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Three-layer intelligence of planetary exploration wheeled mobile robots:Robint,virtint,and humint

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Science China(Technological Sciences) 2015年第8期58卷 1299-1317页

作者： DING Liang GAO HaiBo DENG ZongQuan LI yuankai LIU GuangJun YANG HuaiGuang YU HaiTao State Key Laboratory of Robotics and System Harbin Institute of Technology School of Aeronautics and Astronautics University of Electronic Science and Technology of China Department of Aerospace Engineering Ryerson University

The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or *** WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) *** article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic ***-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is *** challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be ***-level virtual simulation architecture to realize virtint is *** technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction *** generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay.

关键词： planetary exploration rovers robot intelligence virtual intelligence three-layer architecture

PhaseⅠdose-finding study of sorafenib with FOLFOX4 as firstline treatment in patients with unresectable locally advanced or metastatic gastric cancer

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Chinese Journal of Cancer Research 2015年第3期27卷 239-246页

作者： Yihebali Chi Jianliang Yang Sheng Yang Yongkun Sun Bo Jia yuankai Shi Department of Medical Oncology Cancer HospitalChinese Academy of Medical Sciences & Peking Union Medical College National Center for Anticancer Drugs Clinical Study Beijing Key Laboratory of Clinical Study on Anticancer Molecular Targeted Drugs

Objective： To determine the maximum tolerated dose（MTD）, dose-limiting toxicity（DLT） and efficacy of sorafenib in combination with FOLFOX4（oxaliplatin/leucovorin（LV）/5-fluorouracil） as first-line treatment for advanced gastric cancer, we performed a phase I dose-finding study in nine evaluable patients with unresectable locally advanced or metastatic gastric cancer or gastroesophageal junction adenocarcinoma. Methods： According to modified Fibonacci method, the design of this study was to guide elevation of the sorafenib dosage to the next level（from 200 mg twice daily to 400 mg twice daily and then, if tolerated, 600 mg twice daily）. If the patient achieved complete response（CR）, partial response（PR） or stable disease（SD） after eight cycles of treatment, combination chemotherapy was scheduled to be discontinued and sorafenib monotherapy continued at the original dose until either disease progression or unacceptable toxicity. Results： In sorafenib 200 mg twice daily group, DLT was observed in 1 of 6 patients, and in 400 mg twice daily group, it was observed in 2 of 3 patients. Seven of 9（77.8%） evaluable patients achieved PR, with a median overall survival（OS） of 11.8 [95% confidence interval（CI）： 8.9-14.7] months. Common adverse effects include hand-foot syndrome, leukopenia, neutropenia, anorexia, and ***： Twice-daily dosing of sorafenib 200 mg in combination with FOLFOX4 was proven effective and safe for the treatment of advanced gastric cancer, and could be an appropriate dosage for subsequent phase II clinical studies.

关键词： Sorafenib gastric cancer FOLFOX4

Applications of hollow nanomaterials in environmental remediation and monitoring： A review

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Frontiers of Environmental Science & Engineering 2015年第5期9卷 770-783页

作者： yuankai ZHANG Zhijiang HE Hongchen WANG Lu QI Guohua LIU Xiaojun ZHANG School of Environment & Natural Resource Renmin University of China Beijing 100872 China

Hollow nanomaterials have attracted signifi- cant attention because of their high chemical and thermal stability, high specific surface area, high porosity, low density, and good biocompatibility. These state-of-the-art nanomaterials have been shown to efficiently adsorb heavy metals, and volatile hazardous substances, photodegrade persistent organic pollutants, and other compounds, and inactivate bacteria. Such properties have enabled the use of these materials for environmental remediation, such as in water/wastewater treatment, soil remediation, air purifica- tion, and substance monitoring, etc. Hollow nanomaterials showed higher photocatalytic activity than those without hollow structure owing to their high active surface area, reduced diffusion resistance, and improved accessibility. And, the Doping method could improve the photocatalytic performance of hollow nanomaterials further under visible light. Moreover, the synthetic mechanisms and methods of these materials are important because their size and morphology help to determine their precise properties. This article reviews the environmental applications and potential risks of these materials, in addition to their syntheses. Finally, an outlook into the development of these materials is provided.

