Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to elim...Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to eliminate the risk of human injuries while working on hazardous tasks, and to improve productivity. Globally, engineers are continuously researching better, simple, and faster cooperative Control algorithms to provide a Control strategy where each agent in the robot formation can communicate effectively and achieve a consensus in their position, orientation and speed.<span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">This paper explores a novel Formation Building Algorithm and its global stability around a configuration vector. A simulation in MATLAB</span><sup><span style="font-size:12px;font-family:Verdana;"><span lang="ZH-CN" style="font-size:12pt;font-family:宋体;">?</span></span></sup><span style="font-family:Verdana;"> was carried out to examine the performance of the Algorithm for two geometric formations and a fixed number of robots. In addition, an obstacle avoidance technique was presented assuming that all robots are equipped with range sensors. In particular, a uniform rounded obstacle is used to analyze</span><span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">the performance of the technique with the use of detailed geometric calculations.</span>展开更多
French Guiana is a territory located more than 7000 km from France.It is also the largest French territory,with almost 84000 km2 and 90%of it is covered by forest.Some municipalities are isolated due to the scarcity o...French Guiana is a territory located more than 7000 km from France.It is also the largest French territory,with almost 84000 km2 and 90%of it is covered by forest.Some municipalities are isolated due to the scarcity of transportation and the poor road infrastructure.The population is extremely diverse ethnically and culturally,and includes more than thirty ethnic groups.Immigration is high because it is one of the richest countries in the area bordering northern Brazil,Suriname,Guyana,and as a result of socio-economic crises in some other countries such as Haiti,and it has permeable natural borders.Diabetes and obesity,are emerging issues,with double the prevalence of Mainland France,whereas infectious diseases,such as HIV,take second place.Therapeutic and educational management are challenging because they require the adaptation of tools and treatments to the multiculturalism and precariousness often encountered in these populations.The French and European recommendations are unsuited to the needs of the territory and must take into account the epidemiological,sociological and cultural parameters of these populations in order to provide appropriate and graded management of diabetes in the French Amazon.展开更多
戊二酸血症1型(glutaricacidemia type 1,GA1)是一种常染色体隐性遗传病,由于戊二酰辅酶A脱氢酶活性降低或缺失导致赖氨酸、羟赖氨酸及色氨酸分解代谢受阻,代谢产物戊二酰肉碱、戊二酸等在体内异常蓄积,引起代谢紊乱,主要导致神经系统...戊二酸血症1型(glutaricacidemia type 1,GA1)是一种常染色体隐性遗传病,由于戊二酰辅酶A脱氢酶活性降低或缺失导致赖氨酸、羟赖氨酸及色氨酸分解代谢受阻,代谢产物戊二酰肉碱、戊二酸等在体内异常蓄积,引起代谢紊乱,主要导致神经系统受损。患者临床表现为巨颅、肌张力障碍、运动障碍及发育落后等,常在婴幼儿期由于感染、疫苗接种及手术等诱发急性脑病。由于GA1罕见,临床表现与其他神经系统疾病表现类似,特异性不强,易漏诊或误诊。为了早期诊断和治疗,改善患儿预后,指导临床医师合理诊治,由国内儿科内分泌遗传代谢科专家共同讨论,结合国内外研究进展及国际指南,制定了本共识。展开更多
The Ministry of Health of China officially issued a document,adding the first level diagnosis and treatment discipline“Algology”in the list of diagnosis and treatment subjects of medical institutions on July 16,2007...The Ministry of Health of China officially issued a document,adding the first level diagnosis and treatment discipline“Algology”in the list of diagnosis and treatment subjects of medical institutions on July 16,2007.As the most important pain academic organization in China,the Chinese Association for the Study of Pain has made outstanding contributions in promoting the development of pain discipline and in establishing pain standards and disease diagnosis and treatment guidelines.In this special issue,under the leadership of Yan-Qing Liu,Chairman of the 7th Committee of the Chinese Association for the Study of Pain,nine consensus and one guideline were included.展开更多
This consensus was compiled by first-line clinical experts in the field of pain medicine and was organized by the Chinese Association for the Study of Pain.To reach this consensus,we consulted a wide range of opinions...This consensus was compiled by first-line clinical experts in the field of pain medicine and was organized by the Chinese Association for the Study of Pain.To reach this consensus,we consulted a wide range of opinions and conducted indepth discussions on the mechanism,indications,contraindications,operational specifications and adverse reactions of ozone iatrotechnique in the treatment of pain disorders.We also referred to related previous preclinical and clinical studies published in recent years worldwide.The purpose of this consensus is to standardize the rational application of ozone iatrotechnique in pain treatment,to improve its efficacy and safety and to reduce and prevent adverse reactions and complications in this process.展开更多
