This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mi...This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mission is disturbed by the measurement noise and the target adversarial behavior.To address these problems,a model-free Combined Adaptive-length Datadriven Predictive Controller(CADPC)is proposed.It consists of a separated subsystem identification method and a combined predictive control strategy.The subsystem identification method is composed of an adaptive data length,thereby reducing sensitivity to undetermined measurement noises and disturbances.Based on the subsystem identification,the combined predictive controller is established,reducing calculating resource.The stability of the CADPC is rigorously proven using the Input-to-State Stable(ISS)theorem and the small-gain theorem.Simulations demonstrate that CADPC effectively handles the model-free space robot post operation in the presence of significant disturbances,state measurement noise,and control input errors.It achieves improved steady-state accuracy,reduced steady-state control consumption,and minimized control input chattering.展开更多
This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based...This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.展开更多
Cooperative guidance is a method for achieving combat objectives through information sharing and cooperative effects,and has emerged as a significant research area in the fields of missile guidance and systematic warf...Cooperative guidance is a method for achieving combat objectives through information sharing and cooperative effects,and has emerged as a significant research area in the fields of missile guidance and systematic warfare.This study presents a systematic review and analysis of current research on cooperative guidance.First,a bibliometric analysis is conducted on 513 articles using the Scopus database and CiteSpace software to assess keyword clustering,keyword cooccurrence,and keyword burst,and to later visualize the results.Second,fundamental theories of cooperative guidance,including relative motion modeling methods,algebraic graph theory,and multi-agent consensus theory,are summarized.Subsequently,an overview of current cooperative laws and corresponding analysis methods is provided,with categorization based on the cooperative structure and convergence performance.Finally,we summarize current research developments based on five perspectives and propose a developmental framework based on five layers(cyber,physical,decision,information,and system),discussing potential future advancements in cooperative terminal guidance.This framework emphasizes five key areas of research:networked,heterogeneous,integrated,intelligent,and group cooperations,with the goal of offering trends and insights for futurework.展开更多
BACKGROUND Operative reports(OP-Rs)are essential for communication among healthcare providers.They require accuracy and completeness to serve as a quality indicator of patient care.Objective assessment of primary tota...BACKGROUND Operative reports(OP-Rs)are essential for communication among healthcare providers.They require accuracy and completeness to serve as a quality indicator of patient care.Objective assessment of primary total knee replacement(TKR)OP-Rs has never been reported.Therefore,a standardized benchmark for assessment and factors affecting the completeness of TKR OP-Rs needs to be evaluated.AIM To evaluate the completeness rate of primary TKR OP-Rs in a teaching hospital and to assess the factors affecting completeness.METHODS A retrospective review of 58 consecutive primary TKR OP-Rs in a tertiary te-aching hospital were included in this study.We used document analysis to review the OP-Rs against a standardized list of six subsets of mandatory variables.The correlation between the percentage of completeness and the specific variables was determined.RESULTS After analyzing 58 cases,we found that the time to documentation was 1.5 hours.Out of the 52 mandatory variables,a median of 30 variables were documented yielding a completeness of 58%.Administrative,procedural,exposure,and im-plant variables were documented the most often,whereas clinical and process variables were most frequently left uncompleted.The documentation of the operative maneuver was variable.There was no association between the com-pleteness of the reports and the time to documentation,documenter level,com-plication rate,operative duration,or length of hospital stay.CONCLUSION Multiple variables were left undocumented on the unstructured primary TKR OP-Rs.The completeness percentage will likely improve after the implementation of a standardized structured OP-R.展开更多
