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Heuristic Expanding Disconnected Graph:A Rapid Path Planning Method for Mobile Robots

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 68-82页

作者： yong Tao lian Duan He Gao Yufan Zhang Yian Song Tianmiao Wang School of Mechanical Engineering&Automation Beihang UniversityBeijing 100191China Aero-Engine Research Institute Beihang UniversityBeijing 102206China School of Large Aircraft Engineering Beihang UniversityBeijing 100191China

Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational *** to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this ***,all obstacles are marked and their corners are located through the map ***,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected ***,the EDG*heuristic iterative algorithm is *** selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum *** planning experiments were conducted in a typical indoor environment and on the public dataset *** result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map *** EDG*showed better performance in terms of path smoothness,and collision *** shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.

关键词： Global path planning Mobile robot Expanding disconnected graph Edge node Offset

Influence of Micro/Nano-Ti Particles on the Corrosion Behavior of AZ31-Ti Composites

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Acta Metallurgica Sinica(English Letters) 2024年第3期37卷 484-498页

作者： Jinchao Jiao Jin Zhang yong lian shengli Han Kaihong Zheng Fusheng Pan Institute for Advanced Materials and Technology University of Science and Technology BeijingBeijing 10083China Beijing Key Laboratory for Corrosion Erosion and Surface Technology Beijing 100083China Institute of New Materials Guangdong Academy of SciencesGuangzhou 510650China National Engineering Research Center for Magnesium Alloys Chongqing UniversityChongqing 404100China

Adding Ti particles to magnesium alloy simultaneously enhances its strength and ***,how these particles influence on Mg alloy’s corrosion performance is seldom *** corrosion behavior of AZ31-Ti composites containing titanium nanoparticles(1.5 and 5 wt%)and micron particles(10 wt%)prepared by powder metallurgical in 3.5 wt%NaCl solution was *** results indicate that Ti particles serve as the primary location for the cathodic hydrogen reduction reaction,resulting in intense galvanic corrosion between the Ti and Mg *** nanoparticles distributed at the interface of the original AZ31 powder were in a discontinuous mesh structure,thus failing to act as a barrier against *** corrosion products with the existence of numerous cracks gradually peel off during the corrosion process and cannot protect the *** average corrosion rate P_(w) of AZ31,AZ31-1.5%Ti,AZ31-5%Ti,and AZ31-10%Ti after 7 days of immersion is 27.55,105.65,283.67,and 99.35 mm/y,***,AZ31-Ti composites can be considered as potential candidates for degradable fracturing ***,it is recommended to improve their corrosion resistance through surface treatment.

关键词： AZ31-Ti composite Nano-Ti Micro-Ti Corrosion behavior Scanning Kelvin probe force microscopy(SKPFM)

Efficacy of radiofrequency ablation combined with sorafenib for treating liver cancer complicated with portal hypertension and prognostic factors

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World Journal of Gastroenterology 2024年第11期30卷 1533-1544页

作者： Li-Min Yang Hong-Juan Wang Shan-Lin Li Guan-Hua Gan Wen-Wen Deng yong-sheng Chang lian-Feng Zhang Department of Gastroenterology The First Affiliated Hospital of Zhengzhou UniversityZhengzhou 450052Henan ProvinceChina Department of Gastroenterology Zhoukou Central Hospital of Henan ProvinceZhoukou 466000Henan ProvinceChina Department of Gastroenterology The First Affiliated Hospital of Xinxiang Medical CollegeXinxiang 453000Henan ProvinceChina

BACKGROUND Patients with liver cancer complicated by portal hypertension present complex challenges in *** To evaluate the efficacy of radiofrequency ablation in combination with sorafenib for improving liver function and its impact on the prognosis of patients with this *** Data from 100 patients with liver cancer complicated with portal hypertension from May 2014 to March 2019 were analyzed and divided into a study group(n=50)and a control group(n=50)according to the treatment *** research group received radiofrequency ablation(RFA)in combination with sorafenib,and the control group only received *** short-term efficacy of both the research and control groups was *** function and portal hypertension were compared before and after ***-fetoprotein(AFP),glypican-3(GPC-3),and AFP-L3 levels were compared between the two groups prior to and after *** occurrence of adverse reactions in both groups was *** 3-year survival rate was compared between the two *** data were compared between the survival and non-surviving *** identify the independent risk factors for poor prognosis in patients with liver cancer complicated by portal hypertension,multivariate logistic regression analysis was *** When comparing the two groups,the research group's total effective rate(82.00%)was significantly greater than that of the control group(56.00%;P<0.05).Following treatment,alanine aminotransferase and aspartate aminotransferase levels increased,and portal vein pressure decreased in both *** degree of improvement for every index was substantially greater in the research group than in the control group(P<0.05).Following treatment,the AFP,GPC-3,and AFP-L3 levels in both groups decreased,with the research group having significantly lower levels than the control group(P<0.05).The incidence of diarrhea,rash,nausea and vomiting,and fatigue in the research group was significantly great

