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撼地者:基于遥操作与自主导航的移动救援机器人 被引量:1
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作者 张宇 李宇翔 +8 位作者 张贺飞 王煜 王志濠 叶艺农 岳永铭 郭宁 高纬 陈浩耀 张世武 《中国科学技术大学学报》 CAS CSCD 北大核心 2023年第1期32-43,I0008,I0009,共14页
为了应对突发场景及灾难环境下的救援作业任务,避免救援人员暴露在危险环境中,本论文提出一款移动救援机器人,“撼地者”。凭借履带式底盘、六自由度灵巧机械臂及各种传感器及控制器的组合,撼地者得以拥有跨越多样地形和完成精细作业的... 为了应对突发场景及灾难环境下的救援作业任务,避免救援人员暴露在危险环境中,本论文提出一款移动救援机器人,“撼地者”。凭借履带式底盘、六自由度灵巧机械臂及各种传感器及控制器的组合,撼地者得以拥有跨越多样地形和完成精细作业的能力。具体来说,首先,撼地者独特的摆臂-推铲机构设计,在提高了清障能力的同时,增加了上下楼梯的稳定性;其次,通过多模态遥操作系统使撼地者得以适应各种复杂的通讯环境;同时,基于深度相机辅助的灵巧机械臂与抓手实现了半自主操纵;最终,利用激光雷达实现了在未知环境中的自主导航。正是凭借这些特别的系统,撼地者在以应急救援为主题的“智创杯”前沿技术挑战赛锦标赛中,从全球40个机器人中脱颖而出并成功夺冠,展示了其系统集成的有效性及控制理念的先进性。 展开更多
关键词 救援机器人 自主导航 半自动操纵 多模遥操作 系统集成
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Efficacy and Safety of All-oral,12-week Ravidasvir Plus Ritonavir-boosted Danoprevir and Ribavirin in Treatment-naive Noncirrhotic HCV Genotype 1 Patients:Results from a Phase 2/3 Clinical Trial in China 被引量:15
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作者 Xiaoyuan Xu Bo Feng +41 位作者 Yujuan Guan Sujun Zheng Jifang Sheng Xingxiang Yang Yuanji Ma Yan Huang Yi Kang Xiaofeng Wen Jun Li Youwen Tan Qing He Qing Xie Maorong Wang Ping An Guozhong Gong Huimin Liu Qin Ning Rui Hua Bo Ning Wen Xie Jiming Zhang Wenxiang Huang Yongfeng Yang Minghua Lin Yingren Zhao Yanhong Yu Jidong Jia Dongliang Yang Liang Chen yinong ye Yuemin Nan Zuojiong Gong Quan Zhang Peng Hu Fusheng Wang Yongguo Li Dongliang Li Zhansheng Jia Jinlin Hou Chengwei Chen Jinzi JWu Lai Wei 《Journal of Clinical and Translational Hepatology》 SCIE 2019年第3期213-220,共8页
Background and Aims:Ravidasvir(RDV)is a new generation pangenotypic hepatitis C virus(HCV)NS5A inhibitor,with high barrier to baseline resistance-associated species.This is the first phase 2/3 study conducted in China... Background and Aims:Ravidasvir(RDV)is a new generation pangenotypic hepatitis C virus(HCV)NS5A inhibitor,with high barrier to baseline resistance-associated species.This is the first phase 2/3 study conducted in China's Mainland confirming the efficacy and safety of RDV+ritonavir-boosted danoprevir+ribavirin for 12 weeks in treatment-naive noncirrhotic patients with genotype 1 infection in a large population.Methods:In this multicenter,randomized,doubleblinded,placebo-controlled phase 2/3 trial(NCT03362814),we enrolled 424 treatment-nafve,noncirrhotic adult HCV genotype 1 patients.All patients were randomized at 3∶1 ratio to receive a combination of RDV 200mg once daily plus ritonavir-boosted danoprevir 100mg/100mg twice daily and oral ribavirin 1000/1200mg/day(body weight<75/≥75 kg)(n=318)or placebo(n=106)for 12 weeks.The primary end-point was the rate of sustained virologic response 12 weeks after the end of treatment,and the safety was evaluated and compared between treatment and placebo groups.Results:The overall rate of sustained virological response at 12 weeks after treatment is 99%(306/309,95%,CI:97%-100%)under per protocol set analysis.All patients harboring baseline NS5A resistance-associated species in the treatment group(76/76,per protocol set)achieved sustained virological response at 12 weeks after treatment.No treatment-related serious adverse events were reported.Laboratory abnormalities showed mild or moderate severity(grade 1 and grade 2)in liver function tests.Conclusions:In treatment-na(i)ve,noncirrhotic HCV Chinese patients infected with HCV genotype 1,all-oral regimen of RDV+ritonavir-boosted danoprevir+ribavirin for 12 weeks was highly efficacious,safe,and well tolerated. 展开更多