Under the background of"Digital Commerce for Rural Vitalization",rural E-commerce has experienced rapid development.However,agricultural products like strawberries,often produced by small-scale,fragmented,an...Under the background of"Digital Commerce for Rural Vitalization",rural E-commerce has experienced rapid development.However,agricultural products like strawberries,often produced by small-scale,fragmented,and less competitive individual farmers,struggle to meet the compliance and scalability demands of E-commerce,thereby constraining high-quality local economic development.Aiming to address this issue,this paper,guided by relevant policies and strategies,employs case analysis and logical deduction to explore the industrialization path of the"Cooperative+E-commerce"model for the strawberry industry.The research finds that by optimizing the cooperative's organizational structure,implementing multi-channel E-commerce strategies,upgrading the supply chain(including cold chain and quality traceability),and engaging in collaborative brand building,a robust industrial system can be formed.Supplemented by benefit evaluation,policy support,and regulatory oversight,this system can effectively bridge small-scale production with the broader market.This study concludes that this pathway can enhance the added value of the strawberry industry,increase farmer incomes,and provide practical insights for promoting high-quality local economic development.展开更多
Operative management of humeral shaft fractures demonstrates superior early functional recovery(6-month Disabilities of the Arm,Shoulder,and Hand scores)and significantly lower nonunion rates(63.9%reduction)compared t...Operative management of humeral shaft fractures demonstrates superior early functional recovery(6-month Disabilities of the Arm,Shoulder,and Hand scores)and significantly lower nonunion rates(63.9%reduction)compared to functional bracing,particularly in complex cases,while conservative treatment remains viable for low-demand patients.Surgical techniques,including open reduction internal fixation,intramedullary nailing,and minimally invasive plate osteosynthesis,offer trade-offs between anatomic precision and complication risks(e.g.,radial nerve injury vs rotator cuff damage),with over 90%of radial nerve injuries resolving spontaneously.Ultrasound-guided diagnosis(89%sensitivity,95%specificity)optimizes decision-making for nerve entrapment.Individualized treatment selection,prioritizing fracture complexity and patient needs,is critical to balance accelerated rehabilitation with minimized complications.展开更多
A case of surgical nursing cooperation during extracorporeal membrane oxygenation(ECMO)-assisted hybrid sleeve left pneumonectomy,which included a right open carinal resection,tracheal bronchial anastomosis,and thorac...A case of surgical nursing cooperation during extracorporeal membrane oxygenation(ECMO)-assisted hybrid sleeve left pneumonectomy,which included a right open carinal resection,tracheal bronchial anastomosis,and thoracoscopic left pneumonectomy,has been documented.A thorough nursing intervention focused on patient safety and proactive measures to address potential complications was implemented throughout the surgical process.The procedure was completed without incident,and no postoperative complications were reported.展开更多
Virtual coupling is a novel technology that enables trains to run closely together without physical connections through communication and automation systems.The paper addresses an adaptive polynomial approximation alg...Virtual coupling is a novel technology that enables trains to run closely together without physical connections through communication and automation systems.The paper addresses an adaptive polynomial approximation algorithm for the cooperative control of high-speed trains(HSTs)under virtual coupling.It aims to solve the cooperative tracking control problem of HST formation operations under various scenarios,including known and unknown parameters.To enable the HST formation system to achieve cooperative operation while ensuring an appropriate spacing distance,the tracking errors of displacement and speed throughout the entire operation converge to zero.The proposed control strategy focuses on adopting polynomial approximation to handle unknown parameters,which are estimated via adaptive laws.Additionally,the unknown parameters of the HSTs are estimated online through adaptive laws.Experimental results verify the effectiveness of this method.展开更多
