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      Review and Simulation of a Novel Formation Building Algorithm While Enabling Obstacle Avoidance 认领
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      作者 Michael Levkovsky 《世界工程和技术(英文)》 2021年第1期155-172,共18页
      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
      关键词 Consensus Variables Adjacency Matrix Decentralized Control Formation Building Algorithm Unicycle Robot
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      Diabetes in French Guiana,adapting national standards of therapeutic education and care to the amazonian challenge 认领
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      作者 Nadia Sabbah Gabriel Carles +1 位作者 Magalie Demar Mathieu Nacher 《世界糖尿病杂志:英文版(电子版)》 SCIE CAS 2021年第2期98-107,共10页
      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
      关键词 French Guiana Diabetes mellitus ETHNICITY Consensus workshops POVERTY IMMIGRATION
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      戊二酸血症1型诊治专家共识 认领
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      作者 中国医师协会儿科分会内分泌遗传代谢学组 中华预防医学会出生缺陷预防与控制专业委员会新生儿筛查学组 +5 位作者 中华医学会儿科学分会出生缺陷预防和控制专业委员会 韩连书 杨艳玲 杨茹莱 陈瑞敏 黄新文 《中华医学遗传学杂志》 CAS 2021年第1期1-6,共6页
      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
      关键词 戊二酸血症1型 诊断 治疗 共识
      知白守黑——道不同者何以共处 认领
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      作者 沈湘平 《云梦学刊》 2021年第1期77-83,共7页
      当今世界及中国内部价值观撕裂问题日益严重,极度凸显了"道不同者何以共处"的问题。任何价值共识都是以一定的缄默的前提性共识即元价值共识为基础的。不幸的是,人们常常把微价值观的分裂上升为元价值观的对立。因价值观撕裂... 当今世界及中国内部价值观撕裂问题日益严重,极度凸显了"道不同者何以共处"的问题。任何价值共识都是以一定的缄默的前提性共识即元价值共识为基础的。不幸的是,人们常常把微价值观的分裂上升为元价值观的对立。因价值观撕裂而重返"自然状态"的价值主体事实上带着社会历史的积淀,具有自利、共在、向善的"先验"价值倾向。因此,在不能改变"道不同"的他者时,主体向内促逼就成为重要选择,而知白守黑是最佳、最缺的实践智慧。今天,知白守黑有着丰富的内涵,不同于精致利己主义、犬儒主义和权谋主义,它是基于存在之道、追求"大制不割"的智慧,这是"道不同者何以共处"的主体答案。 展开更多
      关键词 价值观撕裂 共识 共在 知白守黑
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      Editorial for the special issue of the Chinese Association for the Study of Pain 认领
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      作者 Bao-Gan Peng Yan-Qing Liu Ke Ma 《世界临床病例杂志》 SCIE 2021年第9期2022-2026,共5页
      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
      关键词 Chinese Association for the Study of Pain Algology PAIN CONSENSUS Guidelines RECOMMENDATIONS
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      Expert consensus of Chinese Association for the Study of Pain on the application of ozone therapy in pain medicine 认领
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      作者 Zhi-Gang Zhuang Li-Juan Lu +13 位作者 Bao-Gan Peng Ke Ma Zhen-Yu Cai Zhi-Jian Fu Guang-Zhao Liu Jin-Feng Liu Wen-Tao Liu Xiao-Hong Li Tao Song Da-Sheng Wu Jing Yao Peng Yao Jian-She Yu Yan-Qing Liu 《世界临床病例杂志》 SCIE 2021年第9期2037-2046,共10页
      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
      关键词 Ozone iatrotechnique Pain department Expert consensus PAIN OZONE GUIDELINE
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      Chinese Association for the Study of Pain:Experts consensus on ultrasound-guided injections for the treatment of spinal pain in China(2020 edition) 认领
