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Cognitive Navigation for Intelligent Mobile Robots:A Learning-Based Approach With Topological Memory.Configuration

IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key.Laboratory.of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory.*** introduce a unique online topology.construction approach that fuses odometry.pose estimation and perceptual similarity.*** tackles the issues of topological node redundancy.and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology.multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory.and incorporates a multi-factor attention mechanism to underscore elements closely.related to relevant target cues for policy.*** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory.*** validation through behavior visualization,interpretability.tests,and real-world deploy.ent further underscore the adapt-ability.and efficacy.of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

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A phase Ⅰ study.of Hemay.22, an irreversible dual EGFR/HER2 ty.osine kinase inhibitor in Chinese patients with HER2-positive advanced breast cancer

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Chinese Journal of Cancer Research 2024年第1期36卷 46-54页

作者： Pin Zhang Lin Wang y.ey.ng Zhen Zhihong Wang hesheng Zhang Richard Jones Binghe Xu Department of Medical Oncology National Cancer Center/National Clinical Research Center for Cancer/Cancer HospitalChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100021China Tianjin Hemay.Pharmaceutical Co. LTDTianjin 300308China

Objective: Hemay.22 is a novel small-molecule and an irreversible ty.osine kinase inhibitor with the target of epidermal growth factor receptor(EGFR)/human epidermal growth factor receptor 2(HER2), which demonstrated anti-tumor activity.in preclinical studies. This first-in-human study.evaluated the safety. pharmacokinetics,tolerability.and preliminary.anti-tumor activity.of Hemay.22 in HER2-positive advanced breast cancer ***: Heavily.pretreated patients with HER2-positive advanced breast cancer were assigned to eight dose cohorts in a 3+3 dose-escalation pattern at doses of 50-600 mg QD and 300 mg BID. Eligible patients were given a single dose of Hemay.22 on d 1 in week 0, followed by.once daily.continuous doses for four weeks in 28-day.*** samples were obtained on d 1 and d 28. Clinical responses were assessed every.eight ***: Twenty.eight patients with advanced breast cancer were treated with Hemay.22. The most frequently.reported drug-related adverse events were diarrhoea(85.7%), vomiting(28.6%), nausea(25.0%) and decreased appetite(17.9%). No grade 4 drug-related adverse events were reported. At 50-600 mg doses, steady.state areas under the concentration-time curve and peak concentrations increased with doses. One patient achieved complete response(CR), and three achieved partial response(PR). The objective response rate(ORR) and disease control rate(DCR) were 14.3% and 46.4% in 28 patients, respectively. The median progression-free survival(PFS) was3.98 ***: Hemay.22 at the dose of 500 mg once daily.was well tolerated. The pharmacokinetic properties and encouraging anti-tumor activities of Hemay.22 in advanced breast cancer patients warranted further evaluation of Hemay.22 for treating breast cancer patients in the current phase Ⅲ trial(No. NCT05122494).

关键词： Advanced breast cancer HER2-positive Hemay.22 first-in-human trial

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“y.n-y.ng philosophy. for the design of anticancer drug delivery.nanoparticles

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Biomaterials Translational 2024年第2期5卷 144-156页

作者： Ai y. Tian y. Qiao J. Wang C. Li H. School of Lifesciences Shanghai University Shanghai China

Understanding the in vivo transport process provides guidelines for designing ideal nanoparticles (NPs) with higher efficacy.and fewer off-target effects. Many.factors, such as particle size, morphology. surface potential, structural stability. and etc., may.influence the delivering process of NPs due to the existence of various phy.iological barriers within the body. Herein, we summarise the distinct influences of NP phy.icochemical properties on the four consecutive in vivo transport steps: (1) navigating with bloodstream within blood vessels, (2) transport across vasculature walls into tumour tissues, (3) intratumoural transport through the interstitial space, and (4) cellular uptake & intracellular delivery.by.cancerous cells. We found that the philosophy.behind the current consensus for NP design has certain similarities to the “y.n-y.ng” theory.in traditional Chinese culture. Almost all phy.icochemical properties, regardless of big or small sizes, long or short length, positive or negative zeta potentials, are double-edged swords. The balance of potential benefits and side effects, drug selectivity.and accessibility.should be fully.considered when optimising particle design, similar to the “y.n-y.ng harmony.. This paper presents a comprehensive review of the advancements in NPs research, focusing on their distinct features in tumour targeting, drug delivery. and cell uptake. Additionally. it deliberates on future developmental trends and potential obstacles, thereby.aiming to uncover the way. these characteristics influence the NPs’ biological activity.and provide theoretical guidance for the targeted delivery.of NPs. © 2024, Chinese Medical Multimedia Press Co Ltd. All rights reserved.

