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Additional file 7: Supplementary figure 3. Survival analysis of CSS and OS stratified by tumor size.

Additional file 4: Supplementary figure 2. Heatmap of C-index of clinicopathological factors in predicting CSS and OS in gastric cancer.

Additional file 5: Supplementary table 3. Discriminatory ability of clinicopathological factors in predicting OS in gastric cancer.

The quality of the video stream is key to neural network-based video analytics. However, low-quality video is inevitably collected by existing surveillance systems because of poor quality cameras or over-compressed/pruned video streaming protocols, e.g., as a result of upstream bandwidth limit. To address this issue, existing studies use quality enhancers (e.g., neural super-resolution) to improve the quality of videos (e.g., resolution) and eventually ensure inference accuracy. Nevertheless, directly applying quality enhancers does not work in practice because it will introduce unacceptable latency. In this paper, we present AccDecoder, a novel accelerated decoder for real-time and neural-enhanced video analytics. AccDecoder can select a few frames adaptively via Deep Reinforcement Learning (DRL) to enhance the quality by neural super-resolution and then up-scale the unselected frames that reference them, which leads to 6-21% accuracy improvement. AccDecoder provides efficient inference capability via filtering important frames using DRL for DNN-based inference and reusing the results for the other frames via extracting the reference relationship among frames and blocks, which results in a latency reduction of 20-80% than baselines., Comment: Accepted by 2023 IEEE INFOCOM

Additional file 1. Material and Methods.

Additional file 6: Supplementary table 4. C-index of clinicopathological factors in subgroup.

Additional file 3: Supplementary table 2. Univariate and Multivariate analysis of prognostic factors affecting CS.

Superconducting magnets for China fusion engineering test reactor (CFETR) are inseparable from Nb3Sn coils. The process of “wind-and-react” is used in Nb3Sn coil manufacturing. The quality of annealing treatment directly determines the superconductivity of future magnets. In order to complete the heat treatment of TF Nb3Sn coil joint, a controlled atmosphere heat treatment system was upgraded by the Institute of Plasma Physics. Heat treatment has the characteristics of complex system structure, long operation cycle, high risk, etc. Therefore, it is necessary to conduct safety analysis and failure prevention of heat treatment. In this paper, the failure mode and effects analysis (FMEA) method will be used for the safety analysis of upgraded system. Through this method, the potential faults of the system can be found, and the faults can be classified into different levels. According to the analysis results, preventive measures for the first-level failure of heat treatment were put forward and the feasibility of preventive measures was verified. The heat treatment of the experimental internal joint of the CFETR TF coil was completed by using the upgraded system, and all the heat treatment technical indexes met the requirements.

Adaptive dynamic programming (ADP) is generally implemented using three neural networks: model network, action network, and critic network. In the conventional works of the value iteration ADP, the model network is initialized randomly and trained by the backpropagation algorithm, whose results are easy to get trapped in a local minimum; both the critic network and action network are trained in each outer-loop, which is time-consuming. To approximate the optimal control policy more accurately and decrease the value iteration ADP training time, we propose a nearer optimal and faster trained value iteration ADP for discrete-time nonlinear systems in this study. First, before training the model network with a backpropagation algorithm, we use a global searching method, i.e., genetic algorithm, to evolve the weights and biases of the neural network for a few generations. Second, in the outer-loop training process, we propose a trigger mechanism to decide whether to train the action network or not, which can save much training time. Examples of both linear and nonlinear systems are induced to verify the superiority of the proposed method compared with the conventional value iteration ADP. The simulation results show that the proposed algorithm can provide a nearer optimal control policy and save more training time than the conventional value iteration ADP.

