Model Predictive Control(MPC)has emerged as one of the most widely adopted and effective approaches in autonomous driving systems.Conventional design methodology of MPC systems,however,often rely on static rule-based ...Model Predictive Control(MPC)has emerged as one of the most widely adopted and effective approaches in autonomous driving systems.Conventional design methodology of MPC systems,however,often rely on static rule-based architectures and predetermined control strategies,limiting their flexibility and responsiveness to complex and dynamic traffic environments.To enhance the system’s understanding of driver intentions and improve strategy adaptability,this paper proposes a novel autonomous driving framework,ChatMPC,that integrates Natural Language Processing(NLP)with MPC.The framework employs a Transformer-based sentence embedding model,Sentence-BERT(SBERT),to parse driving intents embedded in natural language commands(e.g.,“overtake,”“follow”),and dynamically updates the MPC controller’s objective functions and constraints.This enables the generation of personalized driving behaviors aligned with user preferences.Simulation experiments conducted on the Matlab platform show that ChatMPC completes the full cycle from instruction parsing to control optimization in an average of 15 seconds,with MPC prediction requiring an average of 13.5 ms and a worst-case time of 22.2 ms,well within the 50 ms real-time budget.In typical traffic scenarios,the system achieves high tracking accuracy,with a following error of 0.827%and overtaking error of 1.67%,validating its real-time performance and effectiveness.展开更多
BACKGROUND Newborns are immediately admitted to the neonatal intensive care unit(NICU)after birth,and thus mothers suffer from the pain of mother-infant separation.Some mothers worry about alterations in their child’...BACKGROUND Newborns are immediately admitted to the neonatal intensive care unit(NICU)after birth,and thus mothers suffer from the pain of mother-infant separation.Some mothers worry about alterations in their child’s condition and the uncertainty and high medical costs of possible sequelae,which frequently cause anxiety,depression,and other adverse emotions.AIM To investigate the anxiety and depression status of mothers of children in the NICU and its related factors.METHODS A convenient sampling method is adopted.The research objects included the mothers of 191 children in the NICU of Suzhou Ninth Hospital Affiliated with Suzhou University from January 2023 to July 2024.The general information questionnaire,personal control scale,self-rating anxiety scale,and self-rating depression scale were utilized for investigation.Anxiety and depression status in mothers of children in the NICU and its related factors were analyzed.RESULTS The incidences of maternal anxiety and depression among 191 hospitalized children in the NICU were 32.98%(63/191)and 23.56%(45/191),respectively.Single-factor analysis reveals that family monthly income,individual sense of control,gestational age of the child,and the number of diseases in the child are associated with the anxiety and depression experienced by the mother of the child in the NICU(P<0.05).Multivariate logistic regression analysis revealed that family monthly income of<5000 yuan(RMB),poor individual control,gestational age of<32 weeks,and the number of diseases of≥3 kinds are all related factors for anxiety and depression in mothers of children admitted to the NICU(P<0.05).CONCLUSION Mothers of children admitted to the NICU demonstrated high anxiety and depression incidences.The nursing staff in the neonatal department established intervention measures for each related factor,strengthened communication and communication with the mother of the child,and did a good job in psychological counseling.展开更多
Objective:To investigate the current status and influencing factors of psychosocial adaptation of hemodialysis patients,and to provide a reference basis for the development of nursing interventions.Methods:435 hemodia...Objective:To investigate the current status and influencing factors of psychosocial adaptation of hemodialysis patients,and to provide a reference basis for the development of nursing interventions.Methods:435 hemodialysis patients from the hemodialysis centers of three tertiary A hospitals in Xi’an City were conveniently selected from April to August 2023,and were investigated using the General Information Questionnaire,the Psychosocial Adaptation to Disease Scale,the Fear of Disease Progression Simplification Scale,and the Personal Sense of Control Scale.Results:The psychosocial adaptation score of hemodialysis patients was(56.68±18.32);the results of multiple linear regression analysis showed that marital status,the form of payment for medical expenses,work status,degree of self-care in daily life,number of co-morbid chronic illnesses,fear of disease progression,and sense of personal mastery were the main influencing factors of psychosocial adaptation of hemodialysis patients.Conclusion:The psychosocial adaptation of hemodialysis patients is at the level of severe maladaptation,and healthcare professionals should formulate scientific and reasonable nursing intervention programs according to their influencing factors to enhance their psychosocial adaptation.展开更多
Various systems and technologies have been developed in recent years to fulfil the growing needs of high-performance HVAC systems with better performance of energy efficiency,thermal comfort,and occupancy health.Inten...Various systems and technologies have been developed in recent years to fulfil the growing needs of high-performance HVAC systems with better performance of energy efficiency,thermal comfort,and occupancy health.Intensified conditioning of human occupied areas and less intensified conditioning of surrounding areas are able to effectively improve the overall satisfaction by individual control of personalized micro-environments and also,achieve maximum energy efficiency.Four main concepts have been identified chronologically through the devel-opment of personal environmental conditioning,changing the intensified conditioning area closer to the human body and enhancing conditioning efforts,namely the task ambient conditioning(TAC)system,personal envi-ronmental control system(PECS),personal comfort system(PCS),and the personal thermal management(PTM)system.This review follows a clue of the concept progress and system evaluation,summarizes important findings and feasible applications,current gaps as well as future research needs.展开更多
基金supported by the National Natural Science Foundation of China under Grant No.62403359the National Key Research and Development Project under Grant No.62088101+2 种基金the Natural Science Foundation of Shanghai under Grant No.24ZR1472600the Fundamental Research Funds for the Central Universities under Grant No.22120250157the Shanghai Municipal Science and Technology Major Project under Grant No.2021SHZDZX0100.
