Terrain Aided Navigation(TAN)technology has become increasingly important due to its effectiveness in environments where Global Positioning System(GPS)is unavailable.In recent years,TAN systems have been extensively r...Terrain Aided Navigation(TAN)technology has become increasingly important due to its effectiveness in environments where Global Positioning System(GPS)is unavailable.In recent years,TAN systems have been extensively researched for both aerial and underwater navigation applications.However,many TAN systems that rely on recursive Unmanned Aerial Vehicle(UAV)position estimation methods,such as Extended Kalman Filters(EKF),often face challenges with divergence and instability,particularly in highly non-linear systems.To address these issues,this paper proposes and investigates a hybrid two-stage TAN positioning system for UAVs that utilizes Particle Filter.To enhance the system’s robustness against uncertainties caused by noise and to estimate additional system states,a Fuzzy Particle Filter(FPF)is employed in the first stage.This approach introduces a novel terrain composite feature that enables a fuzzy expert system to analyze terrain non-linearities and dynamically adjust the number of particles in real-time.This design allows the UAV to be efficiently localized in GPS-denied environments while also reducing the computational complexity of the particle filter in real-time applications.In the second stage,an Error State Kalman Filter(ESKF)is implemented to estimate the UAV’s altitude.The ESKF is chosen over the conventional EKF method because it is more suitable for non-linear systems.Simulation results demonstrate that the proposed fuzzy-based terrain composite method achieves high positional accuracy while reducing computational time and memory usage.展开更多
BACKGROUND Early detection of esophageal squamous neoplasms(ESN)is essential for improving patient prognosis.Optical diagnosis of ESN remains challenging.Probebased confocal laser endomicroscopy(pCLE)enables accurate ...BACKGROUND Early detection of esophageal squamous neoplasms(ESN)is essential for improving patient prognosis.Optical diagnosis of ESN remains challenging.Probebased confocal laser endomicroscopy(pCLE)enables accurate in vivo histological observation and optical biopsy of ESN.However,interpretation of pCLE images requires histopathological expertise and extensive training.Artificial intelligence(AI)has been widely applied in digestive endoscopy;however,AI for pCLE diagnosis of ESN has not been reported.AIM To develop a pCLE computer-aided diagnostic system for ESN and assess its diagnostic performance and assistant efficiency for nonexpert endoscopists.METHODS The intelligent confocal laser endomicroscopy(iCLE)system consists of image recognition(based on inception-ResNet V2),video diagnosis,and quality judgment modules.This system was developed using pCLE images and videos and evaluated through image and prospective video recognition tests.Patients between June 2020 and January 2023 were prospectively enrolled.Expert and nonexpert endoscopists and the iCLE independently performed diagnoses for pCLE videos,with histopathology as the gold standard.Thereafter,the non-expert endoscopists performed a second assessment with iCLE assistance.RESULTS A total of 25056 images from 2803 