关键词： hollow nanomaterials environmental reme-diation nanotechnology nanostructures morphology

Clinical features and outcomes of diffuse large B-cell lymphoma based on nodal or extranodal primary sites of origin:Analysis of 1,085 WHO classified cases in a single institution in China

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Chinese Journal of Cancer Research 2019年第1期31卷 152-161页

作者： yuankai Shi Ying Han Jianliang Yang Peng Liu Xiaohui He Changgong Zhang Shengyu zhou Liqiang zhou Yan Qin Yongwen Song Yueping Liu Shulian Wang Jing Jin Lin Gui Yan Sun Department of Medical Oncology Beijing Key Laboratory of Clinical Study on Anticancer Molecular Targeted DrugsNational Cancer Center/National Clinical Research Center for Cancer/Cancer HospitalChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100021China Departement of Radiation Oncology National Cancer Center/National Clinical Research Center for Cancer/Cancer HospitalChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100021China

Objective: To explore the clinicobiologic features and outcomes of diffuse large B-cell lymphoma(DLBCL)patients in China according to the primary ***: A total of 1,085 patients diagnosed with DLBCL in National Cancer Center/Cancer Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College during a 6-year period were enrolled. Their clinical characteristics and outcomes were analyzed according to the primary ***: In the 1,085 patients, 679(62.6%) cases were nodal DLBCL(N-DLBCL) and 406 cases(37.4%) were extranodal DLBCL(EN-DLBCL). The most common sites of N-DLBCL were lymphonodus(64.8%), Waldeyer's ring(19.7%), mediastinum(12.8%) and spleen(2.7%), while in EN-DLBCL, stomach(22.4%), intestine(16.0%),nose and sinuses(8.9%), testis(8.4%), skin(7.9%), thyroid(6.9%), central nervous system(CNS)(6.4%), breast(5.7%), bone(3.4%), and salivary gland(2.7%) were most common. N-DLBCL patients tend to present B symptoms, bulky disease, and elevated LDH more often, while age >60 years, extranodal sites >1, Ann Arbor stage I or II, bone marrow involvement, and Ki-67 index >90% were usually seen in EN-DLBCL. The 5-year overall survival(OS) rate and progression-free survival(PFS) rate for all patients were 62.5% and 54.2%. The 5-year OS rate for patients with N-DLBCL and EN-DLBCL were 65.5% and 56.9%(P=0.008), and the 5-year PFS were57.0% and 49.0%(P=0.020). Waldeyer's ring originated DLBCL possessed the highest 5-year OS rate(83.6%) and PFS rate(76.9%) in N-DLBCL. The top five EN-DLBCL subtypes with favorable prognosis were stomach,breast, nose and sinuses, lung, salivary gland, with 5-year OS rate: 70.3%, 69.6%, 69.4%, 66.7% and 63.6%,respectively. While CNS, testis, oral cavity and kidney originated EN-DLBCL faced miserable prognosis, with 5-year OS rate of 26.9%, 38.2%, and 42.9%.Conclusions: In our study, primary sites were associated with clinical characteristics and outcomes. Compared with EN-DLBCL, N-DLBCL had better prognosis.

关键词： Diffuse large B-cell lymphoma(DLBCL) distribution nodal extranodal

Clinical features, survival and prognostic factors of primary testicular diffuse large B-cell lymphoma

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Chinese Journal of Cancer Research 2014年第4期26卷 459-465页

作者： Bo Jia yuankai Shi Mei Dong Fengyi Feng Sheng Yang Hua Lin Liqiang zhou Shengyu zhou Shanshan Chen Jianliang Yang Peng Liu Yan Qin Changgong Zhang Lin Gui Lin Wang Xue Wang Xiaohui He Department of Medical Oncology Chinese Academy of Medical Sciences (CAMS) & Peking Union Medical College (PUMC) Department of Medical Record Library Chinese Academy of Medical Sciences (CAMS) & Peking Union Medical College (PUMC) Department of VIP ward Cancer Institute & HospitalChinese Academy of Medical Sciences (CAMS) & Peking Union Medical College (PUMC)