Spinal pain(SP)is a common condition that has a major negative impact on a patient’s quality of life.Recent developments in ultrasound-guided injections for the treatment of SP are increasingly being used in clinical...Spinal pain(SP)is a common condition that has a major negative impact on a patient’s quality of life.Recent developments in ultrasound-guided injections for the treatment of SP are increasingly being used in clinical practice.This clinical expert consensus describes the purpose,significance,implementation methods,indications,contraindications,and techniques of ultrasound-guided injections.This consensus offers a practical reference point for physicians to implement successfully ultrasound-guided injections in the treatment of chronic SP.展开更多
The polymyxins are important antimicrobial agents against antibiotic-resistant gram-negative bacilli.In 2020,the Clinical and Laboratory Standards Institute modified the clinical breakpoints for polymyxin susceptibili...The polymyxins are important antimicrobial agents against antibiotic-resistant gram-negative bacilli.In 2020,the Clinical and Laboratory Standards Institute modified the clinical breakpoints for polymyxin susceptibility test by eliminating the"susceptible"interpretive category,only reporting intermediate(≤2 mg/L)and resistant(≥4 mg/L).However,the European Committee on Antimicrobial Susceptibility Testing recommended the use of clinical breakpoints of W2 mg/L as susceptible and>2 mg/L as resistant.The first-line laboratorians and clinicians in China have been perplexed by the inconsistence of international polymyxin clinical breakpoints and discouraged by the difficulty of conducting polymyxin susceptibility testing.Therefore,it is urgently needed to make it clear for the laboratorians in China to know how to accurately carry out polymyxin susceptibility testing and standardize the interpretation of susceptibility testing results.To this end,the experts from relevant fields were convened to formulate this consensus statement on the testing and clinical interpretation of polymyxin susceptibility.Relevant recommendations are proposed accordingly for laboratorians and clinicians to streamline their daily work.展开更多
Lumbar disc herniation is a common disease in the clinical context and does great harm to either the physical or mental health of patients suffering from this disease.Many guidelines and consensus for the diagnosis an...Lumbar disc herniation is a common disease in the clinical context and does great harm to either the physical or mental health of patients suffering from this disease.Many guidelines and consensus for the diagnosis and treatment of lumbar disc herniation have been published domestically and internationally.According to the expert consensus,clinicians could adopt tailored and personalized diagnosis and treatment management strategies for lumbar disc herniation patients.展开更多
This paper addresses the bipartite consensus over cooperation-competition networks affected by denial-of-service(DoS) attacks.Consider that a network consists of multiple interactive agents, and the relationship betwe...This paper addresses the bipartite consensus over cooperation-competition networks affected by denial-of-service(DoS) attacks.Consider that a network consists of multiple interactive agents, and the relationship between neighboring agents is cooperative or competitive. Meanwhile, information transmission among the agents is unavailable during the intervals of attacks. In order to save communication resources and exclude the Zeno behavior, an event-triggered scheme depending on the sampled-data information from neighboring agents is proposed, and efficient defense strategies in response to the attacks are put forward.Suppose that the frequency and duration of DoS attacks meet certain requirements, then according to the signed graph theory,the La Salle’s invariance principle, and the convergence of monotone sequences, the results of bipartite consensus via the eventtriggered protocol are provided, which are mainly related to the communication topology of the network, the sampling period,and the threshold parameters in the event-triggered scheme. It is shown that the bipartite consensus is realized even though the DoS attacks take place frequently. Furthermore, this paper discusses the bipartite consensus in the presence of DoS attacks with a random unsuccessful rate. Finally, numerical simulations illustrate the theoretical results.展开更多
