In my article in JAC 15,I discuss“the Mada calendar”of Puzri-Dagan of the UrⅢ period.This calendar started from the month iti-ma-d-k while its alternatecycle“the Akiti Calendar”started from the month iti-ki-ti(vi...In my article in JAC 15,I discuss“the Mada calendar”of Puzri-Dagan of the UrⅢ period.This calendar started from the month iti-ma-d-k while its alternatecycle“the Akiti Calendar”started from the month iti-ki-ti(vi).The Akiticalendar was only used for three whole and two half years(ulgi 44’viii’-xii',45’-47’,48’i’-vii’)during the Mada years of ulgi 45/i to ulgi 48/xii.It wasonly used by the main office of Puzri-Dagan.展开更多
Introduction: The Ho:YAG-Laser is categorized as a potentially dangerous lithotripsy device (DIN: Class 4) for perforation which is mainly caused by the photonic energy the laser emits. Long time complications like ur...Introduction: The Ho:YAG-Laser is categorized as a potentially dangerous lithotripsy device (DIN: Class 4) for perforation which is mainly caused by the photonic energy the laser emits. Long time complications like ureteral strictures seem to be directed by thermal and mechanical injury. In this study different energy settings a) are being investigated, a DJ (double J stent) is placed beside the laser to simulate a therapy of a forgotten stent with reduction of the lumen b) due to the volume exploitation of the DJ, and direct contact between the laser fiber and the DJ in the ureter c) is simulated during laser exposure. Materials and Methods: We used the Ho:YAG-laser (Vera PulseTM, Coherent, Santa Clara USA) with a 365 μm diameter laser fiber. The settings of the laser were 0.6 J and 1 J pulse energy with a frequency of 5 Hz. The experimental setup was closely aligned with the clinical situation. The tip of the thermometer was attached inside the catheter through a puncture. The laser fiber was guided by means of a rigid URS video device (11.5 Ch). We had four different settings for a), b) and c) during the measurement: 1) Distance of 0.5 cm between the laser and the thermometer;without irrigation, 2) Distance of 0.5 cm between the laser and the thermometer;with irrigation, 3) Distance of 1 cm between the laser and the thermometer;without irrigation, 4) Distance of 1 cm between the laser and the thermometer;with irrigation. Results: The temperature in an empty ureter rises approximately by 5°C, when the laser energy is increased from 0.6 J to 1 J. When a DJ is inserted in the artificial ureter there is surprisingly almost no difference in the maximum temperature between the lower energy level (0.6 J) and the high energy level (1 J). However the time needed to reach the maximum temperature is noticibly less when using high energy levels. The reduction involume based on the placement of the DJ leads to a higher maximum temperature for the low energy setting. The third setting with direct laser fiber contact with the DJ produces the highest temperatures of up to 55°C. We think there must be a melting or burning of the DJ which leads to a temperature rise. Bubble formation was a sign of heating in the ureter in every setting without irrigation. A temperature fall off with increasing distance between the laser fiber and the thermometer is noticable when measuring without irrigation. Conclusion: There is no relevant heating with irrigation. Direct contact between the laser fiber and the DJ seems to evoke additional heating because of melting or underwater burning of the DJ. The maximum temperatures reached without irrigation are limited to a relatively small volume since the is a noticable temperature fall of when increasing the distance between the laser fiber and the thermometer.展开更多
从示范中学习(Learning from Demonstration,LfD),是指机器人学习人类的操作工作,相比传统的脚本指令操作机器人更简单,而机器人需要学习人类示范来快速适应环境的变化。对于机器人运动轨迹学习之后进行技能泛化,GMR-GPR生成的轨迹无法...从示范中学习(Learning from Demonstration,LfD),是指机器人学习人类的操作工作,相比传统的脚本指令操作机器人更简单,而机器人需要学习人类示范来快速适应环境的变化。对于机器人运动轨迹学习之后进行技能泛化,GMR-GPR生成的轨迹无法精确通过每个部分起始约束点,基于GMR-GPR算法进行改进,进行增量GMR-GPR技能泛化,在尽可能保持教学动作的真实意图的同时,也能够同时经过约束点,生成的轨迹进一步提高在约束点区域的泛化性,此外,通过执行字母仿真和UR5e机器人实验,验证和分析了所提方法的可用性。结果表明,所改进的方法能够提供可靠的解决方案,在尽可能保留真实演示意图的同时,挽回示教者纠正意愿的损失。展开更多
为积极应对国际船级社协会的URE26和URE27强制要求,以提升船舶网络韧性为目标,分析各主流船级社的网络安全符号和设备网络安全认证流程,并制定新造首制船网络安全技术路线。重点针对新造首制船规格书编制阶段难以判断全船设备网络安全...为积极应对国际船级社协会的URE26和URE27强制要求,以提升船舶网络韧性为目标,分析各主流船级社的网络安全符号和设备网络安全认证流程,并制定新造首制船网络安全技术路线。重点针对新造首制船规格书编制阶段难以判断全船设备网络安全认证执行方案的问题,提出一种CBS(Computer Based System)分类方法,为后续船舶的设计建造奠定基础。以大型液化天然气(Liquefied Natural Gas,LNG)船为例,将全船的CBS分为4个等级,针对不同类别CBS执行不同的网络安全认证建议并进行成本预估。在此基础上,明确新增网络安全符号后船舶设计建造阶段和船检测试阶段对应的技术路线及注意事项。目前该网络安全技术路线方案已获得船级社和船东认可,可为执行URE26和URE27的新造首制船提供网络安全解决思路。展开更多
文摘In my article in JAC 15,I discuss“the Mada calendar”of Puzri-Dagan of the UrⅢ period.This calendar started from the month iti-ma-d-k while its alternatecycle“the Akiti Calendar”started from the month iti-ki-ti(vi).The Akiticalendar was only used for three whole and two half years(ulgi 44’viii’-xii',45’-47’,48’i’-vii’)during the Mada years of ulgi 45/i to ulgi 48/xii.It wasonly used by the main office of Puzri-Dagan.
