目的探讨粪菌移植联合乳果糖对老年慢性功能性便秘的治疗效果。方法以本院2017年9月至2018年9月收治的86例功能性便秘老年患者为对象,按电脑数字表法随机分为两组,每组各43例,对照组予以乳果糖治疗,实验组予以粪菌移植联合果乳糖治疗,...目的探讨粪菌移植联合乳果糖对老年慢性功能性便秘的治疗效果。方法以本院2017年9月至2018年9月收治的86例功能性便秘老年患者为对象,按电脑数字表法随机分为两组,每组各43例,对照组予以乳果糖治疗,实验组予以粪菌移植联合果乳糖治疗,对比两组疗效。结果治疗后,实验组氧菌群酵母菌水平是(4.21±0.20)logN·g^-1,肠杆菌是(8.89±0.22)logN·g^-1,分别较对照组的(5.34±0.14)logN·g^-1、(8.02±0.31)logN·g^-1低,实验组双歧杆菌水平是(9.38±0.21)logN·g^-1,厌氧菌群乳杆菌是(7.17±0.22)logN·g^-1,分别较对照组的(8.31±0.25)logN·g^-1、(6.28±0.15)logN·g^-1高,差异有统计学意义(P<0.05);治疗后,实验组血清血管活性肠肽(vasoactineintrestinalpeptide,VIP)水平较对照组低,乙酰胆碱(acetylcholine,ACH)、c-kit原癌基因(C-KIT)蛋白水平较对照组高,差异有统计学意义(P<0.05);治疗后,实验组胃肠动力的餐前与餐后平均幅值、餐前与餐后平均频率均较对照组高,差异有统计学意义(P<0.05);治疗后,实验组Bristol粪便性状评分(Bristolstoolformscale,BSFS)较对照组高,Wexner便秘评分、便秘患者生活质量评价表(Patient-Assessment of Constipation Quality Of Life,PAC-QOL)评分较对照组低,差异有统计学意义(P<0.05)。结论粪菌移植联合乳果糖治疗老年慢性功能性便秘有助于改善患者肠道菌群及神经递质,并且提升胃肠道动力。展开更多
To overcome the shortcomings of traditional artificial spraying pesticides and make more efficient prevention of diseases and pests,a coaxial sixteen-rotor unmanned aerial vehicle(UAV)with pesticide spraying system is...To overcome the shortcomings of traditional artificial spraying pesticides and make more efficient prevention of diseases and pests,a coaxial sixteen-rotor unmanned aerial vehicle(UAV)with pesticide spraying system is designed.The coaxial sixteen-rotor UAV’s basic structure and attitude estimation method are explained.The whole system weights 25 kg,cruising speed can reach 15 m/s,and the flight time is more than 20 min.When the UAV takes large load,the traditional extended Kalman filter(EKF)attitude estimation method can not meet the work requirements under the condition of strong vibration,the attitude measure accuracy is poor and the attitude angle divergence is easily caused.Hence an attitude estimation method based on EKF algorithm with 22 dimensional state vector is proposed which can solve these problems.The UAV system consists of STM32F429 as controller,integrating following measure sensors:accelerometer and gyroscope MPU6000,magnetometer LSM303D,GPS NEO-M8N and barometer.The attitude unit quaternion,velocity,position,earth magnetic field,biases error of gyroscope,accelerometer and magnetometer are introduced as the inertial navigation systems(INS)state vector,while magnetometer,global positioning system(GPS)and barometer are introduced as observation vector,thus making the estimate of the navigation information more accurate.The control strategy of coaxial sixteen-rotor UAV is based on the control method of combining active disturbance rejection control(ADRC)and proportion integral derivative(PID)control.Actual flight data are