21:T4ec,We assessed the association between neutrophil to lymphocyte ratio (NLR) and chronic coronary total occlusion (CTO), as well as clinical prognosis of percutaneous coronary intervention (PCI). Patients referred for elective coronary angiography for stable angina pectoris were enrolled, including a CTO (n = 160) and a non-CTO group (n = 160). Neutrophil to lymphocyte ratio on admission and post-PCI was measured, and NLR_Δ was defined as the change between the 2 values. Subgroup analysis was performed based on the value of NLR_Δ (≥0.5 vs <0.5). Clinical characteristics, angiographic data, and follow-up data were recorded. Compared with the non-CTO group, the total white blood cell count, neutrophil counts, and NLR were significantly higher in the CTO group. In the NLR_Δ ≥ 0.5 subgroup, the incidence of severe dissection, slow coronary flow, in-stent restenosis (ISR), and major adverse cardiac events (MACEs) was obviously higher. In multivariate analysis, NLR_Δ was independently and positively associated with higher risks of ISR and MACE. The NLR could be a potential predictor of CTO, and NLR_Δ is independently associated with the adverse clinical outcomes in patients who underwent PCI.22:T469,In this paper, we study the cooperative path planning and motion coordination problems of the multi-robot system with large number of robots, aiming for practical applications in robotic warehouses and automated transportation systems. Particularly, we solve the life-long planning problem and guarantee the coordination performance in the presence of robot motion uncertainties. A hierarchical path planning and motion coordination structure is presented. The environment is divided into several sectors and a traffic heat-map is presented to describe the current sector-level traffic condition. In path planning level, the sector-level path is calculated by considering the path distance, the current traffic condition and the current robot uncertainty. In motion coordination level, local cooperative A* algorithm and conflict-based searching strategy are utilized within each sector to generate the collision-free local path of each robot in a rolling planning manner. The effectiveness and practical applicability of the proposed approach are validated by simulations with more than one thousand robots and real experiments.

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