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Ophthalmology residency training program at the University of Montreal
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作者 Fares Antaki Cristina Bostan Emilie Goodyear 《Annals of Eye Science》 2020年第1期73-76,共4页
Historical overview In 1975,Michel Mathieu became the head of the newly autonomous Department of Ophthalmology at the University of Montreal.Mathieu’s growing reputation as a skilled clinician and researcher attracte... Historical overview In 1975,Michel Mathieu became the head of the newly autonomous Department of Ophthalmology at the University of Montreal.Mathieu’s growing reputation as a skilled clinician and researcher attracted excellent candidates to the department(1).Under his direction,Suzanne Véronneau-Troutman became the first resident and,subsequently,the first female ophthalmic surgeon at University of Montreal.Her immense contribution to the field of strabismus later gained worldwide appreciation,as recognized by the annual American Academy of Ophthalmology award named after her(2).Mathieu’s work,and that of his recruits,led to major advances in the fields of corneal transplantation,retinal degenerations,electroretinography,and ophthalmic surgical instrumentation(3). 展开更多
关键词 MONTREAL gained AUTONOMOUS
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AB033.The impact of visual impairment on the Montreal Cognitive Assessment
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作者 Elliott Morrice Zoey Stark +2 位作者 Caitlin Murphy Walter Wittich Aaron Johnson 《Annals of Eye Science》 2019年第1期208-208,共1页
Background:Cognitive assessments,such as the Montreal Cognitive Assessment(MoCA),use components that assume intact sensory abilities,however,adults show concomitant decreases in visual acuity with increasing age.Score... Background:Cognitive assessments,such as the Montreal Cognitive Assessment(MoCA),use components that assume intact sensory abilities,however,adults show concomitant decreases in visual acuity with increasing age.Scores on cognitive assessments are typically lower for individuals with visual impairments compared to individuals with normal/corrected to normal vision.But it is not clear if lowers scores on cognitive assessments are due to the assessments relying on visual stimuli,or if individuals with visual impairments are actually more likely to have cognitive impairments.Therefore we simulated visual impairments,i.e.,reduced visual acuity and contrast sensitivity,in young healthy adults to determine how this impacts their scores on a measure of cognitive ability,i.e.,the MoCA.Methods:Participants(n=19)completed one of the three version of the MoCA under three conditions(20/20,simulated 20/80,simulated 20/200).The MoCA was administered following the clinical protocols.Only participants that scored>26(i.e.,normal cognitive function)at 20/20 were included in the analysis.For comparison,we included MoCA data from a sample of older adults with normal vision(n=19,Mage=74,Acuity M=0.04 logMAR,SD=0.16)or visual impairment(n=19,Mage=79,Acuity M=0.35 logMAR,SD=0.3).Results:Acuity of participants at 20/20(M=0.06 LogMAR,SD=0.1),simulated 20/80(M=0.63,SD=0.18)and simulated 20/200(M=0.88,SD=0.19)showed that the participants experienced simulated acuity loss with the goggles.For the MoCA scores,we found a main effect of acuity(F=16.22,P<0.001,η2=0.375,BF10=5,618).Planned post hoc comparisons showed a significant difference between scores with a 20/20 acuity(M=27.26,SD=0.93)and 20/80(M=24.74,SD=1.66,t=5.62,ptukey<0.001,d=1.88),and between 20/20 and 20/200(M=25.63,SD=1.46,t=3.63,ptukey=0.002,Cohen’s d=1.33).However,no difference was observed between 20/80 and 20/200(t=−1.99,ptukey=0.125,d=0.572).The MoCA scores in older adults with normal vision(M=27.32,SD=2.41)and with visual impairment(M=26.68,SD=2.52),did not differ significantly(t36=−0.787,P=0.436,d=0.26,BF10=0.4).Conclusions:Our findings show that simulated reductions in visual acuity and contrast sensitivity lead to lower scores on measures of cognitive ability,specifically the MoCA.However,it appears that older adults with actual visual impairments may have developed compensatory strategies to adapt to this loss in visual acuity as there were no significant differences in scores of older adults with and without visual impairments.Therefore,we would recommend that when assessing an individual with visual impairments to conduct the cognitive test by re-scoring it without the visual components,e.g.,the MoCA Blind,to magnify the visual components,or to substitue the visual component when possible using auditory alternatives,e.g.,the oral trail making task. 展开更多
关键词 Visual impairment cognitive assessment simulated visual impairment Montreal Cognitive Assessment(MoCA)
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Analysis of GHG Emissions for City Passenger Trains: Is Electricity an Obvious Option for Montreal Commuter Trains?
