Upper Level Research Articles

Design and Experimental Validation of Deep Reinforcement Learning-Based Fast Trajectory Planning and Control for Mobile Robot in Unknown Environment.

This article is concerned with the problem of planning optimal maneuver trajectories and guiding the mobile robot toward target positions in uncertain environments for exploration purposes. A hierarchical deep learning-based control framework is proposed which consists of an upper level motion planning layer and a lower level waypoint tracking layer. In the motion planning phase, a recurrent deep neural network (RDNN)-based algorithm is adopted to predict the optimal maneuver profiles for the mobile robot. This approach is built upon a recently proposed idea of using deep neural networks (DNNs) to approximate the optimal motion trajectories, which has been validated that a fast approximation performance can be achieved. To further enhance the network prediction performance, a recurrent network model capable of fully exploiting the inherent relationship between preoptimized system state and control pairs is advocated. In the lower level, a deep reinforcement learning (DRL)-based collision-free control algorithm is established to achieve the waypoint tracking task in an uncertain environment (e.g., the existence of unexpected obstacles). Since this approach allows the control policy to directly learn from human demonstration data, the time required by the training process can be significantly reduced. Moreover, a noisy prioritized experience replay (PER) algorithm is proposed to improve the exploring rate of control policy. The effectiveness of applying the proposed deep learning-based control is validated by executing a number of simulation and experimental case studies. The simulation result shows that the proposed DRL method outperforms the vanilla PER algorithm in terms of training speed. Experimental videos are also uploaded, and the corresponding results confirm that the proposed strategy is able to fulfill the autonomous exploration mission with improved motion planning performance, enhanced collision avoidance ability, and less training time.

Handling Long and Richly Constrained Tasks through Constrained Hierarchical Reinforcement Learning

Safety in goal directed Reinforcement Learning (RL) settings has typically been handled through constraints over trajectories and have demonstrated good performance in primarily short horizon tasks. In this paper, we are specifically interested in the problem of solving temporally extended decision making problems such as robots cleaning different areas in a house while avoiding slippery and unsafe areas (e.g., stairs) and retaining enough charge to move to a charging dock; in the presence of complex safety constraints. Our key contribution is a (safety) Constrained Search with Hierarchical Reinforcement Learning (CoSHRL) mechanism that combines an upper level constrained search agent (which computes a reward maximizing policy from a given start to a far away goal state while satisfying cost constraints) with a low-level goal conditioned RL agent (which estimates cost and reward values to move between nearby states). A major advantage of CoSHRL is that it can handle constraints on the cost value distribution (e.g., on Conditional Value at Risk, CVaR) and can adjust to flexible constraint thresholds without retraining. We perform extensive experiments with different types of safety constraints to demonstrate the utility of our approach over leading approaches in constrained and hierarchical RL.

A multi-objective optimization model for medical waste recycling network design under uncertainties

Transporting medical waste (MW) generated by medical institutions (MIs) is a process that poses potential threats to the environment and public safety. Therefore, it is vital to find a safe and efficient way to transport this type of waste to disposal centers (DCs). However, there are challenges in the transportation of MW due to random factors such as the generation of waste in an unpredictable manner and unforeseen travel times. In this paper, we propose a bi-level optimization model to minimize site selection costs, transportation costs, time-window penalties costs, and transportation risks under uncertainties. The concepts of “loading reliability”, “travel time reliability” and “transportation risk” are adopted in the proposed optimization model. The simulated annealing algorithm (SA) is employed to address the optimal location problem (Upper level), which involves minimizing the construction cost, transportation cost (DC-CP-DC), and transportation risk (estimated using Bayesian method). To tackle the capacity-constrained vehicle routing problem considering transportation risk and time window penalties (Lower level), we propose an improved genetic algorithm named harmony search algorithm (IHSGA). Subsequently, the results from the lower level are looped back to the upper level, fostering mutual influence between the two stages. We demonstrate the effectiveness and correctness of the proposed model and algorithm using S city in China as an illustrative example. Furthermore, a series of sensitivity analyses were conducted to examine the impact of various factors. The findings highlight the pivotal roles of both travel time reliability and loading reliability in designing the medical waste recycling network. In comparison to the general Genetic Algorithm (GA) and CPLEX solver, the modified IHSGA presented in this paper exhibits superior performance.

