Low visibility conditions,particularly those caused by fog,significantly affect road safety and reduce drivers’ability to see ahead clearly.The conventional approaches used to address this problem primarily rely on i...Low visibility conditions,particularly those caused by fog,significantly affect road safety and reduce drivers’ability to see ahead clearly.The conventional approaches used to address this problem primarily rely on instrument-based and fixed-threshold-based theoretical frameworks,which face challenges in adaptability and demonstrate lower performance under varying environmental conditions.To overcome these challenges,we propose a real-time visibility estimation model that leverages roadside CCTV cameras to monitor and identify visibility levels under different weather conditions.The proposedmethod begins by identifying specific regions of interest(ROI)in the CCTVimages and focuses on extracting specific features such as the number of lines and contours detected within these regions.These features are then provided as an input to the proposed hierarchical clusteringmodel,which classifies them into different visibility levels without the need for predefined rules and threshold values.In the proposed approach,we used two different distance similaritymetrics,namely dynamic time warping(DTW)and Euclidean distance,alongside the proposed hierarchical clustering model and noted its performance in terms of numerous evaluation measures.The proposed model achieved an average accuracy of 97.81%,precision of 91.31%,recall of 91.25%,and F1-score of 91.27% using theDTWdistancemetric.We also conducted experiments for other deep learning(DL)-based models used in the literature and compared their performances with the proposed model.The experimental results demonstrate that the proposedmodel ismore adaptable and consistent compared to themethods used in the literature.The proposedmethod provides drivers real-time and accurate visibility information and enhances road safety during low visibility conditions.展开更多
Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequent...Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.展开更多
Objective: The present research aims to determine if adherence to the Lewinnek safe zone, when exclusively considered, constitutes a pivotal element for ensuring stability in the context of total hip arthroplasty. Thi...Objective: The present research aims to determine if adherence to the Lewinnek safe zone, when exclusively considered, constitutes a pivotal element for ensuring stability in the context of total hip arthroplasty. This is done by examining the acetabular placement in instances of hip dislocation after total hip arthroplasty (THA). Methodology: The authors searched 2653 patient records from 2015 to 2022 looking for patients who had total hip arthroplasty at our facility. For the analysis, 23 patients were culled from 64 individuals who exhibited post-THA dislocations, employing a stringent exclusion criterion, and the resultant acetabular angulation and anteversion were quantified utilizing PEEKMED software (Peek Health S.A., Portugal) upon radiographic evidence. Results: Within the operational timeframe, from the cohort of 2653 subjects, 64 presented with at least a singular incident of displacement. Post-exclusion criterion enforcement, 23 patients were eligible for inclusion. Of these, 10 patients conformed to the safe zone demarcated by Lewinnek for both inclination and anteversion angles, while 13 exhibited deviations from the prescribed anteversion and/or inclination benchmarks. Conclusion: Analysis of the 23 patients reveals that 13 did not confirm to be in the safe zone parameters for anteversion and/or inclination, whereas 10 were within the safe zone as per Lewinnek’s guidelines. This investigative review, corroborated by extant literature, suggests that the isolated consideration of the Lewinnek safe zone does not suffice as a solitary protective factor. It further posits that additional variables are equally critical as acetabular positioning and mandate individual assessment.展开更多
Grasping is one of the most fundamental operations in modern robotics applications.While deep rein-forcement learning(DRL)has demonstrated strong potential in robotics,there is too much emphasis on maximizing the cumu...Grasping is one of the most fundamental operations in modern robotics applications.While deep rein-forcement learning(DRL)has demonstrated strong potential in robotics,there is too much emphasis on maximizing the cumulative reward in executing tasks,and the potential safety risks are often ignored.In this paper,an optimization method based on safe reinforcement learning(Safe RL)is proposed to address the robotic grasping problem under safety constraints.Specifically,considering the obstacle avoidance constraints of the system,the grasping problem of the manipulator is modeled as a Constrained Markov Decision Process(CMDP).The Lagrange multiplier and a dynamic weighted mechanism are introduced into the Proximal Policy Optimization(PPO)framework,leading to the development of the dynamic weighted Lagrange PPO(DWL-PPO)algorithm.The behavior of violating safety constraints is punished while the policy is optimized in this proposed method.In addition,the orientation control of the end-effector is included in the reward function,and a compound reward function adapted to changes in pose is designed.Ultimately,the efficacy and advantages of the suggested method are proved by extensive training and testing in the Pybullet simulator.The results of grasping experiments reveal that the recommended approach provides superior safety and efficiency compared with other advanced RL methods and achieves a good trade-off between model learning and risk aversion.展开更多