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作者 Sabrina Chan Luis Miranda-Moreno Zachary Patterson 《Journal of Transportation Technologies》 2013年第2期17-29,共13页
Alternative technologies have emerged to reduce the greenhouse gas (GHG) emissions of traditional commuter rail systems powered by diesel. Even larger reductions can be obtained with energy production from renewable r... Alternative technologies have emerged to reduce the greenhouse gas (GHG) emissions of traditional commuter rail systems powered by diesel. Even larger reductions can be obtained with energy production from renewable resources. This paper uses the commuter rail system in Montreal, Quebec, as a case study for implementing alternative technologies, namely, complete electrification of the network (only one of the existing five lines is electrified) and hydrogen fuel cell-powered trains. It is important to note that the main source of electricity generation in Quebec is hydropower which is offered at a relatively low cost. Several criteria were considered to determine the most suitable alternative including GHG emissions from operation and fuel production, operation and capital costs, and technological and commercial viability. Electrification of the commuter rail system would decrease annual emissions by 98% which is more than 27,000 tons. The GHG reductions for hydrogen trains are lower than electric trains but still substantial. The operation costs favor the electrification scenario;however, the high costs of electrical infrastructure make hydrogen trains more competitive since additional infrastructure is unnecessary. However, hydrogen trains remain a new and unproven technology;uncertainties associated with it should be settled before full implementation. 展开更多
关键词 Alternative Technologies Commuter RAIL GREENHOUSE GASES
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加拿大体外循环灌注师的教育培训体系和职业职责与就业发展介绍
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作者 邓丽 Audrey CHAPMAN David DAI 《中国体外生命支持》 2026年第1期49-50,共2页
加拿大的灌注师培养体系具有高度规范化和专业化的特点,从入学条件、课程设置到资格认证均有严格标准。本文系统介绍了加拿大灌注师的教育培训模式、国家认证制度、就业环境、工作模式,并结合行业发展趋势,探讨了该职业在人工心肺技术... 加拿大的灌注师培养体系具有高度规范化和专业化的特点,从入学条件、课程设置到资格认证均有严格标准。本文系统介绍了加拿大灌注师的教育培训模式、国家认证制度、就业环境、工作模式,并结合行业发展趋势,探讨了该职业在人工心肺技术、长期体外支持以及跨学科合作中的新机遇与挑战,为国内同行提供参考。 展开更多
关键词 体外循环 灌注师 职业发展 教育培训
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Energy for myelination:Implications for metabolic disturbances in multiple sclerosis pathology
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作者 Milton Guilherme Forestieri Fernandes Jack P.Antel Timothy E.Kennedy 《Neural Regeneration Research》 2026年第6期2319-2320,共2页
Myelin,made by oligodendrocytes(OLs)in the central nervous system(CNS),is essential for neural transmission.In particular,myelin facilitates communication across the long connections between different brain regions th... Myelin,made by oligodendrocytes(OLs)in the central nervous system(CNS),is essential for neural transmission.In particular,myelin facilitates communication across the long connections between different brain regions that form the white matter.Myelinated segments also provide metabolic intermediates to axons,supporting their demanding energetic needs.Genetic disorders that disrupt myelin formation result in progressive neurologic degeneration. 展开更多
