Objective: To design and test a treatment regimen which is clinically responsive, readily available, cost effective, and applicable especially to children and women of child bearing age. Design Setting: A prospective ...Objective: To design and test a treatment regimen which is clinically responsive, readily available, cost effective, and applicable especially to children and women of child bearing age. Design Setting: A prospective cohort study. Setting: Two major postgraduate teaching hospitals: one in Tripoli, Libya and the other in Jeddah, Saudi Arabia. Participants: Fifty-seven patients with 79 keloids, referred from Plastic Surgery Units between April 1996 and January 2005. Main Outcome Measure: Degree of flattening of the keloidal lesion and symptomatic recovery. Results: Result of treatment has been analyzed using unified set criteria. Seventy-seven percent of this cohort had complete response. 19% of cases had partial response, 50% acknowledged the treatment outcome had been “satisfactory” and 44% had an “acceptable” outcome. There was no significant acute or delayed reaction. Conclusion: The technique appears universally adaptable, cost effective, and can safely be prescribed for children and women of child-bearing age. In spite of prolonged treatment course, compliance was excellent.展开更多
The clinical data of 18 patients with PB from April 1989 to April 2013 was analyzed retrospectively,including 11 men and 7 women,aged 45 and 76 years old(mean 53 years).There were 12 eases of PB occurrlng in right lun...The clinical data of 18 patients with PB from April 1989 to April 2013 was analyzed retrospectively,including 11 men and 7 women,aged 45 and 76 years old(mean 53 years).There were 12 eases of PB occurrlng in right lung and other cases in left lung,AraBng them,3 patients had no symptoms,and 15 patients displayed symptoms of cough,chest pain,asthenia or minor hacmoptysis.Overall,11 patients had a preoperative diagnosis of lung cancer,7 patients were preoperatively diagnosed as the other disease,which included lung benign tumor(n=5)and mediastinal mass(n=2).All patients received a radical resection.Six patients received postoperative cisplalinbascd chemothcrapy,and two paticnts received postoperative irradiation with the dose of 55 Gy.Histologically.14 eases of 18 patients had biphasie pulmonary blastema and four cases had well differentiated fetal adenocarcinoma.A total of 12 patients died in a period of 6-36 months after operation,and 1 ease was lost after 2 years of follow up.The median survival time was 19 months,PB is a rare primary lung malignant embryonal neoplasm.Despite its assumed embyonal origin,the tumor has a predileetion for adults.A preoperative correct diagnosis is very difficult in spite of modern diagnostic imaging and biopsy techniques,Surgical resection is the main method for diagnosis and treatment.Postoperative chemotherapy or irradiation can help eliminate tumor remnants.Its prognosis is very poor,especially for the biphasie type.展开更多
Background: Wilms’ tumor (WT), the most common malignant neoplasm of the urinary tract of children [1], accounts for 5.9% of childhood cancers and affects one in every 10,000 children worldwide before the age of 15 y...Background: Wilms’ tumor (WT), the most common malignant neoplasm of the urinary tract of children [1], accounts for 5.9% of childhood cancers and affects one in every 10,000 children worldwide before the age of 15 years. The care of children with Wilm’s tumor in sub-Saharan Africa is compromised due to resource deficiencies that range from inadequate healthcare budgets to paucity of appropriately trained personnel. Childhood Wilms tumor is surging as an important paediatric problem in developing and sub-Saharan Africa countries. The objective of the study is to establish an understanding on the treatment challenges and outcomes of Wilm’s tumor in South West Ethiopia. Results: Forty-three Wilm’s tumor patients who were admitted from January 2017 to December 2021 were included in the study. The most frequent presentation was painless abdominal swelling in 40 (93%) patients. Fourteen patients (32.6%) were hypertensive at the time of diagnosis and the other 13 (30.2%) were normal. In abdominal examination, 31 (72.1%) patients had abdominal mass not crossing the midline and 12 (27.9%) had mass crossing the midline. After multimodal treatment, 37.5% had improvement, 11.6% came back with relapse. Most patients (41.7%) abandoned treatment and 9.3% of the cohort died in the course of treatment. Conclusion: The outcomes in the treatment of Wilms Tumor have been found to be poor in this review. The main reason for poor outcome has been not receiving adequate chemotherapy after surgery. Doses of chemotherapy received after surgery significantly affected treatment outcomes (p = 0.026).展开更多
This study investigates the combined effects of multi-modality therapy, including mild hyperbaric therapy (mHBT), photobiomodulation (PBM), and molecular hydrogen therapy (MH), on cognitive rehabilitation in individua...This study investigates the combined effects of multi-modality therapy, including mild hyperbaric therapy (mHBT), photobiomodulation (PBM), and molecular hydrogen therapy (MH), on cognitive rehabilitation in individuals with mild-to-moderate traumatic brain injury (TBI). A total of 15 participants (7 males, 8 females, ages ranging from 20 to 78 years) diagnosed with mild-to-moderate TBI underwent 10 sessions of combined therapy. Cognitive performance was assessed using standardized neuropsychological tests before and after treatment, measuring cognitive processing speed, neural responsiveness, and executive function. The results demonstrated significant improvements across all metrics, including a 28.3 ms reduction in P300 latency, a 1.2 mV increase in P300 voltage, and reductions in completion times for the Trail-Making Tests A (14 seconds) and B (19 seconds). These findings suggest that multi-modality therapy may enhance cognitive recovery in TBI patients, with notable benefits across age and gender groups. Further research with larger sample sizes and extended follow-up is required to validate these results and explore their broader clinical applications.展开更多
Helicobacter pylori(H.pylori)infection remains a pivotal driver of chronic gastritis,peptic ulcer,gastric mucosa-associated lymphoid tissue lymphoma and gastric cancer,yet its eradication is increasingly frustrated by...Helicobacter pylori(H.pylori)infection remains a pivotal driver of chronic gastritis,peptic ulcer,gastric mucosa-associated lymphoid tissue lymphoma and gastric cancer,yet its eradication is increasingly frustrated by climbing antibiotic resistance and intolerable side-effects of standard triple or quadruple therapies.In recent years,fecal microbiota transplantation(FMT),a strategy that reconstructs the gut ecosystem by introducing a healthy donor microbiome,has emerged as a novel adjunct or alternative.By competitively excluding H.pylori,reinforcing mucosal barrier integrity,modulating host immunity and secreting bacteriocins,FMT can raise eradication rates,relieve dyspeptic symptoms and lower recurrence.This review synthesizes up-to-date pre-clinical,pilot and controlled clinical data,dissects underlying mechanisms,compares delivery routes,donor screening protocols and safety profiles,and discusses regulatory,ethical and standardization hurdles that must be overcome before large-scale clinical application.展开更多
