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Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao HUANG Tianqi WANG Wenyu YANG Han CHEN Boyang LI Chih-yung WEN department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Center for Control Theory and guidance Technology Harbin Institute of Technology School of Engineering The University of Newcastle Research Center for Unmanned Autonomous Systems The Hong Kong Polytechnic University

Autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

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Embodying Deeply Held Values in Education:Seeking a More Equitable World for Both Humans and Non-Humans

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ECNU Review of Education 2024年第2期7卷 241-251页

作者：林静 Shue-kei Joanna Mok Virginia Gomes department of counseling Higher Education and Special EducationCollege of Education3214 Benjamin BuildingUniversity of MarylandCollege ParkMD20742USA

Highlights In this article,we contend that the bedrock of an equitable world lies in the profound recognition of love as the fundamental force permeating the *** believe that love is built into the essence of who we *** posit that genuine progress toward an equitable world is elusive unless we place love,both for one another and for the natural world,at the core of our educational endeavors.

关键词： Embodied practices heart and spirit love and equity love as a cosmic force

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Computerized cognitive remediation therapy on cognitive impairment and social function in patients with chronic schizophrenia

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World Journal of Psychiatry 2024年第6期14卷 884-893页

作者： Jian-Jun Hu Xi-Rong Sun Shuang-Ming Ni Yan Kong department of Psychiatry Shanghai Pudong New Area Mental Health Center(Mental Health Center of Tongji UniversityShanghai Pudong New Area Psychological Counseling Center)Shanghai 200124China

BACKGROUND Patients with schizophrenia may have various disease manifestations,most of which gradually tend toward incurable chronic decline,leading to mental *** basic symptoms of the disease can impair social function,whereas long-term hospitalization produces hospitalization syndrome,causing serious damage to social *** To investigate the effects of Computerized Cognitive Remediation Therapy(CCRT)on cognitive and social functioning in patients with chronic *** A retrospective analysis of 120 patients with chronic schizophrenia in Shanghai Pudong New Area Mental Health Center was *** were divided into an intervention group(60 cases treated with CCRT combined with conventional medication)and a control group(60 cases treated with conventional medication).After treatment,effects on cognitive function and social roles were observed in both *** Positive and Negative Syndrome Scale(PANSS)was used to assess the patients'psychiatric *** Wisconsin Card Sorting Test(WCST)was used to assess the patients'cognitive functioning,and the Social Functioning Scale for Psychiatric Inpatients(SSPI)was used to assess the social functioning of the inpatient psychiatric *** No significant differences were observed in the PANSS,WCST,and SSPI intergroup scores before treatment(P>0.05).After 2,4,and 6 wk of therapy,general psychopathological factors,positive symptoms,negative symptoms,and total PANSS scores of PANSS in the intervention group were lower than in the control group(P<0.05).After 2,4,and 6 wk of treatment,the number of false responses,number of persistent bugs,and total responses in the WCST were significantly lower in the intervention group than in the control group(P<0.05),and the amount of completed classification was significantly higher than in the control group(P<0.05).After 2,4,and 6 wk of therapy,the SSPI scores were significantly greater than those of the controls(P<0.05).After 6 wk of treatm

关键词： Computerized cognitive correction therapy Schizophrenia Cognitive function Social function Psychopathological factors

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Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds

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Chinese Journal of Aeronautics 2024年第2期37卷 431-445页

作者： Hao LU Lan GAO Yunda YAN Mingzhe HOU Chenliang WANG Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Information Science and Technology Hangzhou Normal UniversityHangzhou 311121China department of Computer Science University College LondonLondon WC1E 6BTUnited Kingdom Center for Control Theory and guidance Technology Harbin Institute of TechnologyHarbin 150001China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to follow a predefined flight *** cope with various wind conditions,this paper proposes a wind disturbance compensated path following control strategy where the wind disturbance estimate is incorporated with the nominal guiding vector field to provide the desired airspeed direction for the *** the control input vector for the outer-loop kinematic subsystem needs to satisfy a magnitude constraint,a scaling mechanism is introduced to tune the proportions of the compensation and nominal ***,an optimization problem is formulated to pursue a maximum wind compensation in strong winds,which can be solved analytically to yield two scaling factors.A cascaded inner-loop tracking controller is also designed to fulfill the outer-loop wind disturbance compensated guiding vector ***-fidelity simulation results under sensor noises and realistic winds demonstrate that the proposed path following algorithm is less sensitive to sensor noises,achieves promising accuracy in normal winds,and mitigates the deviation from a desired path in wild winds.