关键词 brain regions neural transmissionin central nervous system cns metabolic disturbances white mattermyelinated MYELINATION progressive neurologic degeneration metabolic intermediates
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Modeling eccentric growth explicitly to investigate intra-annual drivers of xylem cell production using xylogenetic data
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作者 Lucie Nina Barbier Marc-Andre Lemay +2 位作者 Etienne Boucher Sergio Rossi Fabio Gennaretti 《Forest Ecosystems》 2026年第1期254-264,共11页
Xylogenesis,the process through which wood cells are formed,results in the long-term storage of carbon in woody biomass,making it a key component of the global carbon cycle.Understanding how environmental drivers infl... Xylogenesis,the process through which wood cells are formed,results in the long-term storage of carbon in woody biomass,making it a key component of the global carbon cycle.Understanding how environmental drivers influence xylogenesis during the growing season is therefore of great interest.However,studying shortterm drivers of wood production using xylogenetic data is complicated by the usual sampling scheme and the influence of eccentric growth,i.e.,heterogeneous growth around the stem.In this study,we improve xylogenesis research by introducing a statistical approach that explicitly considers seasonal phenology,short-term growth rates,and growth eccentricity.To this end,we developed Bayesian models of xylogenesis and compared them with a conventional method based on the use of Gompertz functions.Our results show that eccentricity generated high temporal autocorrelation between successive samples,and that explicitly taking it into account improved both the representativeness of phenology and intra-ring variability.We observed consistent short-term patterns in the model residuals,suggesting the influence of an unaccounted-for environmental variable on cell production.The proposed models offer several advantages over traditional methods,including robust confidence intervals around predictions,consistency with phenology,and reduced sensitivity to extreme observations at the end of the growing season,often linked to eccentric growth.These models also provide a benchmark for mechanistic testing of short-term drivers of wood formation. 展开更多
关键词 XYLOGENESIS Cell production Sampling biases Bayesian model Gompertz function
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Quinoa and pea protein used as a novel source for producing dysphagia-oriented food by 3D printing technique
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作者 Huiwen Gu Ming Gu +3 位作者 Youfa Wang Shanshan Wu Vijaya Raghavan Jin Wang 《Journal of Future Foods》 2026年第6期1117-1128,共12页
Dysphagia,a prevalent condition affecting over 30%of the elderly,significantly elevates malnutrition risks due to impaired swallowing and insufficient nutrient intake.This study aimed to develop plant-based,3D-printed... Dysphagia,a prevalent condition affecting over 30%of the elderly,significantly elevates malnutrition risks due to impaired swallowing and insufficient nutrient intake.This study aimed to develop plant-based,3D-printed dysphagia diets using pea protein isolate(PPI)combined with quinoa to enhance essential amino acid profiles,complemented by hydrocolloid—xanthan gum(XG),carboxymethyl cellulose(CMC),and agar—for tailored texture modulation.Eight ink formulations were evaluated based on molecular interactions,rheological