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Visual tracking is an essential building block for target tracking and capture of the underwater vehicles. On the basis of remotely autonomous control architecture, this paper has proposed an improved kernelized correlation filter (KCF) tracker and a novel fuzzy controller. The model is trained to learn an online correlation filter from a plenty of positive and negative training samples. In order to overcome the influence from occlusion, the improved KCF tracker has been designed with an added self-discrimination mechanism based on system confidence uncertainty. The novel fuzzy logic tracking controller can automatically generate and optimize fuzzy rules. Through Q-learning algorithm, the fuzzy rules are acquired through the estimating value of each state action pairs. An S surface based fitness function has been designed for the improvement of learning based particle swarm optimization. Tank and channel experiments have been carried out to verify the proposed tracker and controller through pipe tracking and target grasp on the basis of designed open frame underwater vehicle.
A southern population (S) from Xiushui County (29°1′N, 114°4′E) and a northern population (N) from Shenyang city (41°48′N, 123°23′E) of the cabbage beetle, Colaphellus bowringi vary greatly in their life-history traits, and may serve as an excellent model with which to study the inheritance of life-history traits. In the present study, we performed intraspecific hybridization using the two populations, comparing the key life-history traits (fecundity, development time, body weight, growth rate, and sexual size dimorphism (SDD)) between the two populations (S♀ × S♂ and N♀ × N♂) and their two hybrid populations (S♀ × N♂ and N♀ × S♂ populations) at 19, 22, 25, and 28°C. Our results showed that there were significant differences in life-history traits between the two parental populations, with the S population having a significantly higher fecundity, shorter larval development time, larger body weight, higher growth rate, and greater weight loss during metamorphosis than the N population at almost all temperatures. However, these life-history traits in the two hybrid populations were intermediate between those of their parents. The life-history traits in the S × N and N × S populations more closely resembled those of the maternal S population and N population, respectively, showing maternal effects. Weight loss for both sexes was highest in the S population, followed by the S × N, N × S, and N populations at all temperatures, suggesting that larger pupae lost more weight during metamorphosis. The changes in SSD with temperature were similar between the S and the S × N populations and between the N and the N × S populations, also suggesting a maternal effect. Overall, our results showed no drastic effect of hybridization on C. bowringi, being neither negative (hybrid inferiority) nor positive (heterosis). Rather, the phenotypes of hybrids were intermediate between the phenotypes of their parents.
Hypertension represents one of the most common pre-existing conditions and comorbidities in Coronavirus disease 2019 (COVID-19) patients. To explore whether hypertension serves as a risk factor for disease severity, a multi-centre, retrospective study was conducted in COVID-19 patients. A total of 498 consecutively hospitalised patients with lab-confirmed COVID-19 in China were enrolled in this cohort. Using logistic regression, we assessed the association between hypertension and the likelihood of severe illness with adjustment for confounders. We observed that more than 16% of the enrolled patients exhibited pre-existing hypertension on admission. More severe COVID-19 cases occurred in individuals with hypertension than those without hypertension (21% vs. 10%, P = 0.007). Hypertension associated with the increased risk of severe illness, which was not modified by other demographic factors, such as age, sex, hospital geological location and blood pressure levels on admission. More attention and treatment should be offered to patients with underlying hypertension, who usually are older, have more comorbidities and more susceptible to cardiac complications.
The problem of the magnetic attitude tracking control is studied for a gravity gradient microsatellite in orbital transfer. The contributions of the work are mainly shown in two aspects: (1) the design of an expected attitude trajectory; (2) a method of the magnetic attitude tracking control. In orbital transfer, the gravity gradient microsatellite under a constant thrust shows complicated dynamic behaviours. In order to damp out the pendular motion, the gravity gradient microsatellite is subject to the the attitude tracking problem. An expected attitude trajectory is designed based on dynamic characteristics revealed in the paper, which not only ensures the flight safety of the system, but also reduces the energy consumption of the controller. Besides, the control torque produced by a magnetorquer is constrained to lie in a two-dimensional plane orthogonal to the magnetic field, so an auxiliary compensator is proposed to improve the control performance, which is different from existing magnetic control methods. In addition, a sliding mode control based on the compensator is presented, and the Lyapunov stability analysis is performed to show the global convergence of the tracking error. Finally, a numerical case of the gravity gradient microsatellite is studied to demonstrate the effectiveness of the proposed tracking control.
