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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 | Thickness Uniformity Adjustment of Inkjet Printed Light-emitting Polymer Films by Solvent Mixture显示文摘在这份报纸,厚度一致性(9,9-di-n-octylfluorene ) poly,由打印的 inkjet 有图案的电影被溶剂混合物的使用改进(与有更低的轻快的另一溶剂,有更高的轻快,更高的表面精力和更低的粘性的溶剂降低表面精力和更高的粘性) 。poly 打印的 inkjet (9,9-di-n-octylfluorene ) 的厚度拍摄的一般水准从 ca 被增加。30 nm 到 ca。100 nm 当溶剂混合物被使用而不是纯 chlorobenzene 时。更完全, PFO 电影与象咖啡戒指效果形成的剖面图一样的凹面透镜被形成而不是原来的电影。这改进被强烈 Marangoni 流动的联合在早在在溶剂混合形成的以后的弄干过程弄干过程和弱互补流动解释。有图案(9,9-di-n-octylfluorene ) poly,电影与改进电子性质被用于 electroluminescence 设备的制造。有大约 80% 有效轻射出的区域的象素的数组被获得。 | Rubo Xing Tengling Ye Yan Ding Zicheng Ding Dongge Ma Yanchun Han | 2013 | Chinese Journal of Chemistry2013，31，11： | 8 |
| 3 | 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 |
| 4 | Electroacupuncture at the Wangu (GB 12) acupoint suppresses expression of inflammatory factors in the hippocampus and frontal lobe of rats with post-stroke depression显示文摘Electroacupuncture was performed at the Wangu (GB 12) acupoint, whose position is similar to the cerebellar fastigial nucleus in rats with post-stroke depression. Results showed that the expression of nuclear factor-κB and the levels of tumor necrosis factor-α and interleukin-1β decreased. Simultaneously, the extent of edema in the hippocampus and frontal lobe decreased, and the morphology of the nerve cells recovered to near normal. In addition, fluoxetine treatment displayed a similar effect on post-stroke depression as electroacupuncture at GB 12 acupoint. The results indicate that electroacupuncture at GB 12 acupoint can reduce the levels of cytokines in the hippocampus and frontal lobe of rats with post-stroke depression, and thus provide a neuroprotective effect on post-stroke depression. | Rubo Sui Lei Zhang | 2011 | Neural Regeneration Research2011，6，36： | 6 |
| 5 | 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 |
| 6 | To inhibit coffee ring effect in inkjet printing of light-emitting polymer films by decreasing capillary force显示文摘Polymer thin film with uniform thickness and flat surface profile is the key point for polymer light emitting diodes(PLEDs) by inkjet printing. However, the coffee ring effect is usually observed due to the mismatch between the evaporation of the solvent and the decrease of solution volume, which promotes the formation of radial flow from the interior of the drop to the edge. In this paper, coffee ring effects of inkjet printed poly(spirobifluorene) films were proposed to be restrained by decreasing capillary force by adding co-solvent with high boiling point and high viscosity to the main solvent. The low evaporation rate of the co-solvent can reduce the driving force of the radial flow; meanwhile the high viscosity of the co-solvent can increase the resistance of the radial flow. Thus, polymer films with improve uniformity can be obtained due to the suppression of the radial flow. The device performance was greatly improved under the condition of proper film thickness and film uniformity and the maximum luminous efficiency of devices with inkjet printed poly(spirobifluorene) can reach 80% of the spin-coated devices. | Xinhong Yu Rubo Xing Zhongxiang Peng Yangming Lin Zhonghui Du Junqiao Ding Lixiang Wang Yanchun Han | 2019 | Chinese Chemical Letters2019，30，1： | 4 |
| 7 | Structure Design and Optimization of a New Type of Subsea Pipeline Connector显示文摘subsea 管道接头的一种新类型的基本配置基于出版社试穿原则被建议,并且一个参量的有限元素模型在 ANSYS 用 APDL 语言被创造。联合有限元素模型和优化技术,瞄准获得装载封上性能的力量和最佳的最小的尺寸优化被零个顺序优化方法设计。优化接头的实验被执行。结果显示结构的设计显著地改进了的最佳装载力量并且封上接头的性能的最小的指示物。 | Xiaoming Hu (1) Liquan Wang (2) Yong Liu (2) Rubo Ge (2) Lei Tan (2) Chuangye Fu (2) fu19880725@163.com Zongliang Wei (2) | 2012 | Journal of Marine Science and Application2012，11，1： | 2 |
| 8 | Finite element analysis of stress in bone adjacent to dental implants显示文摘 | Rubo J H Souza E A | 2008 | J Oral lmplantol2008，34，5： | 1 |
| 9 | Mood disorder in stroke patients importance of location of lesion 显示文摘 | Robinson RG Rubos KL Starr LB | 1984 | Brain1984，107，： | 1 |
| 10 | Cerebellar dysfunction may play an important role in post- stroke depression显示文摘 | Rubo Sui Lei Zhang Lianqiu Min | 2009 | Med Hypotheses2009，72，6： | 1 |
| 11 | Life cycle inventory and energy analysis of cassava based Fuel ethanol in China显示文摘 | Rubo Leng Chengtao Wang Cheng Zhang | 2008 | Journal of Cleaner Production2008，16，： | 1 |
| 12 | Mood disorderin stroke patients:Importance of location of lesion 显示文摘 | Robinson RG Rubos ksl Starr LB | 1984 | Brain1984，107，： | 1 |
| 13 | Mood sisorder in stroke patients : importance oflocation of lesion显示文摘 | Robinson RG Rubos KSL | 1984 | Brain1984，107，： | 1 |
| 14 | Volume measurement of the left ventricle in children with congenital heart defects: 3-dimensional echocardiography versus angiocardiography显示文摘 | Heusch A Rubo J Krogmann ON | 1999 | Cardiology1999，92，1： | 1 |
| 15 | Application of AHP FSE method in the network course quality eval- uation 显示文摘 | Geng Rubo Gang Xu a | 2011 | Proceed Engineering2011，，15： | 1 |
| 16 | Mood disorder in stroke patients:importance of location of location of lesion显示文摘 | Robinson RG Rubos KL Starr LB | 1984 | Brain1984，107，1： | 1 |
| 17 | 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 |
| 18 | Volume measurement of the left ventricle in children with congenital heart defects: 3-dimensional echocardiography versus angiocardiography 显示文摘 | Heusch A Rubo J Krogmann ON | 1999 | Cardiology1999，92，1： | 1 |
| 19 | Mood disorders in stroke post-patients:importance of location lesion显示文摘 | Rubos KL Starr LB | 1984 | Brain1984，107，1： | 1 |
| 20 | Mood disorders in stroke patients:importance of location lesion显示文摘 | Robinson RG Rubos KL Starr LB | 1984 | Brain1984，107，1： | 1 |
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