Considering the same initial state error in each repetitive operation in the iterative learning system, a method of arranging the transient process is given. During the current iteration, the system will track the transient function firstly, and then the expected trajectory. After several iterations, the learning system output will trend to the arranged curve, which has avoided the effect of the initial error on the controller. Also the transient time can be changed as you need, which makes the designing simple and the operation easy. Then the detailed designing steps are given via the robot system. At last the simulation of the robot system is given, shows the validity of the method.

Considering the same initial state error in each repetitive operation in the iterative learning system, a method of arranging the transient process is given. During the current iteration, the system will track the transient function firstly, and then the expected trajectory. After several iterations, the learning system output will trend to the arranged curve, which has avoided the effect of the initial error on the controller. Also the transient time can be changed as you need, which makes the designing simple and the operation easy. Then the detailed designing steps are given via the robot system. At last the simulation of the robot system is given, shows the validity of the method.

Hemodynamic monitoring is an essential part in the care of children with congenital heart disease during perioperative period to guide clinical management.Currently,there are several methods available for hemodynamic monitoring.The invasive methods include the Fick method,thermodilution method,using the Swan-Ganz catheter and the pulse contour method.The noninvasive methods include partial carbon dioxide resorption,impedance method.In this paper,the principle,advantages and disadvantages of these monitoring methods in children undergoing cardiopulmonary bypass surgery were reviewed.

The morbidity of deep vein thrombosis (DVT) after total hip replacement,total knee replacement or hip fractures surgery is high,and there is no effect way to prevent.Rivaroxaban is an oral,direct factor Xa inhibitor.The prevention effect of rivaroxaban to DVT after orthopedic surgery is stronger than enoxaparin.The view summarizes the mechanism,pharmacokinetics,interaction of drugs and the antithrombotic effect after orthopedic surgery.

Objective To study the prenatal diagnosis and clinical significance of fetal hyperechogenic kidneys.Methods Thirty one cases with fetal hyperechogenic kidneys were prenatally diagnosed with ultrasound.Autopsy was conducted and histological examination of the kidney was performed when pregnancy was terminated.A close follow-up was given for cases continuing pregnancy.Umbilical cord blood was collected for fetal chromosome analysis after delivery.Results(1)6 fetuses were complicated with other organ abnormalities,3 fetuses had abnormal chromosome,and 2 cases had a family history.(2) 12 cases chose to terminate pregnancy,10 of whom were oligohydromnios.Causes for fetal hyperechogenic kidneys were infantile polycystic kidney disease(IPKD,10 cases),adult polycystic kidney disease (APKD,1 case),polycystic kidney dysplasia(PKD,1 case)after postmortem histological examination. (3)Nineteen cases continued pregnancy,2 neonates with oligohydramnios died during neonatal period,both of them were IPKD;3 cases that were IPKD,IPKD and KPD respectively died 3 months,8 months and 1 year after birth,respectively;one case presented with hypertension symptom 26 months after birth,which was diagnosed as IPKD.The other 13 cases had no clinical manifestation and a close following-up is being undertaken for them at present.Conclusions(1)Fetal hyperechogenic kidneys could be caused by IPKD, APKD,or PKD,and are sometimes a normal variant.(2)Aminotic fluid volume is a key factor for prognosis;a suggestion for termination would be given to cases with fetal hyperechogenic kidneys and oligohydromnios.(3)For cases with fetal hyperechogenic kidneys,a complete and careful ultrasonography should be given to both parents and fetus,and fetal chromosomal analysis is suggested prenatally.

Adult ; Aged ; Bone Neoplasms ; diagnosis ; secondary ; Diffusion Magnetic Resonance Imaging ; methods ; Female ; Follow-Up Studies ; Humans ; Liver Neoplasms ; diagnosis ; secondary ; Male ; Middle Aged ; Multimodal Imaging ; methods ; Nasopharyngeal Neoplasms ; diagnosis ; Positron-Emission Tomography ; Tomography, X-Ray Computed ; Whole Body Imaging ; methods

Objective To evaluate the locating effects of a portable ultrasound for leg perforator flaps,and the clinical effects of leg perforator flaps for the wounds of the extremities.Methods Since December 2009 to March 2011,thirty-one cases of soft tissue defects of the extremities were treated with free vascularized leg perforator flaps in our center.A portable ultrasound were used for the locating of the perforator arteries of the leg before the operations.These flaps include 24 cases of the fibular artery perforator flaps (4 with simultaneous fibula transfer),three cases of the posterior tibia artery perforator flap,two cases of the medial gastrocnemius artery perforator flap,and 2 cases of the lateral gastrocnemius artery perforator flap.The flap size ranged from 15.0 cm × 8.0 cm to 1.0 cm × 1.5 cm.The caliber diameter of the perforator artery ranged from 0.2 mm to 1.8 mm.The wounds included 21 cases of the hand,five cases of the forearm,and 5 cases of the leg.Results The coincidence rate intraoperatively of the portable ultrasound was 96.8％.All the flaps survived and the wounds healed uneventfully.The donor site of the flaps were either closed directly or closed with partial split-thickness skin graft.Conclusion The portable ultrasound is an effective,reliable and accurate instrument for locating the leg perforator flaps.The leg perforator flaps have the advantages of convenient harvest,satisfactory thickness,less donor site morbidity,and high survival rate.

