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Partition and planning:A human-like motion decision for UAV in trap environment

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Science China(Technological Sciences) 2024年第4期67卷 1226-1237页

作者： CHEN JinTao ZHOU qi REN HongRu li HongYi School of Automation Guangdong University of TechnologyGuangzhou 510006China Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou 510006Chi

This paper presents a human-like motion decision-making method for unmanned aerial vehicles(UAVs)navigating in trap *** proposed a space partitioning method based on sampling and consistency control to conduct a preliminary analysis of the indoor environment based on architectural *** method reduces the dimensionality of the path planning problem,thereby enhancing the ***,we designed a target-switching logic for the dynamic window *** improvement endows the UAV with the capability of both real-time obstacle avoidance and global navigation,enhancing the efficiency of the UAV in flying to task spots ***,by applying human-like methods of batch distance perception and obstacle perception to this scheme,we have further enhanced the robustness and efficiency of path ***,considering the scenario of high-rise fire rescue,we conducted simulation *** demonstrates that our scheme enhances the efficiency and robustness of path planning.

关键词： path planning indoor environment spacial partition high-rise fire rescue

Single-atom catalysts supported on graphene/electride heterostructures for the enhanced sulfur reduction reaction in lithium-sulfur batteries

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Journal of Energy Chemistry 2024年第10期97卷 738-746页

作者： Siyun qi Chuanchuan li Gang Chen Mingwen Zhao School of Physics and Electronics Shandong Normal University qingdao Industrial Energy Storage Research Institute Qingdao Institute of Bioenergy and Bioprocess Technology Chinese Academy of Sciences School of Physics & State Key Laboratory of Crystal Materials Shandong University

Single-atom catalysts（SACs） hold great promise in addressing the sluggish kinetics of the sulfur reduction reaction（SRR） in lithium-sulfur（li-S） batteries for their unique catalytic activity and maximum atom *** these SACs must be dispersed on solid substrates,the underlying support is usually limited to carbon materials that have a poor ability to modulate the coordination environment and electronic structures of single atoms,and consequently their catalytic activity toward the SRR is *** we propose two-dimensional（2D） graphene/electride heterostructu res as substrates to enhance the catalytic activities of SACs for li-S batteries.2D electrides featuring the anionic electron gas on their surface enable efficient electron transfer to SACs,which alters their electronic structures,resulting in the shifts of the d orbital and Fermi *** unique electronic structure decreases the filling of antibonding states such that the bonding with adsorbates at active sites is *** demonstrate the enhanced catalytic performance of SACs in terms of the Gibbs free energy of SRR and li2S *** addition,a universal descriptor for the rapid screening of SACs is established by a linear regression fitting *** work provides a new design strategy to modulate SAC activity through electrides for li-S batteries.

关键词： Charge transfers DFT calculations Electrides Kinetics Universal descriptors

Inetetamab combined with tegafur as second-line treatment for human epidermal growth factor receptor-2-positive gastric cancer: A case report

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World Journal of Clinical Cases 2024年第4期12卷 820-827页

作者： Jing-Hao Zhou qi-jun Yi Ming-Yan li Yan Xu qi Dong Cong-Ying Wang Hai-Yan liu Department of Oncology The Second Affiliated Hospital of Shandong First Medical UniversityTai’an 271000Shandong ProvinceChina

BACKGROUND Human epidermal growth factor receptor-2(HER-2)plays a vital role in tumor cell proliferation and ***,the prognosis of HER2-positive gastric cancer is ***,a novel anti-HER2 targeting drug independently developed in China,exhibits more potent antibody-dependent cell-mediated cytotoxicity than trastuzumab,which is administered as the first-line treatment for HER2-positive gastric cancer in combination with *** this case,the efficacy and safety of inetetamab combined with tegafur was investigated as a second-line treatment for HER2-positive gastric *** SUMMARY A 52-year-old male patient with HER2-positive gastric cancer presented with abdominal distension,poor appetite,and fatigue two years after receiving six cycles of oxaliplatin combined with tegafur as first-line treatment after surgery,followed by tegafur monotherapy for six *** patient was diagnosed with postoperative recurrence of gastric *** received 17 cycles of a combination of inetetamab,an innovative domestically developed anti-HER2 monoclonal antibody,and tegafur chemotherapy as the second-line treatment(inetetamab 200 mg on day 1,every 3 wk combined with tegafur twice daily on days 1–14,every 3 wk).Evaluation of the efficacy of the second-line treatment revealed that the patient achieved a stable condition and progression-free survival of 17 *** tolerated the treatment well without exhibiting any grade 3-4 adverse *** Inetetamab combined with chemotherapy for the treatment of metastatic HER2-positive gastric cancer demonstrates significant survival benefits and acceptable safety.

