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Aiming at the problems of excessive gravity,local minimum point,unreachable target,trapped areas in traditional artificial potential field(APF) method,an improved potential field method based on path optimization strategy and parameter optimization is proposed.Firstly,a gravitational compensation gain coefficient is used to avoid the problem of excessive gravity.Secondly,the virtual target point setting strategy is used to solve the problem of local minimum point according to environmental information.The observation distance is set to identify the distribution of obstacles and different path strategies are selected to avoid unreachable target.Moreover,robot rotates in advance to move tangentially away from this area or uses a safe path to pass through the area.Finally,the differential evolution algorithm is used to solve the constrained optimization problem,so that the initialization parameters of artificial potential field method are no longer set based on experience.Simulation experiments show that the improved potential field method can effectively solve problems such as local minimums and unreachable targets.Compared with the traditional artificial potential field,the path length of the improved algorithm reduces by 17.5%.

This study was aimed at investigating the carrier rate of, and molecular variation in, α- and β-globin gene mutations in Hunan Province. We recruited 25,946 individuals attending premarital screening from 42 districts and counties in all 14 cities of Hunan Province. Hematological screening was performed, and molecular parameters were assessed. The overall carrier rate of thalassemia was 7.1%, including 4.83% for α-thalassemia, 2.15% for β-thalassemia, and 0.12% for both α- and β-thalassemia. The highest carrier rate of thalassemia was in Yongzhou (14.57%). The most abundant genotype of α-thalassemia and β-thalassemia was -α3.7/αα (50.23%) and βIVS-II-654/βN (28.23%), respectively. Four α-globin mutations [CD108 (ACC>AAC), CAP +29 (G>C), Hb Agrinio and Hb Cervantes] and six β-globin mutations [CAP +8 (C>T), IVS-II-848 (C>T), -56 (G>C), beta nt-77 (G>C), codon 20/21 (-TGGA) and Hb Knossos] had not previously been identified in China. Furthermore, this study provides the first report of the carrier rates of abnormal hemoglobin variants and α-globin triplication in Hunan Province, which were 0.49% and 1.99%, respectively. Our study demonstrates the high complexity and diversity of thalassemia gene mutations in the Hunan population. The results should facilitate genetic counselling and the prevention of severe thalassemia in this region. [ABSTRACT FROM AUTHOR]

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Aim: Aldehyde dehydrogenase 2 (ALDH2) is a key enzyme that metabolizes acetaldehyde to acetic acid.ALDH2gene polymorphism modifies its activity and the mutation ofALDH2gene has been reported to be associated with the protection against ischemic stroke. However, the potential association of allelic variation ofALDH2with intracranial vascular stenosis and the clinical characteristics of ischemic stroke without coronary artery disease remains unclear.Methods: In this study, ischemic stroke patients were recruited, National Institutes of Health Stroke Scale scores were analyzed, intracranial arterial stenosis were evaluated by magnetic resonance angiography and gene typing ofALDH2was determined by polymerase chain reaction and sequencing.Results: We found that the rate of heavy drinking was significantly lower in theALDH2mutation group (*1/*2and*2/*2) than in wild-type group (*1/*1) (18.6% vs. 38.0%,p= 0.01). Plasma homocysteine (Hcy) levels were significantly different in the two groups (15.45 ± 6.39 vs. 13.14 ± 4.45,p= 0.015). TheALDH2mutation genotype was negatively correlated with severe intracranial vascular stenosis (OR, 0.34;p= 0.002), even after adjustment for high-density lipoprotein cholesterol, Hcy, and heavy drinking (adjusted OR, 0.44;p= 0.03).Conclusion:ALDH2*2could be a protective factor and negative predictor for severe intracranial vascular stenosis in ischemic stroke in Han Chinese. [ABSTRACT FROM PUBLISHER]

To study the characteristics of soil nutrients and fungal community composition under different rotation patterns in the arid zone of central Ningxia, we used millet rotation soybean (MRG), rotation grain amaranth (MRA), rotation quinoa (MRQ), and continuous millet rotation (CK) as the objects. The soil nutrient content was determined, and the sequence of the ITS variation region of soil fungi was determined using the Illumina MiSeq high-throughput sequencing platform. The results showed that the effects of different rotation patterns on the soil nutrients were different. The soil pH and electrical conductivity decreased under three rotation patterns, and the soil total nitrogen, total potassium, total phosphorus, and organic matter contents increased. The number of OTUs and α diversity index was higher than those of continuous millet rotation. The results of the fungal community composition study showed that Ascomycota was the dominant flora in 4 patterns. The cluster analysis showed that the fungal genus composition of MRA and MRG was the most similar, followed by MRQ, and that of CK was significantly different with the other three rotation patterns. A correlation analysis showed that the soil nutrients were significantly correlated with several dominant fungal genera ( P <0.05 or P <0.01). Further, the soil total nitrogen, total potassium, nitrate nitrogen, and organic matter contents were the most important factors influencing the soil fungal communities. Principal component analysis (PCA) showed that the MRG rotation patterns were better than those of the MRA and MRQ patterns. In summary, crop rotation improved the polytrophic index of the fungal community, changed the soil fungal community structure, and improved soil fertility. Among, the millet and soybean rotation were the best, and we have suggested to promote cereal rotation as one of the main rotation patterns in the cereal industry in the central dry zone.