In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative o...In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative operational task.This strategy can generate the collision-free trajectory of the robotic links in real-time,which is to realize that the robot can avoid moving obstacles less conservatively and ensure tracking accuracy of terminal end-effector tasks in performing cooperative tasks.For the case where there is interference between the moving obstacle and the desired path of the robotic end-effector,the method inherits the null-space-based self-motion characteristics of the redundant manipulator,integrates the relative motion information,and uses the improved artificial potential field method to design the control items,which are used to generate the collision avoidance motion and carry out moving obstacles smoothly and less conservatively.At the same time,the strategy maintains the kinematic constraint relationship of dual-arm cooperatives,to meet the real-time collision avoidance task under collaborative tasks.Finally,the algorithm simulation indicates that the method can better ensure the tracking accuracy of the end-effector task and carry out moving obstacles smoothly.The experimental results show that the method can generate the real-time collision-free trajectory of the robot in the cooperative handling task,and the joint movement is continuous and stable.展开更多
ABSTRACT Objective To discuss the effect of electroacupuncture at Chengshan （承山 BL 57） on postoperative pain of mixed hemorrhoids. Methods One hundred and twenty cases with postoperative pain of mixed hemorrhoids ...ABSTRACT Objective To discuss the effect of electroacupuncture at Chengshan （承山 BL 57） on postoperative pain of mixed hemorrhoids. Methods One hundred and twenty cases with postoperative pain of mixed hemorrhoids were divided into an electroacupuncture group （60 cases） and a medication group （60 cases） randomly. In electroacupuncture group disperse-dense wave in frequency of 2 Hz/100 Hz was adopted at Chengshan （承山 BL 57）, the first treatment was given within 30 min after the operation, from the second day on electroacupuncture treatment was applied once a day and each time after hip bath in the morning. While in medication group 2 tablets of Naproxen Sunstained Release Capsule were administered orally within 30 min after operation, later on 2 tablets were taken before dressing change in the day. After 4 times of treatment, evaluate the changed condition of Visual Analogue Scale （VAS） at 5 h, 24 h, 48 h and 72 b after operation. Results In electroacupuncture group all tested pain scores at 5 h, 24 h, 48 h and 72 h after operation （6.78±2.12, 5.56±1.87, 4.34±2.23 and 3.15±2.11） were lower than those in the medication group （7.56±2.01, 6.23±1.15, 5.57±2.21 and 4.34±2.12）, and the difference was statistically significant （all P〈0.05）. Conclusion Electroacupuncture at Chengshan （承山 BL 57） can reduce the postoperative oain of mixed hemorrhoids.展开更多
基金supported by the National Natural Science Foundation of China(No.12372045)the National Key Research and the Development Program of China(Nos.2023YFC2205900,2023YFC2205901)。
文摘This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mission is disturbed by the measurement noise and the target adversarial behavior.To address these problems,a model-free Combined Adaptive-length Datadriven Predictive Controller(CADPC)is proposed.It consists of a separated subsystem identification method and a combined predictive control strategy.The subsystem identification method is composed of an adaptive data length,thereby reducing sensitivity to undetermined measurement noises and disturbances.Based on the subsystem identification,the combined predictive controller is established,reducing calculating resource.The stability of the CADPC is rigorously proven using the Input-to-State Stable(ISS)theorem and the small-gain theorem.Simulations demonstrate that CADPC effectively handles the model-free space robot post operation in the presence of significant disturbances,state measurement noise,and control input errors.It achieves improved steady-state accuracy,reduced steady-state control consumption,and minimized control input chattering.
基金Supported by the Shenzhen Key Laboratory of Control Theory and Intelligent Systems (ZDSYS20220330161800001)the National Natural Science Foundation of China (62303207)the Guangdong Basic and Applied Basic Research Foundation (2024A1515010725)。
文摘This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.
基金supported by the National Natural Science Foundation of China(No.62173274)the National Key R&D Program of China(No.2019YFA0405300)+4 种基金the Natural Science Foundation of Hunan Province of China(Nos.2021JJ10045 and 2025JJ60072)the Open Research Subject of State Key Laboratory of Intelligent Game(No.ZBKF-24-01)the Postdoctoral Fellowship Program of CPSF(No.GZB20240989)the China Postdoctoral Science Foundation(No.2024M754304)the Aeronautical Science Foundation of China(No.2023Z005030001).
