目的探讨两种不同分娩体位对足月单胎初产妇分娩结局及产后盆底功能的影响.方法将本院90例阴道分娩初产妇采用前瞻性随机对照试验方法分为对照组和观察组,每组均45例.所有初产妇均按照产程标准实施分娩护理管理,对照组采用传统平卧位分...目的探讨两种不同分娩体位对足月单胎初产妇分娩结局及产后盆底功能的影响.方法将本院90例阴道分娩初产妇采用前瞻性随机对照试验方法分为对照组和观察组,每组均45例.所有初产妇均按照产程标准实施分娩护理管理,对照组采用传统平卧位分娩,观察组根据产妇个人喜好和舒适度自由选择分娩体位.比较2组初产妇分娩方式、产程时间、产后出血量、会阴无损伤率和新生儿Apgar评分等情况.产后6周进行盆底肌力检查,比较2组产后盆底功能.结果2组产后出血量、第三产程时间和新生儿1 min Apgar评分比较,差异均无统计学意义(P>0.05);观察组阴道分娩成功率100.00%,无中转剖宫产者,对照组阴道分娩成功率86.67%,中转剖宫产率13.33%,2组分娩方式比较差异有统计学意义(P<0.05);观察组第一产程时间、第二产程时间短于对照组,会阴无损伤率高于对照组,差异有统计学意义(P<0.05);产后6周盆底肌力检测显示,观察组阴道静息压(VRP)、阴道收缩压(VSP)、收缩持续时间、Ⅰ、Ⅱ类纤维强度均高于对照组,差异均有统计学意义(P<0.05).结论自由体位分娩能有效降低足月单胎初产妇中转剖宫产率、缩短产程时间和减少会阴损伤,对产妇盆底功能有较好保护作用.展开更多
Trajectory tracking control of space robots in task space is of great importance to space missions, which require on-orbit manipulations. This paper focuses on position and attitude tracking control of a tree-floating...Trajectory tracking control of space robots in task space is of great importance to space missions, which require on-orbit manipulations. This paper focuses on position and attitude tracking control of a tree-floating space robot in task space. Since nei- ther the nonlinear terms and parametric uncertainties of the dynamic model, nor the external disturbances are known, an adap- tive radial basis function network based nonsingular terminal sliding mode （RBF-NTSM） control method is presented. The proposed algorithm combines the nonlinear sliding manifold with the radial basis function to improve control performance. Moreover, in order to account for actuator physical constraints, a constrained adaptive RBF-NTSM, which employs a RBF network to compensate for the limited input is developed. The adaptive updating laws acquired by Lyapunov approach guar- antee the global stability of the control system and suppress chattering problems. Two examples are provided using a six-link free-floating space robot. Simulation results clearly demonstrate that the proposed constrained adaptive RBF-NTSM control method performs high precision task based on incomplete dynamic model of the space robots. In addition, the control errors converge faster and the chattering is eliminated comparing to traditional sliding mode control.展开更多
文摘目的探讨两种不同分娩体位对足月单胎初产妇分娩结局及产后盆底功能的影响.方法将本院90例阴道分娩初产妇采用前瞻性随机对照试验方法分为对照组和观察组,每组均45例.所有初产妇均按照产程标准实施分娩护理管理,对照组采用传统平卧位分娩,观察组根据产妇个人喜好和舒适度自由选择分娩体位.比较2组初产妇分娩方式、产程时间、产后出血量、会阴无损伤率和新生儿Apgar评分等情况.产后6周进行盆底肌力检查,比较2组产后盆底功能.结果2组产后出血量、第三产程时间和新生儿1 min Apgar评分比较,差异均无统计学意义(P>0.05);观察组阴道分娩成功率100.00%,无中转剖宫产者,对照组阴道分娩成功率86.67%,中转剖宫产率13.33%,2组分娩方式比较差异有统计学意义(P<0.05);观察组第一产程时间、第二产程时间短于对照组,会阴无损伤率高于对照组,差异有统计学意义(P<0.05);产后6周盆底肌力检测显示,观察组阴道静息压(VRP)、阴道收缩压(VSP)、收缩持续时间、Ⅰ、Ⅱ类纤维强度均高于对照组,差异均有统计学意义(P<0.05).结论自由体位分娩能有效降低足月单胎初产妇中转剖宫产率、缩短产程时间和减少会阴损伤,对产妇盆底功能有较好保护作用.
文摘Trajectory tracking control of space robots in task space is of great importance to space missions, which require on-orbit manipulations. This paper focuses on position and attitude tracking control of a tree-floating space robot in task space. Since nei- ther the nonlinear terms and parametric uncertainties of the dynamic model, nor the external disturbances are known, an adap- tive radial basis function network based nonsingular terminal sliding mode （RBF-NTSM） control method is presented. The proposed algorithm combines the nonlinear sliding manifold with the radial basis function to improve control performance. Moreover, in order to account for actuator physical constraints, a constrained adaptive RBF-NTSM, which employs a RBF network to compensate for the limited input is developed. The adaptive updating laws acquired by Lyapunov approach guar- antee the global stability of the control system and suppress chattering problems. Two examples are provided using a six-link free-floating space robot. Simulation results clearly demonstrate that the proposed constrained adaptive RBF-NTSM control method performs high precision task based on incomplete dynamic model of the space robots. In addition, the control errors converge faster and the chattering is eliminated comparing to traditional sliding mode control.