Image stitching is important for the perception and manipulation of undersea robots. In spite of a well-developed technique, it is still challenging for undersea images because of their inevitable appearance ambiguity caused by the limited light in the undersea environment, and local disturbance caused by moving objects, ocean current, etc. To get a clean and stable background panorama in the undersea environment, this paper proposes an undersea image-stitching method by introducing graph-based registration and blending procedures. Specifically, in the registration procedure, matching the features in each undersea image pair is formulated and solved by graph matching, to incorporate the structural information between features. In the blending procedure, an energy function on the indirect graph Markov random field is proposed, which takes both image consistency and neighboring consistency into consideration. Coincidentally, both graph matching and energy minimization can be mathematically formulated by integer quadratic programming problems with different constraints; the recently proposed graduated nonconvexity and concavity procedure is used to optimize both problems. Experiments on both synthetic images and real-world undersea images witness the effectiveness of the proposed method.
This paper presents a hybrid strategy-based coordinate controller with a novel nonlinear disturbance observer for autonomous underwater vehicle manipulator systems (UVMSs). This method can reduce the influence from external unknown disturbances, inner coupling effects and model uncertainties by using a modified disturbance observer. Considering the natural redundancy property of the UVMS, the redundancy resolution algorithm is often utilized to give desired trajectories in the vehicle–joint space. However, because of the calibration errors, assembling errors and numerical errors, these desired trajectories may not lead the end-effector to the goal point accurately. To realize accurate motion control even when small errors exist in the planning phase, a hybrid strategy is introduced to transform the controller in the joint–vehicle space to the controller in the task space. Numerical simulations based on a UVMS have been carried out to testify the effectiveness of the proposed coordinate controller and the hybrid strategy. During the simulations, unknown disturbances are exerted upon the system. The trajectory tracking and error fixing performances are discussed in comparative analyses. The controller also maintains robust characteristics in comparison with the passivity-based controller and the proposed controller but without the disturbance observer. Experiments are also carried out to test its performance.
The present study was undertaken to investigate the antiparasitic activity of extracellular products of Streptomyces albus. Bioactivity-guided isolation of chloroform extracts affording a compound showing potent activity. The structure of the compound was elucidated as salinomycin (SAL) by EI-MS, 1H NMR and 13C NMR. In vitro test showed that SAL has potent anti-parasitic efficacy against theronts of Ichthyophthirius multifiliis with 10 min, 1, 2, 3 and 4 h (effective concentration) EC50 (95% confidence intervals) of 2.12 (2.22–2.02), 1.93 (1.98–1.88), 1.42 (1.47–1.37), 1.35 (1.41–1.31) and 1.11 (1.21–1.01) mg L−1. In vitro antiparasitic assays revealed that SAL could be 100% effective against I. multifiliis encysted tomonts at a concentration of 8.0 mg L−1. In vivo test demonstrated that the number of I. multifiliis trophonts on Erythroculter ilishaeformis treated with SAL was markedly lower than that of control group at 10 days after exposed to theronts (P < 0.05). In the control group, 80% mortality was observed owing to heavy I. multifiliis infection at 10 days. On the other hand, only 30.0% mortality was recorded in the group treated with 8.0 mg L−1 SAL. The median lethal dose (LD50) of SAL for E. ilishaeformis was 32.9 mg L−1.
Patient’s needs and rights are the key to delivering state-of-the-art modern nursing care. It is especially challenging to provide proper nursing care for patients who are reaching the end of life (EOL). In Chinese culture nursing practice, the perception and expectations of these EOL patients are not well known. This article explores the feelings and wishes of 16 terminally ill Chinese cancer patients who are going through the dying process. An open-ended questionnaire with eight items was used to interview 16 terminally ill Chinese cancer patients, and was then analyzed by a combined approach employing grounded theory and interpretive phenomenological analysis. Four dimensions were explored: first, patient’s attitudes towards death, such as accepting the fact calmly, striving to survive, and the desire for control; second, the care desired during the dying process, including avoiding excessive treatment and dying with dignity; third, the degree of the patient’s acceptance of death; and fourth, the consequences of death. This cognitive study offers a fundamental understanding of perceptions of death of terminally ill cancer patients from the Chinese culture. Their attitude toward death was complex. They did not prefer aggressive treatment and most of them had given a great deal of thought to their death.
Health system reform is considered a tough issue worldwide. Great efforts have been made toward health system building and strengthening. However, it is still unclear which health system is appropriate for different countries. This study aimed to systematically compare the characteristics of the establishment periods between eighty-eight counties of National Health Service (NHS) and Social Health Insurance (SHI).
Forty-eight NHS countries and forty SHI countries with data availability were selected. The establishment years of current health systems and other eighteen indicators in economics, society, population and health during establishment periods were collected. Comparison between NHS and SHI was conducted by descriptive analysis of every indicator.