Rural domestic sewage treatment is critical for environmental protection.This study defines the spatial pattern of villages from the perspective of rural sewage treatment and develops an integrated decision-making sys...Rural domestic sewage treatment is critical for environmental protection.This study defines the spatial pattern of villages from the perspective of rural sewage treatment and develops an integrated decision-making system to propose a sewage treatment mode and scheme suitable for local conditions.By considering the village spatial layout and terrain factors,a decision tree model of residential density and terrain type was constructed with accuracies of 76.47%and 96.00%,respectively.Combined with binary classification probability unit regression,an appropriate sewage treatment mode for the village was determined with 87.00%accuracy.The Analytic Hierarchy Process(AHP),combined with the Technique for Order Preference(TOPSIS)by Similarity to an Ideal Solution model,formed the basis for optimal treatment process selection under different emission standards.Verification was conducted in 542 villages across three counties of the Inner Mongolia Autonomous Region,focusing on the standard effluent effect(0.3773),low investment cost(0.3196),and high standard effluent effect(0.5115)to determine the best treatment process for the same emission standard under different needs.The annual environmental and carbon emission benefits of sewage treatment in these villages were estimated.This model matches village density,geographic feature,and social development level,and provides scientific support and a theoretical basis for rural sewage treatment decision-making.展开更多
Silicon carbide fibers are considered ideal reinforcing materials for ceramic matrix composites due to their excellent mechanical properties and high-temperature performance.Different types of fibers necessitate indiv...Silicon carbide fibers are considered ideal reinforcing materials for ceramic matrix composites due to their excellent mechanical properties and high-temperature performance.Different types of fibers necessitate individual investigation due to variations in their composition and fabrication processes.This study presents a comprehensive investigation into evolution of the mechanical properties,surface microstructure,and composition of Shicolon-Ⅱ fibers subjected to argon heat treatment at temperatures ranging from 1300℃to 1700℃.The Shicolon-Ⅱ fibers are composed of small-sized β-SiC grains,SiC_(x)O_(y) amorphous phase,and a minor amount of graphite microcrystals.Following treatment in an argon atmosphere at 1300℃,the fibers maintain a monofilament tensile strength of 3.620 GPa,corresponding to a retention of 98.32%.This strength diminishes to 2.875 GPa,equating to a retention of 78.08%,after treatment at 1500℃.The reduction in mechanical properties of the fibers can be ascribed to the decomposition of the amorphous phase and the growth of β-SiC grains.Furthermore,creep resistance is an essential factor influencing the long-term performance of composite materials.After treatment at temperatures above 1400℃,the high-temperature creep resistance of the fibers is significantly enhanced due to growth of β-SiC grains.This study offers valuable theoretical insights into high-temperature applications of second-generation fibers,contributing to an enhanced understanding of their performance under extreme conditions.展开更多
Psoriasis is a hereditary,autoimmune,chronic illness that influences the immune system and can have both cutaneous and systemic symptoms.It can seriously impair a patient’s quality of life.Psoriasis affects 2.3 perce...Psoriasis is a hereditary,autoimmune,chronic illness that influences the immune system and can have both cutaneous and systemic symptoms.It can seriously impair a patient’s quality of life.Psoriasis affects 2.3 percent of people globally and has a significant financial cost for those who suffer from it.Genes and environmental factors are the primary etiological factors.Dendritic cells,T cells,human neutrophilic peptides,lipoprotein-2,galactosin-3,fractalkine,vaspin,and familial predispositions,among other factors,are characteristics of the pathophysiology of psoriasis.Conventional psoriasis treatments for patients include corticosteroids,biological agents,vitamin D3 analogs,acitretin,calcineurin inhibitors,cyclosporine,methotrexate,and phototherapy.Growing in popularity as a multidisciplinary field of study,nano dermatology is being used to treat psoriasis.Over the years,major advancements have been made in understanding its complex pathogenesis and developing more effective,targeted treatments.Medication delivery methods utilizing nanocarriers demonstrate promise in treating psoriasis because they improve medication penetration,reduce side effects,and provide targeted action at the afflicted areas.Because of their biological compatibility,adaptability,and capacity for carrying a variety of therapeutic substances,lipid-based and polymer-based nanocarriers have demonstrated exceptional promise among them.This article summarizes the pathogenesis,epidemiology,clinical diagnosis,and conventional psoriasis treatments.Furthermore,the review includes an overview of various nanotechnology-based psoriasis treatments.展开更多
Gait recognition is a key biometric for long-distance identification,yet its performance is severely degraded by real-world challenges such as varying clothing,carrying conditions,and changing viewpoints.While combini...Gait recognition is a key biometric for long-distance identification,yet its performance is severely degraded by real-world challenges such as varying clothing,carrying conditions,and changing viewpoints.While combining silhouette and skeleton data is a promising direction,effectively fusing these heterogeneous modalities and adaptively weighting their contributions in response to diverse conditions remains a central problem.This paper introduces GaitMAFF,a novelMulti-modal Adaptive Feature Fusion Network,to address this challenge.Our approach first transforms discrete skeleton joints into a dense SkeletonMap representation to align with silhouettes,then employs an attention-based module to dynamically learn the fusion weights between the two modalities.These fused features are processed by a powerful spatio-temporal backbone withWeighted Global-Local Feature FusionModules(WFFM)to learn a discriminative representation.Extensive experiments on the challenging CCPG and Gait3D datasets show that GaitMAFF achieves state-of-the-art performance,with an average Rank-1 accuracy of 84.6%on CCPG and 58.7%on Gait3D.These results demonstrate that our adaptive fusion strategy effectively integrates complementary multimodal information,significantly enhancing gait recognition robustness and accuracy in complex scenes and providing a practical solution for real-world applications.展开更多
Metal organic framework(MOF) assembled with coordination bonds has the disadvantage of poor stability that limits its application in the field of stationary phase,while covalent organic framework(COF)assembled through...Metal organic framework(MOF) assembled with coordination bonds has the disadvantage of poor stability that limits its application in the field of stationary phase,while covalent organic framework(COF)assembled through covalent bonds exhibits excellent structural stability.It has been shown that the stationary phases prepared by combining MOF and COF can make up for the poor stability of MOF@SiO_(2),and the MOF/COF composites have superior chromatographic separation performance.However,the traditional methods for preparing COF/MOF based stationary phases are generally solvent thermal synthesis.In this study,a green and low-cost synthesis method was proposed for the preparation of MOF/COF@SiO_(2) stationary phase.Firstly,COF@SiO_(2) was prepared in a choline chloride/ethylene glycol based deep eutectic solvent(DES).Secondly,another acid-base tunable DES prepared by mixing p-toluenesulfonic acid(PTSA)and 2-methylimidazole in different proportions was introduced as the reaction solvent and reactant for rapid synthesis of MOF/COF@SiO_(2).Compared with the toxic transition metal-based MOFs selected in most previous studies,a lightweight and non-toxic S-zone metal(calcium) based MOF was employed in this study.PTSA and calcium will form the calcium/oxygen-containing organic acid framework in acidic DES,which assembles with terephthalic acid dissolved in basic DES to form MOF.The strong hydrogen bonding effect of DES can facilitate rapid assembly of Ca-MOF.The obtained Ca-MOF/COF@SiO_(2) can be used for multi-mode chromatography to efficiently separate multiple isomeric/hydrophilic/hydrophobic analytes.The synthesis method of Ca-MOF/COF@SiO_(2) is green and mild,especially the use of acid-base tunable DES promotes the rapid synthesis of non-toxic Ca-MOF/COF@silica composites,which offers an innovative approach of greenly synthesizing novel MOF/COF stationary phases and extends their applications in the field of chromatography.展开更多
