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Force Compensation Control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC

Chinese Journal of Mechanical Engineering 2024年第2期37卷 228-246页

作者： Kaixian ba Yuan Wang Xiaolong He Chunyu Wang Bin Yu Yaliang Liu Xiangdong Kong Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Qinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment Yanshan UniversityQinhuangdao 066004China

Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ***,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy *** contrast,pump control systems offer a high ***,their response ability is *** fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of ***,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first *** addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC *** method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the ***,experimental verification is performed using the PCDS performance test *** experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the *** relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

关键词： Legged robot Pump-valve compound drive system(PCDS) Force compensation control Quantitative feedback theory(QFT) Disturbance torque observer(DTO)

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The value of toxicological analysis in acute poisoning patients with uncertain exposure histories:a retrospective and descriptive study from an institute of poisoning

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World Journal of Emergency Medicine 2024年第2期15卷 98-104页

作者： Qifang Shi Gen ba Zhenyu Xia Zhengsheng Mao Hao Sun Jinsong Zhang Institute of Poisoning Nanjing Medical UniversityNanjing 211100China Department of Emergency Medicine the First Affiliated Hospital of Nanjing Medical UniversityNanjing 210029China Department of Forensic Medicine Nanjing Medical UniversityNanjing 211166China The Key Laboratory of Modern Toxicology of Ministry of Education Nanjing Medical UniversityNanjing 211166China

baCKGROUND:In clinical practice,some patients might not be able or unwilling to provide a thorough history of medication and poison *** aim of this study was to use toxicological analysis to examine the clinical characteristics of patients with acute poisoning whose exposure history was uncertain from a toxicological analysis ***:This was a retrospective and descriptive study from an institute of *** registration information and test reports spanning the period from April 1,2020 to March 31,2022,were *** with uncertain exposure histories and who underwent toxicological analysis were *** manifestations and categories of toxics were ***:Among the 195 patients with positive toxicological analysis results,the main causes of uncertain exposure history was disturbance of consciousness(62.6%),unawareness(23.6%)and unwillingness or lack of cooperation(13.8%).The predominant clinical manifestations were disturbed consciousness(62.6%),followed by vomiting and nausea(14.4%)and liver function abnormalities(8.7%).A comparison of clinical manifestations between patients with positive and negative(n=99)toxicological analyses results revealed significantly different proportions of disturbances in consciousness(63%vs.21%),dizziness(1.5%vs.5.1%),multi-organ failure(1.5%vs.7.1%),and local pain(0 vs 4%).The main categories of substances involved were psychiatric medications(23.1%),sedatives(20.5%),insecticides(13.8%),and herbicides(12.8%).CONCLUSION:The clinical manifestations of acute poisoning in patients with an uncertain exposure history are diverse and nonspecific,and toxicological analysis plays a pivotal role in the diagnosis and differential diagnosis of such patients.

关键词： Acute poisoning Toxic exposure Toxicological analysis Clinical manifestation

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Percutaneous Coronary Intervention in Acute Coronary Syndromes at the Mother-Child University Hospital Luxembourg in bamako

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World Journal of Cardiovascular Diseases 2024年第4期14卷 288-294页

作者： Mamadou Toure Hamma Sankare baba I. Diarra Mariam Dagnogo Modibo Doumbia Abdoul W. Terra Samba Sidibe Coumba A. Thiam boubacar Sonfo boubacar Diarra Asmaou Keita Ousmane Traore Daouda Fofana Almou A. Diall Mady Sow Massama Konate Hamidou O. ba Ichaka Menta Cardiology Department CHU-Mother Child Bamako Mali Cardiology Department CHU-Gabriel Tour&#233 Bamako Mali Faculty of Medicine University of Sciences Techniques and Technologies of Bamako Bamako Mali Department of Cardiac Surgery Center Andre FESTOC Bamako Mali Cardiology Department CHU-Point G Bamako Mali

Introduction: Acute coronary syndromes (ACS) are a diagnostic and therapeutic emergency. Objective: Studying the feasibility, difficulties and results of coronary angioplasty in acute coronary syndromes at the Luxembourg Mother-Child University Hospital in bamako. Patients and Methods: Cross-sectional, descriptive study with prospective recruitment over 18 months from September 2020 to February 2022. All patients aged at least 18 years old admitted for SCA and having undergone PCI during the study period were included. Result: We collected 249 patients for SCA, of whom 160 underwent angioplasty, either an angioplasty/SCA ratio of 0.64. The average age of the patients was 59.54 ± 11.62 with extremes of 32 and 92 years. The age group of 45 to 65 years was the most representative. The predominance was male, sex ratio of 2.4. The main cardiovascular risk factors were high blood pressure (58.23%) and diabetes (45.78%). Persistent ST-segment elevation on the electrocardiogram was present in 71.48%. The treatment time was more than 12 hours after the first medical contact in 95.5%. The approach was radial in 96.5% of cases. Coronarography was pathological in 91.16% of our patients. The lesions were tri-truncular in 34.13% with the anterior inter ventricular as culprit artery in 72% of cases. The majority of patients (64%) had undergone angioplasty with implantation of an active stent. Angioplasty was performed successfully in 98% and per procedural mortality was 1.87%. Only 6.45% of ACS with ST elevation benefited from primary angioplasty. Conclusion: Percutaneous coronary intervention is performed routinely in our center with satisfactory results. Difficulties exist, related to the diagnostic delay of ACS and the high cost of angioplasty.