关键词： Radiofrequency ablation Sorafenib Liver cancer Portal hypertension Efficacy Prognosis analysis

Engineering g-C_(3)N_(4)based materials for advanced photocatalysis:Recent advances

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Green Energy & Environment 2024年第2期9卷 166-197页

作者： Xin-lian Song Lei Chen Li-Jiao Gao Jin-Tao Ren Zhong-yong Yuan National Institute for Advanced Materials School of Materials Science and EngineeringSmart Sensing Interdisciplinary Science CenterNankai UniversityTianjin300350China Key Laboratory of Advanced Energy Materials Chemistry(Ministry of Education) Nankai UniversityTianjin300071China

Photocatalysis driven by abundant yet intermittent solar energy has considerable potential in renewable energy generation and environmental *** outstanding electronic structure and physicochemical properties of graphitic carbon nitride(g-C_(3)N_(4)),together with unique metal-free characteristic,make them ideal candidates for advanced photocatalysts *** review summarizes the up-to-date advances on g-C_(3)N_(4)based photocatalysts from ingenious-design strategies and diversified photocatalytic ***,the advantages,fabrication methods and limitations of each design strategy are systemically *** order to deeply comprehend the inner connection of theory–structure–performance upon g-C_(3)N_(4)based photocatalysts,structure/composition designs,corresponding photocatalytic activities and reaction mechanisms are jointly discussed,associated with introducing their photocatalytic applications toward water splitting,carbon dioxide/nitrogen reduction and pollutants degradation,***,the current challenges and future perspectives for g-C_(3)N_(4)based materials for photocatalysis are briefly *** design strategies and limitations are also instructive for constructing g-C_(3)N_(4) based materials in other energy and environment-related applications.

关键词： Graphitic carbon nitride g-C_(3)N_(4) Design strategies Photocatalysis Photocatalysts Reaction mechanism

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An Implicit Kinetic Flux Vector Splitting Scheme

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Communications in Nonlinear Science and Numerical Simulation 1997年第3期2卷 56-60页

作者： yong sheng lian & Ruquan WANG (Institute of Computational Mathematics and Scientific/Engineering Computing,Academia Sinica) E mail:wrq@*** Institute of Computational Mathematics and Scientific/Engineering Computing Academia Sinica China

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关键词： Boltzmann equation KFVS

Graphitic carbons: preparation, characterization,and application on K-ion batteries

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Rare Metals 2024年第9期43卷 4056-4075页

作者： Kang-Zhe Cao Jia-Hui Ma Yu-lian Dong Yu Duan Run-Tian Zheng Dharani Bundhooa Hui-Qiao Liu yong Lei College of Chemistry and Chemical Engineering Xinyang Normal University Xinyang Key Laboratory of Low-Carbon Energy Materials Fachgebiet Angewandte Nanophysik Institut für Physik & IMN MacroNano Technische Universit?t Ilmenau Laboratory of Inorganic Materials Chemistry (CMI) University of NamurB-5000 Namur

K-ion batteries(KIBs) have drawn much attention due to the abundant potassium reserves and wide accessibility as well as high energy density, which can be designed for large-scale energy storage systems. As the most promising anode materials for KIBs, graphitic carbons, especially those with an intermediate structure between the crystalline graphite and amorphous carbons become a hot research focus because of the improved rate capability and enhanced diffusion-controlled capacity at low voltage regions. Herein, we first review the structures of graphitic carbons in the view of graphitic domains and the structure changes in their K-ion intercalation compounds. Then, we summarize the preparation mechanisms and characterizations of graphitic carbons and the influence factors in their degree of graphitization. Furtherly, we illustrate the strategies to optimize their K-ion storage properties from four aspects, namely graphitic domain design, microstructure engineering, electrochemical active component regulation, and defect engineering. Finally, we propose the issues that urgently need to be solved in graphitic carbons and the possible solutions. We hope that this view could offer some inspiration for the further designing and optimizing of graphitic carbons for practical KIBs.

关键词： Anodes

CD87-targeted BiT E and CAR-T cells potently inhibit invasive nonfunctional pituitary adenomas

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Science China Life Sciences 2024年

作者： Yuan Ren Xinjie Bao Ming Feng Bing Xing Wei lian yong Yao Renzhi Wang Department of Neurosurgery Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College

Recently, bispecific T-cell engagers(BiTEs) and chimeric antigen receptor-modified T cells(CAR-Ts) have been shown to have high therapeutic efficacy in hematological tumors. CD87 is highly expressed in solid tumors with an oncogenic function. To assess their cytotoxic effects on invasive nonfunctioning pituitary adenomas(iNFPAs), we first examined CD87 expression and its effects on the metabolism of iNFPA cells. We generated CD87-specific BiTE and CAR/IL-12 T cells, and their cytotoxic effects on iNFPAs cells and in mouse models were determined. CD87 had high expression in i NFPA tissue and cell samples but was undetected in noncancerous brain samples. CD87×CD3BiTE and CD87 CAR/IL-12 T-cells showed antigenic specificity and exerted satisfactory cytotoxic effects, decreasing tumor cell proliferation in vitro and reducing existing tumors in experimental mice. Overall, the above findings suggest that CD87 is a promising target for the immunotherapeutic management of iNFPAs using anti-CD87 BiTE and CD87-specific CAR/IL-12 T cells.