In multi-modal emotion recognition,excessive reliance on historical context often impedes the detection of emotional shifts,while modality heterogeneity and unimodal noise limit recognition performance.Existing method...In multi-modal emotion recognition,excessive reliance on historical context often impedes the detection of emotional shifts,while modality heterogeneity and unimodal noise limit recognition performance.Existing methods struggle to dynamically adjust cross-modal complementary strength to optimize fusion quality and lack effective mechanisms to model the dynamic evolution of emotions.To address these issues,we propose a multi-level dynamic gating and emotion transfer framework for multi-modal emotion recognition.A dynamic gating mechanism is applied across unimodal encoding,cross-modal alignment,and emotion transfer modeling,substantially improving noise robustness and feature alignment.First,we construct a unimodal encoder based on gated recurrent units and feature-selection gating to suppress intra-modal noise and enhance contextual representation.Second,we design a gated-attention crossmodal encoder that dynamically calibrates the complementary contributions of visual and audio modalities to the dominant textual features and eliminates redundant information.Finally,we introduce a gated enhanced emotion transfer module that explicitly models the temporal dependence of emotional evolution in dialogues via transfer gating and optimizes continuity modeling with a comparative learning loss.Experimental results demonstrate that the proposed method outperforms state-of-the-art models on the public MELD and IEMOCAP datasets.展开更多
The flow behavior of molten steel in the thin slab mold under high casting speed conditions was investigated,with a focus on the multi-mode continuous casting and rolling mold.A steel-slag two-phase flow model was est...The flow behavior of molten steel in the thin slab mold under high casting speed conditions was investigated,with a focus on the multi-mode continuous casting and rolling mold.A steel-slag two-phase flow model was established using large eddy simulation,the volume of fluid,and magnetohydrodynamics methods through numerical simulation.The maximum flow velocity and wave height at the steel-slag interface within the mold are critical evaluation criteria for analyzing asymmetric flow under varying casting speeds and electromagnetic braking.The results indicate that the asymmetric flows within the mold do not occur synchronously.The severity of the asymmetric flow correlates with the velocity difference across the steel-slag interface.A greater biased flow prolongs the time required to revert to a steady state.When the magnetic field intensity is set to 0.24 T and the magnetic pole position is at 390 mm from the steel-slag interface,this configuration can reduce the velocity of the steel-slag interface,thereby mitigating the asymmetric flow.Additionally,it can diminish the velocity,impact depth,and impact intensity on the narrow face of the jet,thus improving the distribution of velocity and turbulent kinetic energy within the mold.This configuration prolongs the time required for the steel-slag interface to transition from a stable state to its maximum velocity and shortens the time for the interface to return to stability from an unstable state.Moreover,it ensures the positional stability of the steel-slag interface,confining its position within−3 mm.展开更多
Hilar cholangiocarcinoma(HC)is a common biliary tract malignancy;however,its postoperative prognosis remains suboptimal.Recent advancements in surgical management include preoperative biliary drainage,selection of hep...Hilar cholangiocarcinoma(HC)is a common biliary tract malignancy;however,its postoperative prognosis remains suboptimal.Recent advancements in surgical management include preoperative biliary drainage,selection of hepatic resection approaches,innovations in bilioenteric anastomosis techniques,and perioperative chemotherapy.This review summarizes the current literature on these developments and highlighting their clinical implications,unresolved challenges,and prospected the future research direction.展开更多
The TiB+TiC dual-reinforced B_(4)C/TC4 composite was in-situ fabricated via incorporating 0.5wt%B_(4)C reinforcement during the laser melting deposition process.Different heat treatments of annealing and solid solutio...The TiB+TiC dual-reinforced B_(4)C/TC4 composite was in-situ fabricated via incorporating 0.5wt%B_(4)C reinforcement during the laser melting deposition process.Different heat treatments of annealing and solid solution were used to regulate the microstructure,mechanical properties,and corrosion properties of B_(4)C/TC4 composite.Results show that with the increase in temperature from 500℃to 800°C,partial lamellarα-Ti in the as-deposited sample is gradually transformed into equiaxedα-Ti,accompanied by the disappearance of basketweave microstructure.At 1100°C,a small portion of TiC phase suffers fusion.This composite exhibits the optimal combination of strength and plasticity after annealing at 500℃for 4 h followed by furnace cooling,which is attributed to the stress release effect and the refined basketweave microstructure.However,this composite shows a decline in corrosion resistance after various heat treatments due to grain coarsening and micro-galvanic corrosion.展开更多
Oat milk has gained widespread consumer acceptance for its creamy texture,β-glucan content,and environmental sustainability.However,its relatively low protein content(typically 2-3 g/serving)presents a nutritional li...Oat milk has gained widespread consumer acceptance for its creamy texture,β-glucan content,and environmental sustainability.However,its relatively low protein content(typically 2-3 g/serving)presents a nutritional limitation,largely due to poor protein solubility.This study investigated how processing conditions influence protein content and functional stability in oat-based systems by applying two treatments:(1)α-amylase enzymatic hydrolysis,and(2)pH-shifting(from pH 7 to 12 and back)with mild heating(50℃for 10 or 30 min).Oat protein solutions were formulated from two sources:oat flour(OF)and oat protein isolate(OPI).Results suggests that α-amylase pretreatment effectively reduced starch-driven viscosity in OF,facilitating better sample handling and centrifugation.Following pH-shifting and heat treatment,both OF and OPI solutions showed significantly improved protein solubility,with protein content increased from 2.0 to~6.5 g/serving.These changes were accompanied by reduced precipitation,smaller particle sizes,and more negative zeta potential values,indicating enhanced colloidal stability.SDS-PAGE analysis revealed the presence of low-molecular-weight protein fractions,supporting increased solubilization.Fluorescence microscopy confirmed the formation of smaller,more uniformly dispersed particles in treated samples compared to controls.However,noticeable darkening or browning occurred under high-pH heating,indicating potential challenges in color control.The findings provide useful information for future industrial applications and product innovation in the plant-based beverage sector.展开更多