Urbanization develops with the goal of establishing improved and more sustainable habitats for residents.Environmental and social performance must be simultaneously monitored to ascertain whether regions are progressi...Urbanization develops with the goal of establishing improved and more sustainable habitats for residents.Environmental and social performance must be simultaneously monitored to ascertain whether regions are progressing towards or deviating from the safe and just space(SJS)in urbanization.Despite relevant studies,the absence of indicators that bridge ecological preservation and human well-beings renders dual monitoring challenging.This study bridged the gap by exploring the interactions between urbanization,ecosystem services(ESs),and basic water,energy,and food(WEF)needs within the SJS framework across China and its provinces.By quantifying the minimum and actual demands for freshwater withdrawal,carbon emissions,phosphorus emissions,and land use,as well as the supply of ESs into unified biophysical indicators,we found that:(1)China can meet the basic WEF needs for all from 2000 to 2020,but only water and land provisioning ESs can operate within the SJS.Carbon emissions surpassed the sequestration capacity in 2010,while phosphorus purification ES has consistently been unsafe.(2)The SJS performance in terms of ecological and social fulfilment exhibited scale differences and undergone changes with urbanization.Overall,no province in China can consistently operate within all SJSs.(3)In the process of urbanization,improvements in ecological protection and production practices in most provinces expanded the size of SJS,but the continuous increase in total demand failed to steer regions toward safer spaces.Our framework emphasized the common but differentiated pathways that regions at varying stages of urbanization navigate to achieve safety and justice.It also provides an applicable solution for regions aiming to pursue urban growth while maintaining ecological conservation and social justice,ultimately achieving sustainable development.展开更多
Introduction: The need to address the problem of patient safety has been a focus of World Health Assembly (WHA) meetings of 2002, 2019 and 2021. The 2019 WHA Resolution urged the Member States to take action on patien...Introduction: The need to address the problem of patient safety has been a focus of World Health Assembly (WHA) meetings of 2002, 2019 and 2021. The 2019 WHA Resolution urged the Member States to take action on patient safety. We aimed to review patient safety efforts in Tanzania from 2002 to 2022 to inform improvement efforts towards the 2030 target. Methods: A rapid literature review was conducted between January 2002 and April 2022. We searched Google, PubMed and PubMed Central in April and May 2022 using the following search terms: PubMed—“patient safety Tanzania”, “blood safety in Tanzania”, “safe surgery Tanzania”, and “healthcare-associated infections Tanzania”;Google—“blood safety in Tanzania”, injection safety in Tanzania”, “infection prevention and control”, “radiation safety in health facilities in Tanzania”;and PubMed Central—“injection safety in Tanzania. Results: The search identified 4160 articles, of which 4053 were removed in initial screening;21 were duplicates, giving 86 relevant articles for full screening. Of the 86 articles, 04 were removed after the full screening, hence remaining with 82 articles. Among the 82 eligible articles, 27 are on IPC, 26 on safe surgery, 12 on blood safety, 07 on radiation safety, 06 on injection safety, and 02 on medication safety. One article was relevant to—blood safety, IPC and injection safety;and one article was relevant to—IPC and injection safety. Conclusion: Most of the eligible literature was on IPC and safe surgery, followed by blood safety, radiation safety, injection safety and medication safety. The literature on IPC has highlighted the need to strengthen efforts to address AMR. Findings from the implementation of the safe surgery 2020 intervention warrants for its scale-up to other zones. There is a need to strengthen hemovigilance and pharmacovigilance functions;and strengthen quality management and assurance systems and regulatory functions to ensure radiation safety.展开更多
Investing in cryptocurrencies is progressively becoming a norm;however,these assets are excessively volatile and often decrease or increase in value instantly.Thus,rational investors holding cryptocurrencies for exten...Investing in cryptocurrencies is progressively becoming a norm;however,these assets are excessively volatile and often decrease or increase in value instantly.Thus,rational investors holding cryptocurrencies for extended periods firmly search for assets that can diversify their risk,preferably with assets other than cryptocurrencies.In this study,we consider the two most studied cryptocurrencies with the highest capitalization and trading volume/value,namely Bitcoin and Ethereum.Specifically,we examine whether high-performing leading US tech stocks(Facebook,Amazon,Apple,Netflix,Google[FAANG])can provide any diversification benefits to