Trace elements in bean-to-bar chocolates from Brazil and Ecuador

BackgroundThe high quality and unique flavor and aroma of bean-to-bar chocolates have resulted in an increase in the consumption of these products. Nevertheless, cocoa beans may present inorganic contaminants from environmental and anthropogenic sources which can contribute to contamination of the chocolates, despite the fewer processing steps and few ingredients used in bean-to-bar manufacturing process compared to the industrial one. Therefore, this study aimed to evaluate the content of trace elements (As, Cd, Co, Cu, Hg, Pb, Se) in bean-to-bar chocolates and traceable cocoa beans from Brazil and Ecuador. MethodsBean-to-bar chocolate samples were acquired in Brazil (n=65) and Ecuador (n=10), considering the main products available: white, milk, semisweet and dark chocolate. Cocoa samples from dedicated farms (n=23) were analyzed for trace elements and inorganic contaminants regulated by Brazil and European agencies. Samples were mineralized using acid digestion (nitric acid and hydrogen peroxide) in a closed microwave-assisted system. Quantification of trace elements was performed using Inductively coupled plasma mass spectroscopy (ICP-MS) and Inductively coupled plasma optical emission spectroscopy (ICP OES) in optimized conditions. The analytical control was performed with certified reference materials (ERM BD512 - Dark Chocolate, Tort-2 and Tort-3 - Lobster Hepatopancreas and SRM 1547 - Peach leaves) and recoveries ranged between 84% and 105% for all elements. ResultsThe trace element levels in the bean-to-bar chocolates were (mg/kg): As (<0.022–0.023), Cd (<0.002–0.74), Cu (0.11–21.2), Co (<0.003–1.88), Hg (<0.010-<0.010), Pb (<0.007–0.22), and Se (<0.029–0.35). The exposure assessment from inorganic contaminants in chocolates revealed up to 93% of provisional tolerable monthly intake (PTMI) for Cd and 123% of tolerable upper intake level (UL) for Co for children. Inorganic contaminants were also analyzed in cocoa beans from dedicated farms and Cd and Pb levels were found above the thresholds established by Brazil health agency. ConclusionThe results observed for both bean-to-bar chocolates and raw materials (cocoa beans from dedicated farms) indicated a need for monitoring these trace elements.

Coordinated Configuration of SOPs and DESSs in an Active Distribution Network Considering Social Welfare Maximization

In recent years, the penetration rate of intermittent distributed generation (DG) in active distribution networks has been steadily increasing, leading to prominent issues such as voltage violations and network congestion. Coordinated operation of soft open points (SOPs) and distributed energy storage systems (DESSs) enable flexible resource management in both spatial and temporal dimensions, allowing real-time voltage regulation and flow control. This enhances the controllability, sustainability, and economic efficiency of the distribution network, ultimately improving user satisfaction. The optimization of this coordinated configuration has become a central challenge in research. Taking the different characteristics of DESSs and SOPs into account, this paper proposes a coordinated configuration method by introducing local marginal price (LMP) under the configuration scheme. The framework is modeled as a three-level problem, including planning and operation levels. Initially, typical scenarios are generated to address the uncertainty of distributed generation operation. At the upper level, the DESS configuration is optimized to minimize annual operational costs, while at the middle level, SOPs are planned based on the annual comprehensive operational cost of the distribution network. At the lower level, the objective is set as social welfare maximization to reflect user satisfaction by incorporating LMP as a planning indicator. It is then transformed and solved as a mixed-integer second-order programming model with a hybrid optimization algorithm. The model is established with the modified IEEE 33-node distribution system as a case study to validate the feasibility of the proposed configuration method. The case study results demonstrate the effectiveness of the proposed approach in optimally configuring SOPs with DESSs to reduce overall annual operating costs and enhance the economic efficiency of the system.