patients were selected for iCLE training and validation.Another 2442 images from 226 patients were used for testing.iCLE achieved a high accuracy of 98.3%,sensitivity of 95.3%and specificity of 98.8%for diagnosing ESN images.A total of 2581 patients underwent upper gastrointestinal pCLE examination and were prospectively screened;54 patients with suspected ESN were enrolled.Overall,187 videos from 67 lesions were assessed by iCLE,three nonexpert and three expert endoscopists.iCLE achieved a high accuracy,sensitivity and specificity of 90.9%,92.0%,and 90.2%,respectively.Compared to experts,iCLE showed significantly higher sensitivity(92.0%vs 80.4%;P<0.001)and negative predictive value(94.4%vs 87.7%;P=0.003).With iCLE assistance,nonexpert endoscopists showed significant improvements in accuracy(from 83.6%to 88.6%)and sensitivity(from 76.0%to 89.8%).CONCLUSION iCLE system demonstrated high diagnostic performance for ESN.It can assist nonexpert endoscopists in improving the diagnostic efficiency of pCLE for ESN and has the potential for reducing unnecessary biopsies.展开更多
In the heart of Addis Ababa,where tradition meets modern ambition,a gleaming structure of steel and glass is quietly reshaping Africa’s future.The new Africa Centres for Disease Control and Prevention(Africa CDC)Head...In the heart of Addis Ababa,where tradition meets modern ambition,a gleaming structure of steel and glass is quietly reshaping Africa’s future.The new Africa Centres for Disease Control and Prevention(Africa CDC)Headquarters is more than just a building-it’s a bold statement of partnership,progress,and a shared commitment to advancing public health across the continent.展开更多
Unmanned Aerial Vehicle(UAV)-aided communication,prized for its network reconfigurability,operational flexibility,and cost-effectiveness,is a key enabler of the low-altitude economy.However,the high possibilities of l...Unmanned Aerial Vehicle(UAV)-aided communication,prized for its network reconfigurability,operational flexibility,and cost-effectiveness,is a key enabler of the low-altitude economy.However,the high possibilities of line-of-sight links and the broadcast nature of air-ground UAV communications make it vulnerable and prone to eavesdropping by malicious nodes.展开更多
Unmanned Aerial Vehicle(UAV)-aided communication holds great potential to enhance the transmission performance.However,the information security remains a fundamental requirement due to the high possibilities of line-o...Unmanned Aerial Vehicle(UAV)-aided communication holds great potential to enhance the transmission performance.However,the information security remains a fundamental requirement due to the high possibilities of line-of-sight links and the broadcast nature.展开更多
Porcine Contagious Pleuropneumonia(PCP)is a respiratory infectious disease of pigs caused by Actinobacillus pleuropneumoniae.The disease has been prevalent in pig farms since it was first identified in 1957(Pattison e...Porcine Contagious Pleuropneumonia(PCP)is a respiratory infectious disease of pigs caused by Actinobacillus pleuropneumoniae.The disease has been prevalent in pig farms since it was first identified in 1957(Pattison et al.1957).展开更多