ObjectiveThis study aimed to systematically evaluate the diagnostic performance of double contrast-enhanced ultrasonography (DCEUS) in the preoperative T staging of gastric cancer (GC).MethodsLiterature searches for eligible studies were performed using MEDLINE, EMBASE, and Cochrane Library. The pooled sensitivity, specificity, positive likelihood ratio, negative likelihood ratio, diagnostic odds ratio, and area under the summary receiver operating characteristic curve of DCEUS in the diagnosis of each T stage tumor were calculated. Meta-analyses were performed to obtain the pooled effects of risk ratio (RR) with 95% confidence interval (CI) in the comparison of DCEUS with CT/endoscopic ultrasound (EUS).ResultsA total of 8 studies including 1,232 patients were identified for inclusion in this meta-analysis. The pooled sensitivity and specificity were 0.78 (95% CI = 0.64–0.88) and 0.98 (95% CI = 0.96–0.99) for T1, 0.81 (95% CI = 0.76–0.86) and 0.96 (95% CI = 0.91–0.98) for T2, 0.88 (95% CI = 0.84–0.91) and 0.85 (95% CI = 0.79–0.90) for T3, and 0.81 (95% CI = 0.69–0.89) and 0.96 (95% CI = 0.93–0.97) for T4. Moreover, DCEUS demonstrated significant superiority to CT in diagnosing T1 (RR = 1.57, 95% CI = 1.20–2.05, p = 0.001) and T2 (RR = 1.41, 95% CI = 1.16–1.71, p = 0.001) and to EUS in diagnosing T3 (RR = 1.24, 95% CI = 1.08–1.42, p = 0.003) and T4 (RR = 1.40, 95% CI = 1.09–1.79, p = 0.008). However, it showed a lower diagnostic accuracy than EUS in T1 tumors (RR = 0.77, 95% CI = 0.62–0.94, p = 0.013).ConclusionsDCEUS is a feasible complementary diagnostic tool for clinical T staging of GC. However, it is still far from a definitive conclusion for DCEUS to be proposed for use in routine clinical practice.

The CSMC are major components of CFETR to generate the magnetic field for Simulating the Central Solenoid coil manufacturing process. The heat treatment process of Nb3Sn coil is an important process in the manufacturing process of CSMC. It is of great significance to design a reasonable heat treatment process for CSMC manufacturing. Several trials were performed to qualify and optimize the heat treatment procedure of the Central Solenoid coil. In the trials, 1) Designed the heat treatment process parameters of the coil; 2) Adjusted the heat treatment equipment and tested the process; 3) Evaluated the rationality of heat treatment process according to the Ic sample test results.Now, the heat treatment trials of Nb3Sn inner coil and outer coil have been finished. The inner coil have been described in this paper.

A central solenoid model coil (CSMC) is to verify the large-scalar superconducting coil manufacture technology for China Fusion Engineering Test Reactor (CFETR) in Institute of Plasma Physics, Chinese Academy of Sciences (ASIPP). The CSMC composed of Nb3Sn and NbTi hybrid superconducting magnet can reach to 12 T maximum magnetic field. The main manufacturing processes of the coil are developed and verified by R&Ds and mockup coil fabrication. For now, all the five coils winding and 2/3 of terminals fabricating are finished, and the heat treatment for the Nb3Sn inner coil is completed. The turn releasing and insulation wrapping process and station for the heat treated Nb3Sn coil has been developed. The major remaining processes for the five coils are ground insulation wrapping and vacuum pressure impregnation (VPI). The mockup coil VPI will be performed firstly to validate the process. This article introduces the main manufacturing progress of the CFETR CSMC.

The safe and reliable operation of the China Fusion Engineering Test Reactor (CFETR) Central Solenoid Model Coil (CSMC) heat treatment system is the basis for the establishment of the CFETR central solenoid, Nb3Sn superconducting coil. The purpose of safety analysis of a heat treatment system is to find out the unreliable factors of the system, analyze the weaknesses of the system, predict the possibility and severity of system failure, and then improve the reliability of the system. The method of combining risk priority number (RPN) with Hazard and operability study (HAZOP) can make up for the deficiency of quantitative information in traditional HAZOP analysis. It is concluded that the fan subsystem is the weakest part of the heat treatment system by means of RPN-HAZOP. The deviation caused by temperature, cleanliness, and impurity gas content will greatly affect the performance of the superconducting coil. The author tries to put forward scientific and reasonable measures according to the principle of giving priority to solving the principal contradiction. Guided by the measures and suggestions, the heat treatment system runs normally, safely, and reliably. The results of the experiment show that all the process indexes meet the requirements of coil heat treatment technology.

Automotive electronic cooling pump is the core component of the new energy vehicle cooling system, with the exclusive advantages of high efficiency and low vibration which will bring a broad market prospect. However, the rotor–volute interaction between impeller blades and volute tongue is a severe problem which can result in the performance degradation and unsteady flow fields of pumps. The influences of volute tongue angle on hydraulic performance and fluid stability are investigated in this study. The flow loss inside the pump is visualized by means of the entropy production theory, while the pulsations of pressure and radial force of the rotor are compared by unsteady computational fluid dynamics simulation. The results show that entropy production is an effective tool to visualize the loss distribution which allows accurate assessment of pump performance. Specifically, the pressure pulsation intensity near the volute tongue is larger and the main frequency of the radial force is the blade passing frequency. With the increase of volute tongue angle, the hydraulic efficiency under large flow conditions is improved, with an alleviated rotor–volute interaction intensity, and greatly reduced fluctuations of pressure and radial force. The main significance of this study is that it provides a new perspective to investigate the optimization design for automobile electronic cooling pumps.