Cities as Actors in the EU Policy Towards China

AbstractCity diplomacy between European Union (EU) and Chinese cities has become an increasingly significant layer of bilateral relations. The collaboration between cities is extensive and covers a wide range of thematic areas, with around half of European cities having partnerships with Chinese counterparts, according to a survey of 745 cities. However, despite the commonality of these partnerships, our research has highlighted a disconnect between subnational relations and the upper levels of European policy. Despite some previous initiatives, local actors have not been effectively engaged in EU policy‐making. The European Parliament has called for greater co‐ordination with substate actors, but this call has gone unanswered. This article unpacks the city level of EU relations with China, showing its scope, patterns of co‐operation and potential impact. The authors present theoretical and empirical arguments to support the notion that city diplomacy could have a much more significant impact on EU policy towards China.

Assessment of metal and organic pollutants in combination with stable isotope analysis in tunas from the Gulf of Cadiz (east Atlantic)

Bioaccumulation patterns of heavy metals (Pb, Cd, Cr, Ni, Fe and Cu) and organic (priority and emerging) pollutants, in combination with stable isotope analysis (SIA), were assessed in muscle and liver of three tuna species from the Gulf of Cadiz (Atlantic bluefin tuna, Thunnus thynnus; Atlantic bonito, Sarda sarda, and skipjack tuna, Katsuwonus pelamis). SIA and contaminant (heavy metal and organic) profiles separately discriminated between species. There was no significant overlap between the trophic niches estimated from isotopic data, suggesting that there are diet differences which may determine differential bioaccumulation patterns. The levels of heavy metals and persistent organic pollutants in muscle of all the individuals analyzed were below the allowable limits established by the current legislation. Concentrations of most contaminants were higher in liver than in muscle, underlining the powerful detoxifying capacity of the liver in tunas. In addition to diet, other factors such as size and age (exposure time to environmental chemicals) explain differences in pollutant accumulation patterns in tissues between species, each with varying degrees of involvement depending on the pollutant class. Our results show that combining contaminant profile data with trophic features based on SIA may help understand pollutant bioaccumulation patterns in upper levels of marine food webs.

An Economic Model Predictive Control for Knowledge Transmission Processes in Multilayer Complex Networks.

In this article, we study the optimal feedback control problems of knowledge dissemination processes in multilayer complex networks. First, a node-based model is established in multilayer complex networks and two collaborative control strategies are exerted to increase the scope and speed of knowledge dissemination, forming a closed-loop control system. Then, we develop a two-layer optimal control framework. At the upper level, the optimal solution of the control system is solved and sent to the lower layer. At the lower level, a model predictive controller (MPC) receives input information from the upper level and is formulated to decide on the network and then transmits it to its heterogeneous networks which can reduce control resources and computation complexity. Finally, numerical simulations are conducted to confirm the theoretical results.

Stochastic Resource Optimization for Wireless Powered Hybrid Coded Edge Computing Networks

With the ubiquitous sensing enabled by the Internet-of-Things (IoT), massive amount of data is generated every second, transforming the way we interact with the world. To manage big data and enable analytics at the edge of the network, large amount of computation power is required to perform the computation intensive tasks. However, the energy-constrained IoT devices are not able to perform the computation tasks without compromising the quality-of-service of the applications. In this paper, we propose a hybrid network in which users can fully offload their computation tasks to edge servers through coded edge offloading or perform local computation with the wireless power transfer derived from coalitions of unmanned aerial vehicles (UAVs) serving as mobile charging stations. To minimize the cost of the network, we consider a two-level optimization approach. At the lower level, an optimal UAV coalition that minimizes the network cost is formed. At the upper level, the computation approach for each user is decided while taking into account the stochastic nature of wireless charging efficiency. Given the interrelation between the two levels, we adopt the backward induction optimization strategy to jointly derive the optimal coalition structure and computation approach for each user. In the performance evaluation, we provide extensive sensitivity analyses to study the performance of the cost minimization approaches amid varying network parameters. Moreover, we show that our approach outperforms deterministic optimization approaches in network cost minimization.