关键词： Inetetamab Gastric cancer Human epidermal growth factor receptor-2 protein Tegafur Case report

Prediction models of burst strength degradation for casing with considerations of both wear and corrosion

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Petroleum Science 2024年第1期21卷 458-474页

作者： Jie-li Wang Wen-jun Huang De-li Gao MOE Key Laboratory of Petroleum Engineering China University of PetroleumBeijing102249China State Key Laboratory of Petroleum Resources and Prospecting China University of PetroleumBeijing102249China

Casing wear and casing corrosion are serious problems affecting casing integrity failure in deep and ultra-deep *** paper aims to predict the casing burst strength with considerations of both wear and ***,the crescent wear shape is simplified into three categories according to common mathematical ***,based on the mechano-electrochemical(M-E)interaction,the prediction model of corrosion depth is built with worn depth as the initial condition,and the prediction models of burst strength of the worn casing and corroded casing are ***,the accuracy of different prediction models is validated by numerical simulation,and the main influence factors on casing strength are *** last,the theoretical models are applied to an ultra-deep well in Northwest China,and the dangerous well sections caused by wear and corrosion are predicted,and the corrosion rate threshold to ensure the safety of casing is *** results show that the existence of wear defects results in a stress concentration and enhanced M-E interaction on corrosion depth *** accuracy of different mathematical models is different:the slot ring model is most accurate for predicting corrosion depth,and the eccentric model is most accurate for predicting the burst strength of corroded *** burst strength of the casing will be overestimated by more than one-third if the M-E interaction is neglected,so the coupling effect of wear and corrosion should be sufficiently considered in casing integrity evaluation.

关键词： Deep well Casing integrity Casing wear Casing corrosion Burst strength

Real-time Energy Management Method for Electric-hydrogen Hybrid Energy Storage Microgrids Based on DP-MPC

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 324-336页

作者： qi li Xueli Zou Yuchen Pu Weirong Chen School of Electrical Engineering Southwest Jiaotong UniversityChengdu 611756China

With the increasing presence of intermittent energy resources in microgrids,it is difficult to precisely predict the output of renewable resources and their load *** order to realize the economical operations of the system,an energy management method based on a model predictive control(MPC)and dynamic programming(DP)algorithm is *** method can reasonably distribute the energy of the battery,fuel cell,electrolyzer and external grid,and maximize the output of the distributed power supply while ensuring the power balance and cost optimization of the *** on an ultra-shortterm forecast,the output power of the photovoltaic array and the demand power of the system load are *** offline global optimization of traditional dynamic programming is replaced by the repeated rolling optimization in a limited period of time to obtain power values of each unit in the energy storage *** with the traditional DP,MILP-MPC and the logic based real-time management method,the proposed energy management method is proved to be feasible and effective.

关键词： Electric-hydrogen hybrid energy economic energy management improved dynamic programming microgrid model predictive control

Design and calibration of spoke piezoelectric six-dimensional force/torque sensor for space manipulator

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Chinese Journal of Aeronautics 2024年第1期37卷 218-235页

作者： Yingjun li Guicong WANG Shuai ZHANG Yuanqin ZHOU Hongyu li Zhenguang qi School of Mechanical Engineering University of JinanJinan 250022China

The large manipulator outside the space cabin is a multi-degree of freedom actuator for space *** order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively *** on the deformation coordination relationship,the redundancy measurement mechanism is *** mathematical models of the sensor with and without branch fault are established *** finite element model is established to verify the feasibility of structure and redundancy measuring principle of the *** on the theoretical analysis and simulation analysis,the prototype of the sensor is *** and dynamic calibration experiments are carried *** actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage *** on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed *** experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and ***,it has strong decoupling characteristic that can effectively shield the coupling between *** nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,*** natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic *** research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with ***,it will significantly improve the research level in this field,and provide a strong guarantee for the smoot

关键词： Decoupling algorithm Piezoelectric Redundancy Six-dimensional force/torque sensor Space manipulator

Clinical experience sharing on gastric microneuroendocrine tumors: A case report

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World Journal of Clinical Cases 2024年第4期12卷 795-800页

作者： You-jun Wang Da-Ming Fan Yu-Shuang Xu qi Zhao Zhen-Fang li Department of Gastroenterology Central Hospital Affiliated to Shandong First Medical UniversityJinan 250000Shandong ProvinceChina Department of Pathology Central Hospital Affiliated to Shandong First Medical UniversityJinan 250000Shandong ProvinceChina Department of Gastroenterology The Affiliated Hospital of Qingdao UniversityQingdao 266000Shandong ProvinceChina