Most NHS countries were established during the cold war, while SHI had been set up since the cold war ended. The median of gross domestic product (GDP) per capita, urbanization rate and aging rate of SHI were USD 1535 in current dollars, 58.2 percent and 9.8 percent, respectively; compared with USD 1387, 41.2 percent and 4.7 percent, respectively of NHS. NHS countries had a smaller total population, lower mortality rate and elderly dependency ratio, while the birth rate and children's dependency ratio were higher. SHI countries showed a higher life expectancy and lower mortality rate in infants and children. NHS countries spent less in total health expenditure and a lower proportion of GDP. The median health expenditure per capita of SHI and NHS were USD 188 and USD 131 in current dollars, respectively. There was little difference among maternal mortality rates, and public and private health expenditure proportions.
NHS and SHI countries had different characteristics during the health system establishment periods. NHS was established earlier than SHI overall, so that SHI revealed higher levels in economic and social development. Health outcomes of NHS countries were slightly lower than SHI ones, while health expenditure was more in SHI countries. Specific social, economic, demographic and health conditions should be considered when countries are building their own health systems.
A stalagmite with high 238U content from Yangkou Cave, China, revealed the evolution of the Asian summer monsoon (ASM) between 49.1 and 59.5 ka, and the δ18O values recorded Dansgaard/Oeschger (D/O) events 13–17. The Yangkou record shows a relatively gradual transition into the D/O 14 and 16 events. The discrepancy between the abrupt and gradual transitions of D/O 14 in the records from northern and southern China, respectively, suggests different responses of the ASM to climate changes in the high northern latitudes. The higher resolution δ18O record and more precise 230Th dating indicate that the timing of D/O 14 and 17 in the Hulu records at 53 and 58 ka should be shifted to 54.3 and 59 ka, respectively. The gradual strengthening of the ASM at the onsets of D/O 16 and 14 in our record is different from the abrupt temperature rise in the northern high latitudes. Some other factors must contribute to this relatively gradual ASM change in southern China, but the actual reason is still unknown.
In this paper, we experimentally study the unique surface sensing property and enhanced sensitivity in subwavelength grating (SWG) based microring resonator biosensors versus conventional ring resonator biosensors. In contrast to a conventional ring, the effective sensing region in the SWG microring resonator includes not only the top and side of the waveguide, but also the space between the silicon pillars on the propagation path of the optical mode. It leads to an unique property of thickness-independent surface sensitivity versus common evanescent wave sensors; in other words, the surface sensitivity remains constantly high with progressive attachment of biomolecules to the sensor surface. To increase the robustness of performance of ring shaped circular SWG biosensors, we experimentally demonstrate silicon SWG racetrack resonators. A quality factor of 9800 and bulk sensitivity (S) is ∼429.7 nm/RIU (refractive index per unit) results in an intrinsic detection limit (iDL) 3.71×10-4 RIU in racetrack SWG biosensors while still retaining the accumulated surface thickness properties of circular rings.
Hepatocellular carcinoma (HCC) is a primary liver malignancy that mainly occurs in patients with chronic liver disease and cirrhosis. Risk factors for HCC include hepatitis B virus (HBV) infection. However, the specific role of HBV infection in HCC development is not yet completely understood. In order to reveal the effects of HBV on HCC, we compare the genes of HCC patients infected with HBV with those who are not infected.
We encoded the genes of these two types of HCC in databases using enrichment scores of Gene Ontology and Kyoto Encyclopedia of Genes and Genomes pathway terms. A random forest algorithm was employed in order to distinguish these two types in the classifier, and a series of feature selection approaches was used in order to select their optimal features. Novel HBV-associated and -non-associated HCC genes were predicted, respectively, based on their optimal features in the classifier. A shortest-path algorithm was also employed in order to find all of the shortest-paths genes connecting the known related genes.
A total of 54 different features between HBV-associated and -non-associated HCC genes were identified. In total, 1236 and 881 novel related genes were predicted for HBV-associated and -non-associated HCC, respectively. By integrating the predicted genes and shortest path genes in their gene interaction network, we identified 679 common genes involved in the two types of HCC.
We identified the significantly different genetic features between two types of HCC. We also predicted related genes for the two types based on their specific features. Finally, we determined the common genes and features that were involved in both of these two types of HCC.
In this paper, we focus on studying the high energy emission of GRB 160625B. The lightcurve of prompt emission is composed of three episodes: short-soft precursor, hard main burst, and possible long extended emission. The spectra of first and third episode can be fitted by a multi-color blackbody and cutoff power-law model, respectively. However, the spectrum of second episode was contributed by both multi-color blackbody and cutoff power-law. One can estimate the Lorenz factor of jet of first two episodes by invoking photosphere model as Γ0 ~ 175 and 1694, respectively. It suggests that the ejecta of this case evolved from photosphere dominated initially to internal shock later. On the other hand, the optical emission is very bright during the second episode, which is likely a prompt optical emission. Finally, a more shallower normal decay segment appeared, which is consistent with standard external shock model.