The role of small pelagic fish in diverse ecosystems: knowledge gleaned from food-web models

Small pelagic fish (SPF) are important forage species and a target of major fisheries within diverse ecosystems. SPF are a critical link between plankton and higher trophic levels. Understanding the network of dependencies among species and fisheries supported by SPF is required for effective resource management and assessment of risks posed by environmental and anthropogenic stressors. Food-web models represent a synthesis of knowledge of these dependencies and are a platform for evaluating the consequences of change in SPF productivity. From Ecopath food-web models archived within EcoBase (www.ecobase.ecopath.org) and from peer-reviewed literature, we compiled physiological parameters, biomasses, diets, and fishery catch rates that define SPF characteristics. From 199 models, metrics characterizing demand on ecosystem production, contribution to predators and fisheries, and sensitivities to changes in SPF were calculated. Across all models, globally, SPF represented 43% of total fish production and were supported by 8% of total primary production (14% in open ocean and 10% in upwelling models). In turn, SPF represented 18% of total fish and invertebrate catch (53% in upwelling models). From a services perspective, considering all direct and indirect trophic pathways, SPF were major contributors to predators and fisheries. On average, SPF supported 22% of seabird production, 15% of mammal production, and 34% of total fisheries catch. Support to upper trophic levels was greater in upwelling models (33% of seabird, 41% of mammal, and 62% of fishery production). These analyses show the importance of accounting for direct and indirect support by SPF to predators and fisheries when making management decisions.

Dispersion properties of (La0.06Ga0.94)2O3:Eu thin films

The dispersion of the refractive index of (La0.06Ga0.94)2O3:Eu thin films obtained by radio-frequency ion-plasma sputtering has been studied. It was found that the films have a polycrystalline structure corresponding to the monoclinic structure of β- Ga2O3. It is shown that the freshly deposited films are characterised by an abnormal dispersion, and after annealing in argon, a normal dispersion of the refractive index is observed. It was found that at normal dispersion, the spectral dependence of the refractive index in the visible region of the spectrum is mainly determined by electronic transitions from the 2p-state oxygen band, which form the upper filled level of the valence band to the bottom of the conduction band formed by hybridised 2p-states of oxygen and 4s-states of gallium. Two single-oscillator approximation models were analysed and compared for the films annealed in argon, and the approximation parameters, dispersion energy, degree of chemical bond ionicity, coordination number, and static refractive index were determined.

Effect of Art Integrated Learning on Knowledge Retention Ability of Students at Upper Primary Level

The presented research study is related to the study of the effect of art-integrated learning strategies on the knowledge retention ability of students. The main objective was to examine the effect of art-integrated learning strategies on the knowledge retention ability of students. The researcher used an experimental research method to achieve the objectives. The researcher selected RS Public School, Sikandra, Agra governed by CBSE Board, India by Convenience sampling method, and the Random sampling method was used for the selection of class 7, 2 groups (Experimental and Control group). The number of students in both groups (experimental and control group) was equal 35-35. After conducting a pre-test using the Self-constructed Knowledge Retention Inventory to evaluate the knowledge retention ability of students in both experimental and control groups, the researcher taught social science using 20 lesson plans based on Art Integrated learning strategies to the experimental group. Meanwhile, in the control group, the same subject matter was taught by using conventional teaching methods. Afterward, a post-test of the knowledge retention ability of students was conducted by the researcher. In the context of students' knowledge retention ability, statistical analysis was performed on the obtained pre-test and post-test scores. Using the pre-test and post-test scores obtained in the context of students' knowledge retention ability, statistical tests such as mean, standard deviation, and critical ratio were used to examine the significance of Art Integrated learning strategies. Based on the results of the present research study, it was found that the use of Art Integrated learning strategies in teaching has a significant impact on students' knowledge retention ability. Therefore, the hypothesis made in the context of ‘There is no significant effect of Art Integrated Learning Strategies on the Knowledge Retention Ability of students at upper primary level in experimental after treatment.’ has been rejected. Based on the results of this research, it can be said that teachers should use Art Integrated learning strategies in their teaching-learning activities, so that students' knowledge retention ability can be raised to a higher level regarding social sciences, and they can also express their proficiencies in the context of various aspects of education.

