目的·调查维持性透析患者药物治疗管理过程中安全用药知识、信念、行为(知信行;knowledge,attitude,belief and practice,KAP)现状并分析其相关因素。方法·该研究为横断面研究,选取2019年3月至2021年3月上海交通大学医学院附...目的·调查维持性透析患者药物治疗管理过程中安全用药知识、信念、行为(知信行;knowledge,attitude,belief and practice,KAP)现状并分析其相关因素。方法·该研究为横断面研究,选取2019年3月至2021年3月上海交通大学医学院附属第九人民医院肾脏内科的维持性透析患者,使用经过信度、效度验证的慢性肾脏病患者安全用药KAP量表评价其用药安全情况,同时调查其人口学特征、用药清单和临床特征,根据Strand分类系统评估药物相关问题(medication-related problem,MRP)的发生情况。采用单因素分析及多重线性回归分析探索透析患者安全用药KAP水平的相关因素。结果·共纳入187例维持性透析患者,其中103例维持性血液透析患者,84例持续非卧床腹膜透析患者,平均年龄(60.19±12.80)岁,平均透析龄为(44.31±36.90)个月,平均共病(6.37±2.17)种,平均用药(7.48±2.66)种。用药安全KAP量表总分为(77.68±18.53)分,其中安全用药知识平均(24.96±8.92)分,安全用药信念平均(17.19±3.18)分,安全用药行为平均(35.40±8.18)分。单因素分析结果显示:维持性透析患者的安全用药KAP得分在不同透析方式、文化程度、经济水平及是否并发肾性贫血上差异存在统计学意义(均P<0.05),且患者的共病数越多、使用的钙磷代谢药物越多、发生的MRP越多,其安全用药KAP量表得分越低(均P<0.05)。多元线性回归显示:持续非卧床腹膜透析(β=8.391,95%CI 3.436~13.347,P=0.001)、接受过高等教育(β=9.159,95%CI 0.978~17.339,P=0.028)、家庭人均月收入>6000元(β=8.309,95%CI 1.891~14.727,P=0.011)及共病数更少(β=-1.582,95%CI-2.783~-0.382,P=0.010)、发生的MRP更少(β=-2.284,95%CI-3.987~-0.581,P=0.009)的透析患者安全用药KAP量表得分更高。结论·维持性透析患者的安全用药KAP水平较低,血液透析、低文化程度、低经济水平、高共病数及高MRP数是透析患者安全用药KAP低水平的危险因素。展开更多
For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication,algorithms that rely on global-based information are infeasible.Typically,traditional gene regulatory n...For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication,algorithms that rely on global-based information are infeasible.Typically,traditional gene regulatory networks(GRNs)that achieve superior performance in forming trapping pattern towards targets require accurate global positional information to guide swarm robots.This article presents a gene regulatory network with Self-organized grouping and entrapping method for swarms(SUNDER-GRN)to achieve adequate trapping performance with a large-scale swarm in a confined multitarget environment with access to only local information.A hierarchical self-organized grouping method(HSG)is proposed to structure subswarms in a distributed way.In addition,a modified distributed controller,with a relative coordinate system that is established to relieve the need for global information,is leveraged to facilitate subswarms entrapment toward different targets,thus improving the global multi-target entrapping performance.The results demonstrate the superiority of SUNDERGRN in the performance of structuring subswarms and entrapping 10 targets with 200 robots in an environment confined by obstacles and with only local information accessible.展开更多
基金supported in part by National Key R&D Program of China(Grant Nos.2021ZD0111501,2021ZD0111502)the Key Laboratory of Digital Signal and Image Processing of Guangdong Province+8 种基金the Key Laboratory of Intelligent Manufacturing Technology(Shantou University)Ministry of Education,the Science and Technology Planning Project of Guangdong Province of China(Grant No.180917144960530)the Project of Educational Commission of Guangdong Province of China(Grant No.2017KZDXM032)the State Key Lab of Digital Manufacturing Equipment&Technology(grant number DMETKF2019020)National Natural Science Foundation of China(Grant Nos.62176147,62002369)STU Scientific Research Foundation for Talents(Grant No.NTF21001)Science and Technology Planning Project of Guangdong Province of China(Grant Nos.2019A050520001,2021A0505030072,2022A1515110660)Science and Technology Special Funds Project of Guangdong Province of China(Grant Nos.STKJ2021176,STKJ2021019)Guangdong Special Support Program for Outstanding Talents(Grant No.2021JC06X549)。
文摘For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication,algorithms that rely on global-based information are infeasible.Typically,traditional gene regulatory networks(GRNs)that achieve superior performance in forming trapping pattern towards targets require accurate global positional information to guide swarm robots.This article presents a gene regulatory network with Self-organized grouping and entrapping method for swarms(SUNDER-GRN)to achieve adequate trapping performance with a large-scale swarm in a confined multitarget environment with access to only local information.A hierarchical self-organized grouping method(HSG)is proposed to structure subswarms in a distributed way.In addition,a modified distributed controller,with a relative coordinate system that is established to relieve the need for global information,is leveraged to facilitate subswarms entrapment toward different targets,thus improving the global multi-target entrapping performance.The results demonstrate the superiority of SUNDERGRN in the performance of structuring subswarms and entrapping 10 targets with 200 robots in an environment confined by obstacles and with only local information accessible.