文摘Model Predictive Control(MPC)has emerged as one of the most widely adopted and effective approaches in autonomous driving systems.Conventional design methodology of MPC systems,however,often rely on static rule-based architectures and predetermined control strategies,limiting their flexibility and responsiveness to complex and dynamic traffic environments.To enhance the system’s understanding of driver intentions and improve strategy adaptability,this paper proposes a novel autonomous driving framework,ChatMPC,that integrates Natural Language Processing(NLP)with MPC.The framework employs a Transformer-based sentence embedding model,Sentence-BERT(SBERT),to parse driving intents embedded in natural language commands(e.g.,“overtake,”“follow”),and dynamically updates the MPC controller’s objective functions and constraints.This enables the generation of personalized driving behaviors aligned with user preferences.Simulation experiments conducted on the Matlab platform show that ChatMPC completes the full cycle from instruction parsing to control optimization in an average of 15 seconds,with MPC prediction requiring an average of 13.5 ms and a worst-case time of 22.2 ms,well within the 50 ms real-time budget.In typical traffic scenarios,the system achieves high tracking accuracy,with a following error of 0.827%and overtaking error of 1.67%,validating its real-time performance and effectiveness.
文摘BACKGROUND Newborns are immediately admitted to the neonatal intensive care unit(NICU)after birth,and thus mothers suffer from the pain of mother-infant separation.Some mothers worry about alterations in their child’s condition and the uncertainty and high medical costs of possible sequelae,which frequently cause anxiety,depression,and other adverse emotions.AIM To investigate the anxiety and depression status of mothers of children in the NICU and its related factors.METHODS A convenient sampling method is adopted.The research objects included the mothers of 191 children in the NICU of Suzhou Ninth Hospital Affiliated with Suzhou University from January 2023 to July 2024.The general information questionnaire,personal control scale,self-rating anxiety scale,and self-rating depression scale were utilized for investigation.Anxiety and depression status in mothers of children in the NICU and its related factors were analyzed.RESULTS The incidences of maternal anxiety and depression among 191 hospitalized children in the NICU were 32.98%(63/191)and 23.56%(45/191),respectively.Single-factor analysis reveals that family monthly income,individual sense of control,gestational age of the child,and the number of diseases in the child are associated with the anxiety and depression experienced by the mother of the child in the NICU(P<0.05).Multivariate logistic regression analysis revealed that family monthly income of<5000 yuan(RMB),poor individual control,gestational age of<32 weeks,and the number of diseases of≥3 kinds are all related factors for anxiety and depression in mothers of children admitted to the NICU(P<0.05).CONCLUSION Mothers of children admitted to the NICU demonstrated high anxiety and depression incidences.The nursing staff in the neonatal department established intervention measures for each related factor,strengthened communication and communication with the mother of the child,and did a good job in psychological counseling.
文摘Objective:To investigate the current status and influencing factors of psychosocial adaptation of hemodialysis patients,and to provide a reference basis for the development of nursing interventions.Methods:435 hemodialysis patients from the hemodialysis centers of three tertiary A hospitals in Xi’an City were conveniently selected from April to August 2023,and were investigated using the General Information Questionnaire,the Psychosocial Adaptation to Disease Scale,the Fear of Disease Progression Simplification Scale,and the Personal Sense of Control Scale.Results:The psychosocial adaptation score of hemodialysis patients was(56.68±18.32);the results of multiple linear regression analysis showed that marital status,the form of payment for medical expenses,work status,degree of self-care in daily life,number of co-morbid chronic illnesses,fear of disease progression,and sense of personal mastery were the main influencing factors of psychosocial adaptation of hemodialysis patients.Conclusion:The psychosocial adaptation of hemodialysis patients is at the level of severe maladaptation,and healthcare professionals should formulate scientific and reasonable nursing intervention programs according to their influencing factors to enhance their psychosocial adaptation.
文摘Various systems and technologies have been developed in recent years to fulfil the growing needs of high-performance HVAC systems with better performance of energy efficiency,thermal comfort,and occupancy health.Intensified conditioning of human occupied areas and less intensified conditioning of surrounding areas are able to effectively improve the overall satisfaction by individual control of personalized micro-environments and also,achieve maximum energy efficiency.Four main concepts have been identified chronologically through the devel-opment of personal environmental conditioning,changing the intensified conditioning area closer to the human body and enhancing conditioning efforts,namely the task ambient conditioning(TAC)system,personal envi-ronmental control system(PECS),personal comfort system(PCS),and the personal thermal management(PTM)system.This review follows a clue of the concept progress and system evaluation,summarizes important findings and feasible applications,current gaps as well as future research needs.