Heat treatment is applied towood to improve various properties of thematerial.Thepresent study focuses on the colour changes of wood veneer samples due to heat treatment.Native wood species fromJapan and Europe,such a...Heat treatment is applied towood to improve various properties of thematerial.Thepresent study focuses on the colour changes of wood veneer samples due to heat treatment.Native wood species fromJapan and Europe,such as Japanese oak(Quercus mongolica var.crispula),field maple(Acer campestre)and Scots pine(Pinus sylvestris)were used in the experiments.A laboratory-type oven was used to apply the heat at a temperature of 190○C,in the presence of oxygen,for different periods,gradually increasing from 5 to 40 min.The CIELab system(a colour space defined by the International Commission on Illumination)and Near Infrared Spectroscopy(NIR)were employed to evaluate the colour modifications on the samples.As expected,the heat treatment affected the colour of the samples.The lightness index decreased across the three wood species during the treatment.The chroma coordinates changed for pine and maple,while little change occurred in Japanese oak.The overall total colour differences reached their maximum at the final 40-min interval for all wood types.Based on the NIR evaluation,it was found that drastic thermal denaturation of cellulose was unlikely to occur,and the changes in the intermolecular interaction of water affected the colour of the specimens.The data and information of this study could be useful for industrial applications where the veneer of such species is desired.Such heat-treated veneers can be considered as value-added products in furniture manufacturing as well as restoration of furniture units where such veneer is used as an overlay.展开更多
A critical scientific gap exists in quantifying the intrinsic mechanisms of shale mechanical property degradation induced by the combined effects of perforation(impact)and acidization—two core techniques for shale re...A critical scientific gap exists in quantifying the intrinsic mechanisms of shale mechanical property degradation induced by the combined effects of perforation(impact)and acidization—two core techniques for shale reservoir permeability enhancement.To address this gap,this study proposed an innovative coupled experimental framework integrating dynamic-static cyclic loading(to simulate perforation impact)and acid erosion.Static uniaxial compression tests were performed on treated damaged shale samples,with microstructural characterization via X-ray diffraction(XRD)and scanning electron microscopy(SEM).Key findings include:(1)The damage factor(characterized by longitudinal wave velocity)showed a significant positive correlation with acid concentration;(2)Combined damage(impact+acidization)caused far more severe mechanical deterioration than single damage modes—for instance,samples under combined damage with 20%hydrochloric acid exhibited a strength reduction to 158.97 MPa,with sharp decreases in peak strength and elastic modulus;(3)Damage reduced total energy and elastic strain energy of samples while increasing dissipated energy proportion,leading to more developed internal fractures and severe failure in combined damage samples;(4)Acidization promoted sample fragmentation into smaller debris,resulting in significantly higher fractal dimensions of acidized shale than other damage types under the same acid concentration;(5)XRD and SEM analyses confirmed that high-concentration acid erosion reduced shale carbonate content,and the synergy of mechanical pre-damage and chemical dissolution in combined damage accelerated acid-rock reactions,significantly increasing micro-interfacial pores and degrading shale structural integrity.This study’s innovation lies in establishing a coupled experimental framework that reproduces the actual“perforation-acidization”sequence,quantitatively revealing the synergistic degradation mechanism of shale mechanical properties under combined damage—providing a novel theoretical basis for optimizing shale reservoir stimulation parameters.展开更多
The global prevalence of metabolic-associated fatty liver disease(MAFLD)is on the rise,seriously threatening human health.Currently,no specific approved drugs are available for its treatment.This paper reviews the pat...The global prevalence of metabolic-associated fatty liver disease(MAFLD)is on the rise,seriously threatening human health.Currently,no specific approved drugs are available for its treatment.This paper reviews the pathogenesis of MAFLD,covering aspects like lipid accumulation and insulin resistance,oxidative stress,endoplasmic reticulum stress(ERS),lipotoxicity-induced hepatocyte damage,and fibrosis.It also elaborates on multiple treatment approaches for MAFLD,including metabolic regulation,improvement of the gut-liver axis interaction,modulation of immune and inflammatory pathways,enhancement of the adipose tissue-liver interaction,alleviation of fibrosis,prevention of hepatocyte injury,and traditional Chinese medicine(TCM)external therapies.Additionally,natural product research advancements,individual Chinese medicine components,and mixed herbal formulas for MAFLD treatment is provided.Many natural products and traditional Chinese medicines exhibit favorable effects in regulating lipid metabolism,anti-inflammation,and anti-oxidation,offering new directions and potential drug options for MAFLD treatment.This is expected to provide a reference for future clinical treatment and drug development.展开更多
To address the challenge of achieving decentralized,scalable,and adaptive control for large-scale multiple unmanned aerial vehicle(multi-UAV)swarms in dynamic urban environments with obstacles and wind perturbations,w...To address the challenge of achieving decentralized,scalable,and adaptive control for large-scale multiple unmanned aerial vehicle(multi-UAV)swarms in dynamic urban environments with obstacles and wind perturbations,we proposed a hybrid framework integrating adaptive reinforcement learning(RL),multi-modal perception fusion,and enhanced pigeon flock optimization(PFO)with curiosity-driven exploration to enable robust autonomous and formation control.The framework leverages meta-learning to optimize RL policies for real-time adaptation,fuses sensor data for precise state estimation,and enhances PFO with learned leader-follower dynamics and exploration rewards to maintain cohesive formations and explore uncertain areas.For swarms of 10–30 UAVs,it achieves 34%faster convergence,61%reduced stability root mean square error(RMSE),88%fewer collisions and 85.6%–92.3%success rates in target detection and encirclement,outperforming standard multi-agent RL,pure PFO,and single-modality RL.Three-dimensional trajectory visualizations confirm cohesive formations,collision-free maneuvers,and efficient exploration in urban search-and-rescue scenarios.Innovations include meta-RL for rapid adaptation,multi-modal fusion for robust perception,and curiosity-driven PFO for scalable,decentralized control,advancing real-world multi-UAV swarm autonomy and coordination.展开更多
文摘Objective: To design and test a treatment regimen which is clinically responsive, readily available, cost effective, and applicable especially to children and women of child bearing age. Design Setting: A prospective cohort study. Setting: Two major postgraduate teaching hospitals: one in Tripoli, Libya and the other in Jeddah, Saudi Arabia. Participants: Fifty-seven patients with 79 keloids, referred from Plastic Surgery Units between April 1996 and January 2005. Main Outcome Measure: Degree of flattening of the keloidal lesion and symptomatic recovery. Results: Result of treatment has been analyzed using unified set criteria. Seventy-seven percent of this cohort had complete response. 19% of cases had partial response, 50% acknowledged the treatment outcome had been “satisfactory” and 44% had an “acceptable” outcome. There was no significant acute or delayed reaction. Conclusion: The technique appears universally adaptable, cost effective, and can safely be prescribed for children and women of child-bearing age. In spite of prolonged treatment course, compliance was excellent.