Extended exposure of crack sealant to the natural environment causes a gradual degradation of its properties owing to aging with complex mechanisms. Two types of sealants were directly exposed to n...

Additional file 1: Figure S1. Flow diagram of study.

Additional file 2: Fig. S1. The relative glutamate concentration, the expression levels of inflammatory cytokines (IL-1β/TNF-α/IL-6) and anti-inflammatory cytokines (IL-13/IL-10/IL-4) of gastric tissue in different groups of mice. A and B Mouse stomach tissue presents a high-glutamate microenvironment after nerve injury, and BMSCs transplantation reduced the glutamate concentration. C–H The transcripts of inflammatory and anti-inflammatory cytokines were determined by RT-PCR assay. The inflammatory cytokines (TNF-α/IL-6) and anti-inflammatory (IL-13/IL-10/IL-4) were increased in ENS injury mice compared with control, and BMSCs transplantation reduced the level of inflammatory cytokines (TNF-α/IL-6), increased the level of anti-inflammatory (IL-13). BAC: benzalkonium chloride-treated mice; BAC + BMSCs (NC-Glud1): BAC mice transplanted with BMSCs-NC; BAC + BMSCs (OE-Glud1): BAC mice transplanted with BMSCs-OE; ENS: enteric nervous system. Results were expressed as mean ± SD. *P < 0.05, **P < 0.01, ****P < 0.0001, NS: no significance. Fig. S2. Glutamate increases the expression of glial cell characteristic protein for BMSCs. Different concentrations of glutamate (0, 0.2 mM, 0.5 mM, 1 mM, 2 mM, 4 mM) were incubated with BMSCs for 24 or 48 h. A–D Representative immunoblot bands and histogram of relative expression for the GFAP and GDNF proteins. GAPDH was used as a loading control. E and F Fluorescent label-CFSE proliferation detection of BMSCs and statistical analysis. Glu: Glutamate; CFSE: carboxyfluorescein diacetate succinimidyl ester. These results are representative of at least three times independent experiments. *P < 0.05, **P < 0.01, NS: no significance. Fig. S3. The GABA receptors of BMSCs is activated under glutamate intervention. A and B The transcripts of GABARA and GABARB genes of BMSCs treated with glutamate were determined by a RT-PCR assay, and the GABARA genes of BMSCs is activated with glutamate intervention. ***P < 0.001, NS: no significance. Fig. S4. The mesenchymal genes of BMSCs is activated under glutamate intervention. A and B The transcripts of mesenchymal genes (Snail and Twist) in BMSCs treated with glutamate were determined by a RT-PCR assay. C–E The transcripts of genes involved in cell migration (MMP2, MMP9 and CXCR4) of BMSCs treated with glutamate were determined by a RT-PCR assay, and CXCR 4 of BMSCs is activated under glutamate intervention (P < 0.05). *P < 0.05, **P < 0.01, ****P < 0.0001, NS: no significance. Fig. S5. The intracellular α-KG, succinate concentration and α-kg/succinate ratio of BMSCs. BMSCs were incubated with D-2HG (2 mM) or Glu (2 mM) for 24 h. The intracellular α-KG content and the ratio of α-KG/succinate of BMSCs were significantly increased under glutamate intervention, and D-2HG reversed this change. Glu: Glutamate; D-2HG: D-2-hydroxyglutaric acid. These results are representative of at least three times independent experiments. *P < 0.05, **P < 0.01, ***P < 0.001, NS: no significance. Fig. S6. Knockdown of Glud1 derived from the BMSCs could resulted in decreased expression of the characteristic glial cell proteins. A Transfection of recombinant lentiviral vectors into BMSCs and resultant changes in Glud1 expression. Fluorescence microscope patterns of BMSCs-NC, BMSCs-KD and BMSCs-OE. B and C Representative immunoblot bands and histogram of relative expression Glud1 protein in BMSCs-NC, BMSCs-KD and BMSCs-OE. D–F The intracellular α-KG, succinate concentration and α-kg/succinate ratio of BMSCs. The intracellular α-KG content and the ratio of α-KG/succinate of BMSCs were significantly increased under glutamate intervention, and knockdown of Glud1 derived from the BMSCs reversed this change. G and H Representative immunoblot bands and histogram of relative expression of for the GFAP, S100B, and GDNF in each group. GAPDH was used as a loading control. Glu: Glutamate; Glud1: Glutamate Dehydrogenase 1; OE: overexpression; KD: knockdown; NC: negative control. These results are representative of at least three times independent experiments. *P < 0.05, **P < 0.01, ***P < 0.001, ****P < 0.0001, NS: no significance. Fig. S7. The genes associated with glial cell properties of BMSCs is activated under glutamate intervention and in OE-Glud1 BMSCs. A and B The transcripts of neuronal genes (PGP9.5 and β-tubulin) of BMSCs in different groups were determined by a RT-PCR assay. C–E The transcripts of glial related genes (GFAP, GDNF, S100B) of BMSCs in different groups were determined by a RT-PCR assay. F and G The transcripts of neurotrophic factor genes (BDNF, NGF) of BMSCs in different groups were determined by a RT-PCR assay. H The transcripts of cell proliferation-related genes (PCNA) of BMSCs in different groups were determined by a RT-PCR assay. I The transcripts of cell apoptosis related genes (Caspase-1) of BMSCs in different groups were determined by a RT-PCR assay. *P < 0.05, **P < 0.01, NS: no significance. Fig. S8. The genes associated with oxidative stress of BMSCs is activated under glutamate intervention and in OE-Glud1 BMSCs. A–C The transcripts of oxidative stress related genes (COX5a, SOD2, GPX4) in BMSCs treated with glutamate were determined by a RT-PCR assay. COX5a/SOD2 of BMSCs is activated under glutamate intervention and in OE-Glud1 BMSCs. *P < 0.05, **P < 0.01, NS: no significance.