behavior,3 D printing performance,and compliance with International Dysphagia Diet S tandardization Initiative(IDDSI)standards.Synergistic effects of XG and CMC in Ink-C optimized shear-thinning properties and structural stability,enabling high-precision printing of self-supporting constructs.IDDSI testing confirmed that Ink-A and Ink-C met Level 5"minced and moist"criteria,validated by texture parameters and shape retention during mechanical testing.Electronic nose showed minimal deviations in aromatic characteristics across all formulations,preserving sensory acceptability.In vitro digestion models revealed that hydrocolloid networks temporarily hindered gastric proteolysis but ultimately achieved sufficient intestinal hydrolysis(>76%)to ensure nutrient bioavailability.Ink-C was identified as the optimal formulation,harmonizing printability,swallow-safe textures,and digestibility.This work highlights the potential of hydrocolloid-engineered 3D printing to advance personalized nutrition for dysphagia management,offering scalable solutions to improve dietary diversity and clinical outcomes in aging populations. 展开更多
关键词 QUINOA Future food 3D printing DYSPHAGIA Pea protein Plant-based foods Edible inks
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Opportunities and challenges of artificial intelligence-assisted endoscopy and high-quality data for esophageal squamous cell carcinoma
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作者 Ken Kurisaki Shinichiro Kobayashi +6 位作者 Taro Akashi Yasuhiko Nakao Masayuki Fukumoto Kaito Tasaki Tomohiko Adachi Susumu Eguchi Kengo Kanetaka 《World Journal of Gastrointestinal Oncology》 2026年第1期61-74,共14页
This review comprehensively summarized the potential of artificial intelligence(AI)in the management of esophageal cancer.It highlighted the significance of AI-assisted endoscopy in Japan where endoscopy is central to... This review comprehensively summarized the potential of artificial intelligence(AI)in the management of esophageal cancer.It highlighted the significance of AI-assisted endoscopy in Japan where endoscopy is central to both screening and diagnosis.For the clinical adaptation of AI,several challenges remain for its effective translation.The establishment of high-quality clinical databases,such as the National Clinical Database and Japan Endoscopy Database in Japan,which covers almost all cases of esophageal cancer,is essential for validating multimodal AI models.This requires rigorous external validation using diverse datasets,including those from different endoscope manufacturers and image qualities.Furthermore,endoscopists’skills significantly affect diagnostic accuracy,suggesting that AI should serve as a supportive tool rather than a replacement.Addressing these challenges,along with country-specific legal and ethical considerations,will facilitate the successful integration of multimodal AI into the management of esophageal cancer,particularly in endoscopic diagnosis,and contribute to improved patient outcomes.Although this review focused on Japan as a case study,the challenges and solutions described are broadly applicable to other high-incidence regions. 展开更多
关键词 Artificial intelligence Esophageal cancer ENDOSCOPY Deep learning National database Clinical translation Multimodal artificial intelligence