cryptocurrency investors.To do so,we employ dynamic conditional correlation(DCC),asymmetric DCC,time-varying parameter vector autoregression-based connectedness measures,dynamic correlation-based hedge and safe-haven regression analyses,portfolio optimization and hedging strategies,time-and frequency-based wavelet coherence,and high-frequency 10-min intraday data from January 1,2018 to January 31,2023.We find that FAANG stocks can be considered(at least weak)safe havens for Bitcoin and Ethereum during the sample period.Our subperiod analyses reveal that the safehaven role of FAANG stocks,specifically for Bitcoin,has noticeably increased.While the safe-haven property of Facebook is the most promising,for Netflix it is blurred between a weak–safe-haven and a hedge.Our findings may help investors,policymakers,and academicians to invest in cryptocurrencies,formulate relevant investment guidelines,and extend the literature on cryptocurrencies,respectively.展开更多
With the increasingly turbulent political situation and the outbreak of public health events without warning,it will not only affect people’s physical health,but also affect the global financial market,causing the ma...With the increasingly turbulent political situation and the outbreak of public health events without warning,it will not only affect people’s physical health,but also affect the global financial market,causing the market to fall into a huge crisis,thus leading to a continued decline in the worldwide economy.During periods of financial market turmoil,many investors fall into panic and urgently need a“haven”to protect their assets.With the rise of the digital economy,gold no longer seems to be the only safe-haven option.Bitcoin has gradually entered the investors’field of vision.Some investors believe that Bitcoin can become an emerging safe-haven asset that is as important as or surpasses gold.Based on an analysis of the safe-haven properties of Bitcoin and gold during major political and historical events and public health events,this article will clarify which of the two is more suitable as a reliable contemporary safe-haven asset and provide advice to investors.展开更多
Objective:To explore the application effect of bundle management in the safe nursing of patients with autoimmune encephalitis.Methods:Seventy-five patients with autoimmune encephalitis who met the inclusion criteria i...Objective:To explore the application effect of bundle management in the safe nursing of patients with autoimmune encephalitis.Methods:Seventy-five patients with autoimmune encephalitis who met the inclusion criteria in our hospital from January 2024 to June 2024 were randomly divided into two groups:an observation group of 39 patients and a control group of 36 patients.The control group received routine nursing care,while the observation group implemented a bundle management strategy based on routine nursing care.Safety nursing outcomes,clinical symptom improvement time,hospital stay,and neurologic function recovery were observed in both groups.Results:The incidence of adverse events in the observation group was 12.82%,significantly lower than the 33.33%in the control group,with a statistically significant difference(P<0.05).There was no statistically significant difference in restraint usage and ICU transfer rates between the two groups(P>0.05).The clinical symptom improvement time,hospital stay,and neurologic function recovery in the observation group were significantly better than those in the control group,with a statistically significant difference(P<0.05).Conclusion:Through the bundle management model,effective connections can be ensured in various aspects of treatment and rehabilitation for patients with autoimmune encephalitis,providing patients with comprehensive and multi-level nursing services and improving their overall satisfaction and treatment effectiveness.展开更多
Semi-supervised clustering techniques attempt to improve clustering accuracy by utilizing a limited number of labeled data for guidance.This method effectively integrates prior knowledge using pre-labeled data.While s...Semi-supervised clustering techniques attempt to improve clustering accuracy by utilizing a limited number of labeled data for guidance.This method effectively integrates prior knowledge using pre-labeled data.While semi-supervised fuzzy clustering(SSFC)methods leverage limited labeled data to enhance accuracy,they remain highly susceptible to inappropriate or mislabeled prior knowledge,especially in noisy or overlapping datasets where cluster boundaries are ambiguous.To enhance the effectiveness of clustering algorithms,it is essential to leverage labeled data while ensuring the safety of the previous knowledge.Existing solutions,such as the Trusted Safe Semi-Supervised Fuzzy Clustering Method(TS3FCM),struggle with random centroid initialization,fixed neighbor radius formulas,and handling outliers or noise at cluster overlaps.A new framework called Active Safe Semi-Supervised Fuzzy Clustering with Pairwise Constraints Based on Cluster Boundary(AS3FCPC)is proposed in this paper to deal with these problems.It does this by combining pairwise constraints and active learning.AS3FCPC uses active learning to query only the most informative data instances close to the cluster boundaries.It also uses pairwise constraints to enforce the cluster structure,which makes the system more accurate and robust.Extensive test results on diverse datasets,including challenging noisy and overlapping scenarios,demonstrate that AS3FCPC consistently achieves superior performance compared to state-of-the-art methods like TS3FCM and other baselines,especially when the data is noisy and overlaps.This significant improvement underscores AS3FCPC’s potential for reliable and accurate semisupervised fuzzy clustering in complex,real-world applications,particularly by effectively managing mislabeled data and ambiguous cluster boundaries.展开更多