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Analysis of risk factors leading to anxiety and depression in patients with prostate cancer after castration and the construction of a risk prediction model

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World Journal of Psychiatry 2024年第2期14卷 255-265页

作者： Rui-Xiao Li Xue-lian Li Guo-Jun Wu yong-Hua Lei Xiao-Shun Li Bo Li Jian-Xin Ni Urology Hospital Xi'an People's Hospital(Xi'an Fourth Hospital)Xi'an 710199Shaanxi ProvinceChina Department of Surgery Xi'an Hospital of Traditional Chinese MedicineXi'an 710199Shaanxi ProvinceChina

BACKGROUND Cancer patients often suffer from severe stress reactions psychologically,such as anxiety and *** cancer(PC)is one of the common cancer types,with most patients diagnosed at advanced stages that cannot be treated by radical surgery and which are accompanied by complications such as bodily pain and bone ***,attention should be given to the mental health status of PC patients as well as physical adverse events in the course of clinical *** To analyze the risk factors leading to anxiety and depression in PC patients after castration and build a risk prediction *** A retrospective analysis was performed on the data of 120 PC cases treated in Xi'an People's Hospital between January 2019 and January *** patient cohort was divided into a training group(n=84)and a validation group(n=36)at a ratio of 7:*** patients’anxiety symptoms and depression levels were assessed 2 wk after surgery with the Self-Rating Anxiety Scale(SAS)and the Selfrating Depression Scale(SDS),*** regression was used to analyze the risk factors affecting negative mood,and a risk prediction model was *** In the training group,35 patients and 37 patients had an SAS score and an SDS score greater than or equal to 50,*** on the scores,we further subclassified patients into two groups:a bad mood group(n=35)and an emotional stability group(n=49).Multivariate logistic regression analysis showed that marital status,castration scheme,and postoperative Visual Analogue Scale(VAS)score were independent risk factors affecting a patient's bad mood(P<0.05).In the training and validation groups,patients with adverse emotions exhibited significantly higher risk scores than emotionally stable patients(P<0.0001).The area under the curve(AUC)of the risk prediction model for predicting bad mood in the training group was 0.743,the specificity was 70.96%,and the sensitivity was 66.03%,while in the validation

关键词： Prostate cancer Castration Anxiety and depression Risk factors Risk prediction model

Artificial intelligence models based on non-contrast chest CT for measuring bone mineral density

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中国医学影像技术 2024年第8期40卷 1231-1235页

作者： DUAN Wei YANG Guoqing LI Yang SHI Feng YANG lian XIONG Xin CHEN Bei LI yong FU Quanshui Department of Medical Imaging North Sichuan Medical CollegeNanchong 637000China Department of Radiology Suining Central HospitalSuining 629000China Department of Radiology Suining Hospital of Traditional Chinese MedicineSuining 629000China Shanghai United Imaging Intelligence Co.Ltd. Shanghai 201807China

Objective To observe the value of artificial intelligence(AI)models based on non-contrast chest CT for measuring bone mineral density(BMD).Methods Totally 380 subjects who underwent both non-contrast chest CT and quantitative CT(QCT)BMD examination were retrospectively enrolled and divided into training set(n=304)and test set(n=76)at a ratio of 8∶*** mean BMD of L1—L3 vertebrae were measured based on *** bones of T5—T10 vertebrae were segmented as ROI,radiomics(Rad)features were extracted,and machine learning(ML),Rad and deep learning(DL)models were constructed for classification of osteoporosis(OP)and evaluating BMD,*** operating characteristic curves were drawn,and area under the curves(AUC)were calculated to evaluate the efficacy of each model for classification of ***-Altman analysis and Pearson correlation analysis were performed to explore the consistency and correlation of each model with QCT for measuring *** Among ML and Rad models,ML Bagging-OP and Rad Bagging-OP had the best performances for classification of *** test set,AUC of ML Bagging-OP,Rad Bagging-OP and DL OP for classification of OP was 0.943,0.944 and 0.947,respectively,with no significant difference(all P>0.05).BMD obtained with all the above models had good consistency with those measured with QCT(most of the differences were within the range of Ax-G±1.96 s),which were highly positively correlated(r=0.910—0.974,all P<0.001).Conclusion AI models based on non-contrast chest CT had high efficacy for classification of OP,and good consistency of BMD measurements were found between AI models and QCT.

关键词： osteoporosis bone density tomography,X-ray computed artificial intelligence

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