关键词： Acute Coronary Syndromes Coronary Angiography Angioplasty Mother-Child University Hospital Luxembourg bamako Mali

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Acute Coronary Syndrome of Young Subjects at the Luxembourg Mother-Child University Hospital in bamako

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World Journal of Cardiovascular Diseases 2024年第3期14卷 157-165页

作者： Mamadou Toure Mariam Dagnogo Massama Konate Mariam Sako Daouda Fofana Hamma Sankare Almou A. Diall Modibo Doumbia baba I. Diarr Mady Sow Abdoul Wahhab Terra Coumba A. Thiam boubacar Sonfo boubacar Diarra Asmaou Keita Ousmane Traore Hamidou O. ba Ichaka Menta Cardiology Department CHU-Mother Child Bamako Mali Cardiology Department CHU-Gabriel Tour&#233 Bamako Mali Faculty of Medicine University of Sciences Technics and Technologies of Bamako Bamako Mali Center Andre FESTOC Department of Cardiac Surgery of Bamako Mali Bamako Mali

Introduction: Acute coronary syndrome is often the first event of coronary disease of young subjects. Objective: To study sociodemographic, clinical, paraclinical, therapeutic and evolutionary aspects of acute coronary syndrome of young subjects. Patients and Methods: Descriptive cross-sectional study with prospective recruitment from October 01, 2020 to March 31, 2022. Were included all patients admitted for acute coronary syndrome whose age was less or equal to 45 years and who had undergone coronary angiography at the Mother-Child University Hospital on Luxembourg from bamako. Results: During the study period, we collected 60 patient files out of 198. These 60 patient files met our inclusion criteria. Hospital frequency was 30.30%. Average age of patients was 40.43 ± 3.9 years. Sex ratio M/F was 5.3. Main cardiovascular risk factor was smoking tobacco (23.42%), followed by dyslipidemia (13.92%). Functional signs were dominated by angina 62% followed by dyspnea 25.3%. Persistent ST-segment elevation on electrocardiogram was present in 76.4%. Left ventricular systolic dysfunction was present in 26.5%. Time to first medical contact was more than 12 hours in 62.7% of cases. Radial approach was adopted in 94% of cases. Coronary angiography was pathological in 85% (n = 51) of cases. Lesions were single-vessel disease in 47.1% and culprit artery was anterior interventricular in 51% of cases. Dual anti-platelet aggregation was aspirin and ticagrelor in 91.8% of cases. Angioplasty was performed in all patients who had significant abnormalities at coronary angiography. In-hospital mortality was 3.9%. Conclusion: Acute coronary syndromes exist in young Africans with a male predominance. Main cardiovascular risk factor is smoking tobacco. Coronary lesions are single vessel disease in the majority of case. Most of patients meet medical team after 12 hours. Time to first medical contact is a main challenge in our country.

关键词： Acute Coronary Syndrome Young Subjects Coronary Angiography CHU Luxembourg bamako

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Aggregation of CeAlO_(3) inclusions in heavy ingot of a steel containing 0.007% aluminum

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Journal of Iron and Steel Research International 2024年第8期31卷 1960-1972页

作者： Qiu-yue Zhou Jun-tao ba Lun Zhang Wei Chen Ying Ren Li-feng Zhang School of Metallurgical and Ecological Engineering University of Science and Technology BeijingBeijing 100083China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004HebeiChina School of Mechanical and Materials Engineering North China University of TechnologyBeijing 100144China

The distribution of inclusions at the bottom of a Ce-treated heavy steel ingot was detected and *** three-dimensional morphology and spatial distribution of CeAlOs clusters were characterized using the electrolytic extraction and Micro-CT detection.A model of inclusion collision to predict the aggregation of CeAlO_(3) inclusions in the ingot was established and validated by measured *** were mainly CeAlO_(3) and a small amount of Ce_(2)O_(2)S in the tundish after cerium *** collision and aggregation of inclusions led to the formation of large clusters in the ingot during the solidification *** slag entrainment inclusions,large CeAO_(3) clusters and small CeAlO_(3) particles were observed from the center to the edge of the ingot *** inclusions were mainly concentrated at the *** number density of inclusions larger than 200μm was 0.21 mm^(-3).The maximum diameter of CeA1O_(3) clusters was 1340μ*** the edge to the radial center and from the bottom to the top,the average diameter of inclusions gradually increased due to the longer solidification time of the ingot.