文摘The clinical data of 18 patients with PB from April 1989 to April 2013 was analyzed retrospectively,including 11 men and 7 women,aged 45 and 76 years old(mean 53 years).There were 12 eases of PB occurrlng in right lung and other cases in left lung,AraBng them,3 patients had no symptoms,and 15 patients displayed symptoms of cough,chest pain,asthenia or minor hacmoptysis.Overall,11 patients had a preoperative diagnosis of lung cancer,7 patients were preoperatively diagnosed as the other disease,which included lung benign tumor(n=5)and mediastinal mass(n=2).All patients received a radical resection.Six patients received postoperative cisplalinbascd chemothcrapy,and two paticnts received postoperative irradiation with the dose of 55 Gy.Histologically.14 eases of 18 patients had biphasie pulmonary blastema and four cases had well differentiated fetal adenocarcinoma.A total of 12 patients died in a period of 6-36 months after operation,and 1 ease was lost after 2 years of follow up.The median survival time was 19 months,PB is a rare primary lung malignant embryonal neoplasm.Despite its assumed embyonal origin,the tumor has a predileetion for adults.A preoperative correct diagnosis is very difficult in spite of modern diagnostic imaging and biopsy techniques,Surgical resection is the main method for diagnosis and treatment.Postoperative chemotherapy or irradiation can help eliminate tumor remnants.Its prognosis is very poor,especially for the biphasie type.
文摘Background: Wilms’ tumor (WT), the most common malignant neoplasm of the urinary tract of children [1], accounts for 5.9% of childhood cancers and affects one in every 10,000 children worldwide before the age of 15 years. The care of children with Wilm’s tumor in sub-Saharan Africa is compromised due to resource deficiencies that range from inadequate healthcare budgets to paucity of appropriately trained personnel. Childhood Wilms tumor is surging as an important paediatric problem in developing and sub-Saharan Africa countries. The objective of the study is to establish an understanding on the treatment challenges and outcomes of Wilm’s tumor in South West Ethiopia. Results: Forty-three Wilm’s tumor patients who were admitted from January 2017 to December 2021 were included in the study. The most frequent presentation was painless abdominal swelling in 40 (93%) patients. Fourteen patients (32.6%) were hypertensive at the time of diagnosis and the other 13 (30.2%) were normal. In abdominal examination, 31 (72.1%) patients had abdominal mass not crossing the midline and 12 (27.9%) had mass crossing the midline. After multimodal treatment, 37.5% had improvement, 11.6% came back with relapse. Most patients (41.7%) abandoned treatment and 9.3% of the cohort died in the course of treatment. Conclusion: The outcomes in the treatment of Wilms Tumor have been found to be poor in this review. The main reason for poor outcome has been not receiving adequate chemotherapy after surgery. Doses of chemotherapy received after surgery significantly affected treatment outcomes (p = 0.026).
文摘This study investigates the combined effects of multi-modality therapy, including mild hyperbaric therapy (mHBT), photobiomodulation (PBM), and molecular hydrogen therapy (MH), on cognitive rehabilitation in individuals with mild-to-moderate traumatic brain injury (TBI). A total of 15 participants (7 males, 8 females, ages ranging from 20 to 78 years) diagnosed with mild-to-moderate TBI underwent 10 sessions of combined therapy. Cognitive performance was assessed using standardized neuropsychological tests before and after treatment, measuring cognitive processing speed, neural responsiveness, and executive function. The results demonstrated significant improvements across all metrics, including a 28.3 ms reduction in P300 latency, a 1.2 mV increase in P300 voltage, and reductions in completion times for the Trail-Making Tests A (14 seconds) and B (19 seconds). These findings suggest that multi-modality therapy may enhance cognitive recovery in TBI patients, with notable benefits across age and gender groups. Further research with larger sample sizes and extended follow-up is required to validate these results and explore their broader clinical applications.
基金the 2026 Health Commission Fund of Guizhou Province,China.the freestatistics suite for its technical support.
文摘Helicobacter pylori(H.pylori)infection remains a pivotal driver of chronic gastritis,peptic ulcer,gastric mucosa-associated lymphoid tissue lymphoma and gastric cancer,yet its eradication is increasingly frustrated by climbing antibiotic resistance and intolerable side-effects of standard triple or quadruple therapies.In recent years,fecal microbiota transplantation(FMT),a strategy that reconstructs the gut ecosystem by introducing a healthy donor microbiome,has emerged as a novel adjunct or alternative.By competitively excluding H.pylori,reinforcing mucosal barrier integrity,modulating host immunity and secreting bacteriocins,FMT can raise eradication rates,relieve dyspeptic symptoms and lower recurrence.This review synthesizes up-to-date pre-clinical,pilot and controlled clinical data,dissects underlying mechanisms,compares delivery routes,donor screening protocols and safety profiles,and discusses regulatory,ethical and standardization hurdles that must be overcome before large-scale clinical application.
基金supported by the Central Government Guiding Local Science and Technology Development Fund Project(No.2024SZY0343)the Joint Research Program for Ecological Conservation and High Quality Development of the Yellow River Basin(No.2022-YRUC-01-050205)+2 种基金the Higher Education Scientific Research Project of Inner Mongolia Autonomous Region(No.NJZZ23078)the project of Inner Mongolia"Prairie Talents"Engineering Innovation Entrepreneurship Talent Team,the Major Projects of Erdos Science and Technology(No.2022EEDSKJZDZX015)the Innovation Team of the Inner Mongolia Academy of Science and Technology(No.CXTD2023-01-016).