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Surface soil organic carbon losses in Dongting Lake floodplain as evidenced by field observations from 2013 to 2022
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作者 Liyan Wang Buqing Wang +12 位作者 Zhengmiao Deng Yonghong Xie Tao Wang Feng Li Shao’an Wu Cong Hu Xu Li Zhiyong Hou Jing Zeng Ye’ai Zou Zelin Liu Changhui Peng Andrew Macrae 《Journal of Integrative Agriculture》 2026年第2期436-447,共12页
In floodplain wetlands,alterations in hydrological patterns resulting from climate change and human activities could potentially diminish the carbon sequestration capacity of the soils,thereby having a negative impact... In floodplain wetlands,alterations in hydrological patterns resulting from climate change and human activities could potentially diminish the carbon sequestration capacity of the soils,thereby having a negative impact on global climate change.However,the magnitude of the influence of hydrological regime change on soil carbon remains inadequately monitored.To address this research gap,we collected 306 upper layer(0–20 cm)soil samples from the Dongting Lake floodplain between 2013 and 2022.The random forest(RF)algorithm was used to analyze the spatial distribution of soil organic carbon(SOC)in the upper soil layer of Dongting Lake floodplain and the impact of climate and hydrological changes in the past decade on surface SOC in the East Dongting Lake area was studied.In 2022,the SOC concentration of the Dongting Lake floodplain upper layer soil ranged from 3.34 to 17.67 g kg^(-1),averaging 10.43 g kg^(-1),with a corresponding SOC density of(2.65±0.49)kg m^(-2) and total SOC stock of 6.82 Tg C(2.87–13.48 Tg C).From 2013 to 2022,the SOC concentration of the upper soil layer of the East Dongting Lake area decreased from 18.37 to 10.82 g kg^(-1).This reduction could be attributed to climate and hydrological changes which reduce SOC input by reducing vegetation growth and accelerating SOC decomposition.Above 21.4 m elevation,the amount of SOC loss increased with elevation,the loss being related to the decline in Miscanthus community biomass and greater susceptibility of higher altitude areas to climate and hydrological changes.Our results highlight the need for strengthening wetland SOC management to increase SOC in the soils to help combat climate change. 展开更多
关键词 floodplain wetland soil organic carbon spatial pattern dynamic change
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Specific dendritic spine modifications and dendritic transport:From in vitro to in vivo
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作者 Albert H.K.Fok Charlotte H.M.Lam Cora S.W.Lai 《Neural Regeneration Research》 2026年第2期665-666,共2页
Dendritic spines are small protrusions along dendrites that contain most of the excitatory synapses in principal neurons,playing a crucial role in neuronal function by creating a compartmentalized environment for sign... Dendritic spines are small protrusions along dendrites that contain most of the excitatory synapses in principal neurons,playing a crucial role in neuronal function by creating a compartmentalized environment for signal transduction.The plasticity of spine morphologies provides a tunable handle to regulate calcium signal dynamics,allowing rapid regulation of protein expression necessary to establish and maintain synapses(Cornejo et al.,2022).If excitatory inputs were to be located primarily on dendritic shafts,dendrites would frequently short-circuit,preventing voltage signals from propagating(Cornejo et al.,2022).It is thus not surprising that the structural plasticity of dendritic spines is closely linked to synaptic plasticity and memory formation(Berry and Nedivi,2017).While comprehensive in vitro studies have been conducted,in vivo studies that directly tackle the mechanism of dendritic transport and translation in regulating spine plasticity spatiotemporally are limited. 展开更多