关键词： Inclusion Heavy ingot Cerium treatment Collision

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Efficacy and safety of electroacupuncture for insomnia:A systematic review and meta-analysis

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Journal of Integrative Medicine 2024年第4期22卷 459-472页

作者： Han-yu Xu Lin-na Wu Yuan Zhang Te ba Xiao-feng Zhao Acupuncture and Moxibustion Department First Teaching Hospital of Tianjin University of Traditional Chinese MedicineTianjin 300193China National Clinical Research Center for Chinese Medicine Acupuncture and Moxibustion Tianjin 300193China

background:Electroacupuncture is often used to treat ***:To evaluate the efficacy and safety of electroacupuncture for *** strategy:Databases including PubMed,Cochrane Library,Embase,Web of Science,Chinese Biomedical Literature Database,China National Knowledge Infrastructure,Wanfang Data and VIP Fulltext e-Journals Database were searched up to January 15,*** criteria:Randomized clinical trials were included if they compared the clinical efficacy and safety of electroacupuncture with sham acupuncture,no treatment or usual care (UC) and general *** extraction and analysis:The full texts of the studies were reviewed to remove ineligible *** extracted data included authors,publication year,diagnostic criteria,sample size,population characteristics,interventions and *** above steps were performed independently by two reviewers and the data were cross ***15.0 software was used to analyze the extracted outcome *** continuous data (Pittsburgh Sleep Quality Index[PSQI]score and Insomnia Severity Index score),weighted mean difference (WMD) was calculated and 95% confidence interval (CI) was reported when the same scale was *** dichotomous variables (clinical response rate and adverse events),a meta-analysis was performed using risk ratio (RR) as the effect ***:Thirty-one trials with 2226 subjects were *** meta-analysis suggested that electroacupuncture was more effective in improving insomnia compared with the control group (sham acupuncture,no treatment,UC and general acupuncture)(RR=1.21;95 CI:[1.16,1.27]),significantly reducing the PSQI score in insomnia patients after treatment and at follow-up (WMD=-3.23;95%CI:[-4.29,-2.17];P<0.001).There was no significant difference in the incidence of adverse events between the EA and control groups (sham acupuncture and no treatment or ***=1.48;95%CI:[0.91,2.40];P=0.117).In addition,the regression results revealed t

关键词： Electroacupuncture Insomnia Systematic review Meta-analysis

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Changes in microstructure and properties of weld heat-affected zone of high-strength low-alloy steel

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Journal of Iron and Steel Research International 2024年第8期31卷 2041-2052页

作者： Shu-jun Jia Qi-lin Ma Yu Hou ba Li He-song Zhang Qing-you Liu Central Iron and Steel Research Institute Co. Ltd.Beijing 100081China Collaborative Innovation Center for Steel Commonality University of Science and Technology BeijingBeijing 100083China Construction Project Management Branch of China National Petroleum Pipeline Network Group Co. Ltd.Langfang 065000HebeiChina

The evolution of the microstructure and toughness of APL5L X80 pipeline steel after thermal welding simulation was investigated by X-ray diffraction,electron backscatter diffraction,and transmission electron *** results indicated that primary heat-affected zones can be divided into weld,coarse-grained,fine-grained,intercritical,and sub-critical *** microstructure of the weld zone is mainly composed of bainitic ferrite and a small amount of granular bainite;however,the original austenite grains are distributed in the columnar *** structure of the coarse-grained zone is similar to that of the weld zone,but the original austenite grains are *** contrast,the microstructure in the fine-grained zone is dominated by fine granular bainite,and the effective grain size is only 8.15μm,thus providing the highest toughness in the entire heat-affected *** intercritical and subcritical zones were brittle valley regions,and the microstructure was dominated by granular ***,the martensite-austenite(M/A)constituents are present in island chains along the grain boundaries,and the coarse size of the M/A constituents seriously reduces the *** results of the crack propagation analyzes revealed that high-angle grain boundaries can significantly slow down crack growth and change the crack direction,thereby increasing the material *** impact toughness of the low-temperature tempering zone was equivalent to that of the columnar grain zone,and the impact toughness was between those of the critical and fine-grained zones.