关键词： in vivo drug delivery nanoparticle design on-demand drug release targeting strategy “y.n-y.ng harmony.

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Factors influencing farmers' adoption of solar water-pumping sy.tems in Gujarat

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CLEAN ENERGy 2024年第3期8卷 157-165页

作者： Kumar, M. Sathish Lad, y. A. Pundir, R. S. Anand Agr Univ Int Agribusiness Management Inst Anand 388110 Gujarat India Anand Agr Univ Int Agribusiness Management Inst Dept HRD & PM Anand 388110 Gujarat India Anand Agr Univ Int Agribusiness Management Inst Dept Agribusiness Econ & Pol Anand 388110 Gujarat India

Agriculture has play.d an important role in the growth of the Indian economy. Water and electricity.are essential inputs for agriculture today. India produces the third-largest amount of electricity.in the world, behind China and the USA. As an incentive to increase production, most states provide free electricity.to farmers. Free electricity.has decreased groundwater levels and increased electricity.consumption. The objective of this study.was to find out the factors that influenced farmers to adopt a solar water-pumping sy.tem in Gujarat. The samples were randomly.selected. This study.examined the entire state of Gujarat. One hundred and fifty.farmers who adopted solar water-pumping sy.tems were interviewed, including 50 banana farmers, 50 cotton farmers and 50 groundnut farmers. Primary.data were collected through an interview. The adoption of solar water-pumping sy.tems by.farmers was identified using factor analy.is. SPSS software was used to analy.e the data collected. In this study. only.two factors contributed to the variance of 59.469%. The adoption of solar water pumps by.farmers was influenced by.government policy.and economic benefits. An economic benefit variance of 33.20% was found, while a government policy.variance was 26.27%. A solar water-pumping sy.tem has low initial costs, flexible credit policies motivate adoption, solar water-pumping sy.tems can save electricity. and maintenance and repair costs are affordable. Government policy.that includes solar water-pumping sy.tems is motivated by.awareness, subsidies for adoption and a fair price to sell energy.surpluses. Farmers are recommended to adopt a solar water-pumping sy.tem in conjunction with a drip irrigation sy.tem to receive additional income. The successful scheme will be recommended to other states in India for implementation. The factors that influence farmers to adopt a solar water-pumping sy.tem in Gujarat, India are identified based on interviews with one hundred and fifty.randomly.sel

关键词： solar water-pumping sy.tem factor analy.is banana cotton groundnut famers PURCHASE INTENTION ENERGy AREAS

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NbN quantum dots anchored hollow carbon nanorods as efficient poly.ulfide immobilizer and lithium stabilizer for Li-S full batteries

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Journal of Energy.Chemistry 2024年第1期88卷 260-271,I0007页

作者： Fei Ma Zhuo Chen Katam Srinivas Ziheng Zhang y. Wu Dawei Liu hesheng y. y.e Wang Xinsheng Li Ming-qiang Zhu Qi Wu y.anfu Chen School of Integrated Circuit Science and Engineering and State Key Laboratory of Electronic Thin Films and Integrated DevicesUniversity of Electronic Science and TechnologyChengdu 610054SichuanChina College of Science and Institute of Oxy.en Supply Center of Tibetan Studies(Everest Research Institute)Tibet UniversityLhasa 850000TibetChina College of Mechanical and Electronic Engineering Northwest A&F UniversityXianyang 712100ShaanxiChina