The Lorentz factor (Γ) is an important parameter related to the relativistic jet physics. We study the evolution patterns of Γ within gamma-ray burst (GRB) and active galactic nuclear jets for individual GRB 090168, GRB 140508A, and 3C 454.3. By estimating the Γ values for well-separated pulses in GRBs 090618 and 140508A with an empirical relation derived from typical GRBs, we find that the Γ evolution pattern in the two GRBs are different. The increasing-to-coasting evolution pattern of Γ in GRB 090618 likely indicates that the GRB fireball is still being accelerated in the prompt phase. The clear decrease evolution pattern of Γ in GRB 140508A suggests the deceleration of the fireball components. By deriving the Γ value through fitting their spectral energy distribution in different flares of 3C 454.3, a pattern of Γ-tracking-γ-ray flux is clearly found, likely indicating that the observed gamma-ray flares are being due to the Doppler boosting effect to the jet emission.
High energy photon radiations of gamma-ray bursts (GRBs) and active galactic nuclei (AGNs) are dominated by their jet radiations. It was suggested that relativistic jets powered by different mass-scale black holes may share the same physical laws. A tight relation among the peak luminosity, the peak photon energy in the νfν spectrum, and the initial Lorentz factor is found for GRBs. With samples of GeV-TeV BL Lacs, FSRQs, and NLS1 galaxies, we show that these sources do not follow this relation. This may be attributed to the jet geometry and continuous/episodic jet as well as radiation physics for different kinds of sources.
We present two isotopic (δ18O and δ13C) sequences of a twin-stalagmite from Zhuliuping Cave, southwestern China, with 230Th dates from 14.6 to 4.6 ka. The stalagmite δ18O record characterizes orbital- to decadal-scale variability of Asian summer monsoon (ASM) intensity, with the Holocene optimum period (HOP) between 9.8 and 6.8 ka BP which is reinforced by its co-varying δ13C data. The large multi-decadal scale amplitude of the cave δ18O indicates its high sensitivity to climate change. Four centennial-scale weak ASM events during the early Holocene are centered at 11.2, 10.8, 9.1 and 8.2 ka. They can be correlated to cold periods in the northern high latitudes, possibly resulting from rapid dynamics of atmospheric circulation associated with North Atlantic cooling. The 8.2 ka event has an amplitude more than two-thirds that of the Younger Dryas (YD), and is significantly stronger than other cave records in the Asia monsoon region, likely indicating a more severe dry climate condition at the cave site. At the end of the YD event, the δ13C record lags the δ18O record by 300–500 yr, suggesting a multi-centennial slow response of vegetation and soil processes to monsoon enhancement.
The long-term outcome of never-treated patients with schizophrenia is
To compare the 14-year outcomes of never-treated and treated patients
with schizophrenia and to establish predictors for never being
All participants with schizophrenia (n = 510) in Xinjin,
Chengdu, China were identified in an epidemiological investigation of 123
572 people and followed up from 1994 to 2008.
The results showed that there were 30.6%, 25.0% and 20.4% of patients who
received no antipsychotic medication in 1994, 2004 and 2008 respectively.
Compared with treated patients, those who were never treated in 2008 were
significantly older, had significantly fewer family members, had higher
rates of homelessness, death from other causes, being unmarried, living
alone, being without a caregiver and poor family attitudes. Partial and
complete remission in treated patients (57.3%) was significantly higher
than that in the never-treated group (29.8%). Predictors of being in the
never-treated group in 2008 encompassed baseline never-treated status,
being without a caregiver and poor mental health status in 1994.
Many patients with schizophrenia still do not receive antipsychotic
medication in rural areas of China. The 14-year follow-up showed that
outcomes for the untreated group were worse. Community-based mental
healthcare, health insurance and family intervention are crucial for
earlier diagnosis, treatment and rehabilitation in the community.
The effects of the different shot peening parameters on the 6061 alloy specimens' surface have been investigated. It is found that the compressive residual stresses and the surface roughness of the surface layer for all shot-peened specimens are improved greatly. The maximum stress value and the maximum roughness are obtained by the shot flow rate of 5.5 lbs/min and air pressure of 20 psi. The microstructure observation results indicate that a nanostructured layer with an average grain size below 100 nm has been created on the top surface layer of each specimen. In the top surface nanostructured layer, the microhardness is enhanced. It is resulted from the grain refinement and the strain hardening. The results of electrochemical measurements, surface corrosion morphology observation, and EDS analysis indicate that the corrosion susceptibility of the 6061 alloy could be significantly enhanced by means of the shot-peening-induced surface nanocrystallization.