IN the Shanghai Jewish Refugees Museum,a beautiful handbag is waiting for its owner in a display cabinet.The handbag belongs to a Jewish couple.When they sought refuge in Shanghai during World War II,they pawned the h...IN the Shanghai Jewish Refugees Museum,a beautiful handbag is waiting for its owner in a display cabinet.The handbag belongs to a Jewish couple.When they sought refuge in Shanghai during World War II,they pawned the handbag to Jin Wenzhen’s grandfather in exchange for their child’s medical expenses.He lent the couple the cash equivalent of one month’s revenue from his rice shop,but then never saw them again.展开更多
Due to the influence of karst cave development and route selection,the location relationship between concealed karst cave and tunnel is more random.In order to explore the influence rule of karst cave location on the ...Due to the influence of karst cave development and route selection,the location relationship between concealed karst cave and tunnel is more random.In order to explore the influence rule of karst cave location on the minimum safe thickness of water-proof rock mass,a simplified calculation model of water-proof rock mass thickness when the karst cave is located at any location around the tunnel is established,and the influence of multiple factors on the overall stability of water-proof rock mass is considered.Based on the cusp catastrophe theory,the analytical expressions for the safety thickness of waterproof rock mass are derived.Based on the finite difference principle,the analytical expressions of the safety thickness of water-proof rock mass are verified.In order to improve the application range of the analytical formula derived in this paper,the analytical formula is optimized based on the instability principle differences between the simplified calculation model and the elastic compressive bar.The research results show that the necessary condition solution is more applicable and much safer than the sufficient condition solution.Tectonic stress,rock beam length and karst cave water pressure are significantly positively correlated with the safe thickness of the waterproof rock mass.The calculated results of the semioptimized formula and the unoptimized formula are constant values,independent of the karst cave location.While the calculated results of the fully optimized formula are variable values,correlated with the karst cave location,the thickness of the waterproof rock mass gradually decreases as the karst cave location moves from the top of the tunnel to the bottom of the tunnel.The unoptimized formula does not consider the influence of the lateral force of the rock beam,and is not suitable for the working condition with large lateral force,the calculation results of the semi-optimized formula and the fully optimized formula are not very different and are biased to safety,so it can be given priority.展开更多
Against the backdrop of the global push for environmental protection and the reduction of plastic pollution,the research and development of alternatives to daily disposable plastic products such as straws have become ...Against the backdrop of the global push for environmental protection and the reduction of plastic pollution,the research and development of alternatives to daily disposable plastic products such as straws have become a hot topic in the environmental protection field.Traditional plastic straws are difficult to degrade,imposing a severe burden on the environment.Meanwhile,existing alternatives like paper straws and PLA(polylactic acid)straws also have numerous drawbacks.展开更多
With the civilization and modernization of human society,occupational health has emerged as a fundamental goal of social justice,as highlighted in the United Nations'Sustainable Development Goals(SDGs)since 2016.S...With the civilization and modernization of human society,occupational health has emerged as a fundamental goal of social justice,as highlighted in the United Nations'Sustainable Development Goals(SDGs)since 2016.Specifically,"SDG Goal 1:No Poverty","SDG 3:Good Health and Well-being",and"SDG 8:Decent Work and Economic Growth",are interconnected with other SDGs to support the pursuit of occupational health.展开更多