Objective To investigate the iodine nutritional level of 5 special groups (newly married women,pregnant women, lactating women, babies and infants, and students) in Ningxia, and to provide the basis for formulating prevention and control strategies. Methods Clustering and random sampling method were used. In 2008 and 2009, in the 22 counties investigated, in every county with 9 townships or more, nine townships were randomly selected according to their sub-area positions of east, west, south, north and center; four villages were randomly selected in each chosen township, four people with special needs and 2 infants were randomly selected for urine samples collection in each chosen village. In every county with 9 or less townships, one township was randomly selected respectively in east, west, south, north and center sub-areas; four villages were randomly sampled in each chosen township, eight people with special needs and 3 infants' urine samples were randomly collected in each chosen village. In the 22 counties, one township was randomly selected respectively in east, west,south, north and center sub-areas, one village elementary school was randomly sampled in each chosen township,twenty students aged 8 - 10 were randomly selected to collect their urine samples in each school. The iodine concentration was determined by arsenic-cerium contact method. Results A total of 6894 copied of urine samples from newly married women, pregnant women, lactating women, babies and infants, and students were examined, the urinary iodine medians were 209.3, 187.4, 184.0, 216.5, 216.3 μg/L, respectively. From low to high in the order was lactating women, pregnant women, newly married women, students, babies and infants. The level of urinary iodine of babies and infants, pregnant women and lactating women were appropriate, the one of newly married women and students were higher than appropriate. The proportion of less than 100 μg/L of urinary iodine of the 5 kinds special groups were 11.1% (53/475), 35.4% (308/871), 35.4% (659/1863), 19.1% (283/1483), 8.4%(185/2202), respectively, while the urinary iodine of the pregnant women and lactating women were relatively high. The urinary iodine medians of the 5 special groups were also very different among counties. Conclusions The urinary iodine of the 5 special groups in Ningxia presents obvious differences between populations and regions.Current iodized salt is sufficient to ensure iodine nutrition needs for the 5 special groups. But married women and students have higher levels of iodine nutrition, indicating that the salt iodine concentration of Ningxia residents have cut space, full consideration of the 5 special groups and regional differences should be taken.

OBJECTIVETo explore the effect of Chinese drugs for Pi strengthening Shen benefiting (CDPSSB) on the immunity function of HIV/AIDS patients' specific T cells.

METHODSTotally 20 patients were randomly recruited from the treated group [treated by CDPSSB combined highly active anti-retroviral therapy (HAART)] and 23 patients were randomly recruited from the control group (treated by HAART alone). All patients were follow-up infected persons form You'an Hospital between from June 2010 to June 2012. CD4+ T absolute counts and HIV viral load were detected. Meanwhile, HIV whole gene overlapping peptides were used as stimulating antigen. The response intensity of HIV specific T cells was detected in the two groups.

RESULTSThere was no statistical difference in CD4 T absolute counts or HIV viral load between the two groups (P > 0.05). The response intensity of HIV specific T cells was significantly enhanced in the treated group, when compared with the control group (P < 0.05). Along with elongation of treatment time (6, 12, 18, and 24 months) in the treated group, the response intensity of HIV specific T cells showed enhancing tendency, but there was no statistical difference among these time points (P > 0.05).

CONCLUSIONCDPSSB could enhance improve the immunity function of HIV specific T cells, which might be one of its mechanisms.

Adult ; Antiretroviral Therapy, Highly Active ; CD4 Lymphocyte Count ; Drugs, Chinese Herbal ; pharmacology ; Female ; HIV Infections ; drug therapy ; immunology ; Humans ; Male ; Middle Aged ; T-Lymphocytes ; drug effects ; immunology ; Viral Load

Objective To investigate the clinical value of double contrast-enhanced ultrasonography (DCUS) for the diagnosis of gastric cancer.Methods A retrospective analysis was performed to review the DCUS data of 26 patients which were diagnosed as gastric cancer by pathology in the third affiliated hospital of Kunming Medical University from October 2014 to July 2015.The analysis results were compared with postoperative pathology to get accuracy rates.Results The located accuracy,qualitative accuracy and accuracy at T phase of DUCS was 100％ (26/26),100％ (26/26) and 88.5％ (23/26),respectively.Compared with color doppler flow imaging (CDFI),the qualitative accuracy of DUCS was much higher (P ＜ 0.05).The accuracy of DUCS at T phase was higher than that of CDFI with no statistical significance (P ＞ 0.05) Conclusion DUCS has an important application value in the diagnosis of gastric cancer.