目的:探究六步行为认知法对先天性外中耳畸形修复患儿负性情绪及应对方式的影响。方法:选取2021年1月-2023年1月笔者医院进行先天性外中耳畸形修复的98例患儿为研究对象,根据随机数字表法分为研究组(n=49)和对照组(n=49)。研究组围术期...目的:探究六步行为认知法对先天性外中耳畸形修复患儿负性情绪及应对方式的影响。方法:选取2021年1月-2023年1月笔者医院进行先天性外中耳畸形修复的98例患儿为研究对象,根据随机数字表法分为研究组(n=49)和对照组(n=49)。研究组围术期实施六步行为认知法干预,对照组实施常规护理干预。比较干预前后两组患儿焦虑状态[改良版耶鲁围手术期焦虑量表(The modified yale preoperative anxiety scale,mYPAS)]、应对方式[慢性病儿童应对方式量表(Coping with a disease,CODI)]、自信心评分(儿童自信心评定量表)、护理满意度及并发症情况变化。结果:干预实施后,两组患儿各指标均有改善,且研究组mYPAS评分低于对照组,CODI评分优于对照组,儿童自信心评分高于对照组,护理满意度也高于对照组,差异均有统计学意义(P<0.05)。结论:六步行为认知法有利于改善先天性外中耳畸形修复患儿焦虑状态,增强患儿自信心,提高积极应对方式与护理满意度,减少并发症。展开更多
架空输电线路断股修复机器人的作业过程包括线上行走、爬坡、越障等阶段,对机器人动力驱动的同步控制有较高要求。为此本文提出一种基于模型预测控制(model predictive control,MPC)–扩张状态观测器(extended state observer,ESO)的断...架空输电线路断股修复机器人的作业过程包括线上行走、爬坡、越障等阶段,对机器人动力驱动的同步控制有较高要求。为此本文提出一种基于模型预测控制(model predictive control,MPC)–扩张状态观测器(extended state observer,ESO)的断股修复机器人双轮行走同步控制方法。首先,对断股修复机器人挂线行走作业工况进行力学分析,设计挂线行走机械结构,增加作业稳定性与安全性;其次,针对双驱动轮因磨损、轮径不一致导致的线速度同步误差问题,提出一种基于MPC-ESO的主从融合偏差耦合线速度同步控制策略。仿真与实物验证表明,所提出的机器人双驱动轮同步控制方法可有效解决双驱动轮线速度不同步及机器人高空作业受扰问题。展开更多
A new robust fault-tolerant controller scheme integrating a main controller and a compensator for the self-repairing flight control system is discussed.The main controller is designed for high performance of the origi...A new robust fault-tolerant controller scheme integrating a main controller and a compensator for the self-repairing flight control system is discussed.The main controller is designed for high performance of the original faultless system.The compensating controller can be seen as a standalone loop added to the system to compensate the effects of fault guaranteeing the stability of the system.A design method is proposed using nonlinear dynamic inverse control as the main controller and nonlinear extended state observer-based compensator.The stability of the whole closed-loop system is analyzed.Feasibility and validity of the new controller is demonstrated with an aircraft simulation example.展开更多
In the surrounding environment, lead (Pb) can be released by repairing some parts of automobile engine and radiators repair works. Lead is very well-known as a neurotoxicant as some links exist between blood lead leve...In the surrounding environment, lead (Pb) can be released by repairing some parts of automobile engine and radiators repair works. Lead is very well-known as a neurotoxicant as some links exist between blood lead level (BLL) and neurological outcomes. This cross sectional study was performed on 35 male workers who were 23 - 40 and worked in an automobile repair shop located in an industrial part of Tehran. Clinical evidences were recorded by a questionnaire. Subjects had given their blood samples between 7 and 8 a.m. before going to work. The levels of hematological parameters were measured and the amount of lead in plasma samples was determined by graphite-furnace atomic absorption spectrophotometer. The Iranian versions of mood state and Wechsler memory questionnaire were applied in order to evaluate mood and memory impairment. The association between variables was studied using Pearson correlation coefficient. A positive correlation was seen between workers’ history on one side and, urinary frequency and restlessness on the other side. There was not any meaningful relationship between worker history, blood parameters, and mood state. A negative meaningful relationship existed between the workers’ history and visual memory. Also a positive significant relationship was observed between BLL and epigastric pain and there was a negative relationship between BLL and repeat number. There was not a significant relationship between BLL, blood parameters, and mood state as well. It was concluded that work practices in the automobile repair shop seemed to increase the body burden of lead and may pose a health risk to the workers.展开更多