文摘Rural domestic sewage treatment is critical for environmental protection.This study defines the spatial pattern of villages from the perspective of rural sewage treatment and develops an integrated decision-making system to propose a sewage treatment mode and scheme suitable for local conditions.By considering the village spatial layout and terrain factors,a decision tree model of residential density and terrain type was constructed with accuracies of 76.47%and 96.00%,respectively.Combined with binary classification probability unit regression,an appropriate sewage treatment mode for the village was determined with 87.00%accuracy.The Analytic Hierarchy Process(AHP),combined with the Technique for Order Preference(TOPSIS)by Similarity to an Ideal Solution model,formed the basis for optimal treatment process selection under different emission standards.Verification was conducted in 542 villages across three counties of the Inner Mongolia Autonomous Region,focusing on the standard effluent effect(0.3773),low investment cost(0.3196),and high standard effluent effect(0.5115)to determine the best treatment process for the same emission standard under different needs.The annual environmental and carbon emission benefits of sewage treatment in these villages were estimated.This model matches village density,geographic feature,and social development level,and provides scientific support and a theoretical basis for rural sewage treatment decision-making.
基金National Natural Science Foundation of China(52172108)National Key R&D Program of China(2022YFB3707700)Strategic Priority Research Program of the Chinese Academy of Sciences(XDC0144005)。
文摘Silicon carbide fibers are considered ideal reinforcing materials for ceramic matrix composites due to their excellent mechanical properties and high-temperature performance.Different types of fibers necessitate individual investigation due to variations in their composition and fabrication processes.This study presents a comprehensive investigation into evolution of the mechanical properties,surface microstructure,and composition of Shicolon-Ⅱ fibers subjected to argon heat treatment at temperatures ranging from 1300℃to 1700℃.The Shicolon-Ⅱ fibers are composed of small-sized β-SiC grains,SiC_(x)O_(y) amorphous phase,and a minor amount of graphite microcrystals.Following treatment in an argon atmosphere at 1300℃,the fibers maintain a monofilament tensile strength of 3.620 GPa,corresponding to a retention of 98.32%.This strength diminishes to 2.875 GPa,equating to a retention of 78.08%,after treatment at 1500℃.The reduction in mechanical properties of the fibers can be ascribed to the decomposition of the amorphous phase and the growth of β-SiC grains.Furthermore,creep resistance is an essential factor influencing the long-term performance of composite materials.After treatment at temperatures above 1400℃,the high-temperature creep resistance of the fibers is significantly enhanced due to growth of β-SiC grains.This study offers valuable theoretical insights into high-temperature applications of second-generation fibers,contributing to an enhanced understanding of their performance under extreme conditions.
文摘Psoriasis is a hereditary,autoimmune,chronic illness that influences the immune system and can have both cutaneous and systemic symptoms.It can seriously impair a patient’s quality of life.Psoriasis affects 2.3 percent of people globally and has a significant financial cost for those who suffer from it.Genes and environmental factors are the primary etiological factors.Dendritic cells,T cells,human neutrophilic peptides,lipoprotein-2,galactosin-3,fractalkine,vaspin,and familial predispositions,among other factors,are characteristics of the pathophysiology of psoriasis.Conventional psoriasis treatments for patients include corticosteroids,biological agents,vitamin D3 analogs,acitretin,calcineurin inhibitors,cyclosporine,methotrexate,and phototherapy.Growing in popularity as a multidisciplinary field of study,nano dermatology is being used to treat psoriasis.Over the years,major advancements have been made in understanding its complex pathogenesis and developing more effective,targeted treatments.Medication delivery methods utilizing nanocarriers demonstrate promise in treating psoriasis because they improve medication penetration,reduce side effects,and provide targeted action at the afflicted areas.Because of their biological compatibility,adaptability,and capacity for carrying a variety of therapeutic substances,lipid-based and polymer-based nanocarriers have demonstrated exceptional promise among them.This article summarizes the pathogenesis,epidemiology,clinical diagnosis,and conventional psoriasis treatments.Furthermore,the review includes an overview of various nanotechnology-based psoriasis treatments.
基金funded by the Natural Science Foundation of Chongqing Municipality,grant number CSTB2022NSCQ-MSX0503.
文摘Gait recognition is a key biometric for long-distance identification,yet its performance is severely degraded by real-world challenges such as varying clothing,carrying conditions,and changing viewpoints.While combining silhouette and skeleton data is a promising direction,effectively fusing these heterogeneous modalities and adaptively weighting their contributions in response to diverse conditions remains a central problem.This paper introduces GaitMAFF,a novelMulti-modal Adaptive Feature Fusion Network,to address this challenge.Our approach first transforms discrete skeleton joints into a dense SkeletonMap representation to align with silhouettes,then employs an attention-based module to dynamically learn the fusion weights between the two modalities.These fused features are processed by a powerful spatio-temporal backbone withWeighted Global-Local Feature FusionModules(WFFM)to learn a discriminative representation.Extensive experiments on the challenging CCPG and Gait3D datasets show that GaitMAFF achieves state-of-the-art performance,with an average Rank-1 accuracy of 84.6%on CCPG and 58.7%on Gait3D.These results demonstrate that our adaptive fusion strategy effectively integrates complementary multimodal information,significantly enhancing gait recognition robustness and accuracy in complex scenes and providing a practical solution for real-world applications.
基金supported by National Natural Science Foundation of China (Nos.21906124,32302202)Natural Science Foundation of Hubei Province (No.2017CFB220)Natural Science Foundation of Shandong Province (No.ZR2023MH278)。
文摘Metal organic framework(MOF) assembled with coordination bonds has the disadvantage of poor stability that limits its application in the field of stationary phase,while covalent organic framework(COF)assembled through covalent bonds exhibits excellent structural stability.It has been shown that the stationary phases prepared by combining MOF and COF can make up for the poor stability of MOF@SiO_(2),and the MOF/COF composites have superior chromatographic separation performance.However,the traditional methods for preparing COF/MOF based stationary phases are generally solvent thermal synthesis.In this study,a green and low-cost synthesis method was proposed for the preparation of MOF/COF@SiO_(2) stationary phase.Firstly,COF@SiO_(2) was prepared in a choline chloride/ethylene glycol based deep eutectic solvent(DES).Secondly,another acid-base tunable DES prepared by mixing p-toluenesulfonic acid(PTSA)and 2-methylimidazole in different proportions was introduced as the reaction solvent and reactant for rapid synthesis of MOF/COF@SiO_(2).Compared with the toxic transition metal-based MOFs selected in most previous studies,a lightweight and non-toxic S-zone metal(calcium) based MOF was employed in this study.PTSA and calcium will form the calcium/oxygen-containing organic acid framework in acidic DES,which assembles with terephthalic acid dissolved in basic DES to form MOF.The strong hydrogen bonding effect of DES can facilitate rapid assembly of Ca-MOF.The obtained Ca-MOF/COF@SiO_(2) can be used for multi-mode chromatography to efficiently separate multiple isomeric/hydrophilic/hydrophobic analytes.The synthesis method of Ca-MOF/COF@SiO_(2) is green and mild,especially the use of acid-base tunable DES promotes the rapid synthesis of non-toxic Ca-MOF/COF@silica composites,which offers an innovative approach of greenly synthesizing novel MOF/COF stationary phases and extends their applications in the field of chromatography.