Design of internal combustion engine (ICE) components is one of the earliest and also the most active areas in which computer aided modeling techniques are applied. Computer aided modeling techniques could provide req...Design of internal combustion engine (ICE) components is one of the earliest and also the most active areas in which computer aided modeling techniques are applied. Computer aided modeling techniques could provide requisite information for follow up designing segments such as structural analysis, design of technological process and manufacturing etc, and thereby lead to the reduction of product design period and the quality and reliability improvement of ICE components. So the developing situations of ICE components' 2 D drafting, 3 D modeling of ICE, overall CAD of ICE as well as component design expert system etc. are surveyed, which are the typical applications of computer aided modeling techniques in ICE component design process, and some existent problems and tasks are pointed out so as to make some references for the further research work.展开更多
The importance and complexity of prioritizing construction projects (PCP) in urban road network planning lead to the necessity to develop an aided decision making program (ADMP). Cost benefit ratio model and stage rol...The importance and complexity of prioritizing construction projects (PCP) in urban road network planning lead to the necessity to develop an aided decision making program (ADMP). Cost benefit ratio model and stage rolled method are chosen as the theoretical foundations of the program, and then benefit model is improved to accord with the actuality of urban traffic in China. Consequently, program flows, module functions and data structures are designed, and particularly an original data structure of road ...展开更多
目的 基于巨噬细胞自噬探讨参芩龙清肺培元颗粒的作用机制。方法 选择人类免疫缺陷病毒(HIV)/艾滋病(AIDS)合并肺部感染痰热壅肺证患者36例,应用流式细胞术检测治疗前后患者外周血T淋巴细胞亚群中CD4^(+)及CD8^(+)T淋巴细胞计数,巨噬细...目的 基于巨噬细胞自噬探讨参芩龙清肺培元颗粒的作用机制。方法 选择人类免疫缺陷病毒(HIV)/艾滋病(AIDS)合并肺部感染痰热壅肺证患者36例,应用流式细胞术检测治疗前后患者外周血T淋巴细胞亚群中CD4^(+)及CD8^(+)T淋巴细胞计数,巨噬细胞亚群CD11b、CD86、CD206的表达及巨噬细胞自噬探针CD11b+DALGreen、CD86+DALGreen、CD206+DALGreen的表达。ELISA法检测治疗前后血清肿瘤坏死因子(TNF)-α、白细胞介素(IL)-1β、IL-10、转化生长因子(TGF)-β1等炎性因子的表达。采用荧光定量PCR法检测治疗前后患者外周血中组蛋白去乙酰化酶(HDAC)2 m RNA、Unc-51样激酶1(ULK1)m RNA的表达。结果 治疗后,患者CD11b、CD206、CD11b+DALGreen、CD206+DALGreen、ULK1 m RNA表达明显升高(P<0.05);CD86、TNF-α、IL-1β、HDAC2 m RNA的表达明显下降(P<0.05);CD4^(+)T淋巴细胞计数、IL-10、TGF-β1表达呈上升趋势(P>0.05)。结论 参芩龙清肺培元颗粒可能通过调节HDAC2/ULK1信号轴,促进巨噬细胞自噬,调节M1/M2的平衡,抑制炎症反应,从而发挥治疗HIV/AIDS患者合并肺部感染的作用。展开更多
针对LAR路由协议的区域策略,提出一种改进的路由协议TTI-LAR。通过引进拦截时间(Time to Intercept)权值选择参与路由的中间节点,有效地降低了网络开销,提高了路由的可靠性。仿真结果表明,TTI_LAR路由协议与LAR路由协议相比,性能得到进...针对LAR路由协议的区域策略,提出一种改进的路由协议TTI-LAR。通过引进拦截时间(Time to Intercept)权值选择参与路由的中间节点,有效地降低了网络开销,提高了路由的可靠性。仿真结果表明,TTI_LAR路由协议与LAR路由协议相比,性能得到进一步改善。展开更多
Today the development of information technology changes people's daily life in many aspects, including the translationmarket. The application of computer aided translation(CAT) greatly improves the efficiency and ...Today the development of information technology changes people's daily life in many aspects, including the translationmarket. The application of computer aided translation(CAT) greatly improves the efficiency and quality of translation work. Thispaper tries to introduce the development of CAT technology and the application of CAT on the Internet and gives some suggestionson CAT teaching.展开更多