Additional file 1: Supplementary 1. The process of whole-genome sequencing and variants filtration.

Additional file 3. RDH5 Sequences.

Additional file 1: Table S1. Primers used for qRT-PCR and ChIP-qPCR.

Additional file 2. Patient consent form (Chinese version).

Additional file 3. Patient consent form (English version).

Additional file 1. SPIRIT checklist.

In this paper, we investigate a decentralized asymptotic cooperative control problem of multi-agent systems with leader-follower configuration. We firstly develop a new method using a proposed “interaction matrix” for the analysis of cooperation convergence of multi-agent systems, i.e. both consensus of the agents states and trajectory tracking of the whole group can be instantaneously concluded only by observing the minimum eigenvalue of the interaction matrix. For a multi-agent system, the external given desired trajectory can be partially obtained (through sensing or detecting) by the leaders, but higher-order derivatives such as acceleration and jerk of the desired trajectory cannot be obtained. In this case, by using some conventional control methods, the trajectory tracking performance is always not satisfactory when a trajectory varies aggressively w.r.t. time. For the sake of asymptotic tracking of an arbitrary given external trajectory of a multi-agent system, we develop a nonlinear cooperative controller based on the robust integral of signum of cooperative error (RISCE) technique, where the interaction matrix is used. The simulation results show asymptotic convergence of cooperation by using the proposed control, and better performance compared to composited nonlinear feedback based PD (CNF-PD) control.

Zhang X, Yan R, Wei Z, et al. Int J Nanomedicine. 2022;17:2493–2502. The authors wish to correct Figure 6 on page 2500 after it was found an incorrect H&E image for Liver, FA-NPs had been used. The error occurred during figure preparation and the correction does not impact the conclusions of the study. The correct Figure 6 is in Download Article. The authors apologise for this error. Read the original article

As a kind of asphaltic material, hot-poured sealant with initial aging or failure will gradually self-heal during the change of ambient in the actual service process, so as to restore its s...

We present a next-generation neural network architecture, MOSAIC, for efficient and accurate semantic image segmentation on mobile devices. MOSAIC is designed using commonly supported neural operations by diverse mobile hardware platforms for flexible deployment across various mobile platforms. With a simple asymmetric encoder-decoder structure which consists of an efficient multi-scale context encoder and a light-weight hybrid decoder to recover spatial details from aggregated information, MOSAIC achieves new state-of-the-art performance while balancing accuracy and computational cost. Deployed on top of a tailored feature extraction backbone based on a searched classification network, MOSAIC achieves a 5% absolute accuracy gain surpassing the current industry standard MLPerf models and state-of-the-art architectures.