基金funded by“the Fanying Special Program of the National Natural Science Foundation of China,grant number 62341307”“the Scientific research project of Jiangxi Provincial Department of Education,grant number GJJ200839”“theDoctoral startup fund of JiangxiUniversity of Technology,grant number 205200100402”.
文摘In multi-modal emotion recognition,excessive reliance on historical context often impedes the detection of emotional shifts,while modality heterogeneity and unimodal noise limit recognition performance.Existing methods struggle to dynamically adjust cross-modal complementary strength to optimize fusion quality and lack effective mechanisms to model the dynamic evolution of emotions.To address these issues,we propose a multi-level dynamic gating and emotion transfer framework for multi-modal emotion recognition.A dynamic gating mechanism is applied across unimodal encoding,cross-modal alignment,and emotion transfer modeling,substantially improving noise robustness and feature alignment.First,we construct a unimodal encoder based on gated recurrent units and feature-selection gating to suppress intra-modal noise and enhance contextual representation.Second,we design a gated-attention crossmodal encoder that dynamically calibrates the complementary contributions of visual and audio modalities to the dominant textual features and eliminates redundant information.Finally,we introduce a gated enhanced emotion transfer module that explicitly models the temporal dependence of emotional evolution in dialogues via transfer gating and optimizes continuity modeling with a comparative learning loss.Experimental results demonstrate that the proposed method outperforms state-of-the-art models on the public MELD and IEMOCAP datasets.
基金support from the National Natural Science Foundation of China(Grant Nos.52174313 and 52304350)thank all members of the Hebei High Quality Steel Continuous Casting Engineering Technology Research Center at North China University of Science and Technology,Tangshan,China.
文摘The flow behavior of molten steel in the thin slab mold under high casting speed conditions was investigated,with a focus on the multi-mode continuous casting and rolling mold.A steel-slag two-phase flow model was established using large eddy simulation,the volume of fluid,and magnetohydrodynamics methods through numerical simulation.The maximum flow velocity and wave height at the steel-slag interface within the mold are critical evaluation criteria for analyzing asymmetric flow under varying casting speeds and electromagnetic braking.The results indicate that the asymmetric flows within the mold do not occur synchronously.The severity of the asymmetric flow correlates with the velocity difference across the steel-slag interface.A greater biased flow prolongs the time required to revert to a steady state.When the magnetic field intensity is set to 0.24 T and the magnetic pole position is at 390 mm from the steel-slag interface,this configuration can reduce the velocity of the steel-slag interface,thereby mitigating the asymmetric flow.Additionally,it can diminish the velocity,impact depth,and impact intensity on the narrow face of the jet,thus improving the distribution of velocity and turbulent kinetic energy within the mold.This configuration prolongs the time required for the steel-slag interface to transition from a stable state to its maximum velocity and shortens the time for the interface to return to stability from an unstable state.Moreover,it ensures the positional stability of the steel-slag interface,confining its position within−3 mm.
文摘Hilar cholangiocarcinoma(HC)is a common biliary tract malignancy;however,its postoperative prognosis remains suboptimal.Recent advancements in surgical management include preoperative biliary drainage,selection of hepatic resection approaches,innovations in bilioenteric anastomosis techniques,and perioperative chemotherapy.This review summarizes the current literature on these developments and highlighting their clinical implications,unresolved challenges,and prospected the future research direction.
基金Tianjin Municipal Natural Science Foundation(23JCYBJC00040)National Natural Science Foundation of China(52175369)。
文摘The TiB+TiC dual-reinforced B_(4)C/TC4 composite was in-situ fabricated via incorporating 0.5wt%B_(4)C reinforcement during the laser melting deposition process.Different heat treatments of annealing and solid solution were used to regulate the microstructure,mechanical properties,and corrosion properties of B_(4)C/TC4 composite.Results show that with the increase in temperature from 500℃to 800°C,partial lamellarα-Ti in the as-deposited sample is gradually transformed into equiaxedα-Ti,accompanied by the disappearance of basketweave microstructure.At 1100°C,a small portion of TiC phase suffers fusion.This composite exhibits the optimal combination of strength and plasticity after annealing at 500℃for 4 h followed by furnace cooling,which is attributed to the stress release effect and the refined basketweave microstructure.However,this composite shows a decline in corrosion resistance after various heat treatments due to grain coarsening and micro-galvanic corrosion.
基金supported by the USDA National Institute of Food and Agriculture,Hatch project 7009323.
文摘Oat milk has gained widespread consumer acceptance for its creamy texture,β-glucan content,and environmental sustainability.However,its relatively low protein content(typically 2-3 g/serving)presents a nutritional limitation,largely due to poor protein solubility.This study investigated how processing conditions influence protein content and functional stability in oat-based systems by applying two treatments:(1)α-amylase enzymatic hydrolysis,and(2)pH-shifting(from pH 7 to 12 and back)with mild heating(50℃for 10 or 30 min).Oat protein solutions were formulated from two sources:oat flour(OF)and oat protein isolate(OPI).Results suggests that α-amylase pretreatment effectively reduced starch-driven viscosity in OF,facilitating better sample handling and centrifugation.Following pH-shifting and heat treatment,both OF and OPI solutions showed significantly improved protein solubility,with protein content increased from 2.0 to~6.5 g/serving.These changes were accompanied by reduced precipitation,smaller particle sizes,and more negative zeta potential values,indicating enhanced colloidal stability.SDS-PAGE analysis revealed the presence of low-molecular-weight protein fractions,supporting increased solubilization.Fluorescence microscopy confirmed the formation of smaller,more uniformly dispersed particles in treated samples compared to controls.However,noticeable darkening or browning occurred under high-pH heating,indicating potential challenges in color control.The findings provide useful information for future industrial applications and product innovation in the plant-based beverage sector.