关键词 excitatory synapses principal neuronsplaying compartmentalized environment establish maintain synapses cornejo dendritic spines regulate calcium signal dynamicsallowing regulation protein expression dendritic shaft
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Two Eras of Despair:A Long-Term Trend Analysis of Deaths of Despair in Central and Eastern Europe and Central Asia
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作者 Eun Hae Lee Minjae Choi +5 位作者 Hanul Park Joon Hee Han Sujeong Yu Joshua Kirabo Sempungu Inbae Sohn Yo Han Lee 《International Journal of Mental Health Promotion》 2026年第1期60-71,共12页
Background:That Central and Eastern Europe and Central Asia(CEECA)experienced a major mortality crisis in the 1990s is a well-established finding,with most analyses focusing on singular causes like alcohol-related dea... Background:That Central and Eastern Europe and Central Asia(CEECA)experienced a major mortality crisis in the 1990s is a well-established finding,with most analyses focusing on singular causes like alcohol-related deaths.However,the utility of the integrated“deaths of despair”framework,which views alcohol,drug,and suicide deaths as a unified socio-economic phenomenon,remains under-explored in this context.Crucially,the long-term evolution of the composition of despair within the region remains a largely unexplored area of inquiry.Therefore,this study aims to analyze the long-term trends,changing composition,and regional heterogeneity of deaths from despair in the CEECA region from 1980 to 2021.Methods:Using 2021 Global Burden of Disease(GBD)data(1980–2021),we analyzed deaths of despair mortality trends in 29 CEECA countries.We employed Joinpoint regression to identify significant trend changes and conducted stratified analyses by cause,gender,and age group.Results:The CEECA deaths of despair crisis began as an alcohol and suicide driven phenomenon concentrated in middle-aged men(50–74 years)during the 1990s,with mortality rates for alcohol use disorders and self-harm surging annually by 30.35%(p=0.002)and 13.44%(p=0.001),respectively,between 1991 and 1994.It has since evolved,marked by a contrasting and emerging threat in the 21st century:a rising proportion of drug-related deaths among the younger(15–49 years)male cohort,where the share of drug use disorders increased from 6.9%in 2000 to 11.8%in 2008.Conclusion:The deaths of despair crisis in the CEECA region is not a past event but an ongoing,evolving phenomenon.Its changing nature demands a shift in public health focus from solely historical drivers to new,generation-specific threats,particularly the rise of drug-related despair among youth. 展开更多
关键词 Deaths of despair post-socialism transition Central and Eastern Europe and Central Asia(CEECA) mortality trends joinpoint regression analysis
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Review of machine learning tight-binding models:Route to accurate and scalable electronic simulations