In order to achieve precise control of collaborative robots, it is necessary to obtain an accurate model for the robot. Identification of dynamic parameters is one of the important ways to obtain accurate models. To identity the dynamic parameters. This paper proposes an identification method based on an improved artificial fish swarm algorithm. First, to describe the joint friction more effectively, a friction model with compensation is introduced. The dynamic model of the robot employs the Lagrangian method, and the model is appropriately transformed to determine the minimum inertia parameter set. A 6 degree-of-freedom robot is simplified using the connected assembly method, then the minimum inertial parameter set is reorganized. Second, the joint trajectory is designed with the Fourier series as the basic function form of the trajectory, the condition number of the observation matrix is used as the objective function, then using the improved artificial fish swarm algorithm to optimize the excitation trajectory. Finally, we use MATLAB for simulation, and a 6 degree-of-freedom collaborative robot independently developed by the institute. The results show that the predicted joint torque obtained from the identification was highly matched with the actual torque, which proved the effectiveness of the proposed method.

Using the physical model test method, under the first-order natural frequency condition, by analyzing the free surface waveform of the liquid in the tank under different viscosity and the sloshing impact pressure of the side wall, the influence rule of the viscosity change of the liquid cargo on the sloshing of the liquid is obtained. The results show that the lower the viscosity is, the more violent the liquid sloshing is.

The objectives of this study were to obtain the optimal technical parameters of steam explosion for rapeseed and investigate the effects of pretreatment on the bioactive components and characteristics of three diverse samples of Brassica seed (Brassica napus, B. juncea and B. rapa) and their products. Under the optimal conditions, Brassica napus formed the largest amount of canolol, namely, 1210.10 mg/kg; B. rapa formed the smallest amount, namely, 82.70 mg/kg; and the canolol content was 2110.00 mg/kg in Brassica napus oil. Meanwhile, compared to the traditional cold-pressed rapeseed oil, the total tocopherol and phytosterol contents in Brassica napus, B. rapa and B. juncea oil increased by 5.3%, 4.8%, and 7.4% and 2.1%, 3.2%, and 5.1%, respectively. Steam explosion pretreatment also significantly affected the total phenolic contents and antioxidant capacities of the three types of rapeseeds and their processed products (P

A major shortcoming of empirical scoring functions is that they often fail to predict binding affinity properly. Removing false positives of docking results is one of the most challenging works in structure-based virtual screening. Postdocking filters, making use of all kinds of experimental structure and activity information, may help in solving the issue. We describe a new method based on detailed protein-ligand interaction decomposition and machine learning. Protein-ligand empirical interaction components (PLEIC) are used as descriptors for support vector machine learning to develop a classification model (PLEIC-SVM) to discriminate false positives from true positives. Experimentally derived activity information is used for model training. An extensive benchmark study on 36 diverse data sets from the DUD-E database has been performed to evaluate the performance of the new method. The results show that the new method performs much better than standard empirical scoring functions in structure-based virtual screening. The trained PLEIC-SVM model is able to capture important interaction patterns between ligand and protein residues for one specific target, which is helpful in discarding false positives in postdocking filtering.

Remote laser assisted processing(RLAP) is a relative new technique for machining of hard and brittle materials. Traditional programming software cannot support RLAP task. In this paper, an offline programming method for remote laser assisted drilling(RLAD) is presented. Firstly, the offline programming method is introduced. Then RLAD process is investigated to find the most effective process parameters for this programming method. An efficient motion planning and optimization system is developed. Process parameters and optimized motion planning path will be combine together and transferred into executable control operations. The resulting programming system offers fast and efficient programming for RLAD task, consequently having great potential in practical industry application.

Dual arm robots can imitate human’s behavior, thus a good alternative for labors, especially in tedious or dangerous application. Traditional dual arm robots have symmetric structures and the same DOF. In this paper, a new type of bio-inspired dual arm robot is designed with the characteristic of asymmetric structure. Firstly, the kinematic model is deduced. Then the working space of both arms are calculated by kinematic model. Finally, the dexterity and numerical condition are analyzed. Results show that our asymmetric dual arm robot has large workspace and high dexterity for its right arm and has high robust and accuracy for its left arm, thus suitable for real industrial application.