文摘Cooperative guidance is a method for achieving combat objectives through information sharing and cooperative effects,and has emerged as a significant research area in the fields of missile guidance and systematic warfare.This study presents a systematic review and analysis of current research on cooperative guidance.First,a bibliometric analysis is conducted on 513 articles using the Scopus database and CiteSpace software to assess keyword clustering,keyword cooccurrence,and keyword burst,and to later visualize the results.Second,fundamental theories of cooperative guidance,including relative motion modeling methods,algebraic graph theory,and multi-agent consensus theory,are summarized.Subsequently,an overview of current cooperative laws and corresponding analysis methods is provided,with categorization based on the cooperative structure and convergence performance.Finally,we summarize current research developments based on five perspectives and propose a developmental framework based on five layers(cyber,physical,decision,information,and system),discussing potential future advancements in cooperative terminal guidance.This framework emphasizes five key areas of research:networked,heterogeneous,integrated,intelligent,and group cooperations,with the goal of offering trends and insights for futurework.
文摘BACKGROUND Operative reports(OP-Rs)are essential for communication among healthcare providers.They require accuracy and completeness to serve as a quality indicator of patient care.Objective assessment of primary total knee replacement(TKR)OP-Rs has never been reported.Therefore,a standardized benchmark for assessment and factors affecting the completeness of TKR OP-Rs needs to be evaluated.AIM To evaluate the completeness rate of primary TKR OP-Rs in a teaching hospital and to assess the factors affecting completeness.METHODS A retrospective review of 58 consecutive primary TKR OP-Rs in a tertiary te-aching hospital were included in this study.We used document analysis to review the OP-Rs against a standardized list of six subsets of mandatory variables.The correlation between the percentage of completeness and the specific variables was determined.RESULTS After analyzing 58 cases,we found that the time to documentation was 1.5 hours.Out of the 52 mandatory variables,a median of 30 variables were documented yielding a completeness of 58%.Administrative,procedural,exposure,and im-plant variables were documented the most often,whereas clinical and process variables were most frequently left uncompleted.The documentation of the operative maneuver was variable.There was no association between the com-pleteness of the reports and the time to documentation,documenter level,com-plication rate,operative duration,or length of hospital stay.CONCLUSION Multiple variables were left undocumented on the unstructured primary TKR OP-Rs.The completeness percentage will likely improve after the implementation of a standardized structured OP-R.
基金General Project of Philosophy and Social Sciences Research in Universities of Jiangsu Province,2024(2024SJYB1650).
文摘Under the background of"Digital Commerce for Rural Vitalization",rural E-commerce has experienced rapid development.However,agricultural products like strawberries,often produced by small-scale,fragmented,and less competitive individual farmers,struggle to meet the compliance and scalability demands of E-commerce,thereby constraining high-quality local economic development.Aiming to address this issue,this paper,guided by relevant policies and strategies,employs case analysis and logical deduction to explore the industrialization path of the"Cooperative+E-commerce"model for the strawberry industry.The research finds that by optimizing the cooperative's organizational structure,implementing multi-channel E-commerce strategies,upgrading the supply chain(including cold chain and quality traceability),and engaging in collaborative brand building,a robust industrial system can be formed.Supplemented by benefit evaluation,policy support,and regulatory oversight,this system can effectively bridge small-scale production with the broader market.This study concludes that this pathway can enhance the added value of the strawberry industry,increase farmer incomes,and provide practical insights for promoting high-quality local economic development.
文摘Operative management of humeral shaft fractures demonstrates superior early functional recovery(6-month Disabilities of the Arm,Shoulder,and Hand scores)and significantly lower nonunion rates(63.9%reduction)compared to functional bracing,particularly in complex cases,while conservative treatment remains viable for low-demand patients.Surgical techniques,including open reduction internal fixation,intramedullary nailing,and minimally invasive plate osteosynthesis,offer trade-offs between anatomic precision and complication risks(e.g.,radial nerve injury vs rotator cuff damage),with over 90%of radial nerve injuries resolving spontaneously.Ultrasound-guided diagnosis(89%sensitivity,95%specificity)optimizes decision-making for nerve entrapment.Individualized treatment selection,prioritizing fracture complexity and patient needs,is critical to balance accelerated rehabilitation with minimized complications.