Background: Perioperative disorder of magnesium, an important cation in the human body, may affect clinical anesthesia. The pharmacological data of propofol use, which is popularly used in the anesthesiology department and intensive care unit, is incomplete in Chinese patients. This study aimed to assess the effect of magnesium sulfate on the calculated plasma medial effective concentration (Cp50cal) of propofol at loss of response to command in Chinese females., Methods: Fifty patients undergoing gynecological laparoscopic surgery were randomly divided into the control group and the magnesium group. Before induction, magnesium sulfate (30 mg/kg) or placebo (equal volume of 0.9% saline) was given to patients in the magnesium group or the control group, respectively. Propofol was infused using a target-controlled infusion system, with a target concentration for each patient decided by up-and-down sequential allocation. After the equilibration between target plasma concentration and effective-site concentration, the state of consciousness was assessed. For determination of serum magnesium and calcium concentration, blood samples were taken before induction, after induction and at the end of surgery., Results: The Cp50cal was 2.52 µg/ml (2.47 - 2.57 µg/ml) for patients in the control group, and 2.46 µg/ml (2.41 - 2.51 µg/ml) for those in the magnesium group. A significant reduction of Cp50cal was observed (P = 0.021). There was a significant difference between the serum magnesium concentrations after induction and at the end of the surgery (P < 0.05). In the magnesium group, there was a trend toward decreasing after surgery, while in the control group, Cp50cal decreased significantly (P < 0.01)., Conclusions: Cp50cal of propofol at loss of response to command was 2.52 µg/ml (2.47 - 2.57 µg/ml) for Chinese female adults in this study. Infusion of 30 mg/kg magnesium sulfate may reduce the Cp50cal of propofol at loss of consciousness, which implies that magnesium may enhance the pharmacological effects of propofol.

Objective: To analyze the count of Streptococcus mutans (S. mutans) and Lactobacilli (LB) in different groups and the cases in dental caries. To research the synergistic effect of S. mutans and LB in the process of dental caries., Methods: 110 cases with dental caries were selected and divided according to the different degree of caries, nature and ages. To culture bacteria in the selective culture medium, then count the number of colonies. The detection rate of two kinds of bacteria in different groups, means of the bacteria count and the cariogenic cases were analyzed., Results: The means of the two bacteria count increased along with the degree of caries increased (P < 0.05), and increased in the older group (P < 0.05) and the active stage (P < 0.05). The cases of two bacteria increased with the degree of caries increased (P < 0.05), and increased in the older group (P < 0.05). But there were no significant differences in evolution period and arrested caries., Conclusion: The pathopoiesis capability of S. mutans and LB enhanced with the extent of caries increased. In the older group, their synergism role play a lead position. In evolution period and arrested caries, S. mutans and LB were difference only in quantity and their solo cariogenic potential all enhanced in active stage, but there were not correlation on pathopoiesis capability and active or stationary phase.

Objective: To determine the effects of atracurium pretreatment with magnesium on speed of onset, duration, and recovery of neuromuscular block., Methods: Thirty patients who were undergoing elective gynecologic laparoscopic examination and treatments under general anesthesia were randomized into magnesium group (n = 15) and control group (n = 15). Before induction of general anesthesia, patients in magnesium group intravenously received MgSO4 30 mg/kg in saline within 5 minutes, and patients in control group received the same volume of saline without MgSO4. In both groups, the train-of-four (TOF) responses to stimuli of the ulnar nerve were measured at intervals of 12 seconds. Anesthesia was induced with Fentanyl and Propofol through target controlled infusion (TCI), and tracheal intubation was performed with 0.5 mg/kg atracurium after stabilization of the electromyography recording. The onset time of muscle relaxation, clinical duration of action, recovery index, and recovery time were recorded. To determine serum magnesium and calcium levels, blood samples were collected before MgSO4/saline infusion and at the end of operation. Haemodynamic changes and other responses during induction were also recorded., Results: The onset time from the end of injection to maximum neuromuscular blockade was significantly shorter in magnesium group than in control group (P < 0.01). Duration of relaxant action, recovery index, and recovery time in magnesium group were significantly prolonged than in control group (P < 0.01). Serum magnesium level significantly decreased after management (P < 0.01), and there was also a decrease trend in magnesium group. No change of serum calcium levels in both groups was observed. No adverse event was reported., Conclusion: Prior administration of magnesium sulphate can increase the onset speed of atracurium and prolong the duration of atracurium-induced neuromuscular blockade.

Objective: To determine the effect of neostigmine on antagonizing atracurium-induced neuromuscular blockage with sulfate magnesium pretreatment., Methods: Forty patients who undertook elective gynecologic laparoscopic examinations and treatments under general anesthesia were randomized into four groups (group A, B, C, and D, group A paired with group C, and group B paired with group D). Before induction of general anesthesia, patients in group A and group C received MgSO4 30 mg/kg in saline intravenously within 5 min, while patients in group B and group D received the same volume of saline. Anesthesia was induced with fentanyl and propofol; subsequently tracheal intubation was performed with 0.5 mg/kg atracurium after stabilization of the electromyography recording, and neostigmine (0.02 mg/kg) and atropine (0.01 mg/kg) were infused in group C and group D when neuromuscular recovery (T1/T(C)) reached 10%. T1/T(C) changes after neostigmine infusion as well as haemodynamic changes and other responses during induction and neostigmine and atropine infusion were recorded., Results: The neuromuscular recovery speed had no significant difference between group A and group B after the neuromuscular recovery reached 10%, but it was lower in group C than in group D (P < 0.05). Significant difference existed between group AC and group BD (P < 0.05). No haemodynamic changes and other responses were found during induction and neostigmine and atropine infusion., Conclusion: Neostigmine-induced neuromuscular recovery can be attenuated in patients pretreated with magnesium sulfate.