文摘目的:探究六步行为认知法对先天性外中耳畸形修复患儿负性情绪及应对方式的影响。方法:选取2021年1月-2023年1月笔者医院进行先天性外中耳畸形修复的98例患儿为研究对象,根据随机数字表法分为研究组(n=49)和对照组(n=49)。研究组围术期实施六步行为认知法干预,对照组实施常规护理干预。比较干预前后两组患儿焦虑状态[改良版耶鲁围手术期焦虑量表(The modified yale preoperative anxiety scale,mYPAS)]、应对方式[慢性病儿童应对方式量表(Coping with a disease,CODI)]、自信心评分(儿童自信心评定量表)、护理满意度及并发症情况变化。结果:干预实施后,两组患儿各指标均有改善,且研究组mYPAS评分低于对照组,CODI评分优于对照组,儿童自信心评分高于对照组,护理满意度也高于对照组,差异均有统计学意义(P<0.05)。结论:六步行为认知法有利于改善先天性外中耳畸形修复患儿焦虑状态,增强患儿自信心,提高积极应对方式与护理满意度,减少并发症。
文摘架空输电线路断股修复机器人的作业过程包括线上行走、爬坡、越障等阶段,对机器人动力驱动的同步控制有较高要求。为此本文提出一种基于模型预测控制(model predictive control,MPC)–扩张状态观测器(extended state observer,ESO)的断股修复机器人双轮行走同步控制方法。首先,对断股修复机器人挂线行走作业工况进行力学分析,设计挂线行走机械结构,增加作业稳定性与安全性;其次,针对双驱动轮因磨损、轮径不一致导致的线速度同步误差问题,提出一种基于MPC-ESO的主从融合偏差耦合线速度同步控制策略。仿真与实物验证表明,所提出的机器人双驱动轮同步控制方法可有效解决双驱动轮线速度不同步及机器人高空作业受扰问题。
基金supported by the National Natural Science Foundation of China (60874117)the 111 Project (B07009)
文摘A new robust fault-tolerant controller scheme integrating a main controller and a compensator for the self-repairing flight control system is discussed.The main controller is designed for high performance of the original faultless system.The compensating controller can be seen as a standalone loop added to the system to compensate the effects of fault guaranteeing the stability of the system.A design method is proposed using nonlinear dynamic inverse control as the main controller and nonlinear extended state observer-based compensator.The stability of the whole closed-loop system is analyzed.Feasibility and validity of the new controller is demonstrated with an aircraft simulation example.
文摘In the surrounding environment, lead (Pb) can be released by repairing some parts of automobile engine and radiators repair works. Lead is very well-known as a neurotoxicant as some links exist between blood lead level (BLL) and neurological outcomes. This cross sectional study was performed on 35 male workers who were 23 - 40 and worked in an automobile repair shop located in an industrial part of Tehran. Clinical evidences were recorded by a questionnaire. Subjects had given their blood samples between 7 and 8 a.m. before going to work. The levels of hematological parameters were measured and the amount of lead in plasma samples was determined by graphite-furnace atomic absorption spectrophotometer. The Iranian versions of mood state and Wechsler memory questionnaire were applied in order to evaluate mood and memory impairment. The association between variables was studied using Pearson correlation coefficient. A positive correlation was seen between workers’ history on one side and, urinary frequency and restlessness on the other side. There was not any meaningful relationship between worker history, blood parameters, and mood state. A negative meaningful relationship existed between the workers’ history and visual memory. Also a positive significant relationship was observed between BLL and epigastric pain and there was a negative relationship between BLL and repeat number. There was not a significant relationship between BLL, blood parameters, and mood state as well. It was concluded that work practices in the automobile repair shop seemed to increase the body burden of lead and may pose a health risk to the workers.
