BACKGROUND:Hemiplegia,a prevalent stroke-related condition,is often studied for motor dysfunction;however,spasticity remains under-researched.Abnormal muscle tone significantly hinders hemiplegic patients’walking rec...BACKGROUND:Hemiplegia,a prevalent stroke-related condition,is often studied for motor dysfunction;however,spasticity remains under-researched.Abnormal muscle tone significantly hinders hemiplegic patients’walking recovery.OBJECTIVE:To determine whether early suspension-protected training with a personal assistant machine for stroke patients enhances walking ability and prevents muscle spasms.METHODS:Thirty-two early-stage stroke patients from Shenzhen University General Hospital and the China Rehabilitation Research Center were randomly assigned to the experimental group(n=16)and the control group(n=16).Both groups underwent 4 weeks of gait training under the suspension protection system for 30 minutes daily,5 days a week.The experimental group used the personal assistant machine during training.Three-dimensional gait analysis(using the Cortex motion capture system),Brunnstrom staging,Fugl-Meyer Assessment for lower limb motor function,Fugl-Meyer balance function,and the modified Ashworth Scale were evaluated within 1 week before the intervention and after 4 weeks of intervention.RESULTS AND CONCLUSION:After the 4-week intervention,all outcome measures showed significant changes in each group.The experimental group had a small but significant increase in the modified Ashworth Scale score(P<0.05,d=|0.15|),while the control group had a large significant increase(P<0.05,d=|1.48|).The experimental group demonstrated greater improvements in walking speed(16.5 to 38.44 cm/s,P<0.05,d=|4.01|),step frequency(46.44 to 64.94 steps/min,P<0.05,d=|2.32|),stride length(15.50 to 29.81 cm,P<0.05,d=|3.44|),and peak hip and knee flexion(d=|1.82|to|2.17|).After treatment,the experimental group showed significantly greater improvements than the control group in walking speed(38.44 vs.26.63 cm/s,P<0.05,d=|2.75|),stride length,peak hip and knee flexion(d=|1.31|to|1.45|),step frequency(64.94 vs.59.38 steps/min,P<0.05,d=|0.85|),and a reduced support phase(bilateral:24.31%vs.28.38%,P<0.05,d=|0.88|;non-paretic:66.19%vs.70.13%,P<0.05,d=|0.94|).For early hemiplegia,personal assistant machine-assisted gait training under the suspension protection system helps establish a correct gait pattern,prevents muscle spasms,and improves motor function.展开更多
This research investigates the effectiveness of climate-related development aid in Indonesia’s climate mitigation.Specific objectives include assessing the contribution of official development assistance(ODA)to reduc...This research investigates the effectiveness of climate-related development aid in Indonesia’s climate mitigation.Specific objectives include assessing the contribution of official development assistance(ODA)to reducing CO_(2) emissions and evaluating the implementation of the Busan Principles of aid effectiveness to achieve Indonesia’s mitigation priorities and targets.We utilize a new primary dataset based on interviews with the most knowledgeable stakeholders of ODA on climate change mitigation.Additionally,we use secondary data from the annual Rio Marker and the Common Reporting Standard data of the Organization for Economic Co-operation and Development.The results show a significant correlation between climate-related development aid and CO_(2) emission reduction in Indonesia.Additionally,the implementation of the Busan Principles enhances aid management by fostering project ownership and increasing the involvement of civil society and private sector.The study has implications for devising an effective climate change mitigation strategy for Indonesia.It is suggested that the government of Indonesia exercise greater flexibility and dynamism in engaging with development partners.展开更多
Ultrasonic-Assisted Grinding(UAG)is a novel manufacturing technology that shows promising promise for use in processing Ceramic Matrix Composites(CMCs).Nevertheless,analyzing the material removal process of CMCs with ...Ultrasonic-Assisted Grinding(UAG)is a novel manufacturing technology that shows promising promise for use in processing Ceramic Matrix Composites(CMCs).Nevertheless,analyzing the material removal process of CMCs with multidirectional structure during UAG is challenging,impeding the progress and improvement of the UAG process.This work examined the impact of ultrasonic vibration on the dynamic mechanical characteristics during processing.Additionally,we experimentally elucidated the material removal mechanism of CMCs during the scratching process under the influence of vertical vibration.The results indicate that the introduction of ultrasonic vibration causes a strain rate effect,resulting in a modification of the material removal mechanism,subsequently impacting the processing quality.Ultrasonic vibration increases the dynamic strength and brittleness of the fibers in CMCs,leading to more cracks at fracture,which changes from the original bending fracture to shear fracture.In addition,ultrasonic vibration can effectively inhibit the impact of scratching depth and anisotropy on the removal mechanism of CMCs,resulting in a more uniform surface of CMCs after processing.展开更多
In complex environments such as high dynamics and weak signals,a satellite signal compensation method based on prefabricated trajectory assistance and an improved adaptive Kalman filter is proposed for a 155 mm differ...In complex environments such as high dynamics and weak signals,a satellite signal compensation method based on prefabricated trajectory assistance and an improved adaptive Kalman filter is proposed for a 155 mm differential rotating rear-body control-guided projectile to address the situation of satellite signal flickering and loss in projectile navigation systems due to environmental limitations.First,establish the system state and measurement equation when receiving satellite signals normally.Second,a seven-degree-of-freedom external ballistic model is constructed,and the ideal trajectory output from the ballistic model is used to provide the virtual motion state of the projectile,which is input into a filter as a substitute observation when satellite signals are lost.Finally,an adaptive Kalman filter(AKF)is designed,the proposed adaptive Kalman filter can accurately adjust the estimation error covariance matrix and Kalman gain in real-time based on information covariance mismatch.The simulation results show that compared to the classical Kalman filter,it can reduce the average positioning error by more than 38.21%in the case of short-term and full-range loss of satellite signals,providing a new idea for the integrated navigation of projectiles with incomplete information under the condition of satellite signal loss.展开更多
