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| 1 | An Adaptive Obstacle Avoidance Algorithm for Unmanned Surface Vehicle in Complicated Marine Environments显示文摘Unmanned surface vehicles(USVs) are important autonomous marine robots that have been studied and gradually applied into practice. However, the autonomous navigation of USVs, especially the issue of obstacle avoidance in complicated marine environment, is still a fundamental problem. After studying the characteristics of the complicated marine environment, we propose a novel adaptive obstacle avoidance algorithm for USVs,based on the Sarsa on-policy reinforcement learning algorithm.The proposed algorithm is composed of local avoidance module and adaptive learning module, which are organized by the “divide and conquer” strategy-based architecture. The course angle compensation strategy is proposed to offset the disturbances from sea wind and currents. In the design of payoff value function of the learning strategy, the course deviation angle and its tendency are introduced into action rewards and penalty policies. The validity of the proposed algorithm is verified by comparative experiments of simulations and sea trials in three sea-state marine environments. The results show that the algorithm can enhance the autonomous navigation capacity of USVs in complicated marine environments. | Rubo Zhang Pingpeng Tang Yumin Su Xueyao Li Ge Yang Changting Shi | 2014 | IEEE/CAA Journal of Automatica Sinica2014，1，4： | 9 |
| 2 | Geochemical Characteristics of Gases from the Wudalianchi Volcanic Area,Northeastern China显示文摘The origins of gases in springs, pools and wells from the Wudalianchi (WDLC) volcanic area are discussed based upon molecular and isotope compositions of the gases. Nine gas and water samples were collected from bubbles and water of the springs and pools in the WDLC volcanic area, Northeastern China, in August 1997. The molecular components were measured with a MAT-271 mass spectrometer (MS), helium isotope ratios with a VG-5400 MS, and δ13C with a MAT-251 MS in the Lanzhou Institute of Geology. The gases are enriched in CO2 , and most of the CO2 concentrations are over 80% (V). The helium and methane concentrations have relatively wide ranges of 0.7 to 380 ×10-6 and 4 to 180×10-6, respectively. The 3He/4He ratios are between 1.05 Ra and 3.1 Ra(Ra = 1.4×10-6); the 4He/20Ne values are between 0.45 and 1011, larger than the atmospheric value (0.32). The δ13C (PDB) values of carbon dioxide range from -9.6 to -4.2‰. These geochemical data demonstrate that the spring water is from aquifers at | DU Jianguo LI Shengqiang ZHAO Yi REN Jinzhang SUN Rubo DUANMU Heshun | 1999 | Acta Geologica Sinica(English Edition)1999，73，2： | 7 |
| 3 | The efficacy and safety of nimodipine in acute ischemic stroke patients with mild cognitive impairment: a double-blind, randomized,placebo-controlled trial显示文摘Nimodipine might be effective in subcortical vascular dementia(VaD). Its benefit in preventing further cognitive decline in patients with acute ischemic stroke(AIS) and vascular mild cognitive impairment(VaMCI) remains to be established. In this multicenter, double-blind trial, we randomly assigned 654 eligible patients to nimodipine 30 mg three times a day or placebo. The primary outcome was any cognitive decline defined by the changes on the Mini-Mental State Examination(DMMSE à3) or vascular AD assessment scale cognitive subscale(DADAS-cog ! 4) at 6 months. Secondary outcomes included any distribution shift of DADAS-cog, DMMSE or cognitive improvement defined by DADAS-cog à2, or DMMSE ! 0. The primary outcome in the nimodipine group and placebo group were similar for DMMSE à3(4.18% and 7.22%, respectively, P = 0.15) and DADAS-cog ! 4(8.36% and 8.93% respectively,P = 0.88). The distribution shift of DADAS-cog and DMMSE differed significantly between the two groups(P = 0.03 and P = 0.05 respectively). Cognitive improvement occurred in 55.4% in the nimodipine group and 43.6% in the placebo group measured by DADAS-cog à2(Odds Ratio, 1.54; 95% confidence interval[CI] 1.10–2.14, P < 0.01) or 84.0% and 74.6% respectively by DMMSE ! 0(Odds Ratio, 1.79; 95% CI 1.18–2.70, P < 0.01). Nimodipine was associated with better cognitive function in the memory domain. The adverse events rate was similar in two groups. This study is registered with ClinicalTrials.gov,NCT01220622. Nimodipine did not show benefit to prevent cognitive decline in AIS patients with VaMCI, but improved cognition moderately, especially measured in the memory domain. | Huaguang Zheng Yilong Wang Anxin Wang Hao Li David Wang Xingquan Zhao Penglian Wang Haipeng Shen Lijun Zuo Yuesong Pan Zixiao Li Xia Meng Xianwei Wang Weixiong Shi Yi Ju Liping Liu Kehui Dong Chunxue Wang Rubo Sui Rong Xue Xiaoping Pan Xiaoyua Niu Benyan Luo Yi Sui Huali Wang Tao Feng Yongjun Wang | 2019 | Science Bulletin2019，64，2： | 5 |