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作者 Jijie Zou Zhanghao Zhouyin +1 位作者 Shishir Kumar Pandey Qiangqiang Gu 《Chinese Physics B》 2026年第1期2-12,共11页
The rapid advancement of machine learning based tight-binding Hamiltonian(MLTB)methods has opened new avenues for efficient and accurate electronic structure simulations,particularly in large-scale systems and long-ti... The rapid advancement of machine learning based tight-binding Hamiltonian(MLTB)methods has opened new avenues for efficient and accurate electronic structure simulations,particularly in large-scale systems and long-time scenarios.This review begins with a concise overview of traditional tight-binding(TB)models,including both(semi-)empirical and first-principles approaches,establishing the foundation for understanding MLTB developments.We then present a systematic classification of existing MLTB methodologies,grouped into two major categories:direct prediction of TB Hamiltonian elements and inference of empirical parameters.A comparative analysis with other ML-based electronic structure models is also provided,highlighting the advancement of MLTB approaches.Finally,we explore the emerging MLTB application ecosystem,highlighting how the integration of MLTB models with a diverse suite of post-processing tools from linear-scaling solvers to quantum transport frameworks and molecular dynamics interfaces is essential for tackling complex scientific problems across different domains.The continued advancement of this integrated paradigm promises to accelerate materials discovery and open new frontiers in the predictive simulation of complex quantum phenomena. 展开更多
关键词 machine learning tight-binding model electronic simulations
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基于轻量化网络的特定目标人体姿态估计算法
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作者 张宝峰 贾炜昂 +4 位作者 刘娜 陆浩宇 杨雷 王莉 刘斌 《计算机应用与软件》 北大核心 2025年第9期196-202,219,共8页
针对多人场景下对单一目标姿态估计的需求,将YOLOv5系列网络与提出的目标选择环节、轻量化light-duc模型进行融合,用于特定目标人体姿态估计。该文利用YOLOv5网络进行人体框检测;将DeepSORT多目标跟踪与条件筛选进行融合,构成目标选择... 针对多人场景下对单一目标姿态估计的需求,将YOLOv5系列网络与提出的目标选择环节、轻量化light-duc模型进行融合,用于特定目标人体姿态估计。该文利用YOLOv5网络进行人体框检测;将DeepSORT多目标跟踪与条件筛选进行融合,构成目标选择环节用于选出指定目标,设计light-duc轻量化模型,完成指定目标人体姿态估计。实验结果表明,所提light-duc网络与原网络相比,速度提升了157%,YOLOv5s模型与light-duc模型结合对单人视频的检测速度提升了319%。 展开更多
关键词 人体姿态估计 多目标跟踪 轻量化 目标选择
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形成性评价的概念辨析与实践路径
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作者 秦春华 姜佳玥 李庆港 《中国考试》 北大核心 2025年第11期22-33,共12页
在人工智能时代,形成性评价因其有助于培养学生自主学习、信息加工和科学创新能力,成为支持高质量教学的重要方法。然而,由于忽视因地制宜的关键作用、缺乏外部环境条件的有效支持以及教学实践本身的复杂性,形成性评价在我国教育实践中... 在人工智能时代,形成性评价因其有助于培养学生自主学习、信息加工和科学创新能力,成为支持高质量教学的重要方法。然而,由于忽视因地制宜的关键作用、缺乏外部环境条件的有效支持以及教学实践本身的复杂性,形成性评价在我国教育实践中出现一些偏差,既造成概念上的混淆,也导致实践上的误用。为克服这些偏差,回归形成性评价的本源,应运用因地制宜原则,对已有教学实践进行引导和系统改良,构建双师型教师专业发展模式,正确运用形成性评价推动教育教学改革。 展开更多
关键词 形成性评价 总结性评价 教育评价改革 高质量教学 因地制宜
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麦吉尔大学医疗中心精细化体外循环灌注管理实践:基于临床观察的启示
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作者 邓丽 Audery CHAPMAN Dominique SHUM-TIM 《中国体外生命支持》 2025年第5期426-430,共5页
本文通过对麦吉尔大学医疗中心心外科体外循环操作的临床观察,详细阐述其在灌注管理全流程中的精细化操作实践,包括术前准备、转机中操作、停机与后并行循环以及术后处理等环节。分析该中心在设备应用、技术选择、团队协作等方面的创新... 本文通过对麦吉尔大学医疗中心心外科体外循环操作的临床观察,详细阐述其在灌注管理全流程中的精细化操作实践,包括术前准备、转机中操作、停机与后并行循环以及术后处理等环节。分析该中心在设备应用、技术选择、团队协作等方面的创新点,总结经验并探讨其对我国体外循环领域的启示,旨在为我国体外循环领域提供实践参考和经验借鉴。 展开更多