目的探讨AIDS相关T淋巴母细胞淋巴瘤(AIDS-related T lymphoblastic lymphoma,AR-T-LBL)患者的临床病理特征,并文献复习。方法选取2015—2024年首都医科大学附属北京佑安医院AIDS相关淋巴瘤(AIDS-related lymphoma,ARL)患者的临床及病...目的探讨AIDS相关T淋巴母细胞淋巴瘤(AIDS-related T lymphoblastic lymphoma,AR-T-LBL)患者的临床病理特征,并文献复习。方法选取2015—2024年首都医科大学附属北京佑安医院AIDS相关淋巴瘤(AIDS-related lymphoma,ARL)患者的临床及病理资料,筛选出AR-T-LBL病例,总结其临床病理特征,结合国内外报道的文献分析影响患者预后的因素。结果共纳入ARL患者143例,其中T细胞淋巴瘤6例,AR-T-LBL仅1例,患者32岁,男性,HIV感染史长,多处淋巴结累及,治疗2个疗程后去世,总生存期为7个月;结合文献报道的6例,AR-T-LBL均为男性,多伴骨髓受累,治疗方案不一,预后较差。结论AR-T-LBL病例罕见,易误诊,需及时活检进行病理学检查,早期明确诊断有利于患者治疗方案的选择。展开更多
目的探讨AIDS患者经外周置入中心静脉导管(peripherally inserted central catheter,PICC)所致的导管相关血栓(catheter related thrombosis,CRT)的发生现状及其影响因素。方法回顾性选取2019年12月至2024年12月首都医科大学附属北京佑...目的探讨AIDS患者经外周置入中心静脉导管(peripherally inserted central catheter,PICC)所致的导管相关血栓(catheter related thrombosis,CRT)的发生现状及其影响因素。方法回顾性选取2019年12月至2024年12月首都医科大学附属北京佑安医院接受PICC置管治疗的AIDS患者265例,依据血管超声结果分为血栓组(n=55)和无血栓对照组(n=210)。采用多因素logistic回归分析AIDS患者发生PICC-CRT的影响因素,采用ROC曲线评估相关影响因素对AIDS患者发生PICC-CRT的预测效能。结果265例患者中,男256例、女9例,年龄20~80岁,平均(44.0±13.3)岁。发生PICC-CRT者55例,发生率为20.75%,其中仅11例为有症状血栓,其余44例仅在超声检查时发现血栓。多因素logistic回归分析结果显示,携带导管天数越长(OR=1.008,95%CI:1.002~1.014,P=0.009)、D-二聚体水平越高(OR=1.001,95%CI:1.000~1.001,P=0.015)、HIV病毒载量越大(OR=2.782,95%CI:1.930~4.008,P<0.001)的AIDS患者发生PICC-CRT的风险越高。ROC曲线分析结果显示,HIV病毒载量预测PICC-CRT的AUC为0.903(95%CI:0.858~0.949,P<0.001),其预测效能优于D-二聚体水平和携带导管天数。结论AIDS患者PICC-CRT的发生率较高,且具有较强的临床隐匿性。携带导管天数、D-二聚体水平及HIV病毒载量是AIDS患者发生PICC-CRT的影响因素。临床应加强风险评估与动态监测,尤其对高危人群开展规律性超声筛查和早期干预,构建前瞻性防控体系,以降低PICC-CRT的发生风险,改善患者预后。展开更多
文摘Terrain Aided Navigation(TAN)technology has become increasingly important due to its effectiveness in environments where Global Positioning System(GPS)is unavailable.In recent years,TAN systems have been extensively researched for both aerial and underwater navigation applications.However,many TAN systems that rely on recursive Unmanned Aerial Vehicle(UAV)position estimation methods,such as Extended Kalman Filters(EKF),often face challenges with divergence and instability,particularly in highly non-linear systems.To address these issues,this paper proposes and investigates a hybrid two-stage TAN positioning system for UAVs that utilizes Particle Filter.To enhance the system’s robustness against uncertainties caused by noise and to estimate additional system states,a Fuzzy Particle Filter(FPF)is employed in the first stage.This approach introduces a novel terrain composite feature that enables a fuzzy expert system to analyze terrain non-linearities and dynamically adjust the number of particles in real-time.This design allows the UAV to be efficiently localized in GPS-denied environments while also reducing the computational complexity of the particle filter in real-time applications.In the second stage,an Error State Kalman Filter(ESKF)is implemented to estimate the UAV’s altitude.The ESKF is chosen over the conventional EKF method because it is more suitable for non-linear systems.Simulation results demonstrate that the proposed fuzzy-based terrain composite method achieves high positional accuracy while reducing computational time and memory usage.
基金Supported by the National Key Research and Development Program of China,No.2023YFC2413800the Taishan Scholars Program of Shandong Province,No.tsqn202306344the National Natural Science Foundation of China,No.82270580 and No.82070552.