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      作者 Yun Wang Ai-Zhong Wang +8 位作者 Bai-Shan Wu Yong-Jun Zheng Da-Qiang Zhao Hui Liu Hua Xu Hong-Wei Fang Jin-Yuan Zhang Zhi-Xiang Cheng Xiang-Rui Wang 《世界临床病例杂志》 SCIE 2021年第9期2047-2057,共11页
      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
      关键词 Spinal pain Ultrasound-guided injections Facet joints Spinal nerve roots Posterior spinal nerve Experts consensus
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      Expert Consensus on Polymyxin Antimicrobial Susceptibility Testing and Clinical Interpretation 认领
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      作者 Qiwen Yang Xiaoling Ma +7 位作者 Fupin Hu Jing Zhang Tongwen Sun Baiyi Chen Yingchun Xu Youning Liu Chinese Committee on Antimicrobial Susceptibility Testing(ChiCAST) Expert Committee on Infectious Diseases,China Medical Education Association 《中国医学科学杂志:英文版》 CAS 2021年第1期1-16,共16页
      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
      关键词 POLYMYXIN antimicrobial susceptibility testing clinical interpretation expert consensus
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      Chinese Association for the Study of Pain:Expert consensus on diagnosis and treatment for lumbar disc herniation 认领
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      作者 Zhi-Xiang Cheng Yong-Jun Zheng +3 位作者 Zhi-Ying Feng Hong-Wei Fang Jin-Yuan Zhang Xiang-Rui Wang 《世界临床病例杂志》 SCIE 2021年第9期2058-2067,共10页
      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
      关键词 Lumbar disc herniation Diagnosis and treatment Disc degeneration Radiofrequency thermocoagulation Percutaneous disc ablation Expert consensus
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      二阶领导跟随多智能体系统事件触发一致性 认领
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      作者 罗毅平 蔡聪 +1 位作者 肖星 林国汉 《湖南工程学院学报:自然科学版》 2021年第1期1-7,共7页
      针对一类时滞二阶多智能体系统领导跟随模型,研究了在无向拓扑结构下一类二阶多智能体系统领导跟随一致性控制问题.考虑系统内部非线性因素,在给定事件触发策略的条件下,设计了与时滞相关的控制器,通过矩阵不等式等分析技术,利用lyapuno... 针对一类时滞二阶多智能体系统领导跟随模型,研究了在无向拓扑结构下一类二阶多智能体系统领导跟随一致性控制问题.考虑系统内部非线性因素,在给定事件触发策略的条件下,设计了与时滞相关的控制器,通过矩阵不等式等分析技术,利用lyapunov-krasovskii稳定性定理得到了该系统实现一致性的充分条件.最后,在仿真阶段验证了控制器设计的合理性. 展开更多
      关键词 事件触发 二阶多智能体系统 一致性 输入时滞 非线性
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      甲状腺癌、乳腺癌临床指南与实践碰撞的哲学解析 认领
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      作者 张超杰 喻洁 《医学与哲学》 2021年第2期18-22,51,共6页
      通过对乳腺癌及甲状腺癌相关领域共识、指南或规范与临床实践相关碰撞进行总结,探索并思考在日常临床工作中如何合理运用及遵循指南,包括乳腺癌筛查、甲状腺微小乳头状癌诊疗等问题,以期在碰撞中求共识,明确其优化之道。在临床实践工作... 通过对乳腺癌及甲状腺癌相关领域共识、指南或规范与临床实践相关碰撞进行总结,探索并思考在日常临床工作中如何合理运用及遵循指南,包括乳腺癌筛查、甲状腺微小乳头状癌诊疗等问题,以期在碰撞中求共识,明确其优化之道。在临床实践工作中,建议以循证医学为理论依据,共识、指南和规范为指引方向,结合医者临床经验及患者意愿,制定出最适合患者的诊疗康复方案为指导思想。强调遵循指南规范,却又不拘泥指南规范,诊疗康复方案的制定要顾及人文关怀,达到医学理论与临床实践的辩证统一。 展开更多
      关键词 共识 临床指南 乳腺疾病 甲状腺疾病 临床实践
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      Event-triggered bipartite consensus over cooperation-competition networks under DoS attacks 认领
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      作者 HU AiHua PARK J H +2 位作者 CAO JinDe HU ManFeng LUO YiPing 《中国科学:技术科学英文版》 SCIE EI CAS 2021年第1期157-168,共12页
      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