used to verify the algorithm,and the static experiment shows that the precision of roll angle and pitch angle of the algorithm are±0.1°,the precision of yaw angle is±0.2°.The attitude angle output of MTi sensor is used as reference.The dynamic experiment shows that the accuracy of attitude estimated by EKF algorithm is quite similar to that of MTi’s output,moreover,the algorithm has good real-time performance which meets the need of high maneuverability of agricultural UAV.展开更多
目的:通过术前应用紫杉醇联合卡铂(paclitaxel plus carboplatin,TC)单周新辅助化疗方案、术前应用TC单周新辅助化疗同步联合放疗方案和直接手术治疗在Ⅲ期食管胃结合部腺癌(adenocarcinoma of esophagogastric junction,AEG)诊疗中的...目的:通过术前应用紫杉醇联合卡铂(paclitaxel plus carboplatin,TC)单周新辅助化疗方案、术前应用TC单周新辅助化疗同步联合放疗方案和直接手术治疗在Ⅲ期食管胃结合部腺癌(adenocarcinoma of esophagogastric junction,AEG)诊疗中的应用分析,评价术前新辅助治疗在Ⅲ期AEG治疗中的影像学改变及近期疗效。方法:Ⅲ期AEG患者90例,随机分成直接手术组、TC方案新辅助化疗组(新辅助化疗组)及TC方案新辅助化疗同步联合放疗组(新辅助放化疗组),各30例。评价新辅助化疗组与新辅助放化疗组影像学变化,比较新辅助化疗组与新辅助放化疗组临床分期及病理分期变化情况,另比较三组患者手术R0切除率。结果:新辅助治疗后影像学变化:电子胃镜:新辅助化疗组与放化疗组出现肿瘤较前缩小或消失,部分原发灶处黏膜较前平整,轻微充血变红。CT检查可见原发肿瘤灶显著缩小,浸润的胃壁较前变薄、结构层次较前清楚,周围淋巴结较前缩小和/或数量减少。影像学提示新辅助治疗对AEG治疗效果显著。新辅助治疗后分期变化:新辅助放化疗组较新辅助化疗组患者分期改变明显,差异具有统计学意义(P<0.05)。三组R0切除率情况:新辅助化疗组与新辅助放化疗组R0切除率均高于直接手术组(P_(a)=0.004,P_(b)=0.000),且新辅助放化疗组R0切除率高于新辅助化疗组(P_(c)=0.045)。结论:TC单周方案新辅助化疗和新辅助同步放化疗均能使Ⅲ期AEG患者病灶影像学出现明显改变,肿瘤病灶降期,提高R0切除率,且新辅助同步放化疗组效果要优于新辅助化疗组。TC单周新辅助化疗联合同步放疗方案可推广用于Ⅲ期AEG的新辅助治疗。展开更多
To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,wh...To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.展开更多
The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From th...The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.展开更多
文摘目的探讨粪菌移植联合乳果糖对老年慢性功能性便秘的治疗效果。方法以本院2017年9月至2018年9月收治的86例功能性便秘老年患者为对象,按电脑数字表法随机分为两组,每组各43例,对照组予以乳果糖治疗,实验组予以粪菌移植联合果乳糖治疗,对比两组疗效。结果治疗后,实验组氧菌群酵母菌水平是(4.21±0.20)logN·g^-1,肠杆菌是(8.89±0.22)logN·g^-1,分别较对照组的(5.34±0.14)logN·g^-1、(8.02±0.31)logN·g^-1低,实验组双歧杆菌水平是(9.38±0.21)logN·g^-1,厌氧菌群乳杆菌是(7.17±0.22)logN·g^-1,分别较对照组的(8.31±0.25)logN·g^-1、(6.28±0.15)logN·g^-1高,差异有统计学意义(P<0.05);治疗后,实验组血清血管活性肠肽(vasoactineintrestinalpeptide,VIP)水平较对照组低,乙酰胆碱(acetylcholine,ACH)、c-kit原癌基因(C-KIT)蛋白水平较对照组高,差异有统计学意义(P<0.05);治疗后,实验组胃肠动力的餐前与餐后平均幅值、餐前与餐后平均频率均较对照组高,差异有统计学意义(P<0.05);治疗后,实验组Bristol粪便性状评分(Bristolstoolformscale,BSFS)较对照组高,Wexner便秘评分、便秘患者生活质量评价表(Patient-Assessment of Constipation Quality Of Life,PAC-QOL)评分较对照组低,差异有统计学意义(P<0.05)。结论粪菌移植联合乳果糖治疗老年慢性功能性便秘有助于改善患者肠道菌群及神经递质,并且提升胃肠道动力。
基金the National Natural Science Foundation of China(No.11372309,61304017)Youth Innovation Promotion Association(No.2014192)+1 种基金the Provincial Special Funds Project of Science and Technology Cooperation(No.2017SYHZ0024)Key Technology Development Project of Jilin Province(No.20150204074GX).