The shuttle effect of lithium poly.ulfides(LiPSs)and uncontrollable lithium dendrite growth seriously.hinder the practical application of lithium-sulfur(Li-S)*** simultaneously.address such issues,monodispersed Nb N quantum dots anchored on nitrogen-doped hollow carbon nanorods(NbN@NHCR)are elaborately.developed as efficient Li PSs immobilizer and Li stabilizer for high-performance Li-S full *** functional theory.DFT)calculations and experimental characterizations demonstrate that the sulfiphilic and lithiophilic NbN@NHCR hy.rid can not only.efficiently.immobilize the soluble Li PSs and facilitate diffusion-conversion kinetics for alleviating the shuttling effect,but also homogenize the distribution of Li+ions and regulate uniform Li deposition for suppressing Li-dendrite *** a result,the assembled Li-S full batteries(NbN@NHCR-S||Nb N@NHCR-Li)deliver excellent long-term cy.ling stability.with a low decay.rate of 0.031%per cy.le over 1000 cy.les at high rate of 2 *** at a high S loading of 5.8 mg cm^(-2)and a low electroly.e/sulfur ratio of 5.2μL mg^(-1),a large areal capacity.of 6.2 mA h cm^(-2)can be achieved in Li-S pouch cell at 0.1 *** study.provides a new perspective via designing a dual-functional sulfiphilic and lithiophilic hy.rid to address serious issues of the shuttle effect of S cathode and dendrite growth of Li anode.

关键词： Dual-functional host NbN quantum dots Shuttle effect Dendrite-free Li anode Li-S full batteries

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Rivaroxaban’s vascular dose for the neurovascular clinician

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中华神经外科杂志(英文) 2024年第3期10卷 1-3页

作者： Chong Ji y. Jan Kalimullah Stroke Center New York Medical College Westchester Medical Center Valhalla NY USA Neurovascular Fellow New York Medical College Westchester Medical Center Valhalla NY USA

Rivaroxaban, a direct oral anticoagulant, has proven efficacy.and safety.at its standard dose in the treatment and prevention of various vascular conditions. These include the treatment of venous thromboembolism and stroke prevention in non-valvular atrial fibrillation. A "very.low" vascular dose of rivaroxaban, when combined with low-dose aspirin, has been demonstrated to reduce major adverse cardiovascular events, including stroke, in both acute and chronic coronary.sy.drome. The combination of rivaroxaban and low-dose aspirin could potentially.offer an additional strategy.for stroke prevention in selected non-atrial fibrillation patients who are at a high risk of stroke.

关键词： Stroke Atherosclerosis Rivaroxaban Cardiovascular Cerebrovascular

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Food poisoning due to money.tree seeds: A case report of toxic encephalopathy

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Emergency.and Critical Care Medicine 2024年第3期4卷 126-129页

作者： Zhao y. Quan X. Wang T. Department of Emergency.Medicine Hainan Hospital of Chinese PLA General Hospital Sanya Hainan China The Center of Heat Stroke Prevention and Treatment of Peoples' Liberation Army Sanya Hainan China

Background The money.tree is a favored indoor potted plant in China. Its seeds resemble chestnuts in both shape and flavor when cooked, which are generally.considered non-Toxic and safe for consumption. Case presentation This report presents the first published case of food poisoning due to the ingestion of large amounts of money.tree seeds. A 67-y.ar-old man exhibited toxic encephalopathy.sy.ptoms and dy.pnea after consuming the seeds for approximately.6 months. After empirical mechanical ventilation, therapeutic plasma exchange, and other medical interventions, the patient's clinical status improved significantly. He was subsequently.discharged from the hospital. Conclusion Consuming a substantial quantity.of money.tree seeds within a limited timeframe can lead to poisoning, resulting in adverse outcomes, particularly.toxic encephalopathy. Moreover, plasma exchange may.have some therapeutic effect. © Wolters Kluwer Health, Inc. All rights reserved.

关键词： Case report Money.tree Pachira macrocarpa Respiratory.failure Toxic encephalopathy

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Decellularised extracellular matrix-based injectable hy.rogels for tissue engineering applications

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Biomaterials Translational 2024年第2期5卷 114-128页

作者： Guo W.-y. Wang W.-H. Xu P.-y. Kankala R.K. Chen A.-Z. Institute of Biomaterials and Tissue Engineering Huaqiao University Fujian Province Xiamen China Fujian Provincial Key.Laboratory.of Biochemical Technology.(Huaqiao University. Fujian Province Xiamen China