文摘Introduction: The Ho:YAG-Laser is categorized as a potentially dangerous lithotripsy device (DIN: Class 4) for perforation which is mainly caused by the photonic energy the laser emits. Long time complications like ureteral strictures seem to be directed by thermal and mechanical injury. In this study different energy settings a) are being investigated, a DJ (double J stent) is placed beside the laser to simulate a therapy of a forgotten stent with reduction of the lumen b) due to the volume exploitation of the DJ, and direct contact between the laser fiber and the DJ in the ureter c) is simulated during laser exposure. Materials and Methods: We used the Ho:YAG-laser (Vera PulseTM, Coherent, Santa Clara USA) with a 365 μm diameter laser fiber. The settings of the laser were 0.6 J and 1 J pulse energy with a frequency of 5 Hz. The experimental setup was closely aligned with the clinical situation. The tip of the thermometer was attached inside the catheter through a puncture. The laser fiber was guided by means of a rigid URS video device (11.5 Ch). We had four different settings for a), b) and c) during the measurement: 1) Distance of 0.5 cm between the laser and the thermometer;without irrigation, 2) Distance of 0.5 cm between the laser and the thermometer;with irrigation, 3) Distance of 1 cm between the laser and the thermometer;without irrigation, 4) Distance of 1 cm between the laser and the thermometer;with irrigation. Results: The temperature in an empty ureter rises approximately by 5°C, when the laser energy is increased from 0.6 J to 1 J. When a DJ is inserted in the artificial ureter there is surprisingly almost no difference in the maximum temperature between the lower energy level (0.6 J) and the high energy level (1 J). However the time needed to reach the maximum temperature is noticibly less when using high energy levels. The reduction involume based on the placement of the DJ leads to a higher maximum temperature for the low energy setting. The third setting with direct laser fiber contact with the DJ produces the highest temperatures of up to 55°C. We think there must be a melting or burning of the DJ which leads to a temperature rise. Bubble formation was a sign of heating in the ureter in every setting without irrigation. A temperature fall off with increasing distance between the laser fiber and the thermometer is noticable when measuring without irrigation. Conclusion: There is no relevant heating with irrigation. Direct contact between the laser fiber and the DJ seems to evoke additional heating because of melting or underwater burning of the DJ. The maximum temperatures reached without irrigation are limited to a relatively small volume since the is a noticable temperature fall of when increasing the distance between the laser fiber and the thermometer.
文摘从示范中学习(Learning from Demonstration,LfD),是指机器人学习人类的操作工作,相比传统的脚本指令操作机器人更简单,而机器人需要学习人类示范来快速适应环境的变化。对于机器人运动轨迹学习之后进行技能泛化,GMR-GPR生成的轨迹无法精确通过每个部分起始约束点,基于GMR-GPR算法进行改进,进行增量GMR-GPR技能泛化,在尽可能保持教学动作的真实意图的同时,也能够同时经过约束点,生成的轨迹进一步提高在约束点区域的泛化性,此外,通过执行字母仿真和UR5e机器人实验,验证和分析了所提方法的可用性。结果表明,所改进的方法能够提供可靠的解决方案,在尽可能保留真实演示意图的同时,挽回示教者纠正意愿的损失。
文摘为积极应对国际船级社协会的URE26和URE27强制要求,以提升船舶网络韧性为目标,分析各主流船级社的网络安全符号和设备网络安全认证流程,并制定新造首制船网络安全技术路线。重点针对新造首制船规格书编制阶段难以判断全船设备网络安全认证执行方案的问题,提出一种CBS(Computer Based System)分类方法,为后续船舶的设计建造奠定基础。以大型液化天然气(Liquefied Natural Gas,LNG)船为例,将全船的CBS分为4个等级,针对不同类别CBS执行不同的网络安全认证建议并进行成本预估。在此基础上,明确新增网络安全符号后船舶设计建造阶段和船检测试阶段对应的技术路线及注意事项。目前该网络安全技术路线方案已获得船级社和船东认可,可为执行URE26和URE27的新造首制船提供网络安全解决思路。
