolved *** this work,a polyoxovanadate cluster of(NH_(4))_(8)[V_(19)O_(41)(OH)_(9)]·11H_(2)O(NOV)is defined as a cathode material for ZIBs that contains mixed-valence vanadium sites(V^(4+)and V^(5+)).A maximum of 26 electrons can be accommodated in one[V_(19)O_(41)(OH)_(9)]^(8-){V_(19)O_(50)}cluster,contributing to the high theoretical specific capacity of 328 mA·h·g^(-1).The Ti_(3)C_(2)T_(x) MXene nanosheets are incorporated into NOV with the help of ionic liquid(IL)linkers to restrain the dissolution of vanadium species and facilitate electron transport across the *** interfacial bonding,anion exchange,and electrostatic interactions among NOV and MXene are provided by IL *** nanohybrid of NOV-IL-MXene endows excellent contact between MXene and NOV,thereby enhanced charge transfer is observed at ***,the as-synthesized NOV-IL-MXene cathodes exhibit high discharge capacity of 413 mA·h·g^(-1) at 0.2 A·g^(-1) even at high mass loading of 5.2 mg·cm^(-2),remarkable rate performance of 182 mA·h·g^(-1) at 10 A·g^(-1),and impressive cycling stability of 94%capacity retention after 2000 *** work opens up new opportunities to develop advanced polyoxovanadate hybrid cathodes for low-cost and high-performance aqueous ZIBs.

关键词： polyoxovanadate MXene composite materials cathodes zinc-ion batteries

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甜仁杏优株果实性状调查与分析

中国果树 2024年第1期 30-35页

作者：吕丽霞王秀荣王维王毅敏贾庆冰宋嘉太金颖璐刘晓婕闫文静张家口市农业科学院河北075000 宣化科技职业学院张家口市农业环境与农产品质量管理站

对38个甜仁杏优株的单果重、单核重、出核率、单仁重、核壳厚度、出仁率、核长度、核宽度、核形指数、单株果核产量10个性状进行聚类分析、相关性分析和主成分分析。结果表明:当欧氏距离为8时,38个甜仁杏优株分为5类,其中第Ⅰ类为大果类... 详细信息

对38个甜仁杏优株的单果重、单核重、出核率、单仁重、核壳厚度、出仁率、核长度、核宽度、核形指数、单株果核产量10个性状进行聚类分析、相关性分析和主成分分析。结果表明:当欧氏距离为8时,38个甜仁杏优株分为5类,其中第Ⅰ类为大果类型,但出核率和核形指数的平均值最低;第Ⅱ类单果重、单核重的平均值较大,但出核率和出仁率平均值较小,单株果核产量平均值较低;第Ⅲ类各项指标平均值较为居中,但出仁率平均值最低;第Ⅳ类各项指标平均值较为居中,且出仁率相对较高;第Ⅴ类出核率、出仁率、核形指数均最大,但其他各项指标均最小。单核重、单仁重均与核壳厚度、核长度、核宽度呈极显著正相关;出核率与单果重呈极显著负相关;出仁率与核壳厚度呈极显著负相关,与单核重呈显著负相关;单株果核产量与核长度、核宽度呈极显著正相关。主成分分析中,前4个主成分的累计方差贡献率达到83.949%,在得分排名前10名的优株中,果仁味道同时被评为优级的分别为13-32(一)、09-10(四)、16-46(一)、10-46(一)、10-03(二)、01-04(一),综合出仁率和果肉厚度考虑13-32(一)、09-10(四)、16-46(一)、10-46(一)将作为新品种选育的重点备选优株,进入新品种选育的下一个环节。

关键词：甜仁杏果实性状聚类分析主成分分析

基于患者临床特征相似度的术后镇痛辅助决策系统的设计与实现

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中国数字医学 2024年第6期19卷 62-67页

作者：蔡志强王益敏杜朝阳段文舟刘雪岩张辉广东工业大学计算机学院广州510006 广东省第二人民医院麻醉科

目的:利用信息化、大数据技术,辅助医护人员开展术后镇痛。方法:基于患者临床特征构建患者相似度计算模型;采用Spring Mvc框架搭建术后镇痛处方开立平台,实现镇痛处方开立信息化;利用术后患者相似度模型挖掘与当前患者相似的历史患者,... 详细信息

目的:利用信息化、大数据技术,辅助医护人员开展术后镇痛。方法:基于患者临床特征构建患者相似度计算模型;采用Spring Mvc框架搭建术后镇痛处方开立平台,实现镇痛处方开立信息化;利用术后患者相似度模型挖掘与当前患者相似的历史患者,并结合历史患者的NRS评分辅助医护人员开展术后镇痛。结果:该系统上线后,随着临床数据积累,推荐的历史患者相似度越来越高,对医护人员的参考价值也越来越高。结论:基于患者临床特征相似度的术后镇痛辅助决策系统能为围手术期信息化和智能化疼痛管理提供支持,能初步为麻醉医生开展术后个体化镇痛提供辅助决策。

关键词：麻醉与围手术期医学术后镇痛大数据技术

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溴氨酸类染料合成的机理及生产实践

染料与染色 2024年第1期61卷 25-29,39页

作者：卢林德孟胜锋上官开泰李玲陈波杨军王一民浙江亿得新材料股份有限公司绍兴312369

本文简单介绍了溴氨酸可合成的染料品种,对合成反应的机理作了推测,讨论了染料合成中影响产品收率的因素,包括催化剂、溶剂、缚酸剂、温度、配比等。通过工业生产实例,介绍了产物的分离和废水综合处理。

关键词：溴氨酸烷基胺芳香胺缩合催化合成产物分离反应机理