关键词： Welding thermal simulation Impact toughness Crack propagation Martensite-austenite constituent High-strength low-alloy steel weld Heat-affected zone

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Gastric cancer secreted miR 214-3p inhibits the anti-angiogenesis effect of apatinib by suppressing ferroptosis in vascular endothelial cells

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Oncology Research 2024年第3期32卷 489-502页

作者： WEIXUE WANG TONGTONG WANG YAN ZHANG TING DENG HAIYANG ZHANG YI ba Department of GI Medical Oncology Tanjin Medical University Cancer Institute and HospitalNational Clinical Research Center for CancerTianjin's Clinical Research Center for CancerTianjin Key Iaboratory of Digestive CancerKey Laboratory of Cancer Prevention and TherapyTianjin300060China

Diferent from necrosis,apoptosis,autophagy and other forms of cell death,ferroptosis is a mechanism that catalyzes lipid peroxidation of polyunsaturated ftty acids under the action of iron divalent or lipoxygenase,leading to cell *** is currently used in the third line standard treatment of advanced gastric cancer,targeting the anti-angiogenesis ***,Apatinib mediated ferroptosis in vascular endothelial cells has not been reported *** exosomes can be taken up into target cells to regulate tumor development,but the mechanism related to vascular endothelial cell ferroptosis has not yet been ***,we show that exosomes secreted by gastric cancer cells carry miR-214.3p into vascular endothelial cells and directdy target zinc finger protein A20 to negatively regulate ACSL4,a key enzyme of lipid peroxidation during frroptosis thereby inhibiting ferroptosis in vascular endothelial cells and reducing the eficiency of *** conclusion,inhibition of miR-214-3p can increase the sensitivity of vascular endothelial cells to Apatinib,thereby promoting the antiangiogenic efect of Apatinib,suggesting a potential combination therapy for advanced gastric cancer.

关键词： Cellular ferroptosis Exosome Tyrosine kinase inhibitor Gastrointestinal tumors miRNA

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Human endogenous retrovirus type-W and multiple sclerosis–related smoldering neuroinflammation

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Neural Regeneration Research 2025年第3期20卷 813-814页

作者： Joel Gruchot Laura Reiche Andrew Chan Robert Hoepner Patrick Küry Department of Neurology Medical Faculty and University Hospital DüsseldorfHeinrich Heine University DüsseldorfDüsseldorfGermany Department of Neurology InselspitalBern University Hospital and University of BernBernSwitzerland

Introduction to human endogenous retrovirus type-W(HERV-W): Genomic inheritance from the past includes retroviral sequences that have been stably incorporated into our genomes and account for up to 8% of human DNA.

关键词： endogenous inflammation Human

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Results of the First 10 Cases of Coronary Bypass Surgery in Senegal

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World Journal of Cardiovascular Surgery 2024年第4期14卷 45-60页

作者： Papa Amath Diagne Jean Claude Ndiogou Dione Papa Ousmane ba Momar Sokhna Diop El Hadji boubacar ba Momar Dioum Marième Soda Mbaye Moussa Seck Diop Mory Camara Abdou Lahad Mbengue Abdou Aziz Thiaw Abdoul Khoudoss Diallo Moussa Mareme Samba Dialtabé Ibrahima Guéssé ba Anta Mbaye Sall Papa Salmaneba Amadou Gabriel Ciss Department of Cardiovascular and Thoracic Surgery FANN National University Hospital Dakar Senegal

This is a review of the first 10 coronary artery bypass surgeries performed by the local team. The mean age was 62 years old [45 - 74]. The patients were predominantly male, with a M/F ratio of 4:1. Cardiovascular risk factors were mainly myocardial infarction (MI) (60%), hypertension (50%), obesity (40%) and diabetes (30%), with at least two risk factors per patient. Angina was the main symptom (80%). The average time from presentation to surgery was 8 months. The mean Euroscore 2 was 2.92 ± 1.65 [1.33 - 6.60]. Coronary angiography revealed an average of 2 lesions per patient, with 3-vessel involvement in 70% of cases: the Interventricular artery (IVA) (100%), the right coronary artery (90%) and the circumflex artery (70%). On echocardiography, the mean Left ventricular ejection fraction (LVEF) was 59% [33% - 76%]. All patients underwent median sternotomy with bypass grafting. The average duration of the cardiopulmonary bypass was 150 min [46 - 275 min];that of aortic clamping, 120 min [43 - 232 min]. The grafts used were internal thoracic artery (ITA) in 100% of cases (80% on the left and 20% on the right), and the great saphenous vein (GSV) in 60% of cases (50% on the left and 10 on the right). Double bypass was performed in 60% of cases, single bypass in 30% and triple bypass in 10%. The bypasses were performed on the IVA (100%), the middle lateral of the circumflex (30%) and the bisector (20%). The average time to extubation was 11 hours and the length of stay in the intensive care unit was 7 days [03 - 17 days]. One patient had a reoperation on Day 0 post-op. The average hospital stay was 13 days [06 - 27 days]. Complications occurred in nine of the patients (90%), with a predominance of infectious and neurological complications. Overall operative mortality was 3%, all in intensive care.

关键词： Coronary Bypass Surgery Coronary Lesions Cardiac Surgery Senegal

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