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In order to satisfy all the requirements of Unmanned Underwater Vehicle(UUV)recovery tasks, a new type of abdominal operating Remote Operated Vehicle(ROV) was developed. The abdominal operating ROV is different from the general ROV which works by a manipulator, as it completes the docking and recovery tasks of UUVs with its abdominal operating mechanism. In this paper, the system composition and principles of the abdominal operating ROV are presented. We then propose a framework for a control system in which the integrated industrial reinforced computer acts as a surface monitor unit, while the PC104 embedded industrial computer acts as the underwater master control unit and the other drive boards act as the driver unit. In addition, the dynamics model and a robust H-infinity controller for automatic orientation in the horizontal plane were designed and built. Single tests, system tests and underwater tests show that this control system has good real-time performance and reliability, and it can complete the recovery task of a UUV. The presented structure and algorithm could have reference significance to the control system development of mobile robots, drones, and biomimetic robot.

Objective: To investigate the feasibility and clinical characteristics of small partial laryngectomy without tracheotomy for T1-2 stage glottic carcinoma., Method: Forty-five patients with laryngeal squamaous cell carcinoma in T1-2 stage received small partial laryngectomy without tracheotomy., Result: All patients were primarily healed and were hospitalized for an average of 11.5 days post-operatively. In all patients, the function of respiration and the reflection of cough were normal, and laryngeal obstruction did not happen. The only postoperative complication was subcutaneous emphysema noted in 29 patients. Among them, subcutaneous emphysema extincted after 4-6 days in 26 patiens, only 3 patiens suffered from delayed healing because the subcutaneous emphysema extincted after 2 weeks. Mild subcutaneous emphysema did not affect the function of respiration and deglutition, healing of wound, and psychology of patients. All patients had been followed-up for 1-13 years. Only 2 patients died of tumor recurrence or metastasis. The function of respiration and deglutition were normal in the living patients, and no implanting metastasis on surface of trachea were found., Conclusion: The theoretical foundation of small partial laryngectomy without tracheotomy for T1-2 stage glottic carcinoma has been well established. This surgical technique is feasible, safe and effective. It can significantly improve clinical outcome of T1-2 stage glottic carcinoma with minimal invasiveness. Furthermore, it can obviously abate the surgical, physiological and psychological trauma on patients.

The rapid prediction of the low-carbon fatty acids (C < or = 14) content in grease samples was achieved by a mathematical model established by near infrared spectroscopy combined with support vector machine regression (SVR). In the present project, near-infrared spectrometer SupNIR-5700 was used to collect near-infrared spectra of 58 samples; partial least square (PLS) was applied to remove the strange samples, and principal component analysis (PCA) was conducted on the measurements; radial basis function (RBF) kernel function was selected to establish a regression model supporting vector machine, and then detailed analysis and discussions were conducted concerning their spectral preprocessing and parameters optimization methods. Experimental results showed that by applying particle swarm optimization (PSO) the model demonstrated improved performance, stronger generalization ability, better prediction accuracy and robustness. In the second pretreatment method after PSO, when the optimization parameters are: C = 2.085, gamma = 22.20, the prediction set and calibration set correlation coefficient (gamma) reached 0.998 0 and 0.925 8, respectively; and root mean square errors (MSE) were 0.000 4 and 0.014 3, respectively. Research results proved that the method based on near infrared spectroscopy and PSO-SVR for accurate and fast prediction of the low-carbon fatty acid content in vegetable oil is feasible.

A robust high performance liquid chromatography with fluorescence detection method (HPLC-FLD) was developed for the determination of five rhubarb anthraquinones in rat plasma using a quality by design approach. A Plackett-Burman design was utilized to screen the effects of methanol content, the pH value of mobile phase, the flow rate, column temperature, and injection volume on peak resolution, number of the theoretical plate, retention time of the last eluted peak, and tailing factor. The results showed that the methanol content in mobile phase, flow rate, and column temperature were statistically significant (p < 0.05). A Box-Behnken experimental design with response surface methodology (RSM) was then utilized to evaluate the effects of these three factors on the selected responses. Derringer' s desirability function was used for the evaluation of the chromatographic goals. The optimum conditions for separation were as follows: an isocratic mobile phase consisting of methanol/0.1% H3PO4 (81.4/18. 6, v/v), a flow rate of 1.1 mL/min, and a column temperature of 31 degrees C. The excitation and emission wavelengths were 440 nm and 540 nm, respectively. The proposed method showed good prediction ability. The results clearly showed that quality by design concept could be effectively applied to optimize the HPLC method.

Objective: To investigate the incidence of P53 and K-ras gene mutation in colorectal adenomas and primary colorectal carcinomas., Methods: There were 25 normal samples, 38 samples of colorectal adenoma, 78 samples of single primary colorectal cancer and 19 samples of multiple primary colorectal carcinomas (7 synchronous colorectal carcinomas and 12 metachronous colorectal carcinomas) collected in this study. With the analysis of clinico-pathologic features for each patient, exon 5-8 of P53 gene and codon 12-13 of K-ras gene of each sample were extended by real-time PCR. Multi-factor correlation analysis was carried out between the clinicopathologic features and the mutation of P53 and K-ras gene in colorectal adenoma and primary colorectal cancer., Results: The P53 gene mutation is 0% (0/25),44.8%(17/38), 43.6% (34/78) and 42.1% (8/19) respectively in normal mucosa tissue, colorectal adenomas, single lesion and multiple lesion of primary colorectal carcinomas, while the proportion of K-ras gene mutation was 0% (0/25), 18.4%(7/38), 39.7% (31/78), 47.4% (9/19) respectively. In our investigation there were obvious statistical differences as to the proportion of mutation of the P53 and K-ras gene between normal mucosa tissue and other three groups respectively (P<0.05), while statistical differences as to the proportion of mutation of K-ras gene were found between colorectal adenomas group and single or multiple colorectal carcinoma group (P<0.05). There was significant statistical difference between P53 and K-ras gene mutation in colorectal adenomas (P<0.05). In addition, there were no statistical differences as to the proportion of mutation of the P53 and K-ras gene between the stage I , II and well-differentiated ones of primary colorectal cancers and the stageIII IV and poorly-differentiated ones. There was no relationship between the age, gender, family history and tumor locations of the patients and the mutation of the P53 and K-ras gene. The stage and grade of differentiation of cancer was not the risky factor of the mutation of the P53 and K-ras gene in primary colorectal cancers., Conclusion: The cancers., Conclusion: results of this study not only suggest that mutation of P53 suppressor gene and K-ras play a significant role in the procedure of colorectal tumorigenesis, but also indicate that the mutation of P53 gene occurs earlier than K-ras mutation does during tumorigenesis.