Vehicle collision avoidance(CA)has been widely studied to improve road traffic safety.However,most evasion assistance control methods face challenges in effectively coordinating collision avoidance safety and human-ma...Vehicle collision avoidance(CA)has been widely studied to improve road traffic safety.However,most evasion assistance control methods face challenges in effectively coordinating collision avoidance safety and human-machine interaction conflict.This paper introduces a novel multi-mode evasion assistance control(MEAC)method for intelligent distributed-drive electric vehicles.A reference safety area is established considering the vehicle safety and stability requirements,which serves as a guiding principle for evading obstacles.The proposed method includes two control modes:Shared-EAC(S-EAC)and Emergency-EAC(E-EAC).In S-EAC,an integrated human-machine authority allocation mechanism is designed to mitigate conflicts between human drivers and the control system during collision avoidance.The E-EAC mode is tailored for situations where the driver has no collision avoidance behavior and utilizes model predictive control to generate additional yaw moments for collision avoidance.Simulation and experimental results indicate that the proposed method reduces human-machine conflict and assists the driver in safe collision avoidance in the S-EAC mode under various driver conditions.In addition,it enhances the vehicle responsiveness and reduces the extent of emergency steering in the E-EAC mode while improving the safety and stability during the collision avoidance process.展开更多
The latest generation of aero engines has set higher standards for thrust-to-weight ratio and energy conversion efficiency,making it imperative to address the challenge of efficiently and accurately machining film coo...The latest generation of aero engines has set higher standards for thrust-to-weight ratio and energy conversion efficiency,making it imperative to address the challenge of efficiently and accurately machining film cooling holes.It has been demonstrated that conventional long-pulse lasers are incapable of meeting the elevated quality surface finish requirements for these holes,a consequence of the severe thermal defects.The employment of backside water-assisted laser drilling technology confers a number of distinct advantages in terms of mitigating laser thermal damage,thus representing a highly promising solution to this challenge.However,significant accumulation of bubbles and machining products during the backside water-assisted laser drilling process has been demonstrated to have a detrimental effect on laser transmission and machining stability,thereby reducing machining quality.In order to surmount these challenges,a novel method has been proposed,namely an ultrasonic shock water flow-assisted picosecond laser drilling technique.Numerical models for ultrasonic acoustic streaming and particle tracking for machining product transport have been established to investigate the mechanism.The simulation results demonstrated that the majority of the machining products could rapidly move away from the machining area because of the action of acoustic streaming,thereby avoiding the accumulation of bubbles and products.Subsequent analysis,comparing the process performance in micro-hole machining,confirmed that the ultrasonic field could effectively eliminate bubble and chip accumulation,thus significantly improving micro-hole quality.Furthermore,the impact of ultrasonic and laser parameters on micro-hole quality under varying machining methods was thoroughly investigated.The findings demonstrated that the novel methodology outlined in this study yielded superior-quality micro-holes at elevated ultrasonic and laser power levels,in conjunction with reduced laser frequency and scanning velocity.The taper of the micro-holes produced by the new method was reduced by more than 25%compared with the other conventional methods.展开更多
Self-suspended proppants,which enable clear-water fracturing,represent a promising new class of materials for reservoir stimulation.Given the economic limitations associated with their exclusive use,this study investi...Self-suspended proppants,which enable clear-water fracturing,represent a promising new class of materials for reservoir stimulation.Given the economic limitations associated with their exclusive use,this study investigates proppant transport behavior in hybrid systems combining self-suspended proppants with conventional 40/70 mesh quartz sand at various mixing ratios.A dedicated experimental apparatus was developed to replicate field-relevant complex fracture networks,consisting of a main fracture and two branching fractures with different deflection angles.Using this system,sand bank formation and proppant distribution were examined for both conventional quartz sand fracturing and fracturing augmented with self-suspended proppants.The effects of slurry discharge volume,proppant mixing ratio,sand ratio,and injection location of the self-suspended proppant on transport and placement behavior were systematically analyzed.According to the results,the incorporation of self-suspended proppants markedly enhances the proppant-carrying capacity of the slurry and substantially modifies sand bank morphology.Increasing the discharge volume raises the inlet slope angle and promotes greater proppant penetration into branch fractures.The proportion of self-suspended proppant governs slurry viscoelasticity and,consequently,proppant settling behavior.As the fraction of self-suspended proppant decreases,the equilibrium height of the sand bank increases,while the proppant mass fraction within branch fractures exhibits a non-monotonic response,initially decreasing and then increasing.Variations in sand ratio alter both overall proppant concentration and the self-suspended proppant-to-water ratio,thereby modulating slurry rheology and influencing proppant placement.In addition,changes in injection location affect near-wellbore vortex structures,leading to distinct sand bank morphologies.展开更多
Based on the Bismuth-Corlette classification of hilar cholangiocarcinoma,the patients with types I,II,and III can undergo radical resection in the absence of extensive intrahepatic metastasis and vascular invasion[1]....Based on the Bismuth-Corlette classification of hilar cholangiocarcinoma,the patients with types I,II,and III can undergo radical resection in the absence of extensive intrahepatic metastasis and vascular invasion[1].Depending on the scope of tumor invasion in bile duct,a combined resection of parts of the liver,hepatic ducts,common bile ducts,regional lymph nodes,and even parts of the duodenum and pancreas is necessary,along with biliary and gastrointestinal reconstructions[2].The surgical plan is complex,involving a large resection area and significant trauma.In recent years,laparoscopic or robot assisted radical resection of hilar cholangiocarcinoma has been applied clinically[3,4].With the advanced laparoscopic equipment,many patients undergo hepatopancreatoduodenectomy successfully[5].The limitations of traditional laparoscopic techniques restrict their wide application in clinical practice.However,the Da Vinci robot has been widely applied due to its clear field of vision and flexible manipulation.However,its utilization in hepato-pancreatoduodenectomy for hilar cholangiocarcinoma is still relatively rare.Here,we report a case with hilar cholangiocarcinoma at clinical stage IIIb who underwent robot-assisted hepato-pancreatoduodenectomy.展开更多