Laparoscopic surgery has many advantages over open surgery.At the same time,it is not without its risks.In this review,we discuss steps that could enhance the safety of laparoscopic surgery.Some of the important safet...Laparoscopic surgery has many advantages over open surgery.At the same time,it is not without its risks.In this review,we discuss steps that could enhance the safety of laparoscopic surgery.Some of the important safety considerations are ruling out pregnancy in women of the childbearing age group;advanced discussion with the patient regarding unexpected intraoperative situations,and ensuring appropriate equipment is available.Important perioperative safety considerations include thromboprophylaxis;antibiotic prophylaxis;patient allergies;proper positioning of the patient,stack,and monitor(s);patient appropriate pneumoperitoneum;ergonomic port placement;use of lowest possible intra-abdominal pressure;use of additional five-millimetre(mm)ports as needed;safe use of energy devices and laparoscopic staplers;low threshold for a second opinion;backing out if unsafe to proceed;avoiding hand-over in the middle of the procedure;ensuring all planned procedures have been performed;inclusion of laparoscopic retrieval bags and specimens in the operating count;avoiding 10-15 mm ports for placement of drains;appropriate port closures;and use of long-acting local anaesthetic agents for analgesia.Important postoperative considerations include adequate analgesia;early ambulation;careful attention to early warning scores;and appropriate discharge advice.展开更多
A Bayesian method is used to evaluate the component safety failure model parameter of the safe arming system of an air faced missile in flight. It was proved that Bayes estimation of the model parameter is coinciden...A Bayesian method is used to evaluate the component safety failure model parameter of the safe arming system of an air faced missile in flight. It was proved that Bayes estimation of the model parameter is coincident with the physical explanation of the prior probability density distribution of the random parameter.展开更多
以某型现役汽车起重机底架钢结构为研究对象,建立起重机虚拟样机模型及有限元静力学模型,分析并获得五个载荷步下的名义应力谱;基于FE-SAFE(durability analysis software for finite element models)耐久性分析软件,用多轴临界平面疲...以某型现役汽车起重机底架钢结构为研究对象,建立起重机虚拟样机模型及有限元静力学模型,分析并获得五个载荷步下的名义应力谱;基于FE-SAFE(durability analysis software for finite element models)耐久性分析软件,用多轴临界平面疲劳损伤模型,采用Brown-Miller准则建立寿命损伤模型,对底架结构的疲劳寿命进行预算。预算结果表明该型起重机底架结构工作约3 062个循环时出现肉眼可见裂纹,而其使用寿命约为70 555个工作循环。其疲劳寿命预算分析为某型现役起重机的实际设计和使用检修提供有价值的参考。展开更多
文摘Low visibility conditions,particularly those caused by fog,significantly affect road safety and reduce drivers’ability to see ahead clearly.The conventional approaches used to address this problem primarily rely on instrument-based and fixed-threshold-based theoretical frameworks,which face challenges in adaptability and demonstrate lower performance under varying environmental conditions.To overcome these challenges,we propose a real-time visibility estimation model that leverages roadside CCTV cameras to monitor and identify visibility levels under different weather conditions.The proposedmethod begins by identifying specific regions of interest(ROI)in the CCTVimages and focuses on extracting specific features such as the number of lines and contours detected within these regions.These features are then provided as an input to the proposed hierarchical clusteringmodel,which classifies them into different visibility levels without the need for predefined rules and threshold values.In the proposed approach,we used two different distance similaritymetrics,namely dynamic time warping(DTW)and Euclidean distance,alongside the proposed hierarchical clustering model and noted its performance in terms of numerous evaluation measures.The proposed model achieved an average accuracy of 97.81%,precision of 91.31%,recall of 91.25%,and F1-score of 91.27% using theDTWdistancemetric.We also conducted experiments for other deep learning(DL)-based models used in the literature and compared their performances with the proposed model.The experimental results demonstrate that the proposedmodel ismore adaptable and consistent compared to themethods used in the literature.The proposedmethod provides drivers real-time and accurate visibility information and enhances road safety during low visibility conditions.
基金supported by the National Natural Science Foundation of China(No.62203256)。
文摘Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.
文摘Objective: The present research aims to determine if adherence to the Lewinnek safe zone, when exclusively considered, constitutes a pivotal element for ensuring stability in the context of total hip arthroplasty. This is done by examining the acetabular placement in instances of hip dislocation after total hip arthroplasty (THA). Methodology: The authors searched 2653 patient records from 2015 to 2022 looking for patients who had total hip arthroplasty at our facility. For the analysis, 23 patients were culled from 64 individuals who exhibited post-THA dislocations, employing a stringent exclusion criterion, and the resultant acetabular angulation and anteversion were quantified utilizing PEEKMED software (Peek Health S.A., Portugal) upon radiographic evidence. Results: Within the operational timeframe, from the cohort of 2653 subjects, 64 presented with at least a singular incident of displacement. Post-exclusion criterion enforcement, 23 patients were eligible for inclusion. Of these, 10 patients conformed to the safe zone demarcated by Lewinnek for both inclination and anteversion angles, while 13 exhibited deviations from the prescribed anteversion and/or inclination benchmarks. Conclusion: Analysis of the 23 patients reveals that 13 did not confirm to be in the safe zone parameters for anteversion and/or inclination, whereas 10 were within the safe zone as per Lewinnek’s guidelines. This investigative review, corroborated by extant literature, suggests that the isolated consideration of the Lewinnek safe zone does not suffice as a solitary protective factor. It further posits that additional variables are equally critical as acetabular positioning and mandate individual assessment.