This study focuses on implementing consensus tracking using both open-loop and closed-loop Dα-type iterative learning control(ILC)schemes,for fractional-order multi-agent systems(FOMASs)with state-delays.The desired ...This study focuses on implementing consensus tracking using both open-loop and closed-loop Dα-type iterative learning control(ILC)schemes,for fractional-order multi-agent systems(FOMASs)with state-delays.The desired trajectory is constructed by introducing a virtual leader,and the fixed communication topology is considered and only a subset of followers can access the desired trajectory.For each control scheme,one controller is designed for one agent individually.According to the tracking error between the agent and the virtual leader,and the tracking errors between the agent and neighboring agents during the last iteration(for open-loop scheme)or the current running(for closed-loop scheme),each controller continuously corrects the last control law by a combination of communication weights in the topology to obtain the ideal control law.Through the rigorous analysis,sufficient conditions for both control schemes are established to ensure that all agents can achieve the asymptotically consistent output along the iteration axis within a finite-time interval.Sufficient numerical simulation results demonstrate the effectiveness of the control schemes,and provide some meaningful comparison results.展开更多
文摘Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to eliminate the risk of human injuries while working on hazardous tasks, and to improve productivity. Globally, engineers are continuously researching better, simple, and faster cooperative Control algorithms to provide a Control strategy where each agent in the robot formation can communicate effectively and achieve a consensus in their position, orientation and speed.<span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">This paper explores a novel Formation Building Algorithm and its global stability around a configuration vector. A simulation in MATLAB</span><sup><span style="font-size:12px;font-family:Verdana;"><span lang="ZH-CN" style="font-size:12pt;font-family:宋体;">?</span></span></sup><span style="font-family:Verdana;"> was carried out to examine the performance of the Algorithm for two geometric formations and a fixed number of robots. In addition, an obstacle avoidance technique was presented assuming that all robots are equipped with range sensors. In particular, a uniform rounded obstacle is used to analyze</span><span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">the performance of the technique with the use of detailed geometric calculations.</span>
文摘French Guiana is a territory located more than 7000 km from France.It is also the largest French territory,with almost 84000 km2 and 90%of it is covered by forest.Some municipalities are isolated due to the scarcity of transportation and the poor road infrastructure.The population is extremely diverse ethnically and culturally,and includes more than thirty ethnic groups.Immigration is high because it is one of the richest countries in the area bordering northern Brazil,Suriname,Guyana,and as a result of socio-economic crises in some other countries such as Haiti,and it has permeable natural borders.Diabetes and obesity,are emerging issues,with double the prevalence of Mainland France,whereas infectious diseases,such as HIV,take second place.Therapeutic and educational management are challenging because they require the adaptation of tools and treatments to the multiculturalism and precariousness often encountered in these populations.The French and European recommendations are unsuited to the needs of the territory and must take into account the epidemiological,sociological and cultural parameters of these populations in order to provide appropriate and graded management of diabetes in the French Amazon.
文摘戊二酸血症1型(glutaricacidemia type 1,GA1)是一种常染色体隐性遗传病,由于戊二酰辅酶A脱氢酶活性降低或缺失导致赖氨酸、羟赖氨酸及色氨酸分解代谢受阻,代谢产物戊二酰肉碱、戊二酸等在体内异常蓄积,引起代谢紊乱,主要导致神经系统受损。患者临床表现为巨颅、肌张力障碍、运动障碍及发育落后等,常在婴幼儿期由于感染、疫苗接种及手术等诱发急性脑病。由于GA1罕见,临床表现与其他神经系统疾病表现类似,特异性不强,易漏诊或误诊。为了早期诊断和治疗,改善患儿预后,指导临床医师合理诊治,由国内儿科内分泌遗传代谢科专家共同讨论,结合国内外研究进展及国际指南,制定了本共识。
文摘The Ministry of Health of China officially issued a document,adding the first level diagnosis and treatment discipline“Algology”in the list of diagnosis and treatment subjects of medical institutions on July 16,2007.As the most important pain academic organization in China,the Chinese Association for the Study of Pain has made outstanding contributions in promoting the development of pain discipline and in establishing pain standards and disease diagnosis and treatment guidelines.In this special issue,under the leadership of Yan-Qing Liu,Chairman of the 7th Committee of the Chinese Association for the Study of Pain,nine consensus and one guideline were included.
文摘This consensus was compiled by first-line clinical experts in the field of pain medicine and was organized by the Chinese Association for the Study of Pain.To reach this consensus,we consulted a wide range of opinions and conducted indepth discussions on the mechanism,indications,contraindications,operational specifications and adverse reactions of ozone iatrotechnique in the treatment of pain disorders.We also referred to related previous preclinical and clinical studies published in recent years worldwide.The purpose of this consensus is to standardize the rational application of ozone iatrotechnique in pain treatment,to improve its efficacy and safety and to reduce and prevent adverse reactions and complications in this process.