Cases of widespread bone hydatid infection are relatively rare in clinical practice.In this study,we reported for the first time a validated integrated repair therapy for multiple bone tissues,including the hip,femur,...Cases of widespread bone hydatid infection are relatively rare in clinical practice.In this study,we reported for the first time a validated integrated repair therapy for multiple bone tissues,including the hip,femur,and knee,caused by echinococ cosis.Artificial intelligence(AI)was used to develop a targeted surgical plan and to design a personalized prosthesis.Finite element analysis(FEA)was used to optimize the mechanical effectiveness of a customized integrated replacement prosthesis and to model stress distribution in the surrounding bone.Three-dimensional(3 D)printing was used to fabricate a customized prosthesis.With the assistance of AI,FEA,and 3 D printing technology,a personalized surgical plan and customized prosthesis were successfully constructed based on the patient’s disease.This approach achieved a successful therapeutic effect,demonstrating that AI-assisted personalized medicine holds great promise for the future.展开更多
It is known that the IELTS test has not been a good predictor of English capability in academic settings. More information is required. Are students not motivated to keep improving their English; what obstacles do the...It is known that the IELTS test has not been a good predictor of English capability in academic settings. More information is required. Are students not motivated to keep improving their English; what obstacles do they face? The English language issues facing international students from China at one University are explored through a survey and focus groups. It is observed that a lack of motivation is not the key factor. Rather one core problem is the very difficult demands of acculturation within a short time frame which would enable confidence for the students to continue to engage with other English speaking students. When faced with such immediate and hard to achieve acculturation, many retreat to their language groups. In the academic context, support for the transition to discipline based academic genres is double difficult as the time frame for second language learners is longer, but performance requirements are more immediate. Many first language students also have difficulties in this area, but have the easier language path to mastery. The study draws usefully on a comparison made with students studying English in China.展开更多
Bamboo charcoal（BC） was used as starting material to prepare iron-modified bamboo charcoal（Fe-MBC） by its impregnation in FeCl 3 and HNO 3 solutions simultaneously,followed by microwave heating.The material can be...Bamboo charcoal（BC） was used as starting material to prepare iron-modified bamboo charcoal（Fe-MBC） by its impregnation in FeCl 3 and HNO 3 solutions simultaneously,followed by microwave heating.The material can be used as an adsorbent for Pb（Ⅱ） contaminants removal in water.The composites were prepared with Fe molar concentration of 0.5,1.0 and 2.0 mol/L and characterized by means of N 2 adsorption-desorption isotherms,X-ray diffraction spectroscopy（XRD）,scanning electron microscopy coupled with energy dispersive X-ray spectrometry（SEM-EDS）,Fourier transform infrared（FT-IR） and point of zero charge（pH pzc） measurements.Nitrogen adsorption analyses showed that the BET specific surface area and total pore volume increased with iron impregnation.The adsorbent with Fe molar concentration of 2 mol/L（2Fe-MBC） exhibited the highest surface area and produced the best pore structure.The Pb（Ⅱ） adsorption process of 2Fe-MBC and BC were evaluated in batch experiments and 2Fe-MBC showed an excellent adsorption capability for removal Pb（Ⅱ）.The adsorption of Pb（Ⅱ） strongly depended on solution pH,with maximum values at pH 5.0.The ionic strength had a significant effect on the adsorption at pH 〈 6.0.The adsorption isotherms followed the Langmuir isotherm model well,and the maximum adsorption capacity for Pb（Ⅱ） was 200.38 mg/g for 2Fe-MBC.The adsorption processes were well fitted by a pseudo second-order kinetic model.Thermodynamic parameters showed that the adsorption of Pb（Ⅱ） onto Fe-MBC was feasible,spontaneous,and exothermic under the studied conditions,and the ion exchange mechanism played an significant role.These results have important implications for the design of low-cost and effective adsorbents in the removal of Pb（Ⅱ） from wastewater.展开更多
In the globalized market environment, increasingly significant economic and environmental factors withincomplex industrial plants impose importance on the optimization of global production indices; such opti-mization ...In the globalized market environment, increasingly significant economic and environmental factors withincomplex industrial plants impose importance on the optimization of global production indices; such opti-mization includes improvements in production efficiency, product quality, and yield, along with reductionsof energy and resource usage. This paper briefly overviews recent progress in data-driven hybrid intelli-gence optimization methods and technologies in improving the performance of global production indicesin mineral processing. First, we provide the problem description. Next, we summarize recent progress indata-based optimization for mineral processing plants. This optimization consists of four layers： optimiza-tion of the target values for monthly global production indices, optimization of the target values for dailyglobal production indices, optimization of the target values for operational indices, and automation systemsfor unit processes. We briefly overview recent progress in each of the different layers. Finally, we point outopportunities for future works in data-based optimization for mineral processing plants.展开更多
In this paper,a data-based scheme is proposed to solve the optimal tracking problem of autonomous nonlinear switching systems.The system state is forced to track the reference signal by minimizing the performance func...In this paper,a data-based scheme is proposed to solve the optimal tracking problem of autonomous nonlinear switching systems.The system state is forced to track the reference signal by minimizing the performance function.First,the problem is transformed to solve the corresponding Bellman optimality equation in terms of the Q-function(also named as action value function).Then,an iterative algorithm based on adaptive dynamic programming(ADP)is developed to find the optimal solution which is totally based on sampled data.The linear-in-parameter(LIP)neural network is taken as the value function approximator.Considering the presence of approximation error at each iteration step,the generated approximated value function sequence is proved to be boundedness around the exact optimal solution under some verifiable assumptions.Moreover,the effect that the learning process will be terminated after a finite number of iterations is investigated in this paper.A sufficient condition for asymptotically stability of the tracking error is derived.Finally,the effectiveness of the algorithm is demonstrated with three simulation examples.展开更多
