Path Planning and Trajectory Tracking for Automatic Guided Vehicles.

Automated guided vehicle technology has become a hot area of scientific research due to its increasing use in manufacturing and logistics. Its main features are programming and control, remote computer eye tracking, command receiving and execution, autonomous route planning, and autonomous driving execution of tasks, with the advantages of high intelligence and flexibility. In this work, a simple vehicle model is used to study the route planning and tracking control of automatic guided vehicles. This paper uses wireless communication to find the optimal route planning problem. Using geometric methods, we develop a model of the working environment of the mobile automatic guided vehicle and develop a route finding algorithm. Based on the kinematic model, an advanced routing controller is designed to conduct experimental simulation of two trajectories and verify the effectiveness of the trajectory tracking controller. When the time is after 2 s, the position error is almost completely zero. In the path planning, when the number of iterations is greater than 10, the path length remains constant, verifying the effectiveness of the method in this paper.

Maternal syphilis treatment and pregnancy outcomes: a retrospective study in Jiangxi Province, China.

BACKGROUND: Studies investigating the associations of maternal syphilis treatment with birth outcomes mainly concentrated in economically developed areas. Limited data are available in economically underdeveloped areas, such as Jiangxi Province. The study aims to investigate the impact of maternal treatment on birth outcomes in Jiangxi Province, China. METHODS: Data were obtained from the China's Information System of Prevention of Mother-to-Child Transmission in Jiangxi Province. All syphilis infected pregnant women who delivered ≥28 gestational weeks and were registered in this system between 1 January 2013 and 31 December 2019 were enrolled. Pregnancy outcomes were evaluated by group-specific analyses according to their treatment status, adequacy and initiation time. RESULTS: 4210 syphilis infected pregnant women were included in the analyses. Infants born to untreated mothers (n = 1364) were at significantly higher risk for stillbirth (adjusted odds ratio (aOR) = 1.74, 95% CI, 1.01-3.00, P = 0.045), preterm birth (aOR = 1.27, 95% CI, 1.02-1.59, P = 0.034) and low birth weight (LBW) (aOR = 1.44; 95% CI, 1.11-1.86, P = 0.006) than those born to treated mothers (n = 2846) after adjustment for confounding factors. A significantly higher risk of stillbirth (aOR = 3.68; 95% CI, 1.62-8.34, P = 0.002), preterm birth (aOR = 2.26; 95% CI, 1.71-3.00, P < 0.001), LBW (aOR = 2.23; 95% CI, 1.59-3.14, P < 0.001) and congenital syphilis (CS) (aOR = 3.63; 95% CI, 1.80-7.31, P < 0.001) was found in infants exposed to mothers treated inadequately (n = 1299) than those treated adequately (n = 1547). No pregnant women who initiated the treatment in the first trimester (n = 682) delivered a neonatal CS case. Compared with mothers who initiated treatment in the first trimester (n = 682), those initiated in the third trimester (n = 1234) suffered an increased risk of stillbirth (aOR = 4.48; 95% CI, 1.31-15.30, P = 0.017), preterm birth (aOR = 2.34; 95% CI, 1.61-3.40, P < 0.001) and LBW (aOR = 3.25; 95% CI, 1.97-5.37, P < 0.001). CONCLUSIONS: Maternal treatment, especially early and adequate treatment, plays a crucial role in mitigating adverse pregnancy outcomes among syphilis infected women.

[Effect of fertilization depth on 15N-urea absorption, utilization and loss in dwarf apple trees].

Five-year-old 'Fuji'3/M26/M. hupehensis Rehd. seedlings were treated by 15N tracer to study the effects of fertilization depth (0, 20 and 40 cm) on 15N-urea absorption, distribution, utilization and loss in soil. The results showed that the plant leaf area, chlorophyll content and total N of apple leaves in 20 cm treatment were obviously higher than 0 cm and 40 cm treatments. The 15N derived from fertilizer (Ndff) in different organs of apple plant under different depths were significantly different, and the Ndff was the highest in roots at the full-bloom stage, and then in perennial branches. During the shoot rapid-growing and flower bud differentiation stage, the Ndff of new organs higher than that of the storage organs, and the Ndff of different organs were high level at fruit rapid-expanding stage, and the Ndff of fruit was the highest. The distribution ratio of 15N at fruit maturity stage was significantly different under fertilization depths, and that of the vegetative and repro- ductive organs of 20 cm treatment were obviously higher than 0 cm and 40 cm treatments, but that of the storage organs of 20 cm treatment was lower than 0 cm and 40 cm treatments. At fruit maturity stage, 15N utilization rate of apple plant of 20 cm treatment was 24.0%, which was obviously higher than 0 cm (14.1%) and 40 cm (7.6%) treatments, and 15N loss rate was 54.0%, which was obviously lower than 0 cm (67.8%) and 40 cm (63.5%) treatments. With the increase of fertilization depths, the N residue in soil increased sharply.

Expression of CD44v6 and Livin in gastric cancer tissue.

BACKGROUND: CD44v6 plays an important role in invasion and metastasis of tumor, Livin has anti-apoptotic effects. The present study aimed to explore the expression and clinical significance of CD44v6 and Livin in gastric cancer tissue. METHODS: Streptavidin-peroxidase linked immunohistochemical method was used to determine the expression of CD44v6 and Livin in gastric cancer tissue and adjacent normal gastric tissues from 59 patients with histopathologically confirmed gastric cancer, and in gastric tissue specimens of 15 patients with gastric polyps, and 15 patients with chronic non-atrophic gastritis. The chi-square test was used for comparison of the relevant factors, Spearman's rank correlation test was applied for relationship among positive expression of the proteins. RESULTS: The expresion of CD44v6 was positive in 64.4% of the gastric cancer patients; 5.1%, 0 and 13.3% in specimens of normal tissues adjacent to the cancer tissues, in gastric tissue specimens of patients with gastric polyps, and patients with chronic non-atrophic gastritis, respectively. The expression of Livin was positive in 52.5% of the gastric cancer tissues, 6.8%, 0 and 6.7% in the adjacent normal gastric tissue, specimens of patients with gastric polyps and chronic non-atrophic gastritis, respectively. The expression of CD44v6 was significantly correlated with the depth of invasion, the degree of differentiation, and lymphnode metastasis of gastric cancer (P < 0.05). The positive expression rate of Livin protein was also significantly correlated with degree of differentiation of gastric cancer cells and metastasis to lymphnodes (P < 0.05), but not correlated with the depth of invasion and pathological types (P > 0.05). The expression of CD44v6 and Livin in the gastric cancer tissue was positively correlated (r(s) = 0.286, P = 0.028). CONCLUSIONS: The increased expression of CD44v6 and Livin in gastric cancer tissue may be closely related with development and progression of gastric cancer. CD44v6 and Livin may be new biological markers of gastric cancer.