文摘BACKGROUND Early detection of esophageal squamous neoplasms(ESN)is essential for improving patient prognosis.Optical diagnosis of ESN remains challenging.Probebased confocal laser endomicroscopy(pCLE)enables accurate in vivo histological observation and optical biopsy of ESN.However,interpretation of pCLE images requires histopathological expertise and extensive training.Artificial intelligence(AI)has been widely applied in digestive endoscopy;however,AI for pCLE diagnosis of ESN has not been reported.AIM To develop a pCLE computer-aided diagnostic system for ESN and assess its diagnostic performance and assistant efficiency for nonexpert endoscopists.METHODS The intelligent confocal laser endomicroscopy(iCLE)system consists of image recognition(based on inception-ResNet V2),video diagnosis,and quality judgment modules.This system was developed using pCLE images and videos and evaluated through image and prospective video recognition tests.Patients between June 2020 and January 2023 were prospectively enrolled.Expert and nonexpert endoscopists and the iCLE independently performed diagnoses for pCLE videos,with histopathology as the gold standard.Thereafter,the non-expert endoscopists performed a second assessment with iCLE assistance.RESULTS A total of 25056 images from 2803 patients were selected for iCLE training and validation.Another 2442 images from 226 patients were used for testing.iCLE achieved a high accuracy of 98.3%,sensitivity of 95.3%and specificity of 98.8%for diagnosing ESN images.A total of 2581 patients underwent upper gastrointestinal pCLE examination and were prospectively screened;54 patients with suspected ESN were enrolled.Overall,187 videos from 67 lesions were assessed by iCLE,three nonexpert and three expert endoscopists.iCLE achieved a high accuracy,sensitivity and specificity of 90.9%,92.0%,and 90.2%,respectively.Compared to experts,iCLE showed significantly higher sensitivity(92.0%vs 80.4%;P<0.001)and negative predictive value(94.4%vs 87.7%;P=0.003).With iCLE assistance,nonexpert endoscopists showed significant improvements in accuracy(from 83.6%to 88.6%)and sensitivity(from 76.0%to 89.8%).CONCLUSION iCLE system demonstrated high diagnostic performance for ESN.It can assist nonexpert endoscopists in improving the diagnostic efficiency of pCLE for ESN and has the potential for reducing unnecessary biopsies.
文摘In the heart of Addis Ababa,where tradition meets modern ambition,a gleaming structure of steel and glass is quietly reshaping Africa’s future.The new Africa Centres for Disease Control and Prevention(Africa CDC)Headquarters is more than just a building-it’s a bold statement of partnership,progress,and a shared commitment to advancing public health across the continent.
文摘Unmanned Aerial Vehicle(UAV)-aided communication,prized for its network reconfigurability,operational flexibility,and cost-effectiveness,is a key enabler of the low-altitude economy.However,the high possibilities of line-of-sight links and the broadcast nature of air-ground UAV communications make it vulnerable and prone to eavesdropping by malicious nodes.
文摘Unmanned Aerial Vehicle(UAV)-aided communication holds great potential to enhance the transmission performance.However,the information security remains a fundamental requirement due to the high possibilities of line-of-sight links and the broadcast nature.
基金supported by the University-Industry Col aborative Education Program,China(220904860093831)。
文摘Porcine Contagious Pleuropneumonia(PCP)is a respiratory infectious disease of pigs caused by Actinobacillus pleuropneumoniae.The disease has been prevalent in pig farms since it was first identified in 1957(Pattison et al.1957).
文摘Design of internal combustion engine (ICE) components is one of the earliest and also the most active areas in which computer aided modeling techniques are applied. Computer aided modeling techniques could provide requisite information for follow up designing segments such as structural analysis, design of technological process and manufacturing etc, and thereby lead to the reduction of product design period and the quality and reliability improvement of ICE components. So the developing situations of ICE components' 2 D drafting, 3 D modeling of ICE, overall CAD of ICE as well as component design expert system etc. are surveyed, which are the typical applications of computer aided modeling techniques in ICE component design process, and some existent problems and tasks are pointed out so as to make some references for the further research work.
文摘The importance and complexity of prioritizing construction projects (PCP) in urban road network planning lead to the necessity to develop an aided decision making program (ADMP). Cost benefit ratio model and stage rolled method are chosen as the theoretical foundations of the program, and then benefit model is improved to accord with the actuality of urban traffic in China. Consequently, program flows, module functions and data structures are designed, and particularly an original data structure of road ...