In this paper, a data-based fault tolerant control(FTC) scheme is investigated for unknown continuous-time(CT)affine nonlinear systems with actuator faults. First, a neural network(NN) identifier based on particle swa...In this paper, a data-based fault tolerant control(FTC) scheme is investigated for unknown continuous-time(CT)affine nonlinear systems with actuator faults. First, a neural network(NN) identifier based on particle swarm optimization(PSO) is constructed to model the unknown system dynamics. By utilizing the estimated system states, the particle swarm optimized critic neural network(PSOCNN) is employed to solve the Hamilton-Jacobi-Bellman equation(HJBE) more efficiently.Then, a data-based FTC scheme, which consists of the NN identifier and the fault compensator, is proposed to achieve actuator fault tolerance. The stability of the closed-loop system under actuator faults is guaranteed by the Lyapunov stability theorem. Finally, simulations are provided to demonstrate the effectiveness of the developed method.展开更多
Social assistance is the last safety net in the social security system and plays a vital role in poverty alleviation in countries around the world. Promoting the equal financial assistance is meaningful to achieve equ...Social assistance is the last safety net in the social security system and plays a vital role in poverty alleviation in countries around the world. Promoting the equal financial assistance is meaningful to achieve equalization of social assistance. Based on the provincial panel data from 2002 to 2017, this paper analyzes the dynamic characteristics and main influencing factors of the equity of social assistance in China, using the Theil index and geographically weighted regression(GWR) model. The results suggest that the level of per capita social assistance expenditure(PSAE) in China keeps increasing year by year, but the changes in different regions and provinces are quite different. These changes not only significantly changed the spatial pattern of PSAE in China, but also greatly improved its spatial coupling with the deeply impoverished areas. Further analysis shows that the regional inequality of PSAE between provinces is obvious during the study period, and the inter-regional inequality is significantly higher than the intra-regional inequality.This makes inter-regional inequality become the main source of the regional inequality of PSAE in China for a long time. According to GWR results, there is obvious spatiotemporal heterogeneity in the influence intensity and direction of the per capita financial revenue,urbanization rate, urban unemployment rate, natural disaster-affected area, and transfer payment intensity on the PSAE. The urbanization rate and per capita financial revenue are the main driving factors of PSAE, and the impact intensity of per capita financial revenue tends to strengthen. The remaining three factors have a positive effect on PSAE, but the effect intensity is not high.展开更多
Introduction: To present the initial experience of 3-port incisionless laparoscopic surgery for rectal cancer with a transrectal assistance by using a toothed oval clamp. Case Presentation: One patient received 3-port...Introduction: To present the initial experience of 3-port incisionless laparoscopic surgery for rectal cancer with a transrectal assistance by using a toothed oval clamp. Case Presentation: One patient received 3-port incisionless laparoscopic surgery for rectal cancer with a transrectal assistance by using a toothed oval clamp. Better direct vision and exposure could be acquired for performing laparoscopic surgical procedure, avoiding additional port inserted. Using this procedure, with strictly adhering to the principles of laparoscopic colectomy and oncological procedure, along with the specimen exteriorized via recta, transacted and a stapled anastomosis performed, no incision can be achieved at the end of an operation. The operative time was 180 minutes. The estimated blood loss in the course of an operation was 80 ml. The patient recovered quickly after surgery, with no post-operative pain and no incision. The patient was dischanged home on the 6th postoperative day. Conclusions: With a transrectal assistance by using a toothed oval clamp, 3-port laparoscopic surgery for rectal cancer could be achieved without no incision at the end of the operation, the same as NOTES. It is enormously advantageous to the patient and suitable for application in developing countries, especially in a rural area.展开更多
Using robotic devices might improve recovery post-stroke, but the optimal way to apply robotic assistance has yet to be determined. The current study aimed to investigate whether training under the robotic active-assi...Using robotic devices might improve recovery post-stroke, but the optimal way to apply robotic assistance has yet to be determined. The current study aimed to investigate whether training under the robotic active-assisted mode improves bimanual motor skill learning(biMSkL) more than training under the active mode in stroke patients. Twenty-six healthy individuals(HI) and 23 chronic hemiparetic stroke patients with a detectable lesion on MRI or CT scan, who demonstrated motor deficits in the upper limb, were randomly allocated to two parallel groups. The protocol included a two-day training on a new bimanual cooperative task, LIFT-THE-TRAY, under either the active or activeassisted modes(where assistance decreased in a pre-determined stepwise fashion) with the bimanual version of the REAplan? robotic device. The hypothesis was that the active-assisted mode would result in greater biMSkL than the active mode. The biMSkL was quantified by a speed-accuracy trade-off(SAT) before(T1) and immediately after(T2) training on days 1 and 2(T3 and T4). The change in SAT after 2 days of training(T4/T1) indicated that both HI and stroke patients learned and retained the bimanual cooperative task. After 2 days of training, the active-assisted mode did not improve biMSkL more than the active mode(T4/T1) in HI nor stroke patients. Whereas HI generalized the learned bimanual skill to different execution speeds in both the active and active-assisted subgroups, the stroke patients generalized the learned skill only in the active subgroup. Taken together, the active-assisted mode, applied in a pre-determined stepwise decreasing fashion, did not improve biMSkL more than the active mode in HI and stroke subjects. Stroke subjects might benefit more from robotic assistance when applied "as-needed." This study was approved by the local ethical committee(Comité d'éthique médicale, CHU UCL Namur, MontGodinne, Yvoir, Belgium;Internal number: 54/2010, Eudra CT number: NUB B039201317382) on July 14, 2016 and was registered with ClinicalTrials.gov(Identifier: NCT03974750) on June 5, 2019.展开更多
Walking assistance can be realized by active and passive robotic walkers when their users walk on even roads.However,fast signal processing and real-time control are necessary for active robotic walkers when the users...Walking assistance can be realized by active and passive robotic walkers when their users walk on even roads.However,fast signal processing and real-time control are necessary for active robotic walkers when the users walk on slopes,while assistive forces cannot be provided by passive robotic walkers when the users walk uphill.A robotic walker with an active-passive hybrid actuator(APHA)was developed in this study.The APHA,which consists of a rotary magnetorheological(MR)brake and a DC motor,can provide mobility assistance to users walking both uphill and downhill via the cooperative operation of the MR brake and DC motor.The rotary MR brake was designed with a T-shaped configuration,and the system was optimized to minimize the brake volume.Prototypes of the APHA and robotic walker were constructed.A control algorithm for the robotic walker was developed based on the characteristics of the APHA and the structure of the robotic walker.The mechanical properties of the APHA were characterized,and experiments were conducted to evaluate the mobility assistance supplied by the robotic walker on different roads.The results show that the APHA can meet the requirements of the robotic walker,and suitable assistive forces can be provided by the robotic walker,which has a simple mechanical structure and control method.展开更多