关键词 常温体外循环 微量心肌灌注液 整合 感染控制
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基于改进序列凸优化的多无人机航迹规划方法 被引量:2
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作者 穆凌霞 李筱 +3 位作者 王斑 张友民 冯楠 薛向宏 《智能系统学报》 北大核心 2025年第1期128-138,共11页
随着人工智能技术的迅速发展,利用多架无人机执行飞行任务成为研究的热点之一。本文研究多架无人机到达同一目标点的航迹规划问题,首先建立最优控制问题,采用符号距离函数将非凸避障约束进行凸化;接着考虑了无人机离散序列间的避障约束... 随着人工智能技术的迅速发展,利用多架无人机执行飞行任务成为研究的热点之一。本文研究多架无人机到达同一目标点的航迹规划问题,首先建立最优控制问题,采用符号距离函数将非凸避障约束进行凸化;接着考虑了无人机离散序列间的避障约束,保证在连续时间内多无人机的飞行安全;最后提出了自适应信赖域序列凸优化算法,能够保证在每次序列迭代中都能找到近似凸子问题的解,快速求解得到多无人机最优航迹。该算法适用于威胁环境下多无人机协同到达指定的目标点,具有较快的收敛速度。 展开更多
关键词 多无人机 航迹规划 避障约束 符号距离函数 凸优化 自适应信赖域 近似凸子问题 协同到达
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基于神经网络ODE和非线性MPC的DEA建模与控制 被引量:3
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作者 黄鹏 王亚午 +2 位作者 吴俊东 苏春翌 福岛 E.文彦 《自动化学报》 北大核心 2025年第1期186-196,共11页
针对介电弹性体驱动器(Dielectric elastomer actuator,DEA)建模与控制的挑战性问题,提出基于神经网络常微分方程(Ordinary differential equation,ODE)和非线性模型预测控制(Model predictive control,MPC)的DEA动力学建模与跟踪控制方... 针对介电弹性体驱动器(Dielectric elastomer actuator,DEA)建模与控制的挑战性问题,提出基于神经网络常微分方程(Ordinary differential equation,ODE)和非线性模型预测控制(Model predictive control,MPC)的DEA动力学建模与跟踪控制方法.首先,基于神经网络ODE建立DEA的动力学模型以描述其复杂的动态行为.然后,基于所建立的DEA动力学模型,设计非线性模型预测控制器实现其跟踪控制目标.最后,在所搭建的实验平台上进行一系列跟踪控制实验.在所有实验结果中,DEA的运动均能很好地跟踪目标轨迹,且相对均方根误差均不超过3.30%,说明了所提动力学建模与跟踪控制方法的有效性. 展开更多
关键词 介电弹性体驱动器 神经网络常微分方程 动力学建模 非线性模型预测控制
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双端切换拓扑下基于二值通信的多智能体系统容错控制 被引量:1
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作者 王祚 朱延正 +2 位作者 陈新开 杨帆 苏春翌 《自动化学报》 北大核心 2025年第6期1347-1358,共12页
针对一类双端切换拓扑下基于二值通信的多智能体系统,研究其迭代学习容错均值一致性控制问题.为降低通信负担和提高数据传输的安全性,假设每个智能体只能从其邻居处接收到二值信息,建立一类双端切换拓扑结构以调控智能体之间的信息传递... 针对一类双端切换拓扑下基于二值通信的多智能体系统,研究其迭代学习容错均值一致性控制问题.为降低通信负担和提高数据传输的安全性,假设每个智能体只能从其邻居处接收到二值信息,建立一类双端切换拓扑结构以调控智能体之间的信息传递,放宽通信拓扑在时间轴上需要完整生成树的限制.在双迭代尺度框架下,通过二值信息的估计过程和迭代学习控制技术的交替使用,实现对智能体邻居状态的估计,并完成均值一致性控制任务.进一步地,针对系统存在执行器故障的影响,提出一种迭代学习容错均值一致性控制方案,利用迭代学习实现对故障参数的迭代估计,以保证系统在执行器故障影响下的性能.基于非负的复合能量函数理论,证明所得到的误差系统是有界的.最后,利用数值仿真算例验证了所提方法的可行性与有效性. 展开更多
关键词 多智能体系统 二值通信 双端切换拓扑 均值一致性 容错控制 迭代学习控制
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一类无人艇的重复学习复合抗扰容错控制 被引量:1
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作者 张健 朱延正 +1 位作者 苏春翌 童显芳 《控制与决策》 北大核心 2025年第1期261-270,共10页
针对一类具有多重扰动、不可测速度信息和执行器故障的无人艇系统,提出一种重复学习复合抗扰容错控制策略.首先,为了克服速度信息不可用的不足,提出一种新的集成故障-扰动估计器,实现故障与干扰之和的准确估计;然后,基于观测信息,通过... 针对一类具有多重扰动、不可测速度信息和执行器故障的无人艇系统,提出一种重复学习复合抗扰容错控制策略.首先,为了克服速度信息不可用的不足,提出一种新的集成故障-扰动估计器,实现故障与干扰之和的准确估计;然后,基于观测信息,通过设计一类比例微分型重复学习复合抗扰容错控制器来实现周期性轨迹跟踪,相比于传统比例微分型重复学习控制器,所提出基于观测器的重复学习控制器不需要利用测量输出的导数且具有更大的控制自由度;最后,通过对一类无人艇动力定位系统的仿真,验证所提出重复学习复合抗扰容错控制策略的有效性和优势. 展开更多
关键词 无人艇 复合抗扰容错控制 重复学习控制 执行器故障 多重扰动
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一种面向低轨导航增强星座优化的非支配排序遗传算法 被引量:1
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作者 薛向宏 宋天航 +1 位作者 张友民 穆凌霞 《宇航学报》 北大核心 2025年第6期1214-1227,共14页
为解决低轨导航增强星座面临的全球覆盖困难、覆盖区域导航精度不足以及星座设计复杂等难题,提出一种多目标关联染色体非支配排序遗传算法。该算法深入分析星载与空间约束条件,依据星座构型特征及任务规划需求,设计出合理的决策变量,并... 为解决低轨导航增强星座面临的全球覆盖困难、覆盖区域导航精度不足以及星座设计复杂等难题,提出一种多目标关联染色体非支配排序遗传算法。该算法深入分析星载与空间约束条件,依据星座构型特征及任务规划需求,设计出合理的决策变量,并构造能够综合评价星座覆盖性能与导航精度的目标函数。在算法实现上,采用Cubic映射方法初始化种群,依据关联染色体策略进行交叉与变异操作,运用自适应变异机制更新子代,并通过非支配排序与拥挤度计算,构建出多目标问题的近似Pareto前沿面,从而在提升星座覆盖率的同时,确保覆盖区域内的导航精度。仿真结果显示,所绘制的近似Pareto面权重点分布均匀,相较于遗传算法和粒子群算法,收敛速度更快,近似最优解值更优。通过仿真平台验证,该模型与算法的正确性和优越性得以充分证实。 展开更多
关键词 低轨卫星导航增强 混合轨道 多目标优化 遗传算法 关联染色体
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