Objective： To assess the clinical features, survival and prognostic factors of primary testicular diffuse large B-cell lymphoma （DLBCL）. Methods： A retrospective study of 37 patients with primary testicular DLBCL was carried out from November 2003 to May 2012. Their clinical features, survival and prognostic factors were analyzed. Results： During a median follow-up period of 39.8 months （5.4-93.0 months）, the median progression-free survival （PFS） was 26.2 months （95% CI：0-65 months） and the 3-year overall survival （OS） rate was 78.4%. Within the whole cohort, the factors significantly associated with a superior PFS were limited stage （stage Ⅰ/Ⅱ）, lactate dehydrogenase （LDH） ≤245 U/L, international prognostic index （IPI） ≤1, primary tumor diameter 〈7.5 cm, and patients who had complete response （CR） and received doxoruhicin-contained chemotherapy （P〈0.05）. There was a trend toward superior outcome for patients who received combined therapy （surgery/ chemotherapy/radiotherapy）（P=0.055）. Patients who had CR, primary tumor diameter 〈7.5 cm and IPI score ≤1 were significantly associated with longer PFS at multivariate analysis. Conclusions： Primary testicular DLBCL had poorer survival. CR, primary tumor diameter and IPI were independent prognostic factors. The combined therapy of orchectomy, doxorubicin-contained chemotherapy and contralateral testicular radiotherapy （RT） seemed to improve survival.

关键词： Diffuse large B-cell lymphoma (DLBCL) testieular survival prognostic factor chemotherapy radiotherapy (RT)

Permian High Ba-Sr Granitoids:Geochemistry,Age and Tectonic Implications of Erlangshan Pluton,Urad Zhongqi,Inner Mongolia

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Acta Geologica Sinica(English Edition) 2009年第3期83卷 603-614页

作者： LUO Hongling WU Tairan ZHAO Lei HE yuankai JIN Xu The Key Laboratory of Orogenic Belts and Crustal Evolution Ministry of EducationBeijing 100871China School of Earth and Space Sciences Peking UniversityBeijing 100871China

Erlangshan Pluton from Urad Zhongqi, central Inner Mongolia, is located in the middle segment of the northern margin of the North China Plate. The rocks consist mainly of diorites with gneissic structure. Petrochemical characteristics reveal that the diorites belong to metaluminous, high- potassium calc-alkaline series, with chemical signatures of I-type granites. They are characterized by low SiOz contents (56.63%-58.53%) and A/CNK (0.90-0.96), high Al2O3 contents (17.30%-17.96%) and Na20/K20 ratios (1.20-1.70), enrichment in large ion lithophile elements (LILE, e.g., Ba=556-915 ppm, Sr=463-595 ppm), and relative depletion in high field strength elements (HFSE, e.g., Nb, Ta, Ti) in primitive mantle-normalized spidergram, and right-declined rare earth element patterns with slightly negative Eu anomalies (8Eu=0.72-0.90). They have Sr/Y ratios (20-25) evidently less than Kebu Pluton (49-75) to its east. Sensitive high resolution ion micro-probe U-Pb zircon dating of the diorites has yielded an intrusive age of 270±8 Ma. This leads us to conclude that Erlangshan diorites were formed by mixing between the middle or lower crustal-derived magma and minor mantle-derived mafic magma, followed by fractional crystallization, which was trigged by crustal extension and fault activity in post-collisional setting.

关键词： high Ba-Sr granitoids sensitive high resolution ion micro-probe U-Pb fractionalcrystallization post-collision northern margin of the North China Plate

根治性切除术后复发性肝细胞癌的临床诊疗进展

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中国卫生标准管理 2024年第6期15卷 193-198页

作者：罗元凯杨旸陈木河白骁李勇珠海市人民医院/暨南大学珠海临床医学院介入诊疗中心广东珠海519000 珠海市人民医院/暨南大学珠海临床医学院精准医学研究中心广东珠海519000

肝细胞癌(hepatocellular carcinoma,HCC)是世界多发、我国高发的恶性肿瘤,根治性切除术是当前最常见的治疗方式。然而,HCC术后复发率较高,当前临床上对于复发性HCC的管理面临着较多挑战,人们对HCC复发机制的认识相对不足,还没有权威的... 详细信息

肝细胞癌(hepatocellular carcinoma,HCC)是世界多发、我国高发的恶性肿瘤,根治性切除术是当前最常见的治疗方式。然而,HCC术后复发率较高,当前临床上对于复发性HCC的管理面临着较多挑战,人们对HCC复发机制的认识相对不足,还没有权威的专门针对复发性HCC的临床管理流程标准,也缺乏早期复发生物标志物的相关研究。明确复发性HCC的定义和制定官方临床管理路径具有特殊的指导价值。文章从HCC的根治性切除标准、复发性HCC的诊断标准、分型、分期和治疗策略等几个方面进行综述,以增加对复发性HCC的认识,提高临床诊断和治疗决策的质量,也为后期复发性HCC临床诊治指南或标准制定提供了借鉴内容。