文摘BACKGROUND:Hemiplegia,a prevalent stroke-related condition,is often studied for motor dysfunction;however,spasticity remains under-researched.Abnormal muscle tone significantly hinders hemiplegic patients’walking recovery.OBJECTIVE:To determine whether early suspension-protected training with a personal assistant machine for stroke patients enhances walking ability and prevents muscle spasms.METHODS:Thirty-two early-stage stroke patients from Shenzhen University General Hospital and the China Rehabilitation Research Center were randomly assigned to the experimental group(n=16)and the control group(n=16).Both groups underwent 4 weeks of gait training under the suspension protection system for 30 minutes daily,5 days a week.The experimental group used the personal assistant machine during training.Three-dimensional gait analysis(using the Cortex motion capture system),Brunnstrom staging,Fugl-Meyer Assessment for lower limb motor function,Fugl-Meyer balance function,and the modified Ashworth Scale were evaluated within 1 week before the intervention and after 4 weeks of intervention.RESULTS AND CONCLUSION:After the 4-week intervention,all outcome measures showed significant changes in each group.The experimental group had a small but significant increase in the modified Ashworth Scale score(P<0.05,d=|0.15|),while the control group had a large significant increase(P<0.05,d=|1.48|).The experimental group demonstrated greater improvements in walking speed(16.5 to 38.44 cm/s,P<0.05,d=|4.01|),step frequency(46.44 to 64.94 steps/min,P<0.05,d=|2.32|),stride length(15.50 to 29.81 cm,P<0.05,d=|3.44|),and peak hip and knee flexion(d=|1.82|to|2.17|).After treatment,the experimental group showed significantly greater improvements than the control group in walking speed(38.44 vs.26.63 cm/s,P<0.05,d=|2.75|),stride length,peak hip and knee flexion(d=|1.31|to|1.45|),step frequency(64.94 vs.59.38 steps/min,P<0.05,d=|0.85|),and a reduced support phase(bilateral:24.31%vs.28.38%,P<0.05,d=|0.88|;non-paretic:66.19%vs.70.13%,P<0.05,d=|0.94|).For early hemiplegia,personal assistant machine-assisted gait training under the suspension protection system helps establish a correct gait pattern,prevents muscle spasms,and improves motor function.
文摘This research investigates the effectiveness of climate-related development aid in Indonesia’s climate mitigation.Specific objectives include assessing the contribution of official development assistance(ODA)to reducing CO_(2) emissions and evaluating the implementation of the Busan Principles of aid effectiveness to achieve Indonesia’s mitigation priorities and targets.We utilize a new primary dataset based on interviews with the most knowledgeable stakeholders of ODA on climate change mitigation.Additionally,we use secondary data from the annual Rio Marker and the Common Reporting Standard data of the Organization for Economic Co-operation and Development.The results show a significant correlation between climate-related development aid and CO_(2) emission reduction in Indonesia.Additionally,the implementation of the Busan Principles enhances aid management by fostering project ownership and increasing the involvement of civil society and private sector.The study has implications for devising an effective climate change mitigation strategy for Indonesia.It is suggested that the government of Indonesia exercise greater flexibility and dynamism in engaging with development partners.
基金supported by the National Science Foundation for Distinguished Young Scholars of China(No.52325506)the Fundamental Research Funds for the Central Universities(No.DUT22LAB501)。
文摘Ultrasonic-Assisted Grinding(UAG)is a novel manufacturing technology that shows promising promise for use in processing Ceramic Matrix Composites(CMCs).Nevertheless,analyzing the material removal process of CMCs with multidirectional structure during UAG is challenging,impeding the progress and improvement of the UAG process.This work examined the impact of ultrasonic vibration on the dynamic mechanical characteristics during processing.Additionally,we experimentally elucidated the material removal mechanism of CMCs during the scratching process under the influence of vertical vibration.The results indicate that the introduction of ultrasonic vibration causes a strain rate effect,resulting in a modification of the material removal mechanism,subsequently impacting the processing quality.Ultrasonic vibration increases the dynamic strength and brittleness of the fibers in CMCs,leading to more cracks at fracture,which changes from the original bending fracture to shear fracture.In addition,ultrasonic vibration can effectively inhibit the impact of scratching depth and anisotropy on the removal mechanism of CMCs,resulting in a more uniform surface of CMCs after processing.
基金funded by the National Natural Science Foundation of China (Grant No. 62471048)Open Fund Project of Beijing Key Laboratory of High Dynamic Navigation TechnologyKey Laboratory Fund Project of Modern Measurement and Control Technology, Ministry of Education
文摘In complex environments such as high dynamics and weak signals,a satellite signal compensation method based on prefabricated trajectory assistance and an improved adaptive Kalman filter is proposed for a 155 mm differential rotating rear-body control-guided projectile to address the situation of satellite signal flickering and loss in projectile navigation systems due to environmental limitations.First,establish the system state and measurement equation when receiving satellite signals normally.Second,a seven-degree-of-freedom external ballistic model is constructed,and the ideal trajectory output from the ballistic model is used to provide the virtual motion state of the projectile,which is input into a filter as a substitute observation when satellite signals are lost.Finally,an adaptive Kalman filter(AKF)is designed,the proposed adaptive Kalman filter can accurately adjust the estimation error covariance matrix and Kalman gain in real-time based on information covariance mismatch.The simulation results show that compared to the classical Kalman filter,it can reduce the average positioning error by more than 38.21%in the case of short-term and full-range loss of satellite signals,providing a new idea for the integrated navigation of projectiles with incomplete information under the condition of satellite signal loss.
基金Supported by National Key Research and Development Program of China(Grant Nos.2022YFE0117100 and 2021YFB250120101)National Natural Science Foundation of China(Grant No.52325212)+1 种基金Shanghai Municipal Automotive Industry Science,Technology Development Foundation(Grant No.2203)the SAIC Motor Corporation Limited(Grant No.2023023).