This study tries to observe the aerodynamics of a moving coil linear motor (MCLM) under the conditions of high frequency and high speed, a three-dimension aerodynamics analysis and experimental investigation of the designed MCLM provided with different thrust coil bobbins (TCBs) based on dynamic meshes technique using computational fluid dynamics (CFD) are proposed. Results show that with the increase of moving frequency and speed, the air damping of TCB subassembly is nearly proportional to the square of the speed. Punching a number of holes on the end face of the TCB could greatly improve the air flow capacity and enhance the distribution of pressure and velocity of the flow field around. Compared with proposal 1, the air damping of proposal 2 and proposal 3 is decreased by 64.3% and 97.1%, respectively. Simulation results show that the response time and frequency of the designed MCLM with proposal 3 is better than those with proposal 1 and proposal 2. In addition, the experimental frequency and response time of the designed MCLM with proposal 3 are 300Hz at 3dB and 4ms, respectively. As evident in this study, analysis and experimental results show that the air damping can be decreased by the structural optimization of the MCLM, and the designed MCLM with proposal 3 can realize good performance of high frequency and rapid response. DOI: http://dx.doi.org/10.5755/j01.mech.24.6.22463

Aiming at the problems of “local minimum” and “unreachable target” existing in the traditional artificial potential field method in path planning, an improved artificial potential field method was proposed after analyzing the fundamental causes of the above problems. The method solved the problem of local minimum by modifying the direction and influence range of the gravitational field, increasing the virtual target and evaluation function, and the problem of unreachable targets is solved by increasing gravity. In view of the change of motion state of robot fish in amphibious environments, the improved artificial potential field method was fused with a dynamic window algorithm, and a dynamic window evaluation function of the optimal path was designed on the basis of establishing the dynamic equations of land and underwater. Then, the simulation experiment was designed under the environment of Matlab2019a. Firstly, the improved and traditional artificial potential field methods were compared. The results showed that the improved artificial potential field method could solve the above two problems well, shorten the operation time and path length, and have high efficiency. Secondly, the influence of different motion modes on path planning is verified, and the result also reflects that the amphibious robot can avoid obstacles flexibly and reach the target point accurately according to its own motion ability. This paper provides a new way of path planning for the amphibious robot.

With the increasing penetration rate, the strong intermittency and volatility of renewable energy, and the large-scale use of power electronic devices, the safe and stable operation of microgrids has been seriously affected. This paper analyzed the impact of high-penetration renewable energy on power system flow distribution, power quality, operating status, relay protection, etc. And specifically studied several specific keys to improve the operating stability of the microgrid including high-penetration renewable energy.

Background and Objective. Although minimally invasive surgical treatment of acute epidural hematoma attracts increasing attention, no generalized indications for the surgery have been adopted. This study aimed to evaluate the effects of minimally invasive surgery in acute epidural hematoma with various hematoma volumes.Methods. Minimally invasive puncture and aspiration surgery were performed in 59 cases of acute epidural hematoma with various hematoma volumes (13–145 mL); postoperative follow-up was 3 months. Clinical data, including surgical trauma, surgery time, complications, and outcome of hematoma drainage, recovery, and Barthel index scores, were assessed, as well as treatment outcome.Results. Surgical trauma was minimal and surgery time was short (10–20 minutes); no anesthesia accidents or surgical complications occurred. Two patients died. Drainage was completed within 7 days in the remaining 57 cases. Barthel index scores of ADL were ≤40 (n=1), 41–60 (n=1), and >60 (n=55); scores of 100 were obtained in 48 cases, with no dysfunctions.Conclusion. Satisfactory results can be achieved with minimally invasive surgery in treating acute epidural hematoma with hematoma volumes ranging from 13 to 145 mL. For patients with hematoma volume >50 mL and even cerebral herniation, flexible application of minimally invasive surgery would help improve treatment efficacy.

To address the problems caused by direct interconnection of distributed generation with power system, the concept of microgrid is proposed. To ensure the operation of microgrid, reasonable planning of microgrid is required. This paper introduces the research of microgrid planning modeling and algorithm, and pave a way for the further studies on the microgrid planning and related fields.