The first Cyclida from the Triassic of Italy

A well-preserved carapace of the crustacean Halicyne is here described. The finding comes from the Sostegno Basin (Piedmont, Italy). This is the first occurrence of a well-preserved arthropod from the Middle Triassic San Salvatore Formation of the Biellese area and the first report of a Triassic Cyclida from Italy. Cyclida often occurs in shallow marine environments with rapidly changing salinity conditions. The finding from the Sostegno area suggests a hypersaline paleoenvironment similar to that of Monte San Salvatore (Ticino, Switzerland) upper levels, where the same taxon was previously documented. These fossiliferous localities are shortly compared with that of Rasa di Varese (Lombardy, Italy).

Anthropogenic warming degrades spring air quality in Northeast Asia by enhancing atmospheric stability and transboundary transport

Air pollutants can travel long distances from their sources, often causing severe particulate matter (PM) pollution in downwind regions. This transboundary pollution is largely influenced by meteorology and hence its changes associated with climate change. However, the effects of anthropogenic warming on transboundary pollution remain unclear. We show that springtime PM pollution can worsen with anthropogenic warming not only in the upwind region (northern China) but also in the downwind regions (South Korea and southern Japan). The worse air quality in northern China is attributed to a shallower boundary layer due to warmer air advection in the upper levels from high-latitude Eurasia and thus increased atmospheric stability. In the downwind regions, enhanced westerly/southwesterly anomalies induced by anthropogenic warming strengthen transboundary transport. The increase in primary aerosol concentrations due to the shallower boundary layer and/or enhanced transboundary transport is ~14% in northern China, ~13% in South Korea, and ~17% in southern Japan. The elevated relative humidity due to enhanced moisture transport by the wind anomalies promotes secondary aerosol formation, which further degrades the air quality in the downwind regions. The enhancement ratio of secondary aerosols relative to changes in primary aerosols is ~1 in northern China, ~1.12 in South Korea, and ~1.18 in southern Japan due to anthropogenic warming.

Wave Breaking Events and Their Link to Rossby Wave Packets and Atmospheric Blockings During Southern Hemisphere Summer

AbstractRossby Wave Packets (RWPs) are atmospheric perturbations located at upper levels in mid‐latitudes which, in certain cases, terminate in Rossby Wave Breaking (RWB) events. When sufficiently persistent and spatially extended, these RWB events are synoptically identical to atmospheric blockings, which are linked to heatwaves and droughts. Thus, studying RWB events after RWPs propagation and their link with blocking is key to enhance extreme weather events detection 10–30 days in advance. Hence, here we assess (a) the occurrence of RWB events after the propagation of transient RWPs, (b) whether long‐lived RWPs (RWPs with a lifespan above 8 days, or LLRWPs) are linked to large‐scale RWB events that could form a blocking event, and (c) the proportion of blocking situations that occur near RWB events. To do so, we applied a tracking algorithm to detect transient RWPs in the southern hemisphere during summertime between 1979 and 2021, developed a wave breaking algorithm to identify RWB events, and searched for blocking events with different intensities. Results show that LLRWPs and the other RWPs displayed large‐scale RWB events around 40% of the time, and most RWB events in both distributions last around 1–2 days, which is not long enough to identify them as blocking situations. Nearly 17% of blockings have a RWB event nearby, but barely 5% of blockings are linked to RWPs, suggesting that transient RWPs are not strongly linked to blocking development. Lastly, large‐scale RWB events associated with RWPs that lasted less than 8 days are influenced by El Niño‐Southern Oscillation.