文摘Vehicle collision avoidance(CA)has been widely studied to improve road traffic safety.However,most evasion assistance control methods face challenges in effectively coordinating collision avoidance safety and human-machine interaction conflict.This paper introduces a novel multi-mode evasion assistance control(MEAC)method for intelligent distributed-drive electric vehicles.A reference safety area is established considering the vehicle safety and stability requirements,which serves as a guiding principle for evading obstacles.The proposed method includes two control modes:Shared-EAC(S-EAC)and Emergency-EAC(E-EAC).In S-EAC,an integrated human-machine authority allocation mechanism is designed to mitigate conflicts between human drivers and the control system during collision avoidance.The E-EAC mode is tailored for situations where the driver has no collision avoidance behavior and utilizes model predictive control to generate additional yaw moments for collision avoidance.Simulation and experimental results indicate that the proposed method reduces human-machine conflict and assists the driver in safe collision avoidance in the S-EAC mode under various driver conditions.In addition,it enhances the vehicle responsiveness and reduces the extent of emergency steering in the E-EAC mode while improving the safety and stability during the collision avoidance process.
基金supported by the National Natural Science Foundation of China(No.52205468,No.52275431,No.52375186)China Postdoctoral Science Foundation(No.2025M771349)Zhejiang Province Natural Science Foundation(No.LD22E050001)。
文摘The latest generation of aero engines has set higher standards for thrust-to-weight ratio and energy conversion efficiency,making it imperative to address the challenge of efficiently and accurately machining film cooling holes.It has been demonstrated that conventional long-pulse lasers are incapable of meeting the elevated quality surface finish requirements for these holes,a consequence of the severe thermal defects.The employment of backside water-assisted laser drilling technology confers a number of distinct advantages in terms of mitigating laser thermal damage,thus representing a highly promising solution to this challenge.However,significant accumulation of bubbles and machining products during the backside water-assisted laser drilling process has been demonstrated to have a detrimental effect on laser transmission and machining stability,thereby reducing machining quality.In order to surmount these challenges,a novel method has been proposed,namely an ultrasonic shock water flow-assisted picosecond laser drilling technique.Numerical models for ultrasonic acoustic streaming and particle tracking for machining product transport have been established to investigate the mechanism.The simulation results demonstrated that the majority of the machining products could rapidly move away from the machining area because of the action of acoustic streaming,thereby avoiding the accumulation of bubbles and products.Subsequent analysis,comparing the process performance in micro-hole machining,confirmed that the ultrasonic field could effectively eliminate bubble and chip accumulation,thus significantly improving micro-hole quality.Furthermore,the impact of ultrasonic and laser parameters on micro-hole quality under varying machining methods was thoroughly investigated.The findings demonstrated that the novel methodology outlined in this study yielded superior-quality micro-holes at elevated ultrasonic and laser power levels,in conjunction with reduced laser frequency and scanning velocity.The taper of the micro-holes produced by the new method was reduced by more than 25%compared with the other conventional methods.
基金the China National Petroleum Corporation’s Forward-Looking Fundamental Technology Breakthrough Project(2021DJ2305).
文摘Self-suspended proppants,which enable clear-water fracturing,represent a promising new class of materials for reservoir stimulation.Given the economic limitations associated with their exclusive use,this study investigates proppant transport behavior in hybrid systems combining self-suspended proppants with conventional 40/70 mesh quartz sand at various mixing ratios.A dedicated experimental apparatus was developed to replicate field-relevant complex fracture networks,consisting of a main fracture and two branching fractures with different deflection angles.Using this system,sand bank formation and proppant distribution were examined for both conventional quartz sand fracturing and fracturing augmented with self-suspended proppants.The effects of slurry discharge volume,proppant mixing ratio,sand ratio,and injection location of the self-suspended proppant on transport and placement behavior were systematically analyzed.According to the results,the incorporation of self-suspended proppants markedly enhances the proppant-carrying capacity of the slurry and substantially modifies sand bank morphology.Increasing the discharge volume raises the inlet slope angle and promotes greater proppant penetration into branch fractures.The proportion of self-suspended proppant governs slurry viscoelasticity and,consequently,proppant settling behavior.As the fraction of self-suspended proppant decreases,the equilibrium height of the sand bank increases,while the proppant mass fraction within branch fractures exhibits a non-monotonic response,initially decreasing and then increasing.Variations in sand ratio alter both overall proppant concentration and the self-suspended proppant-to-water ratio,thereby modulating slurry rheology and influencing proppant placement.In addition,changes in injection location affect near-wellbore vortex structures,leading to distinct sand bank morphologies.
文摘Based on the Bismuth-Corlette classification of hilar cholangiocarcinoma,the patients with types I,II,and III can undergo radical resection in the absence of extensive intrahepatic metastasis and vascular invasion[1].Depending on the scope of tumor invasion in bile duct,a combined resection of parts of the liver,hepatic ducts,common bile ducts,regional lymph nodes,and even parts of the duodenum and pancreas is necessary,along with biliary and gastrointestinal reconstructions[2].The surgical plan is complex,involving a large resection area and significant trauma.In recent years,laparoscopic or robot assisted radical resection of hilar cholangiocarcinoma has been applied clinically[3,4].With the advanced laparoscopic equipment,many patients undergo hepatopancreatoduodenectomy successfully[5].The limitations of traditional laparoscopic techniques restrict their wide application in clinical practice.However,the Da Vinci robot has been widely applied due to its clear field of vision and flexible manipulation.However,its utilization in hepato-pancreatoduodenectomy for hilar cholangiocarcinoma is still relatively rare.Here,we report a case with hilar cholangiocarcinoma at clinical stage IIIb who underwent robot-assisted hepato-pancreatoduodenectomy.