文摘A case of surgical nursing cooperation during extracorporeal membrane oxygenation(ECMO)-assisted hybrid sleeve left pneumonectomy,which included a right open carinal resection,tracheal bronchial anastomosis,and thoracoscopic left pneumonectomy,has been documented.A thorough nursing intervention focused on patient safety and proactive measures to address potential complications was implemented throughout the surgical process.The procedure was completed without incident,and no postoperative complications were reported.
基金supported in part by the National Natural Science Foundation of China(Grant Nos.62203246 and 62003127)Shandong Provincial Natural Science Foundation(Grant No.ZR2024QF041)the Natural Science Foundation of Hebei Province(Grant No.F2023202060)。
文摘Virtual coupling is a novel technology that enables trains to run closely together without physical connections through communication and automation systems.The paper addresses an adaptive polynomial approximation algorithm for the cooperative control of high-speed trains(HSTs)under virtual coupling.It aims to solve the cooperative tracking control problem of HST formation operations under various scenarios,including known and unknown parameters.To enable the HST formation system to achieve cooperative operation while ensuring an appropriate spacing distance,the tracking errors of displacement and speed throughout the entire operation converge to zero.The proposed control strategy focuses on adopting polynomial approximation to handle unknown parameters,which are estimated via adaptive laws.Additionally,the unknown parameters of the HSTs are estimated online through adaptive laws.Experimental results verify the effectiveness of this method.
基金supported in part by the Advanced Equipment Manufacturing Technology Innovation Project of Hebei Province under Grant No.22311801D,23311807D,and 236Z1816Gin part by the National Natural Science Foundation of China under Grant No.U20A20283.
文摘In this paper,a novel cooperative collision avoidance control strategy with relative velocity information for redundant robotic manipulators is derived to guarantee the behavioral safety of robots in the cooperative operational task.This strategy can generate the collision-free trajectory of the robotic links in real-time,which is to realize that the robot can avoid moving obstacles less conservatively and ensure tracking accuracy of terminal end-effector tasks in performing cooperative tasks.For the case where there is interference between the moving obstacle and the desired path of the robotic end-effector,the method inherits the null-space-based self-motion characteristics of the redundant manipulator,integrates the relative motion information,and uses the improved artificial potential field method to design the control items,which are used to generate the collision avoidance motion and carry out moving obstacles smoothly and less conservatively.At the same time,the strategy maintains the kinematic constraint relationship of dual-arm cooperatives,to meet the real-time collision avoidance task under collaborative tasks.Finally,the algorithm simulation indicates that the method can better ensure the tracking accuracy of the end-effector task and carry out moving obstacles smoothly.The experimental results show that the method can generate the real-time collision-free trajectory of the robot in the cooperative handling task,and the joint movement is continuous and stable.
文摘ABSTRACT Objective To discuss the effect of electroacupuncture at Chengshan （承山 BL 57） on postoperative pain of mixed hemorrhoids. Methods One hundred and twenty cases with postoperative pain of mixed hemorrhoids were divided into an electroacupuncture group （60 cases） and a medication group （60 cases） randomly. In electroacupuncture group disperse-dense wave in frequency of 2 Hz/100 Hz was adopted at Chengshan （承山 BL 57）, the first treatment was given within 30 min after the operation, from the second day on electroacupuncture treatment was applied once a day and each time after hip bath in the morning. While in medication group 2 tablets of Naproxen Sunstained Release Capsule were administered orally within 30 min after operation, later on 2 tablets were taken before dressing change in the day. After 4 times of treatment, evaluate the changed condition of Visual Analogue Scale （VAS） at 5 h, 24 h, 48 h and 72 b after operation. Results In electroacupuncture group all tested pain scores at 5 h, 24 h, 48 h and 72 h after operation （6.78±2.12, 5.56±1.87, 4.34±2.23 and 3.15±2.11） were lower than those in the medication group （7.56±2.01, 6.23±1.15, 5.57±2.21 and 4.34±2.12）, and the difference was statistically significant （all P〈0.05）. Conclusion Electroacupuncture at Chengshan （承山 BL 57） can reduce the postoperative oain of mixed hemorrhoids.