Exploring pre-neolithic environmental dynamics: paleoecology around the Göbekli Tepe based on a multiproxy approach in southeastern Türkiye

Abstract Background and aims Paleoecological findings from soil samples recovered near the Göbekli Tepe indicate an environment that sustains a variety of multiproxy analyses, revealing prominent changes in ecological conditions. Methods Soil samples were collected in the vicinity of the pre-Neolithic site in the Göbekli Tepe. These sediment samples underwent comprehensive analysis utilizing a multiproxy approach, which included pollen analysis, total organic carbon (TOC) and total inorganic carbon (TOC) measurements, and X-ray fluorescence (XRF) elemental analysis. Results Total organic carbon varied significantly in the SK-1 section, with lower levels at the bottom and higher levels at the top. The Ca/Ti ratio, which is indicative of weathering and moisture availability, typically increased in the early Holocene and briefly decreased at approximately 13,354 years BP. The Sr/Ti ratio, related to weathering and erosion processes, also suggests intensified weathering. The presence of deciduous forests and the increase in organic carbon values further support the notion of favorable environmental conditions during the early Holocene. In contrast, the lower levels of SK-1 show lower organic carbon values, lower Ca/Ti and Sr/Ti ratios, and greater abundances of herbaceous plants and steppes, indicating colder and drier conditions at 13,354 years BP. Conclusion A significant increase in organic carbon values and the presence of deciduous Quercus in the upper levels of the SK-3 section suggest a period of increased organic productivity and the existence of deciduous forests during the early Holocene at the Göbekli Tepe.

Risk-averse bi-level planning model for maximizing renewable energy hosting capacity via empowering seasonal hydrogen storage

Renewables (i.e., solar and wind power) in the Nordic area have highly seasonal characteristics, which severely restrict the wide development of renewables since they can be excessive in summer but insufficient in winter with intermittent outputs. The conventional battery energy storage system (BESS) with short-term adjustment functionality cannot eliminate the seasonal imbalance of renewables. In this regard, a risk-based bi-level planning model is presented to maximize the hosting capacity (HC) of renewables through configuring seasonal hydrogen storage (SHS) and BESS. Specifically, the upper level applies a multi-objective scheme to maximize HC and minimize the investment cost simultaneously. In turn, the lower level is driven by maximizing the profits of the distribution system operator (DSO) with the implementation of price-based demand response (PBDR). Due to forecasting errors of renewables and load resulting from intermittent output and random behaviors, a stochastic programming (SP) method is developed to address and adapt multiple uncertain fluctuations. Moreover, the conditional value-at-risk (CVaR) is introduced to measure the effect of the risks raised by multiple uncertainties on system operation. Finally, numerical studies are employed to verify the effectiveness of the proposed model. Compared to the cases without considering PBDR and SHS, the total renewable energy HC in the proposed model is increased by 2.30 MW and 0.37 MW, respectively, while the yearly cost benefit of DSO is enhanced by 28063.2 US$ and 17823.7 US$, respectively. The promising results demonstrate the empowerment of SHS can promote the cross-seasonal consumption of renewables, effectively maximizing the HC and improving the economic operation of distribution systems.

Neural Arch Preservation-Posterior Vertebral Column Resection: 2-Dimensional Operative Video.