基金partially supported by the National Natural Science Foundation of China(Nos.32471474 and 82102574)the Precision Medicine Project of People’s Hospital of Xinjiang Uygur Autonomous Region(No.20220305)+4 种基金Chengdu Advanced Metal Materials Industry Technology Research Institute Co.,Ltd.Support Project(No.24H0802)Sichuan Science and Technology Program(Nos.2025YFHZ0086,2023YFS0053,2024YFHZ0125,and 2025ZNSFSC0381)Project of Tianfu Jincheng Laboratory(No.2025ZH009)Guangdong Basic and Applied Basic Research Foundation(No.2023A1515220102)Xinjiang Autonomous Region Science and Technology Support Project Plan(Directive)Project(No.2024E02049)。
文摘Cases of widespread bone hydatid infection are relatively rare in clinical practice.In this study,we reported for the first time a validated integrated repair therapy for multiple bone tissues,including the hip,femur,and knee,caused by echinococ cosis.Artificial intelligence(AI)was used to develop a targeted surgical plan and to design a personalized prosthesis.Finite element analysis(FEA)was used to optimize the mechanical effectiveness of a customized integrated replacement prosthesis and to model stress distribution in the surrounding bone.Three-dimensional(3 D)printing was used to fabricate a customized prosthesis.With the assistance of AI,FEA,and 3 D printing technology,a personalized surgical plan and customized prosthesis were successfully constructed based on the patient’s disease.This approach achieved a successful therapeutic effect,demonstrating that AI-assisted personalized medicine holds great promise for the future.
文摘It is known that the IELTS test has not been a good predictor of English capability in academic settings. More information is required. Are students not motivated to keep improving their English; what obstacles do they face? The English language issues facing international students from China at one University are explored through a survey and focus groups. It is observed that a lack of motivation is not the key factor. Rather one core problem is the very difficult demands of acculturation within a short time frame which would enable confidence for the students to continue to engage with other English speaking students. When faced with such immediate and hard to achieve acculturation, many retreat to their language groups. In the academic context, support for the transition to discipline based academic genres is double difficult as the time frame for second language learners is longer, but performance requirements are more immediate. Many first language students also have difficulties in this area, but have the easier language path to mastery. The study draws usefully on a comparison made with students studying English in China.
基金supported by the National Key Technology R&D Program of China (No. 2012BAJ21B01)
文摘Bamboo charcoal（BC） was used as starting material to prepare iron-modified bamboo charcoal（Fe-MBC） by its impregnation in FeCl 3 and HNO 3 solutions simultaneously,followed by microwave heating.The material can be used as an adsorbent for Pb（Ⅱ） contaminants removal in water.The composites were prepared with Fe molar concentration of 0.5,1.0 and 2.0 mol/L and characterized by means of N 2 adsorption-desorption isotherms,X-ray diffraction spectroscopy（XRD）,scanning electron microscopy coupled with energy dispersive X-ray spectrometry（SEM-EDS）,Fourier transform infrared（FT-IR） and point of zero charge（pH pzc） measurements.Nitrogen adsorption analyses showed that the BET specific surface area and total pore volume increased with iron impregnation.The adsorbent with Fe molar concentration of 2 mol/L（2Fe-MBC） exhibited the highest surface area and produced the best pore structure.The Pb（Ⅱ） adsorption process of 2Fe-MBC and BC were evaluated in batch experiments and 2Fe-MBC showed an excellent adsorption capability for removal Pb（Ⅱ）.The adsorption of Pb（Ⅱ） strongly depended on solution pH,with maximum values at pH 5.0.The ionic strength had a significant effect on the adsorption at pH 〈 6.0.The adsorption isotherms followed the Langmuir isotherm model well,and the maximum adsorption capacity for Pb（Ⅱ） was 200.38 mg/g for 2Fe-MBC.The adsorption processes were well fitted by a pseudo second-order kinetic model.Thermodynamic parameters showed that the adsorption of Pb（Ⅱ） onto Fe-MBC was feasible,spontaneous,and exothermic under the studied conditions,and the ion exchange mechanism played an significant role.These results have important implications for the design of low-cost and effective adsorbents in the removal of Pb（Ⅱ） from wastewater.
文摘In the globalized market environment, increasingly significant economic and environmental factors withincomplex industrial plants impose importance on the optimization of global production indices; such opti-mization includes improvements in production efficiency, product quality, and yield, along with reductionsof energy and resource usage. This paper briefly overviews recent progress in data-driven hybrid intelli-gence optimization methods and technologies in improving the performance of global production indicesin mineral processing. First, we provide the problem description. Next, we summarize recent progress indata-based optimization for mineral processing plants. This optimization consists of four layers： optimiza-tion of the target values for monthly global production indices, optimization of the target values for dailyglobal production indices, optimization of the target values for operational indices, and automation systemsfor unit processes. We briefly overview recent progress in each of the different layers. Finally, we point outopportunities for future works in data-based optimization for mineral processing plants.
基金supported by the National Natural Science Foundation of China(61921004,U1713209,61803085,and 62041301)。
文摘In this paper,a data-based scheme is proposed to solve the optimal tracking problem of autonomous nonlinear switching systems.The system state is forced to track the reference signal by minimizing the performance function.First,the problem is transformed to solve the corresponding Bellman optimality equation in terms of the Q-function(also named as action value function).Then,an iterative algorithm based on adaptive dynamic programming(ADP)is developed to find the optimal solution which is totally based on sampled data.The linear-in-parameter(LIP)neural network is taken as the value function approximator.Considering the presence of approximation error at each iteration step,the generated approximated value function sequence is proved to be boundedness around the exact optimal solution under some verifiable assumptions.Moreover,the effect that the learning process will be terminated after a finite number of iterations is investigated in this paper.A sufficient condition for asymptotically stability of the tracking error is derived.Finally,the effectiveness of the algorithm is demonstrated with three simulation examples.
基金supported in part by the National Natural ScienceFoundation of China(61533017,61973330,61773075,61603387)the Early Career Development Award of SKLMCCS(20180201)the State Key Laboratory of Synthetical Automation for Process Industries(2019-KF-23-03)。
文摘In this paper, a data-based fault tolerant control(FTC) scheme is investigated for unknown continuous-time(CT)affine nonlinear systems with actuator faults. First, a neural network(NN) identifier based on particle swarm optimization(PSO) is constructed to model the unknown system dynamics. By utilizing the estimated system states, the particle swarm optimized critic neural network(PSOCNN) is employed to solve the Hamilton-Jacobi-Bellman equation(HJBE) more efficiently.Then, a data-based FTC scheme, which consists of the NN identifier and the fault compensator, is proposed to achieve actuator fault tolerance. The stability of the closed-loop system under actuator faults is guaranteed by the Lyapunov stability theorem. Finally, simulations are provided to demonstrate the effectiveness of the developed method.