BACKGROUND The majority of gastric neuroendocrine tumors(G-NENs)are present in various lesions under endoscopy,and they can be polypoid uplifts,submucosal tumors or papules,erosions,and *** lesions are mostly confined to the mucosal or submucosal layer,usually less than 2 cm,and exclusively localized to the gastric body or *** type 1 G-NENs,about 22%of cases have no visible lesions under an endoscope,and such lesions can only be detected via biopsies(microcar-cinoids).CONCLUSION In the case under study,the patient did not have any visible raised lesions under a gastroscope,and the lesions were found only after a random *** article combines the endoscopic manifestations and clinical features of the lesions in this case to improve the diagnosis of G-NENs.

关键词： Neuroendocrine tumor Micro carcinoids Endoscopy Case report

Correlation analysis of interstitial maturity and prognosis of colorectal cancer:Meta-analysis

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World Journal of Gastrointestinal Oncology 2024年第6期16卷 2816-2825页

作者： Zhen-jun liu Xu-Wen Zhang qi-qi liu Shao-Zhao Wang Department of Gastrointestinal Surgery Feicheng People's HospitalFeicheng 271600Shandong ProvinceChina Department of Hepatobiliary Surgery Feicheng People's HospitalFeicheng 271600Shandong ProvinceChina Department of Gastrointestinal Surgery Peking University Shenzhen HospitalShenzhen 518036Guangdong ProvinceChina Department of Anorectal Word Central Hospital Affiliated Shandong First Medical UniversityJinan 250013Shandong ProvinceChina

BACKGROUND To investigate the relationship between interstitial maturity and prognosis of colorectal *** To examine the correlation between interstitial maturity and the prognosis of colorectal *** The paper database PubMed,EMBASE,Cochranelibrary,Springerlink,CNKI,and Wanfang database were searched until December 2023."tumor stroma maturity""desmoplastic stroma reaction""desmoplastic reaction""stroma reaction""degree of stroma reaction""stroma classification""stroma density""colorectal cancer""colon cancer""rectal cancer""prognosis"were searched for the search *** system assessors independently screened the literature quality according to the inclusion exclusion criteria,Quality evaluation and data extraction were performed for the included literatures,and meta-analysis was performed for randomized control trials included at using Review Manager 5.2 *** Finally,data of 9849 patients with colorectal cancer from 19 cosets in 15 literatures were included,including 4339 patients with mature type(control group),3048 patients with intermediate type(intermediate group)and 2456 patients with immature type(immature group).The results of meta-analysis showed:Relapse-free survival[hazard ratio(HR)=2.66,95%confidence interval(CI):2.30-3.08;Plity of life of colorectal cancer patients.

关键词： Colorectal tumor Survival prognosis Tumor interstitial maturity Systematic review Meta-analysis

Chromosome-level genome assembly of the Asian citrus psyllid,Diaphorina citri

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Insect Science 2024年第1期31卷 13-27页

作者： Shuang Lei Shi-Jiang Yu qi Pan li-li Ding Si-Chen li Lu-Yan Cheng Shu-qi Wang Bing-Hai Lou jun He Cui-Yun Lei lin Cong Hao-qiang liu Xue-Feng Wang Chun Ran Citrus Research Institute Southwest University/Chinese Academy of Agricultural SciencesNational Engineering Research Center for CitrusChongqingChina

Diaphorina citri is a global citrus *** a vector insect,it can transmit the causative agents of citrus huanglongbing,causing irreversible losses to the citrus *** acquisition of genomic information can provide a molecular genetic basis for effective control of ***,the DNBSEQ™,Oxford Nanopore Technologies,and Hi-C technologies are applied to generate a high-quality chromosome-level genome of *** genome size of *** was 523.78 Mb with a scaffold N50 of 47.05 Mb distributed on 13 chromosomes.A total of 250.64 Mb(47.85%)repeat sequences and 24048 protein-coding genes were *** resequencing of female and male individuals indicated that the sex chromosome system of *** is *** analysis demonstrated that *** and Pachypsylla venusta,which separated from their most recent common ancestor about 336.62 million years ago,were the most closely ***,we identified genes potentially involved in detoxification metabolism,pathogen transmission,and honeydew secretion for further *** high-quality genome provides an important reference for developing effective management strategies of ***.

关键词： Asian citrus psyllid chromosome-level genome comparative genomics cytochrome P450 detoxification Huanglongbing