The objective of this research is to present a mechatronic approach with tools clamped by robots to improve the quality and efficiency of robotic deburring. Double robots are used to deburr the die casting on both sides collaboratively. The mathematical model of cutting force in deburring process is based on differential method and the maximum cutting force is calculated by Matlab software. Static analysis of the weak points of the fixture and workpiece assembly is presented by ANSYS software. Analysis and simulation results show convincing effects that the maximum equivalent stress is less than 39% of the allowable stress value of material properties. Furthermore, modal analysis is carried out to obtain the first 6 order natural frequency and vibration mode, the highest frequency of 413.61Hz is less than a quarter of the excitation frequency, and thus the resonance phenomenon is not occurred when cutting forces are applied to the fixture-workpiece interface. The proposed mechatronic approach can display good prospect of development.

Multi-robot coordination grinding need repetitive calibration of the base frame system, and the robot high-density distribution has brought a certain degree of difficulty for the calibration. This paper proposed a new calibration method based on binocular vision by studying existing non-contact calibration method. Firstly, the calibration of the internal and external parameters of the binocular vision system is carried out, then observing space trajectory of robot end-effectors with binocular vision system. Finally, combined with the coordinate transformation theory, the spatial pose relationship between the two robots' base frame is obtained by the designed algorithm. The spatial pose transformation matrix between two ABB grinding robots of our laboratory was determined with this method. Reverse validation experiment's results show that the accuracy of the calibration can reach 0.12mm in three planes of the coordinate axis, and the calibration result is better than other calibration methods.

One challenge in dual arm robotic field is the description of cooperative tasks of the two arms. Traditional methods with translational vector and rotational matrix are complex, especially for dual arm cooperative tasks. In this paper, using the ability of dual quaternion based full dual position control strategies, it is possible to present the cooperative kinematic control problem in a compact and lack of singularity manner. Simulations is carried out on ABB YuMi dual arm robot to show the effectiveness of the approach.

This paper aims at modeling and nonlinear control of two-wheeled self-balancing robots based on gyroscope effect. An MIMO nonlinear dynamic mode is presented by using Euler-Lagrange method and Maple software to describe the self-balancing robot. Then a dual input-output sliding mode controller is designed to analyze the nonlinear system, and a simulation experiment is achieved with MATLAB/SIMULINK. The simulation results show that the designed controller is able to stabilize nonlinear system around equilibrium with great initial roll angle up to 45° with the case of no steering control and steering control, steering control have effect on balance of the robot.

A new type of clothes-hanger system is designed in this paper in order to solve the problem that exists in all traditional clothes-hanger, that is the inconvenience of maintain. This paper mainly analyzes the working principle and the development of mechanical design and control system design of the clothes-hanger. The clothes-hanger is able to stop automatically while reaching both maximum and minimum places through an overweight and ultra-light detecting mechanism. Meanwhile, the clothes-hanger is able to be controlled by wireless remote controller. The experimental results show that the system is safe and reliable.

Parallel inverter based on droop control has obvious advantages in the micro-grid. This paper analyses the droop control principle of parallel inverter, then the main circuit of parallel inverter is designed and the simulation model is established. According to the simulation results, the parallel inverter running status under abnormal voltage conditions is emphasized.

In this text, hydraulic oil is the research object. Aimed at improving the problems and shortcomings of present hydraulic oil detection and purification. By looking up for relevant information, and used Auto CAD to design working principle and main components. Finally, arguments the feasibility of the hydraulic oil detection and purification system from the aspects of technology, structure, operation and economy. The results show the system realizes the integration of hydraulic oil detection and purification, simplifies the operating steps, saves manpower and materials, and avoids the secondary pollution of hydraulic oil.

Newly-isolated thraustochytrid strains from coastal waters of China were characterized as bioresource of squalene and the culture condition for the top producer was systematically optimized. Phylogenetic analysis revealed that eight squalene-producing isolates were closely related to genus Aurantiochytrium and one to genus Labyrinthula. The top producer, Aurantiochytrium sp. TWZ-97, produced squalene up to 188.6 mg/L at 28 °C in a 5-L bioreactor containing optimal medium (glucose: 40 g/L, monosodium glutamate: 3 g/L, yeast extract: 25 g/L, and NaCl: 6 g/L), which was 6-fold higher than that under unoptimized condition. Transcriptome analysis revealed for the first time the presence of seven key genes of mevalonate pathway for squalene biosynthesis in strain TWZ-97. Medium optimization yielded a 2.23-fold higher expression of the squalene synthase gene under optimal condition compared to unoptimized. This study provides a potential thraustochytrid strain TWZ-97 as bioresource of squalene and uncovers novel information about its squalene biosynthesis pathway for future strain improvement.