In the visual‘teach-and-repeat’task,a mobile robot is expected to perform path following based on visual memory acquired along a route that it has traversed.Following a visually familiar route is also a critical nav...In the visual‘teach-and-repeat’task,a mobile robot is expected to perform path following based on visual memory acquired along a route that it has traversed.Following a visually familiar route is also a critical navigation skill for foraging insects,which they accomplish robustly despite tiny brains.Inspired by the mushroom body structure in the insect brain and its well-understood associative learning ability,we develop an embodied model that can accomplish visual teach-and-repeat efficiently.Critical to the performance is steering the robot body reflexively based on the relative familiarity of left and right visual fields,eliminating the need for stopping and scanning regularly for optimal directions.The model is robust against noise in visual processing and motor control and can produce performance comparable to pure pursuit or visual localisation methods that rely heavily on the estimation of positions.The model is tested on a real robot and also shown to be able to correct for significant intrinsic steering bias.展开更多
The transverse single-spin asymmetry forρ^(0) production in semi-inclusive deep inelastic scattering was recently reported by the COMPASS Collaboration.Using the Sivers function extracted from pion and kaon productio...The transverse single-spin asymmetry forρ^(0) production in semi-inclusive deep inelastic scattering was recently reported by the COMPASS Collaboration.Using the Sivers function extracted from pion and kaon productions,we perform a calculation of the Sivers asymmetry within the transverse momentum-dependent factorization.Our results are consistent with the COMPASS data,supporting the universality of the Sivers function in the semi-inclusive deep inelastic scattering process for different final-state hadrons within current experimental uncertainties.While different parametrizations of the Sivers function from global analyses allow describing the data equally well,we obtain very different predictions on the Sivers asymmetry ofρand K^(*)productions at electron-ion colliders,which therefore are expected to provide further constraints.展开更多
Objective:To explore the impact of compassion fatigue resilience training on the compassion and psychological resilience of nurses in the hemato-oncology department.Methods:Convenience sampling was used to select 24 n...Objective:To explore the impact of compassion fatigue resilience training on the compassion and psychological resilience of nurses in the hemato-oncology department.Methods:Convenience sampling was used to select 24 nurses from the hemato-oncology department of our hospital as the intervention group and another 24 as the control group.The intervention group received compassion fatigue resilience training,while the control group received routine health education.Results:The compassion fatigue score of the intervention group was lower than that of the control group,and the psychological resilience score was higher,with statistically significant differences(P<0.05).Conclusion:Compassion fatigue resilience training is beneficial for improving the compassion fatigue and psychological resilience of nurses in the hemato-oncology department.展开更多
基金support from the Huawei Technologies Co.,Ltd.[grant number YBN2020045132].
文摘In the visual‘teach-and-repeat’task,a mobile robot is expected to perform path following based on visual memory acquired along a route that it has traversed.Following a visually familiar route is also a critical navigation skill for foraging insects,which they accomplish robustly despite tiny brains.Inspired by the mushroom body structure in the insect brain and its well-understood associative learning ability,we develop an embodied model that can accomplish visual teach-and-repeat efficiently.Critical to the performance is steering the robot body reflexively based on the relative familiarity of left and right visual fields,eliminating the need for stopping and scanning regularly for optimal directions.The model is robust against noise in visual processing and motor control and can produce performance comparable to pure pursuit or visual localisation methods that rely heavily on the estimation of positions.The model is tested on a real robot and also shown to be able to correct for significant intrinsic steering bias.
基金supported by the National Key R&D Program of China(Grant No.2024YFA1611004)the National Natural Science Foundation of China(Grant Nos.12175117,12475084,and 12321005)the Shandong Province Natural Science Foundation(Grant Nos.ZFJH202303 and ZR2024MA012)。
文摘The transverse single-spin asymmetry forρ^(0) production in semi-inclusive deep inelastic scattering was recently reported by the COMPASS Collaboration.Using the Sivers function extracted from pion and kaon productions,we perform a calculation of the Sivers asymmetry within the transverse momentum-dependent factorization.Our results are consistent with the COMPASS data,supporting the universality of the Sivers function in the semi-inclusive deep inelastic scattering process for different final-state hadrons within current experimental uncertainties.While different parametrizations of the Sivers function from global analyses allow describing the data equally well,we obtain very different predictions on the Sivers asymmetry ofρand K^(*)productions at electron-ion colliders,which therefore are expected to provide further constraints.
文摘Objective:To explore the impact of compassion fatigue resilience training on the compassion and psychological resilience of nurses in the hemato-oncology department.Methods:Convenience sampling was used to select 24 nurses from the hemato-oncology department of our hospital as the intervention group and another 24 as the control group.The intervention group received compassion fatigue resilience training,while the control group received routine health education.Results:The compassion fatigue score of the intervention group was lower than that of the control group,and the psychological resilience score was higher,with statistically significant differences(P<0.05).Conclusion:Compassion fatigue resilience training is beneficial for improving the compassion fatigue and psychological resilience of nurses in the hemato-oncology department.