      关键词 bipartite consensus denial-of-service(DoS)attack event-triggered scheme structural balance multiagent system
      Open-loop and closed-loop D~α-type iterative learning control for fractional-order linear multi-agent systems with state-delays 认领
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      作者 LI Bingqiang LAN Tianyi +1 位作者 ZHAO Yiyun LYU Shuaishuai 《系统工程与电子技术:英文版》 SCIE EI 2021年第1期197-208,共12页
      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
      关键词 multi-agent system FRACTIONAL-ORDER consensus control iterative learning control virtual leader STATE-DELAY
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      有向切换拓扑下多智能体系统编队控制 认领
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      作者 赵学远 周绍磊 +1 位作者 祁亚辉 王帅磊 《计算机仿真》 北大核心 2021年第1期42-46,共5页
      针对多智能体系统编队形成过程中受lur’e型非线性项影响,并考虑降低系统通信要求,基于一致性理论,设计了分布式控制器,使得多智能体系统形成时变编队。利用Laplacian矩阵的特殊性质,对其进行分解,将多智能体系统的编队控制问题转化为... 针对多智能体系统编队形成过程中受lur’e型非线性项影响,并考虑降低系统通信要求,基于一致性理论,设计了分布式控制器,使得多智能体系统形成时变编队。利用Laplacian矩阵的特殊性质,对其进行分解,将多智能体系统的编队控制问题转化为低阶系统的稳定性问题。给出了切换拓扑的平均驻留时间概念,据此提供了一种设计分布式控制器的步骤,利用线性矩阵不等式和Lyapunov函数证明了有向切换拓扑条件下,多智能体系统受lur’e型非线性项影响时能够形成时变编队。通过仿真验证了所设计控制器的有效性。 展开更多
      关键词 编队 一致性 有向切换拓扑
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      关于射血分数降低的心力衰竭治疗的10个关键问题——《2021 ACC专家共识决策路径:优化心力衰竭的治疗》解读 认领
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      作者 邹玉宝 王倩 《实用心脑肺血管病杂志》 2021年第3期1-10,共10页
      自《2017美国心脏病学会(ACC)专家共识决策路径:优化心力衰竭的治疗》发布以来,随着新的治疗方式的出现,射血分数降低的心力衰竭(HFrEF)的治疗手段也不断扩展。《2021 ACC专家共识决策路径:优化心力衰竭的治疗》回答了HFrEF的10个关键问... 自《2017美国心脏病学会(ACC)专家共识决策路径:优化心力衰竭的治疗》发布以来,随着新的治疗方式的出现,射血分数降低的心力衰竭(HFrEF)的治疗手段也不断扩展。《2021 ACC专家共识决策路径:优化心力衰竭的治疗》回答了HFrEF的10个关键问题,本文就其主要内容和更新要点进行解读。 展开更多
      关键词 射血分数降低的心力衰竭 血管紧张素受体脑啡肽酶抑制剂 钠-葡萄糖共转运蛋白2抑制剂 决策路径 共识
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      肝脏穿刺活检湘雅专家共识 认领
      16
      作者 肝脏穿刺活检湘雅专家共识编写组 丁宗烽 +1 位作者 周乐杜 肖亮 《中国普通外科杂志》 CAS 北大核心 2021年第1期1-8,共8页
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      关键词 活组织检查 共识
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      作者 宋周尧 《牡丹江师范学院学报:社会科学版》 2021年第1期30-39,共10页
      全面深化改革需要凝聚改革共识。凝聚改革共识必须以中国梦为引领。中国梦的内涵是实现国家富强、民族振兴、人民幸福。中国梦是中国共产党带领人民奋力实现的伟大理想,是中国各族人民的共同愿景,是与世界和平和发展相贯通的伟大梦想。... 全面深化改革需要凝聚改革共识。凝聚改革共识必须以中国梦为引领。中国梦的内涵是实现国家富强、民族振兴、人民幸福。中国梦是中国共产党带领人民奋力实现的伟大理想,是中国各族人民的共同愿景,是与世界和平和发展相贯通的伟大梦想。以中国梦凝聚改革共识,就是要以中国梦凝聚改革的价值共识、改革的方向共识、改革的主体共识。 展开更多
      关键词 中国梦 共识 改革 凝聚 内涵
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      18
      作者 南月敏 徐小元 《实用肝脏病杂志》 CAS 2021年第2期I0001-I0014,共14页
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      关键词 慢性肝炎 肝硬化 肝细胞癌 筛查 预防 诊断
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      19
      作者 殷月 邓雨芳 +4 位作者 孙亚君 郑改改 陈少如 张红梅 王培席 《中国全科医学》 CAS 北大核心 2021年第12期1458-1463,共6页
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      关键词 重症幸存者 重症 远期损害 预测 识别 共识 解读
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      20
      作者 中国医师协会皮肤科医师分会科学委员会 中国医师协会皮肤科医师分会变态反应性疾病专业委员会 +3 位作者 中国“手部湿疹科研协作组” 杨斌 郝飞 王刚 《中华皮肤科杂志》 CAS 北大核心 2021年第1期19-26,共8页
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      关键词 湿疹 诊断 治疗 手部湿疹 共识
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