文摘Grasping is one of the most fundamental operations in modern robotics applications.While deep rein-forcement learning(DRL)has demonstrated strong potential in robotics,there is too much emphasis on maximizing the cumulative reward in executing tasks,and the potential safety risks are often ignored.In this paper,an optimization method based on safe reinforcement learning(Safe RL)is proposed to address the robotic grasping problem under safety constraints.Specifically,considering the obstacle avoidance constraints of the system,the grasping problem of the manipulator is modeled as a Constrained Markov Decision Process(CMDP).The Lagrange multiplier and a dynamic weighted mechanism are introduced into the Proximal Policy Optimization(PPO)framework,leading to the development of the dynamic weighted Lagrange PPO(DWL-PPO)algorithm.The behavior of violating safety constraints is punished while the policy is optimized in this proposed method.In addition,the orientation control of the end-effector is included in the reward function,and a compound reward function adapted to changes in pose is designed.Ultimately,the efficacy and advantages of the suggested method are proved by extensive training and testing in the Pybullet simulator.The results of grasping experiments reveal that the recommended approach provides superior safety and efficiency compared with other advanced RL methods and achieves a good trade-off between model learning and risk aversion.
基金supported by Postdoctoral Fellowship Program of CPSF(Grant No.GZB20240816)China Postdoctoral Science Foundation(Grant No.2024M753474)+3 种基金National Natural Science Foundation of China(Grant No.72404267)National Social Science Fund(Grant No.23BGLI88)National Key Research and Development Program of China(Grant No.2017YFC0405805–04)Major program of the National Social Science Fund(Grant No.19ZDA084).
文摘Urbanization develops with the goal of establishing improved and more sustainable habitats for residents.Environmental and social performance must be simultaneously monitored to ascertain whether regions are progressing towards or deviating from the safe and just space(SJS)in urbanization.Despite relevant studies,the absence of indicators that bridge ecological preservation and human well-beings renders dual monitoring challenging.This study bridged the gap by exploring the interactions between urbanization,ecosystem services(ESs),and basic water,energy,and food(WEF)needs within the SJS framework across China and its provinces.By quantifying the minimum and actual demands for freshwater withdrawal,carbon emissions,phosphorus emissions,and land use,as well as the supply of ESs into unified biophysical indicators,we found that:(1)China can meet the basic WEF needs for all from 2000 to 2020,but only water and land provisioning ESs can operate within the SJS.Carbon emissions surpassed the sequestration capacity in 2010,while phosphorus purification ES has consistently been unsafe.(2)The SJS performance in terms of ecological and social fulfilment exhibited scale differences and undergone changes with urbanization.Overall,no province in China can consistently operate within all SJSs.(3)In the process of urbanization,improvements in ecological protection and production practices in most provinces expanded the size of SJS,but the continuous increase in total demand failed to steer regions toward safer spaces.Our framework emphasized the common but differentiated pathways that regions at varying stages of urbanization navigate to achieve safety and justice.It also provides an applicable solution for regions aiming to pursue urban growth while maintaining ecological conservation and social justice,ultimately achieving sustainable development.
文摘Introduction: The need to address the problem of patient safety has been a focus of World Health Assembly (WHA) meetings of 2002, 2019 and 2021. The 2019 WHA Resolution urged the Member States to take action on patient safety. We aimed to review patient safety efforts in Tanzania from 2002 to 2022 to inform improvement efforts towards the 2030 target. Methods: A rapid literature review was conducted between January 2002 and April 2022. We searched Google, PubMed and PubMed Central in April and May 2022 using the following search terms: PubMed—“patient safety Tanzania”, “blood safety in Tanzania”, “safe surgery Tanzania”, and “healthcare-associated infections Tanzania”;Google—“blood safety in Tanzania”, injection safety in Tanzania”, “infection prevention and control”, “radiation safety in health facilities in Tanzania”;and PubMed Central—“injection safety in Tanzania. Results: The search identified 4160 articles, of which 4053 were removed in initial screening;21 were duplicates, giving 86 relevant articles for full screening. Of the 86 articles, 04 were removed after the full screening, hence remaining with 82 articles. Among the 82 eligible articles, 27 are on IPC, 26 on safe surgery, 12 on blood safety, 07 on radiation safety, 06 on injection safety, and 02 on medication safety. One article was relevant to—blood safety, IPC and injection safety;and one article was relevant to—IPC and injection safety. Conclusion: Most of the eligible literature was on IPC and safe surgery, followed by blood safety, radiation safety, injection safety and medication safety. The literature on IPC has highlighted the need to strengthen efforts to address AMR. Findings from the implementation of the safe surgery 2020 intervention warrants for its scale-up to other zones. There is a need to strengthen hemovigilance and pharmacovigilance functions;and strengthen quality management and assurance systems and regulatory functions to ensure radiation safety.