文摘目的 基于巨噬细胞自噬探讨参芩龙清肺培元颗粒的作用机制。方法 选择人类免疫缺陷病毒(HIV)/艾滋病(AIDS)合并肺部感染痰热壅肺证患者36例,应用流式细胞术检测治疗前后患者外周血T淋巴细胞亚群中CD4^(+)及CD8^(+)T淋巴细胞计数,巨噬细胞亚群CD11b、CD86、CD206的表达及巨噬细胞自噬探针CD11b+DALGreen、CD86+DALGreen、CD206+DALGreen的表达。ELISA法检测治疗前后血清肿瘤坏死因子(TNF)-α、白细胞介素(IL)-1β、IL-10、转化生长因子(TGF)-β1等炎性因子的表达。采用荧光定量PCR法检测治疗前后患者外周血中组蛋白去乙酰化酶(HDAC)2 m RNA、Unc-51样激酶1(ULK1)m RNA的表达。结果 治疗后,患者CD11b、CD206、CD11b+DALGreen、CD206+DALGreen、ULK1 m RNA表达明显升高(P<0.05);CD86、TNF-α、IL-1β、HDAC2 m RNA的表达明显下降(P<0.05);CD4^(+)T淋巴细胞计数、IL-10、TGF-β1表达呈上升趋势(P>0.05)。结论 参芩龙清肺培元颗粒可能通过调节HDAC2/ULK1信号轴,促进巨噬细胞自噬,调节M1/M2的平衡,抑制炎症反应,从而发挥治疗HIV/AIDS患者合并肺部感染的作用。
文摘Today the development of information technology changes people's daily life in many aspects, including the translationmarket. The application of computer aided translation(CAT) greatly improves the efficiency and quality of translation work. Thispaper tries to introduce the development of CAT technology and the application of CAT on the Internet and gives some suggestionson CAT teaching.
文摘目的探讨AIDS相关T淋巴母细胞淋巴瘤(AIDS-related T lymphoblastic lymphoma,AR-T-LBL)患者的临床病理特征,并文献复习。方法选取2015—2024年首都医科大学附属北京佑安医院AIDS相关淋巴瘤(AIDS-related lymphoma,ARL)患者的临床及病理资料,筛选出AR-T-LBL病例,总结其临床病理特征,结合国内外报道的文献分析影响患者预后的因素。结果共纳入ARL患者143例,其中T细胞淋巴瘤6例,AR-T-LBL仅1例,患者32岁,男性,HIV感染史长,多处淋巴结累及,治疗2个疗程后去世,总生存期为7个月;结合文献报道的6例,AR-T-LBL均为男性,多伴骨髓受累,治疗方案不一,预后较差。结论AR-T-LBL病例罕见,易误诊,需及时活检进行病理学检查,早期明确诊断有利于患者治疗方案的选择。
文摘目的探讨AIDS患者经外周置入中心静脉导管(peripherally inserted central catheter,PICC)所致的导管相关血栓(catheter related thrombosis,CRT)的发生现状及其影响因素。方法回顾性选取2019年12月至2024年12月首都医科大学附属北京佑安医院接受PICC置管治疗的AIDS患者265例,依据血管超声结果分为血栓组(n=55)和无血栓对照组(n=210)。采用多因素logistic回归分析AIDS患者发生PICC-CRT的影响因素,采用ROC曲线评估相关影响因素对AIDS患者发生PICC-CRT的预测效能。结果265例患者中,男256例、女9例,年龄20~80岁,平均(44.0±13.3)岁。发生PICC-CRT者55例,发生率为20.75%,其中仅11例为有症状血栓,其余44例仅在超声检查时发现血栓。多因素logistic回归分析结果显示,携带导管天数越长(OR=1.008,95%CI:1.002~1.014,P=0.009)、D-二聚体水平越高(OR=1.001,95%CI:1.000~1.001,P=0.015)、HIV病毒载量越大(OR=2.782,95%CI:1.930~4.008,P<0.001)的AIDS患者发生PICC-CRT的风险越高。ROC曲线分析结果显示,HIV病毒载量预测PICC-CRT的AUC为0.903(95%CI:0.858~0.949,P<0.001),其预测效能优于D-二聚体水平和携带导管天数。结论AIDS患者PICC-CRT的发生率较高,且具有较强的临床隐匿性。携带导管天数、D-二聚体水平及HIV病毒载量是AIDS患者发生PICC-CRT的影响因素。临床应加强风险评估与动态监测,尤其对高危人群开展规律性超声筛查和早期干预,构建前瞻性防控体系,以降低PICC-CRT的发生风险,改善患者预后。