This technique is a modification of the posterior vertebral column resection (PVCR) for patients with kyphoscoliosis with vertebral column resection indications (Cobb angle >100° angular and rigid with flexibility <20%-30%). The neural arch (preservation)-PVCR has the biomechanical advantage of maintaining the dural sac and the spinal cord attached within the neural arch and ligamentum flavum (dorsal meningovertebral ligaments are in tension in kyphosis), avoiding spinal cord deviation during the vertebrectomy. Preserving the neural arch did not interfere with corrective maneuvers of the anterior and middle columns and avoided the spinal translation in any anatomic plane. Standard posterior spinal midline approach and insertion of pedicle screws, a temporary rod is placed on contralateral side to maintain the stability of the spine during neural arch (preservation)-PVCR and to prevent translation of the spine. A costotransversectomy for an anterior approach is performed in the apex level and discectomies of the upper and lower levels. The anterior column reconstruction is made with a structural graft or titanium mesh cage with autograft. The correction is made with compression of the segment of the osteotomy, kyphosis correction with "in situ" rod benders, and Cantilever maneuver for final correction. A multiple rod construction is placed to increase stability. This technique has the potential benefits of decreasing operative time and blood loss, protecting the neural elements from fibrous scars and more posterior fusion for decreasing pseudoarthrosis. The patient consented to the procedure. The participants and any identifiable individuals consented to publication of his/her image.

Evaluation of chronic hepatitis B patients who voluntarily discontinued oral antiviral therapy: is there an answer to the controversial topic?

The uncertain treatment duration for nucleos(t)ide analogues (NA) used in the treatment of chronic hepatitis B (CHB) is an important problem for both patients and physicians. The aim of this study was to evaluate the determinants of virologic relapse (VR) and the optimum time of treatment discontinuation in the follow-up of CHB patients who voluntarily discontinued treatment after virological suppression was achieved under NA use. Data from 138 patients from 11 centers were included in this registry-based study. Factors associated with VR were investigated using multivariate Cox regression analysis. Ninety-nine (71.7%) of the patients were HBeAg (Hepatitis B e antigen) negative. During the 24-month follow-up period after treatment discontinuation, VR occurred in 58.7% (n = 81) of all patients and 57.6% (n = 57) of HBeAg-negative patients. The duration of NA treatment was significantly shorter (cutoff 60 months) in HBeAg-negative patients who later developed VR. In addition, the duration of virologic remission achieved under NA treatment was significantly shorter (cutoff 52 months) in those who later developed VR. In the Cox multivariate regression model of HBeAg-negative patients, having less than 60 months of NA treatment (HR = 2.568; CI:1.280-5.148; P  = 0.008) and the levels of alanine aminotransferase being equal to or higher than twice the upper level of normal at the beginning of treatment (HR = 3.753; CI:1.551-9.081; P  = 0.003) were found to be statistically significant and independently associated with VR. The findings of this study may provide clinical guidance in terms of determining the most appropriate discontinuation time for NA.

Integrated control of anti-rollover for high-mobility emergency rescue vehicles

In this paper, an integrated anti-rollover control strategy is proposed to solve the rollover stability problem of emergency rescue vehicles. The integrated anti-rollover control is performed on the Active suspension system and the multi-axle steering system. Firstly, establish an eleven-degree-of-freedom coupled dynamic model for the vehicle; Secondly, the H∞/generalized H2 output feedback controller for Active suspension is designed, and the multi-axle steering LQR controller is designed; The upper level coordinated fuzzy controller is designed again, and the integrated control strategy of anti-rollover is used to integrate the Active suspension system and the multi-axle steering system. The test results show that, compared with the uncontrolled vehicle, the root mean square value of the lateral load transfer rate of the vehicle under integrated control decreased by 14.3%, 12%, and 10.9%; the root mean square values of lateral acceleration decreased by 26.8%, 22.8%, and 27.4%, respectively; the root mean square values of roll angle decreased by 27.7%, 25.2%, and 29.1%, respectively; respectively in the three-vehicle tests, and the proposed integrated control strategy for rollover prevention effectively improved the rollover prevention ability of emergency rescue vehicles.