关键词 Ravidasvir Danoprevir HCV SVR Treatment-naive Noncirrhotic GT1
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Real-world effectiveness and safety of OBT/PTV/r and dasabuvir for patients with chronic HCV genotype 1b infection in China:A multicenter prospective observational study
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作者 Yusheng Jie Chaoshuang Lin +11 位作者 Jing Yuan Zhixin Zhao Yujuan Guan Yuanping Zhou Xiaohui Zhou Bihui Zhong yinong ye Lihua Zhang Ling Tao Jianping Li Xiaohong Zhang Yutian Chong 《Liver Research》 2020年第3期153-158,共6页
Background and aim:Real-world data on the effectiveness and safety of treatment with the direct-acting antiviral agent-based regimen are limited on the Chinese mainland.The aim of this study was to conduct a multicent... Background and aim:Real-world data on the effectiveness and safety of treatment with the direct-acting antiviral agent-based regimen are limited on the Chinese mainland.The aim of this study was to conduct a multicenter,prospective,real-world study of ombitasvir/paritaprevir/ritonavir(OBT/PTV/r)combined with dasabuvir(DSV)in hepatitis C virus(HCV)genotype 1b-infected non-cirrhotic or compensated cirrhotic Chinese adult patients.Materials and methods:Genotype 1b-infected patients were enrolled at eight sites in China.Patients received 25/150/100 mg of OBT/PTV/r once daily combined with 250 mg of DSV twice daily for 8 weeks or 12 weeks.Sustained virological response at 12 weeks post-treatment(SVR12)and the incidence of adverse events were assessed.We have also evaluated the effect of intensive questioning of patients who were overdue for SVR12 testing.Intention-to-treat(ITT)and modified ITT(mITT)populations were used in the analysis.Results:One hundred forty patients were included,among whom 90.0%(126/140)were newly diagnosed,9.3%(13/140)had compensated cirrhosis,92.9%(130/140)received 12 weeks of treatment,and 7.1%(10/140)received 8 weeks of treatment.In the mITT population,the virological response rate at week 4 was 96.4%(108/112),and at the end of treatment was 100%(102/102).Among these patients,139 patients completed 12 weeks of treatment,and 73 patients were followed-up.All followed-up patients achieved SVR12.There was no adverse event-related discontinuation.Serious adverse events during treatment were reported in two(1.4%)patients,and none were considered to be drug-related.Sixty-six(47.1%)patients did not return to receive the HCV RNA test at 12 weeks post-treatment.Conclusions:The rate of SVR12 was consistent with Phase III clinical studies.OBT/PTV/r combined with DSV showed effectiveness in Chinese adult patients,and both tolerability and safety profile were favorable.However,patient compliance should be further improved in the real world. 展开更多
关键词 Hepatitis Cvirus(HCV) Direct-acting antiviralagent(DAA) Real-worldresearch Ombitasvir(OBT) Paritaprevir(PTV) Ritonavir
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