关键词： Path following Guiding vector field Wind disturbance Disturbance rejection Fixed wings

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Trends in Incidence of HIV and Syphilis Among Men Who Have Sex with Men—Tianjin Municipality,China,2013-2022

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China CDC weekly 2024年第27期6卷 651-657页

作者： Yan Guo Fangfang Chen Hui Gong Ziming Wu Xinying Zhang Tielin Ning Zhongquan Liu Jianyun Bai Long Li Jie Yang Fangning Zhao Jinyu Hou Maohe Yu Houlin Tang STD&AIDS Control and Prevention Section Tianjin Center for Disease Control and PreventionTianjinChina National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases National Center for AIDS/STD Control and PreventionChinese Center for Disease Control and PreventionBeijingChina STD&AIDS Control and Prevention department Tianjin Hongqiao District Center for Disease Control and PreventionTianjinChina Tianjin Shenlan Public Health counseling Service Center TianjinChina Tianjin Key Laboratory of Pathogenic Microbiology of Infectious Disease Tianjin Centers for Disease Control and PreventionTianjinChina

Summary What is already known about this topic?Given the common modes of transmission,outbreaks of both human immunodeficiency virus(HIV)and syphilis are primarily observed in men who have sex with men(MSM).However,minimal research has been conducted to concurrently evaluate the rates and trends of HIV and syphilis incidence within this community in *** is added by this report?

关键词： Incidence primarily immunodeficiency

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MicroRNAs as potential biomarkers for diagnosis of attention deficit hyperactivity disorder

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Neural Regeneration Research 2024年第3期19卷 557-562页

作者： Bridget Martinez Philip V.Peplow department of Pharmacology University of Nevada-RenoRenoUSA department of Medicine University of Nevada-RenoRenoUSA department of Anatomy University of OtagoDunedinNew Zealand

Inappropriate levels of hyperactivity,impulsivity,and inattention characterize attention deficit hyperactivity disorder,a common childhood-onset neuropsychiatric *** cognitive function and learning ability of children with attention deficit hyperactivity disorder are affected,and these symptoms may persist to adulthood if they are not *** diagnosis of attention deficit hyperactivity disorder is only based on symptoms and objective tests for attention deficit hyperactivity disorder are *** for attention deficit hyperactivity disorder in children include medications,behavior therapy,counseling,and education services which can relieve many of the symptoms of attention deficit hyperactivity disorder but cannot cure *** is a need for a molecular biomarker to distinguish attention deficit hyperactivity disorder from healthy subjects and other neurological conditions,which would allow for an earlier and more accurate diagnosis and appropriate treatment to be *** expression of microRNAs is connected to brain development and disease and could provide novel biomarkers for the diagnosis and prognosis of attention deficit hyperactivity *** recent studies reviewed had performed microRNA profiling in whole blood,white blood cells,blood plasma,and blood serum of children with attention deficit hyperactivity disorder.A large number of microRNAs were dysregulated when compared to healthy controls and with some overlap between individual *** the studies that had included a validation set of patients and controls,potential candidate biomarkers for attention deficit hyperactivity disorder in children could be miR-140-3p,let-7g-5p,-30e-5p,-223-3p,-142-5p,-486-5p,-151a-3p,-151a-5p,and-126-5p in total white blood cells,and miR-4516,-6090,-4763-3p,-4281,-4466,-101-3p,-130a-3p,-138-5p,-195-5p,and-106b-5p in blood *** studies are warranted with children and adults with attention deficit hyperactivity disorder,and

关键词： adults attention deficit hyperactivity disorder biomarkers blood plasma blood serum children microRNA total white blood cells whole blood

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Self-Compassion Moderates the Effect of Contingent Self-Esteem on Well-Being:Evidence from Cross-Sectional Survey and Experiment

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International Journal of Mental Health Promotion 2024年第2期26卷 117-126页

作者： Ruirui Zhang Xuguang Zhang Minxin Yang Haoran Zhang Mental Health Education and counseling Center Shanghai University of International Business and EconomicsShanghai201620China School of Communication Engineering Hangzhou Dianzi UniversityHangzhou310018China School of Languages Shanghai University of International Business and EconomicsShanghai201620China School of Computer Science and Information Technology Northeast Normal UniversityChangchun130117China Library Northeast Normal UniversityChangchun130024China

Contingent self-esteem captures the fragile nature of self-esteem and is often regarded as suboptimal to psychological ***-compassion is another important self-related concept assumed to promote mental health and ***,research on the relation of self-compassion to contingent self-esteem is *** studies were conducted to explore the role of selfcompassion,either as a personal characteristic or an induced mindset,in influencing the effects of contingent self-esteem on *** 1 recruited 256 Chinese college students(30.4%male,mean age=21.72 years)who filled out measures of contingent self-esteem,self-compassion,and *** results found that self-compassion moderated the effect of contingent self-esteem on *** Study 2,a sample of 90 Chinese college students(34%male,mean age=18.39 years)were randomly assigned to either a control or self-compassion *** completed baseline trait measures of contingent self-esteem,self-compassion,and ***,they were led to have a 12-min break(control group)or listen to a 12-min self-compassion audio(self-compassion group),followed by a social stress task and outcome *** results demonstrated the effectiveness of the brief self-compassion training and its moderating role in influencing the effects of contingent self-esteem on negative affects after the social stress *** research provides implications that to equip with a self-compassionate mindset could lower the risk of the impairment of well-being associated with elements of contingent selfesteem,which involves a fragile sense of *** may also provide insights into the development of an“optimal selfesteem”and the improvement of well-being.