文摘Investing in cryptocurrencies is progressively becoming a norm;however,these assets are excessively volatile and often decrease or increase in value instantly.Thus,rational investors holding cryptocurrencies for extended periods firmly search for assets that can diversify their risk,preferably with assets other than cryptocurrencies.In this study,we consider the two most studied cryptocurrencies with the highest capitalization and trading volume/value,namely Bitcoin and Ethereum.Specifically,we examine whether high-performing leading US tech stocks(Facebook,Amazon,Apple,Netflix,Google[FAANG])can provide any diversification benefits to cryptocurrency investors.To do so,we employ dynamic conditional correlation(DCC),asymmetric DCC,time-varying parameter vector autoregression-based connectedness measures,dynamic correlation-based hedge and safe-haven regression analyses,portfolio optimization and hedging strategies,time-and frequency-based wavelet coherence,and high-frequency 10-min intraday data from January 1,2018 to January 31,2023.We find that FAANG stocks can be considered(at least weak)safe havens for Bitcoin and Ethereum during the sample period.Our subperiod analyses reveal that the safehaven role of FAANG stocks,specifically for Bitcoin,has noticeably increased.While the safe-haven property of Facebook is the most promising,for Netflix it is blurred between a weak–safe-haven and a hedge.Our findings may help investors,policymakers,and academicians to invest in cryptocurrencies,formulate relevant investment guidelines,and extend the literature on cryptocurrencies,respectively.
文摘With the increasingly turbulent political situation and the outbreak of public health events without warning,it will not only affect people’s physical health,but also affect the global financial market,causing the market to fall into a huge crisis,thus leading to a continued decline in the worldwide economy.During periods of financial market turmoil,many investors fall into panic and urgently need a“haven”to protect their assets.With the rise of the digital economy,gold no longer seems to be the only safe-haven option.Bitcoin has gradually entered the investors’field of vision.Some investors believe that Bitcoin can become an emerging safe-haven asset that is as important as or surpasses gold.Based on an analysis of the safe-haven properties of Bitcoin and gold during major political and historical events and public health events,this article will clarify which of the two is more suitable as a reliable contemporary safe-haven asset and provide advice to investors.
文摘Objective:To explore the application effect of bundle management in the safe nursing of patients with autoimmune encephalitis.Methods:Seventy-five patients with autoimmune encephalitis who met the inclusion criteria in our hospital from January 2024 to June 2024 were randomly divided into two groups:an observation group of 39 patients and a control group of 36 patients.The control group received routine nursing care,while the observation group implemented a bundle management strategy based on routine nursing care.Safety nursing outcomes,clinical symptom improvement time,hospital stay,and neurologic function recovery were observed in both groups.Results:The incidence of adverse events in the observation group was 12.82%,significantly lower than the 33.33%in the control group,with a statistically significant difference(P<0.05).There was no statistically significant difference in restraint usage and ICU transfer rates between the two groups(P>0.05).The clinical symptom improvement time,hospital stay,and neurologic function recovery in the observation group were significantly better than those in the control group,with a statistically significant difference(P<0.05).Conclusion:Through the bundle management model,effective connections can be ensured in various aspects of treatment and rehabilitation for patients with autoimmune encephalitis,providing patients with comprehensive and multi-level nursing services and improving their overall satisfaction and treatment effectiveness.
文摘Semi-supervised clustering techniques attempt to improve clustering accuracy by utilizing a limited number of labeled data for guidance.This method effectively integrates prior knowledge using pre-labeled data.While semi-supervised fuzzy clustering(SSFC)methods leverage limited labeled data to enhance accuracy,they remain highly susceptible to inappropriate or mislabeled prior knowledge,especially in noisy or overlapping datasets where cluster boundaries are ambiguous.To enhance the effectiveness of clustering algorithms,it is essential to leverage labeled data while ensuring the safety of the previous knowledge.Existing solutions,such as the Trusted Safe Semi-Supervised Fuzzy Clustering Method(TS3FCM),struggle with random centroid initialization,fixed neighbor radius formulas,and handling outliers or noise at cluster overlaps.A new framework called Active Safe Semi-Supervised Fuzzy Clustering with Pairwise Constraints Based on Cluster Boundary(AS3FCPC)is proposed in this paper to deal with these problems.It does this by combining pairwise constraints and active learning.AS3FCPC uses active learning to query only the most informative data instances close to the cluster boundaries.It also uses pairwise constraints to enforce the cluster structure,which makes the system more accurate and robust.Extensive test results on diverse datasets,including challenging noisy and overlapping scenarios,demonstrate that AS3FCPC consistently achieves superior performance compared to state-of-the-art methods like TS3FCM and other baselines,especially when the data is noisy and overlaps.This significant improvement underscores AS3FCPC’s potential for reliable and accurate semisupervised fuzzy clustering in complex,real-world applications,particularly by effectively managing mislabeled data and ambiguous cluster boundaries.