关键词：复发性肝细胞癌根治性切除诊断标准生物标志物临床分期综合治疗

2021—2022年青岛市市北区老年人伤害监测及跌倒分析

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职业与健康 2024年第13期40卷 1800-1804页

作者：朱志刚辛乐忠王康徐源锴青岛市市北区疾病预防控制中心社区公共卫生指导科山东青岛266000

目的分析2021—2022年青岛市市北区≥65岁老年人伤害病例及其跌倒特征,为制定老年人伤害预防策略与措施提供参考依据。方法通过全国伤害监测系统收集2021—2022年青岛市市北区12家哨点医院门急诊报告的≥65岁伤害监测病例资料,并对数据... 详细信息

目的分析2021—2022年青岛市市北区≥65岁老年人伤害病例及其跌倒特征,为制定老年人伤害预防策略与措施提供参考依据。方法通过全国伤害监测系统收集2021—2022年青岛市市北区12家哨点医院门急诊报告的≥65岁伤害监测病例资料,并对数据进行分析。结果2021—2022年青岛市市北区共报告≥65岁伤害就诊病例5869例,占所有伤害就诊病例的13.76%。前3位伤害原因分别为跌倒(64.70%)、烧烫伤(7.74%)和机动车车祸(7.58%);伤害发生地点依次为家中(70.01%)、公路/街道(18.23%)和公共居住场所(7.38%);伤害时发生活动依次为休闲活动(34.03%)、生命活动(27.26%)和家务(25.29%);随年龄的上升,跌倒、在家中发生伤害等占比逐渐提高。结论2021—2022年青岛市市北区≥65岁老年人伤害就诊病例中跌倒占比较高,市北区通过基本公共卫生服务老年人健康管理加强老年人防跌倒指导工作,老年人防跌倒意识有所提升,应精准开展预防干预措施,降低伤害疾病负担。

关键词：老年人伤害监测跌倒基本公共卫生服务知晓率

刺五加复合袋泡茶的开发及其抗氧化与降糖活性

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食品科技 2024年第7期49卷 103-112页

作者：苏适王双侠单垣恺李艳芳柴宝丽王斌包逸绥化学院食品与制药工程学院黑龙江绥化152061

以刺五加、五味子和玉米须为原料,研制袋泡茶配方以及冲泡条件对感官评价和总黄酮含量的影响,并对其抗氧化活性和降糖活性进行评价。通过单因素试验和响应面试验,确定袋泡茶的冲泡条件。试验结果表明,最佳配方为刺五加1.8 g、玉米须0.5 ... 详细信息

以刺五加、五味子和玉米须为原料,研制袋泡茶配方以及冲泡条件对感官评价和总黄酮含量的影响,并对其抗氧化活性和降糖活性进行评价。通过单因素试验和响应面试验,确定袋泡茶的冲泡条件。试验结果表明,最佳配方为刺五加1.8 g、玉米须0.5 g、五味子0.7 g;最佳冲泡条件为冲泡1次、冲泡温度90℃、冲泡时间15 min、加水量145 mL。在此条件下,总黄酮含量为13.11 mg/g。体外抗氧化试验表明,对2,2-联氨-双-3-乙基苯并噻唑啉-6-磺酸(2,2'-Azino-bis(3-ethylbenzothiazoline-6-sulfonic acid),ABTS)阳离子自由基、羟自由基和1,1-二苯基-2-三硝基苯肼(1,1-Diphenyl-2-picrylhydrazyl, DPPH)自由基的半抑制浓度(Half maximal inhibitory concentrations,IC50)分别为1.68、1.83、1.74 mg/mL;对α-淀粉酶和α-葡萄糖苷酶活性的抑制率分别为30.78%和33.13%。刺五加复合袋泡茶冲泡方便,富含总黄酮,具有良好的抗氧化和降糖活性,为刺五加向精深加工方向提供可行性参考。

关键词：刺五加五味子玉米须感官评价抗氧化冲泡工艺体外降糖