文摘Heat treatment is applied towood to improve various properties of thematerial.Thepresent study focuses on the colour changes of wood veneer samples due to heat treatment.Native wood species fromJapan and Europe,such as Japanese oak(Quercus mongolica var.crispula),field maple(Acer campestre)and Scots pine(Pinus sylvestris)were used in the experiments.A laboratory-type oven was used to apply the heat at a temperature of 190○C,in the presence of oxygen,for different periods,gradually increasing from 5 to 40 min.The CIELab system(a colour space defined by the International Commission on Illumination)and Near Infrared Spectroscopy(NIR)were employed to evaluate the colour modifications on the samples.As expected,the heat treatment affected the colour of the samples.The lightness index decreased across the three wood species during the treatment.The chroma coordinates changed for pine and maple,while little change occurred in Japanese oak.The overall total colour differences reached their maximum at the final 40-min interval for all wood types.Based on the NIR evaluation,it was found that drastic thermal denaturation of cellulose was unlikely to occur,and the changes in the intermolecular interaction of water affected the colour of the specimens.The data and information of this study could be useful for industrial applications where the veneer of such species is desired.Such heat-treated veneers can be considered as value-added products in furniture manufacturing as well as restoration of furniture units where such veneer is used as an overlay.
基金funded by the National Natural Science Foundation of China(No.52474120)the National Key Research and Development Program of China—2023 Key Special Project(No.2023YFC2907400)+1 种基金the Fundamental Research Funds for the Central Universities(No.2023CXQD045)the Hunan Provincial Natural Science Foundation for Distinguished Young Scholars(No.2023JJ10072).
文摘A critical scientific gap exists in quantifying the intrinsic mechanisms of shale mechanical property degradation induced by the combined effects of perforation(impact)and acidization—two core techniques for shale reservoir permeability enhancement.To address this gap,this study proposed an innovative coupled experimental framework integrating dynamic-static cyclic loading(to simulate perforation impact)and acid erosion.Static uniaxial compression tests were performed on treated damaged shale samples,with microstructural characterization via X-ray diffraction(XRD)and scanning electron microscopy(SEM).Key findings include:(1)The damage factor(characterized by longitudinal wave velocity)showed a significant positive correlation with acid concentration;(2)Combined damage(impact+acidization)caused far more severe mechanical deterioration than single damage modes—for instance,samples under combined damage with 20%hydrochloric acid exhibited a strength reduction to 158.97 MPa,with sharp decreases in peak strength and elastic modulus;(3)Damage reduced total energy and elastic strain energy of samples while increasing dissipated energy proportion,leading to more developed internal fractures and severe failure in combined damage samples;(4)Acidization promoted sample fragmentation into smaller debris,resulting in significantly higher fractal dimensions of acidized shale than other damage types under the same acid concentration;(5)XRD and SEM analyses confirmed that high-concentration acid erosion reduced shale carbonate content,and the synergy of mechanical pre-damage and chemical dissolution in combined damage accelerated acid-rock reactions,significantly increasing micro-interfacial pores and degrading shale structural integrity.This study’s innovation lies in establishing a coupled experimental framework that reproduces the actual“perforation-acidization”sequence,quantitatively revealing the synergistic degradation mechanism of shale mechanical properties under combined damage—providing a novel theoretical basis for optimizing shale reservoir stimulation parameters.
基金supported by the National Natural Science Foundation of China(82574477)the Jiangsu Provincial Traditional Chinese Medicine Science and Technology Development Plan(QN202426)+5 种基金Jiangsu Province“333 High-level Talents Training Project”((2024)3-0189)Youth Talent Support Project of the Jiangsu Association for Science and Technology(TJ-2023-053)Shanxi Provincial Department-Municipal Key Laboratory Cultivation Base for Quality Enhancement and Utilization of Shangdang Chinese Medicinal Materials(KF202401)Fundamental Research Program of Shanxi Province(202403021221211)the research project supported by the Shanxi Scholarship Council of China(No.2023-158)Open Project of Key Laboratory of Tibetan Medicine Basic Research,Ministry of Education.
文摘The global prevalence of metabolic-associated fatty liver disease(MAFLD)is on the rise,seriously threatening human health.Currently,no specific approved drugs are available for its treatment.This paper reviews the pathogenesis of MAFLD,covering aspects like lipid accumulation and insulin resistance,oxidative stress,endoplasmic reticulum stress(ERS),lipotoxicity-induced hepatocyte damage,and fibrosis.It also elaborates on multiple treatment approaches for MAFLD,including metabolic regulation,improvement of the gut-liver axis interaction,modulation of immune and inflammatory pathways,enhancement of the adipose tissue-liver interaction,alleviation of fibrosis,prevention of hepatocyte injury,and traditional Chinese medicine(TCM)external therapies.Additionally,natural product research advancements,individual Chinese medicine components,and mixed herbal formulas for MAFLD treatment is provided.Many natural products and traditional Chinese medicines exhibit favorable effects in regulating lipid metabolism,anti-inflammation,and anti-oxidation,offering new directions and potential drug options for MAFLD treatment.This is expected to provide a reference for future clinical treatment and drug development.
基金supported by the National Natural Science Foundation of China(No.62350048)。
文摘To address the challenge of achieving decentralized,scalable,and adaptive control for large-scale multiple unmanned aerial vehicle(multi-UAV)swarms in dynamic urban environments with obstacles and wind perturbations,we proposed a hybrid framework integrating adaptive reinforcement learning(RL),multi-modal perception fusion,and enhanced pigeon flock optimization(PFO)with curiosity-driven exploration to enable robust autonomous and formation control.The framework leverages meta-learning to optimize RL policies for real-time adaptation,fuses sensor data for precise state estimation,and enhances PFO with learned leader-follower dynamics and exploration rewards to maintain cohesive formations and explore uncertain areas.For swarms of 10–30 UAVs,it achieves 34%faster convergence,61%reduced stability root mean square error(RMSE),88%fewer collisions and 85.6%–92.3%success rates in target detection and encirclement,outperforming standard multi-agent RL,pure PFO,and single-modality RL.Three-dimensional trajectory visualizations confirm cohesive formations,collision-free maneuvers,and efficient exploration in urban search-and-rescue scenarios.Innovations include meta-RL for rapid adaptation,multi-modal fusion for robust perception,and curiosity-driven PFO for scalable,decentralized control,advancing real-world multi-UAV swarm autonomy and coordination.