文摘Spinal pain(SP)is a common condition that has a major negative impact on a patient’s quality of life.Recent developments in ultrasound-guided injections for the treatment of SP are increasingly being used in clinical practice.This clinical expert consensus describes the purpose,significance,implementation methods,indications,contraindications,and techniques of ultrasound-guided injections.This consensus offers a practical reference point for physicians to implement successfully ultrasound-guided injections in the treatment of chronic SP.
基金the National Key Research&Development Program(2018YFC1200100,2018YFC1200105)the Major Research and Development Project of Innovative Drugs,Ministry of Science and Technology of China(2017ZX09304005).
文摘The polymyxins are important antimicrobial agents against antibiotic-resistant gram-negative bacilli.In 2020,the Clinical and Laboratory Standards Institute modified the clinical breakpoints for polymyxin susceptibility test by eliminating the"susceptible"interpretive category,only reporting intermediate(≤2 mg/L)and resistant(≥4 mg/L).However,the European Committee on Antimicrobial Susceptibility Testing recommended the use of clinical breakpoints of W2 mg/L as susceptible and>2 mg/L as resistant.The first-line laboratorians and clinicians in China have been perplexed by the inconsistence of international polymyxin clinical breakpoints and discouraged by the difficulty of conducting polymyxin susceptibility testing.Therefore,it is urgently needed to make it clear for the laboratorians in China to know how to accurately carry out polymyxin susceptibility testing and standardize the interpretation of susceptibility testing results.To this end,the experts from relevant fields were convened to formulate this consensus statement on the testing and clinical interpretation of polymyxin susceptibility.Relevant recommendations are proposed accordingly for laboratorians and clinicians to streamline their daily work.
文摘Lumbar disc herniation is a common disease in the clinical context and does great harm to either the physical or mental health of patients suffering from this disease.Many guidelines and consensus for the diagnosis and treatment of lumbar disc herniation have been published domestically and internationally.According to the expert consensus,clinicians could adopt tailored and personalized diagnosis and treatment management strategies for lumbar disc herniation patients.
基金supported by the National Natural Science Foundation of China (Grant Nos. 61833005,and 11972156)the Natural Science Foundation of Jiangsu Province (Grant No. BK20181342)the work of J.H.Park was supported by the National Research Foundation of Korea (NRF)and the Korea Government (MSIT)(Grant No. 2020R1A2B5B02002002)。
文摘This paper addresses the bipartite consensus over cooperation-competition networks affected by denial-of-service(DoS) attacks.Consider that a network consists of multiple interactive agents, and the relationship between neighboring agents is cooperative or competitive. Meanwhile, information transmission among the agents is unavailable during the intervals of attacks. In order to save communication resources and exclude the Zeno behavior, an event-triggered scheme depending on the sampled-data information from neighboring agents is proposed, and efficient defense strategies in response to the attacks are put forward.Suppose that the frequency and duration of DoS attacks meet certain requirements, then according to the signed graph theory,the La Salle’s invariance principle, and the convergence of monotone sequences, the results of bipartite consensus via the eventtriggered protocol are provided, which are mainly related to the communication topology of the network, the sampling period,and the threshold parameters in the event-triggered scheme. It is shown that the bipartite consensus is realized even though the DoS attacks take place frequently. Furthermore, this paper discusses the bipartite consensus in the presence of DoS attacks with a random unsuccessful rate. Finally, numerical simulations illustrate the theoretical results.
基金supported by the National Natural Science Foundation of China(51777170)the Natural Science Basic Research Plan in Shaanxi Province of China(2020JM-151)the Fundamental Research Funds for the Central Universities(3102020ZX006)。
文摘This study focuses on implementing consensus tracking using both open-loop and closed-loop Dα-type iterative learning control(ILC)schemes,for fractional-order multi-agent systems(FOMASs)with state-delays.The desired trajectory is constructed by introducing a virtual leader,and the fixed communication topology is considered and only a subset of followers can access the desired trajectory.For each control scheme,one controller is designed for one agent individually.According to the tracking error between the agent and the virtual leader,and the tracking errors between the agent and neighboring agents during the last iteration(for open-loop scheme)or the current running(for closed-loop scheme),each controller continuously corrects the last control law by a combination of communication weights in the topology to obtain the ideal control law.Through the rigorous analysis,sufficient conditions for both control schemes are established to ensure that all agents can achieve the asymptotically consistent output along the iteration axis within a finite-time interval.Sufficient numerical simulation results demonstrate the effectiveness of the control schemes,and provide some meaningful comparison results.