文摘To overcome the shortcomings of traditional artificial spraying pesticides and make more efficient prevention of diseases and pests,a coaxial sixteen-rotor unmanned aerial vehicle(UAV)with pesticide spraying system is designed.The coaxial sixteen-rotor UAV’s basic structure and attitude estimation method are explained.The whole system weights 25 kg,cruising speed can reach 15 m/s,and the flight time is more than 20 min.When the UAV takes large load,the traditional extended Kalman filter(EKF)attitude estimation method can not meet the work requirements under the condition of strong vibration,the attitude measure accuracy is poor and the attitude angle divergence is easily caused.Hence an attitude estimation method based on EKF algorithm with 22 dimensional state vector is proposed which can solve these problems.The UAV system consists of STM32F429 as controller,integrating following measure sensors:accelerometer and gyroscope MPU6000,magnetometer LSM303D,GPS NEO-M8N and barometer.The attitude unit quaternion,velocity,position,earth magnetic field,biases error of gyroscope,accelerometer and magnetometer are introduced as the inertial navigation systems(INS)state vector,while magnetometer,global positioning system(GPS)and barometer are introduced as observation vector,thus making the estimate of the navigation information more accurate.The control strategy of coaxial sixteen-rotor UAV is based on the control method of combining active disturbance rejection control(ADRC)and proportion integral derivative(PID)control.Actual flight data are used to verify the algorithm,and the static experiment shows that the precision of roll angle and pitch angle of the algorithm are±0.1°,the precision of yaw angle is±0.2°.The attitude angle output of MTi sensor is used as reference.The dynamic experiment shows that the accuracy of attitude estimated by EKF algorithm is quite similar to that of MTi’s output,moreover,the algorithm has good real-time performance which meets the need of high maneuverability of agricultural UAV.
文摘目的:通过术前应用紫杉醇联合卡铂(paclitaxel plus carboplatin,TC)单周新辅助化疗方案、术前应用TC单周新辅助化疗同步联合放疗方案和直接手术治疗在Ⅲ期食管胃结合部腺癌(adenocarcinoma of esophagogastric junction,AEG)诊疗中的应用分析,评价术前新辅助治疗在Ⅲ期AEG治疗中的影像学改变及近期疗效。方法:Ⅲ期AEG患者90例,随机分成直接手术组、TC方案新辅助化疗组(新辅助化疗组)及TC方案新辅助化疗同步联合放疗组(新辅助放化疗组),各30例。评价新辅助化疗组与新辅助放化疗组影像学变化,比较新辅助化疗组与新辅助放化疗组临床分期及病理分期变化情况,另比较三组患者手术R0切除率。结果:新辅助治疗后影像学变化:电子胃镜:新辅助化疗组与放化疗组出现肿瘤较前缩小或消失,部分原发灶处黏膜较前平整,轻微充血变红。CT检查可见原发肿瘤灶显著缩小,浸润的胃壁较前变薄、结构层次较前清楚,周围淋巴结较前缩小和/或数量减少。影像学提示新辅助治疗对AEG治疗效果显著。新辅助治疗后分期变化:新辅助放化疗组较新辅助化疗组患者分期改变明显,差异具有统计学意义(P<0.05)。三组R0切除率情况:新辅助化疗组与新辅助放化疗组R0切除率均高于直接手术组(P_(a)=0.004,P_(b)=0.000),且新辅助放化疗组R0切除率高于新辅助化疗组(P_(c)=0.045)。结论:TC单周方案新辅助化疗和新辅助同步放化疗均能使Ⅲ期AEG患者病灶影像学出现明显改变,肿瘤病灶降期,提高R0切除率,且新辅助同步放化疗组效果要优于新辅助化疗组。TC单周新辅助化疗联合同步放疗方案可推广用于Ⅲ期AEG的新辅助治疗。
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.