| 4 | Research on stock trend prediction method based on optimized random forest显示文摘As a complex hot problem in the financial field,stock trend forecasting uses a large amount of data and many related indicators;hence it is difficult to obtain sustainable and effective results only by relying on empirical analysis.Researchers in the field of machine learning have proved that random forest can form better judgements on this kind of problem,and it has an auxiliary role in the prediction of stock trend.This study uses historical trading data of four listed companies in the USA stock market,and the purpose of this study is to improve the performance of random forest model in medium-and long-term stock trend prediction.This study applies the exponential smoothing method to process the initial data,calculates the relevant technical indicators as the characteristics to be selected,and proposes the D-RF-RS method to optimize random forest.As the random forest is an ensemble learning model and is closely related to decision tree,D-RF-RS method uses a decision tree to screen the importance of features,and obtains the effective strong feature set of the model as input.Then,the parameter combination of the model is optimized through random parameter search.The experimental results show that the average accuracy of random forest is increased by 0.17 after the above process optimization,which is 0.18 higher than the average accuracy of light gradient boosting machine model.Combined with the performance of the ROC curve and Precision–Recall curve,the stability of the model is also guaranteed,which further demonstrates the advantages of random forest in medium-and long-term trend prediction of the stock market. | Lili Yin Benling Li Peng Li Rubo Zhang | 2023 | CAAI Transactions on Intelligence Technology2023，8，1： | 1 |
| 5 | Speech enhance- ment based on Hilbert-Huang transform theory显示文摘 | Xiaojie Zou Xueyao Li Rubo Zhang | 2006 | Pro- ceedings of the first international multi-symposiums on computer and computational sciences2006，，： | 1 |
| 6 | Speech detection based on Hilbert-Huang transform显示文摘 | WANG LI Xueyao ZHANG Rubo | 2006 | Computer and Computational Science June2006，，1： | 1 |
| 7 | Research on application of isolated gas drainage in drivage working face显示文摘 | Che Yunli Li Rubo | 2009 | Zhongzhou Coal2009，，5： | 1 |
| 8 | Local Path Planning Method of the Self-propelled Model Based on Reinforcement Learning in Complex Conditions显示文摘在实际波浪条件下面用一个大规模自己推动的模型进行水动力学和物理运动模拟测试是为研究轮船的环境适应性的一个重要工具。在自己推动的模型的航行测试期间,包括附近的各种各样的港口设备,航行设备,和轮船的复杂环境必须小心地被考虑,因为在这稠密的环境模型上的海波浪和风的影响是特别地重要的。为了改进自己推动的模型,的安全,这份报纸介绍基于加强学习学习的 Q 为模型碰撞回避与混乱想法结合了,以便改进计划的本地路径的可靠性。模拟和海测试结果证明这个算法与好适应性是在海风和波浪的干扰下面的自我航行模型的碰撞回避的一个更好的解决方案。 | Yi Yang Yongjie Pang Hongwei Li Rubo Zhang | 2014 | Journal of Marine Science and Application2014，13，3： | 0 |
| 9 | Multilevel omics for the discovery of biomarkers in pediatric sepsis显示文摘Severe sepsis causes organ dysfunction and continues to be the leading reason for pediatric death worldwide.Early recognition of sepsis could substantially promote precision treatment and reduce the risk of pediatric death.The host cellular response to infection during sepsis between adults and pediatrics could be significantly different.A growing body of studies focused on finding markers in pediatric sepsis in recent years using multi-omics approaches.This narrative review summarized the progress in studying pediatric sepsis biomarkers from genome,transcript,protein,and metabolite levels according to the omics technique that has been applied for biomarker screening.It is most likely not a single biomarker could work for precision diagnosis of sepsis,but a panel of markers and probably a combination of markers detected at multi-levels.Importantly,we emphasize the importance of group distinction of infectious agents in sepsis patients for biomarker identification,because the host response to infection of bacteria,virus,or fungus could be substantially different and thus the results of biomarker screening.Further studies on the investigation of sepsis biomarkers that were caused by a specific group of infectious agents should be encouraged in the future,which will better improve the clinical execution of personalized medicine for pediatric sepsis. | Xinyu Wang Rubo Li Suyun Qian Dan Yu | 2023 | Pediatric Investigation2023，7，4： | 0 |
| 10 | Sudden cardiac death of Duchenne muscular dystrophy with NT-proBNP in pericardial fluid as a useful biomarker for diagnosis of the cause of death: a case report显示文摘Duchenne muscular dystrophy(DMD)is one of the most common and severest muscular dystrophies.Although it can be a cause of death when associated with cardiac muscle and/or respiratory muscles,no cases of sudden deaths in the setting of undiagnosed DMD with cardiac involvement have been reported in the literatures.Previous studies showed that N-terminal-proBNP(NT-proBNP)was a robust laboratory biomarker to diagnose and monitor cardiac failure in clinical situations,suggesting that it may be used as an auxiliary indicator for diagnosis on left ventricular dysfunction in sudden cardiac deaths in forensic settings.Here,we reported a case of 29-year-old man who died suddenly.Autopsy revealed that muscles of the body were almost replaced by fatty and fibrotic tissues.The heart was enlarged with disarray and degeneration of cardiomyocytes in cardiac muscle.Total absence of dystrophin was detected by immunohistochemical staining,which confirmed DMD.Postmortem biochemical test of pericardial fluid revealed a high level of NT-proBNP,indicating dysfunction of the left ventricle before death.The cause of death was certified as an early dilated cardiomyopathy(DCM)/dysfunction of the left ventricle secondary to DMD,suggesting that sudden cardiac death with cardiac dysfunction could be identified by immunohistochemical method in combination with pericardial fluid NT-proBNP determination after systemic autopsy. | Mengzhou Zhang Rui Zhao Tianshui Yu Jiaoyong Li Miao Zhang Shukun Jiang Linlin Wang Guohua Zhang Rubo Li Baoli Zhu Dawei Guan | 2020 | Forensic Sciences Research2020，5，2： | 0 |
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