关键词： Self-compassion contingent self-esteem well-being social evaluative threat

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International standard of Traditional Chinese Medicine Techniques: Traditional Chinese Medicine guidelines for acute primary headache(2022)

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Journal of Traditional Chinese Medicine 2024年第4期44卷 839-850页

作者： YAO Yuning CAO Kegang ZHANG Genming LIU Jianping CHEN Wei CAO Junling YANG Wenming YAN Yongmei GENG Chang JU Yi ZHAO Dexi QU Miao LI Xiaoli SUN Li HAN Zhenyun HE Liyun CUI Fangyuan FU Caihong ZHOU Bo LIAO Shuqin department of Neurology Dongzhimen Hospital of Beijing University of Chinese Medicine Centre for Evidence-Based Chinese Medicine Beijing University of Chinese Medicine Encephalopathy center First Affiliated Hospital of Anhui University of Chinese Medicine department of Neurology Affiliated Hospital of Shaanxi University of Chinese Medicine department of Neurology Beijing Changping District Hospital of Traditional Chinese Medicine Neurology center Beijing Tiantan HospitalCapital Medical University department of Neurology Affiliated Hospital of Changchun University of Chinese Medicine department of Neurology Xuanwu HospitalCapital Medical University department of Neurology Beijing University of Chinese Medicine Third Affiliated Hospital department of Geriatrics Jilin Academy of Traditional Chinese Medicine department of Neurology Shenzhen Hospital of Beijing University of Chinese Medicine Institute of Basic Research in Clinical Medicine China Academy Of Chinese Medical Sciences department of Rehabilitation Shunyi HospitalBeijing Traditional Chinese Medicine Hospital department of Neurology Xiyuan Hospital of China Academy of Chinese Medical Sciences

OBJECTIVE: To summarize the evidence from Traditional Chinese Medicine(TCM) practice in the treatment of acute primary headache and provide clinical practice guidance. METHODS: The guidelines were developed in accordance with the World Health Organization guideline development manual. After the establishment of steering committee, panel and the registration and protocol formulation, the evidence on TCM for acute primary headache from published guidelines, clinical evidence, and expert experience and consensus were collected. The grading of recommendations assessment, development and evaluation method was used to grade the evidence and make the recommendations. RESULTS: Based on the available evidence, the guidelines recommended three TCM herbal decoctions, six Chinese patent medicines, and two kinds of external application of Chinese herbal medicines. Diagnostic recommendations based on the expert experience and consensus were also included in the guidelines. CONCLUSION: TCM diagnosis and treatment of decoction, Chinese patent medicine and external application for treating acute primary headache were recommended. We hope these guidelines will be helpful in standardize the TCM acute treatment of primary headache.

关键词： acute primary headache medicine, Chinese traditional practice guideline

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The reformation of catalyst:From a trial-and-error synthesis to rational design

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Nano Research 2024年第4期17卷 3261-3301页

作者： Ligang Wang Jiabin Wu Shunwu Wang Huan Liu Yao Wang Dingsheng Wang department of Chemistry Tsinghua UniversityBeijing 100084China

The appropriate catalysts can accelerate the reaction rate and effectively boost the efficient conversion of various molecules,which is of great importance in the study of chemistry,chemical industry,energy,materials and environmental ***,efficient,environmentally friendly,and easy to operate synthesis methods have been used to prepare various types of *** previous studies have reported the synthesis and characterization of the aforementioned catalysts,more still remain in trial and error methods,without in-depth consideration and improvement of traditional synthesis ***,we comprehensively summarize and compare the preparation methods of the trial-and-error synthesis strategy,structure–activity relationships and density functional theory(DFT)guided catalysts rational design for nanomaterials and atomically dispersed *** also discuss in detail the utilization of the nanomaterials and single atom catalysts for converting small molecules(H_(2)O,O_(2),CO_(2),N_(2),etc.)into value-added products driven by electrocatalysis,photocatalysis,and ***,the challenges and outlooks of mass preparation and production of efficient and green catalysts through conventional trial and error synthesis and DFT theory are featured in accordance with its current development.

关键词： trial-and-error synthesis structure–activity relationships density functional theory(DFT)guidance nanomaterials atomically dispersed catalysts

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Analysis of piezoelectric semiconductor fibers under gradient temperature changes

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Applied Mathematics and Mechanics(English Edition) 2024年第2期45卷 311-320页

作者： Shuangpeng LI Ruoran CHENG Nannan MA Chunli ZHANG department of Engineering Mechanics Zhejiang UniversityHangzhou 310027China

Piezoelectric semiconductors(PSs)possess both semiconducting properties and piezoelectric coupling effects,making them optimal building blocks for semiconductor *** fiber-like structures have wide applications in multi-functional semiconductor *** this paper,a one-dimensional(1D)theoretical model is established to describe the piezotronic responses of a PS fiber under gradient temperature *** theoretical model aims to explain the mechanism behind the resistance change caused by such gradient temperature *** results demonstrate that a gradient temperature change significantly affects the physical fields within the PS fiber,and can induce changes in its surface *** provides important theoretical guidance on the development of piezotronic devices that are sensitive to temperature effects.

关键词： piezoelectric semiconductor(PS)fiber one-dimensional(1D)model piezotronic effect gradient temperature change

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