文摘IN the Shanghai Jewish Refugees Museum,a beautiful handbag is waiting for its owner in a display cabinet.The handbag belongs to a Jewish couple.When they sought refuge in Shanghai during World War II,they pawned the handbag to Jin Wenzhen’s grandfather in exchange for their child’s medical expenses.He lent the couple the cash equivalent of one month’s revenue from his rice shop,but then never saw them again.
基金jointly funded by the guangxi Science and Technology Base and Talent Project(AD23026104)the Key Research and Development Program Project in Guangxi(AB23026121)。
文摘Due to the influence of karst cave development and route selection,the location relationship between concealed karst cave and tunnel is more random.In order to explore the influence rule of karst cave location on the minimum safe thickness of water-proof rock mass,a simplified calculation model of water-proof rock mass thickness when the karst cave is located at any location around the tunnel is established,and the influence of multiple factors on the overall stability of water-proof rock mass is considered.Based on the cusp catastrophe theory,the analytical expressions for the safety thickness of waterproof rock mass are derived.Based on the finite difference principle,the analytical expressions of the safety thickness of water-proof rock mass are verified.In order to improve the application range of the analytical formula derived in this paper,the analytical formula is optimized based on the instability principle differences between the simplified calculation model and the elastic compressive bar.The research results show that the necessary condition solution is more applicable and much safer than the sufficient condition solution.Tectonic stress,rock beam length and karst cave water pressure are significantly positively correlated with the safe thickness of the waterproof rock mass.The calculated results of the semioptimized formula and the unoptimized formula are constant values,independent of the karst cave location.While the calculated results of the fully optimized formula are variable values,correlated with the karst cave location,the thickness of the waterproof rock mass gradually decreases as the karst cave location moves from the top of the tunnel to the bottom of the tunnel.The unoptimized formula does not consider the influence of the lateral force of the rock beam,and is not suitable for the working condition with large lateral force,the calculation results of the semi-optimized formula and the fully optimized formula are not very different and are biased to safety,so it can be given priority.
文摘Against the backdrop of the global push for environmental protection and the reduction of plastic pollution,the research and development of alternatives to daily disposable plastic products such as straws have become a hot topic in the environmental protection field.Traditional plastic straws are difficult to degrade,imposing a severe burden on the environment.Meanwhile,existing alternatives like paper straws and PLA(polylactic acid)straws also have numerous drawbacks.
文摘With the civilization and modernization of human society,occupational health has emerged as a fundamental goal of social justice,as highlighted in the United Nations'Sustainable Development Goals(SDGs)since 2016.Specifically,"SDG Goal 1:No Poverty","SDG 3:Good Health and Well-being",and"SDG 8:Decent Work and Economic Growth",are interconnected with other SDGs to support the pursuit of occupational health.
文摘Laparoscopic surgery has many advantages over open surgery.At the same time,it is not without its risks.In this review,we discuss steps that could enhance the safety of laparoscopic surgery.Some of the important safety considerations are ruling out pregnancy in women of the childbearing age group;advanced discussion with the patient regarding unexpected intraoperative situations,and ensuring appropriate equipment is available.Important perioperative safety considerations include thromboprophylaxis;antibiotic prophylaxis;patient allergies;proper positioning of the patient,stack,and monitor(s);patient appropriate pneumoperitoneum;ergonomic port placement;use of lowest possible intra-abdominal pressure;use of additional five-millimetre(mm)ports as needed;safe use of energy devices and laparoscopic staplers;low threshold for a second opinion;backing out if unsafe to proceed;avoiding hand-over in the middle of the procedure;ensuring all planned procedures have been performed;inclusion of laparoscopic retrieval bags and specimens in the operating count;avoiding 10-15 mm ports for placement of drains;appropriate port closures;and use of long-acting local anaesthetic agents for analgesia.Important postoperative considerations include adequate analgesia;early ambulation;careful attention to early warning scores;and appropriate discharge advice.
文摘A Bayesian method is used to evaluate the component safety failure model parameter of the safe arming system of an air faced missile in flight. It was proved that Bayes estimation of the model parameter is coincident with the physical explanation of the prior probability density distribution of the random parameter.
文摘以某型现役汽车起重机底架钢结构为研究对象,建立起重机虚拟样机模型及有限元静力学模型,分析并获得五个载荷步下的名义应力谱;基于FE-SAFE(durability analysis software for finite element models)耐久性分析软件,用多轴临界平面疲劳损伤模型,采用Brown-Miller准则建立寿命损伤模型,对底架结构的疲劳寿命进行预算。预算结果表明该型起重机底架结构工作约3 062个循环时出现肉眼可见裂纹,而其使用寿命约为70 555个工作循环。其疲劳寿命预算分析为某型现役起重机的实际设计和使用检修提供有价值的参考。