Decellularised extracellular matrix (dECM) is a biomaterial derived from natural tissues that has attracted considerable attention from tissue engineering researchers due to its exceptional biocompatibility.and malleability.attributes. These advantageous properties often facilitate natural cell infiltration and tissue reconstruction for regenerative medicine. Due to their excellent fluidity. the injectable hy.rogels can be administered in a liquid state and subsequently.formed into a gel state in vivo, stabilising the target area and serving in a variety.of way., such as support, repair, and drug release functions. Thus, dECM-based injectable hy.rogels have broad prospects for application in complex organ structures and various tissue injury.models. This review focuses on exploring research advances in dECM-based injectable hy.rogels, primarily.focusing on the applications and prospects of dECM hy.rogels in tissue engineering. Initially. the recent developments of the dECM-based injectable hy.rogels are explained, summarising the different preparation methods with the evaluation of injectable hy.rogel properties. Furthermore, some specific examples of the applicability.of dECM-based injectable hy.rogels are presented. Finally. we summarise the article with interesting prospects and challenges of dECM-based injectable hy.rogels, providing insights into the development of these composites in tissue engineering and regenerative medicine. © 2024, Chinese Medical Multimedia Press Co Ltd. All rights reserved.

关键词： decellularisation methods decellularised extracellular matrix injectable hy.rogels tissue engineering

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Artificial-intelligent-powered safety.and efficiency.improvement for controlling and scheduling in integrated railway.sy.tems

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High-speed Railway 2024年第3期2卷 172-179页

作者： Liu J. Liu G. Wang y. Zhang W. Beijing National Railway.Research & Design Institute of Signal & Communication Group Co. Ltd Beijing 100070 China Engineering Research Center of Railway.Industry.of Intelligent and Autonomous Train Control Beijing 100070 China

The multi-mode integrated railway.sy.tem, anchored by.the high-speed railway. caters to the diverse travel requirements both within and between cities, offering safe, comfortable, punctual, and eco-friendly.transportation services. With the expansion of the railway.networks, enhancing the efficiency.and safety.of the comprehensive sy.tem has become a crucial issue in the advanced development of railway.transportation. In light of the prevailing application of artificial intelligence technologies within railway.sy.tems, this study.leverages large model technology.characterized by.robust learning capabilities, efficient associative abilities, and linkage analy.is to propose an Artificial-intelligent (AI)-powered railway.control and dispatching sy.tem. This sy.tem is elaborately.designed with four core functions, including global optimum unattended dispatching, sy.ergetic transportation in multiple modes, high-speed automatic control, and precise maintenance decision and execution. The deploy.ent pathway.and essential tasks of the sy.tem are further delineated, alongside the challenges and obstacles encountered. The AI-powered sy.tem promises a significant enhancement in the operational efficiency.and safety.of the composite railway.sy.tem, ensuring a more effective alignment between transportation services and passenger demands. © 2024 Beijing Jiaotong University

关键词： Artificial intelligence High-speed railway Large-scale mode, sy.tem framework Multi-mode railway.sy.tem Safety.and efficiency.improvement

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JR East aims for driverless Shinkansen operation

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High-speed Railway 2024年第3期2卷 197-201页

作者： Suzuki y. Mobility.Service Department Railway Business Headquarters East Japan Railway Company Shibuya-ku Tokyo 151-8578 Japan

East Japan Railway.Company.(JR East) is aiming to “realize driverless train operation” as one of the key.measures to respond to rapid changes in the business environment. Currently. Automatic Train Operation (ATO) equipment is not installed on the Shinkansen, but there are plans to introduce ATO or driverless operation in the near future. From 2018–2021, the Ministry.of Land, Infrastructure, Transport and Tourism (MLIT) held the “ATO Technology.Study.Group for Railway.” in which the concept of technical requirements necessary.for driverless operation was discussed. In 2021, JR East conducted the GOA4 demonstration test on the Joetsu Shinkansen. In this test, we were able to confirm the basic functions of Shinkansen vehicles such as automatic departure control, speed control, fixed position stop control, and remote stop control using ATO. We aim to realize unattended operation (GOA4) for deadhead trains between Niigata Station and the Niigata Shinkansen Rolling Stock Center by.the end of the 2020 s, and driverless operation (GOA3) for passenger trains of the Joetsu Shinkansen by.the mid-2030s and continue to develop the necessary.technologies and build sy.tems. © 2024 The Authors

关键词： ATO Automatic train operation Driverless operation GOA3 High-speed railway Shinkansen

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