基金Under the auspices of National Social Science Fund of China(No.18BJL126)。
文摘Social assistance is the last safety net in the social security system and plays a vital role in poverty alleviation in countries around the world. Promoting the equal financial assistance is meaningful to achieve equalization of social assistance. Based on the provincial panel data from 2002 to 2017, this paper analyzes the dynamic characteristics and main influencing factors of the equity of social assistance in China, using the Theil index and geographically weighted regression(GWR) model. The results suggest that the level of per capita social assistance expenditure(PSAE) in China keeps increasing year by year, but the changes in different regions and provinces are quite different. These changes not only significantly changed the spatial pattern of PSAE in China, but also greatly improved its spatial coupling with the deeply impoverished areas. Further analysis shows that the regional inequality of PSAE between provinces is obvious during the study period, and the inter-regional inequality is significantly higher than the intra-regional inequality.This makes inter-regional inequality become the main source of the regional inequality of PSAE in China for a long time. According to GWR results, there is obvious spatiotemporal heterogeneity in the influence intensity and direction of the per capita financial revenue,urbanization rate, urban unemployment rate, natural disaster-affected area, and transfer payment intensity on the PSAE. The urbanization rate and per capita financial revenue are the main driving factors of PSAE, and the impact intensity of per capita financial revenue tends to strengthen. The remaining three factors have a positive effect on PSAE, but the effect intensity is not high.
文摘Introduction: To present the initial experience of 3-port incisionless laparoscopic surgery for rectal cancer with a transrectal assistance by using a toothed oval clamp. Case Presentation: One patient received 3-port incisionless laparoscopic surgery for rectal cancer with a transrectal assistance by using a toothed oval clamp. Better direct vision and exposure could be acquired for performing laparoscopic surgical procedure, avoiding additional port inserted. Using this procedure, with strictly adhering to the principles of laparoscopic colectomy and oncological procedure, along with the specimen exteriorized via recta, transacted and a stapled anastomosis performed, no incision can be achieved at the end of an operation. The operative time was 180 minutes. The estimated blood loss in the course of an operation was 80 ml. The patient recovered quickly after surgery, with no post-operative pain and no incision. The patient was dischanged home on the 6th postoperative day. Conclusions: With a transrectal assistance by using a toothed oval clamp, 3-port laparoscopic surgery for rectal cancer could be achieved without no incision at the end of the operation, the same as NOTES. It is enormously advantageous to the patient and suitable for application in developing countries, especially in a rural area.
基金supported by the following grants Fonds de la Recherche Scientifique–FNRS 1.R.506.161.R.506.18&1.R.506.20+8 种基金Fonds de la Recherche Scientifique Médicale(FRSM)3.4.525.08.FFonds Spécial de Recherche(FSR)from the UCLouvainFondation Van Goethem-BrichantFondation Mont-Godinnesupported by the following grants FRNS-FRIA n°F3/5/5-MCF/ROI/BC-19727 and F3/5/5-MCF/XH/FC-17514Fondation Mont-Godinne 2018supported by grants from the Fondation Mont-Godinne 2015-2016Fonds Spécial de Recherche(FSR)of the UCLouvain 2016-2018Fondation Roi Baudouin/Fonds Amélie 2018-2019。
文摘Using robotic devices might improve recovery post-stroke, but the optimal way to apply robotic assistance has yet to be determined. The current study aimed to investigate whether training under the robotic active-assisted mode improves bimanual motor skill learning(biMSkL) more than training under the active mode in stroke patients. Twenty-six healthy individuals(HI) and 23 chronic hemiparetic stroke patients with a detectable lesion on MRI or CT scan, who demonstrated motor deficits in the upper limb, were randomly allocated to two parallel groups. The protocol included a two-day training on a new bimanual cooperative task, LIFT-THE-TRAY, under either the active or activeassisted modes(where assistance decreased in a pre-determined stepwise fashion) with the bimanual version of the REAplan? robotic device. The hypothesis was that the active-assisted mode would result in greater biMSkL than the active mode. The biMSkL was quantified by a speed-accuracy trade-off(SAT) before(T1) and immediately after(T2) training on days 1 and 2(T3 and T4). The change in SAT after 2 days of training(T4/T1) indicated that both HI and stroke patients learned and retained the bimanual cooperative task. After 2 days of training, the active-assisted mode did not improve biMSkL more than the active mode(T4/T1) in HI nor stroke patients. Whereas HI generalized the learned bimanual skill to different execution speeds in both the active and active-assisted subgroups, the stroke patients generalized the learned skill only in the active subgroup. Taken together, the active-assisted mode, applied in a pre-determined stepwise decreasing fashion, did not improve biMSkL more than the active mode in HI and stroke subjects. Stroke subjects might benefit more from robotic assistance when applied "as-needed." This study was approved by the local ethical committee(Comité d'éthique médicale, CHU UCL Namur, MontGodinne, Yvoir, Belgium;Internal number: 54/2010, Eudra CT number: NUB B039201317382) on July 14, 2016 and was registered with ClinicalTrials.gov(Identifier: NCT03974750) on June 5, 2019.
基金Supported by National Natural Science Foundation of China(Grant No.U1813222)Hebei Provincial Natural Science Foundation of China(Grant No.E2018202316).
文摘Walking assistance can be realized by active and passive robotic walkers when their users walk on even roads.However,fast signal processing and real-time control are necessary for active robotic walkers when the users walk on slopes,while assistive forces cannot be provided by passive robotic walkers when the users walk uphill.A robotic walker with an active-passive hybrid actuator(APHA)was developed in this study.The APHA,which consists of a rotary magnetorheological(MR)brake and a DC motor,can provide mobility assistance to users walking both uphill and downhill via the cooperative operation of the MR brake and DC motor.The rotary MR brake was designed with a T-shaped configuration,and the system was optimized to minimize the brake volume.Prototypes of the APHA and robotic walker were constructed.A control algorithm for the robotic walker was developed based on the characteristics of the APHA and the structure of the robotic walker.The mechanical properties of the APHA were characterized,and experiments were conducted to evaluate the mobility assistance supplied by the robotic walker on different roads.The results show that the APHA can meet the requirements of the robotic walker,and suitable assistive forces can be provided by the robotic walker,which has a simple mechanical structure and control method.
