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Visual-feature-assisted mobile robot localization in a long corridor environment

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Frontiers of Information Technology & Electronic Engineering 2023年第6期24卷 876-889页

作者： gengyu ge Yi ZHANG Wei WANG Lihe HU Yang WANG Qin JIANG School of Computer Science and Technology Chongqing University of Posts and TelecommunicationsChongqing 400065China School of Advanced Manufacturing Engineering Chongqing University of Posts and TelecommunicationsChongqing 400065China School of Information Engineering Zunyi Normal UniversityZunyi 563006China

Localization plays a vital role in the mobile robot navigation system and is a fundamental capability for autonomous *** an indoor environment,the current mainstream localization scheme uses two-dimensional(2D)laser light detection and ranging(LiDAR)to build an occupancy grid map with simultaneous localization and mapping(SLAM)technology;it then locates the robot based on the known grid ***,such solutions work effectively only in those areas with salient geometrical *** areas with repeated,symmetrical,or similar structures,such as a long corridor,the conventional particle filtering method will *** solve this crucial problem,this paper presents a novel coarse-to-fine paradigm that uses visual features to assist mobile robot localization in a long ***,the mobile robot is remote-controlled to move from the starting position to the end along a middle *** the moving process,a grid map is built using the laser-based SLAM *** the same time,a visual map consisting of special images which are keyframes is created according to a keyframe selection *** keyframes are associated with the robot’s poses through ***,a moving strategy is proposed,based on the extracted range features of the laser scans,to decide on an initial rough *** is vital for the mobile robot because it gives instructions on where the robot needs to move to adjust its ***,the mobile robot captures images in a proper perspective according to the moving strategy and matches them with the image map to achieve a coarse ***,an improved particle filtering method is presented to achieve fine *** results show that our method is effective and robust for global *** localization success rate reaches 98.8%while the average moving distance is only 0.31 *** addition,the method works well when the mobile robot is kidnapped to another position in the corridor.

关键词： Mobile robot Localization Simultaneous localization and mapping(SLAM) Corridor environment Particle filter Visual features

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移动自组网基于代理的分布式证书签名算法

计算机工程 2006年第4期32卷 155-157页

作者：孙磊葛临东解放军信息工程大学信息工程学院郑州450002

移动自组网无中心、无基础设施等特性决定了在这种网络中提供证书服务必须采用分布式的体系结构。现有的分布式认证技术是基于(n,t)门限方案的单层结构,当一个节点的单跳邻居节点数目小于系统门限值时就无法正常工作。该文结合Feldman... 详细信息

移动自组网无中心、无基础设施等特性决定了在这种网络中提供证书服务必须采用分布式的体系结构。现有的分布式认证技术是基于(n,t)门限方案的单层结构,当一个节点的单跳邻居节点数目小于系统门限值时就无法正常工作。该文结合Feldman可验证秘密共享策略提出了一种新型基于代理的分布式证书签名算法,一方面可以解决单层分布式证书签名算法中邻居节点数目不足问题,另一方面可以在证书签名合成过程中验证私钥分量正确性,保护系统私钥不泄漏。仿真结果表明,DCS-BA在证书签名成功率和证书平均签名时间方面明显好于普通的分布式证书签名算法。

关键词：移动自组网可验证秘密共享基于代理的分布式证书签名

Effects of the Sheep Polyclonal Antibodies Against the Porcine Adipocyte Plasma Membrane Proteins on Porcine Carcass Composition and Meat Quality

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Agricultural Sciences in China 2007年第10期6卷 1256-1261页

作者： GAO Shi-zheng HU Hong-mei LIU Ling-yun ZHANG Xi LIU Yong-gang ge Chang-rong Key Laboratory of Animal Nutrition and Feed of Yunnan Province Yunnan Agricultural University Kunming 650201 P.R.China Institute of Animal Science and Veterinary Medicine Shandong Academy of Agricultural Sciences Jinan 250100 P.R.China Kunming Normal School Kunming 650201 P.R.China

To detect the effects of the polyclonal antibodies raised in sheep against porcine adipocyte plasma membranes on the porcine carcass composition and meat quality, 30 pigs assigned into 6 treatment groups were given intraperitoneal injections of sheep antipig adipocyte plasma membrane immunoglobulin （ASIg） or sheep nonimmune serum immunoglobulin （NSIg）. At the end of the experiment, the pigs were slaughtered at 90 kg body weight, and carcasses and meat quality were evaluated. The results showed that when pigs intraperitoneally immunized with 20 or 30 mg ASIg at 15 kg body weight, 20 mg purified ASIg twice at 15 and 60 kg body weight, or 20 mg purified ASIg at 60 kg body weight, respectively, their lean meat percentage, fat meat percentage, backfat thickness, loin eye area leaf fat weight, caul fat weight, heart weight, liver weight, and kidney weight were significantly affected. However, the kidney weight, lurrg weight, dressing percentage, and spleen weight did not remarkably change. Our results indicated that pigs intraperitoneally immunized with 20 or 30 mg ASIg at 15 kg body weight, and 20 mg ASIg twice at 15 and 60 kg body weight, have significantly different drip loss rate, cooked meat ratio, tenderness, storage loss rate, muscle fiber diameter, moisture content, dry matter content, crude protein content, and crude fat content from the control group that received 20 mg NSIg at 15 kg body weight. However, meat pH, meat color value, meat marbling score, inosinate, and myohemoglobin were not significantly affected. Our results indicated ASIg could not significantly affect the content of most muscular amino acids and intramuscular fatty acids.

关键词： polyclonal antibodies pig carcass composition meat quality

Expression of intercellular adhesive molecule-1 in liver cancer tissues and liver cancer metastasis

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World Journal of Gastroenterology 1998年第3期4卷 22-25页

作者： SUN Jing Jing, ZHOU Xin Da, ZHOU ge and LIU Yin Kun

AIM To study the relationship between intercellular adhesive molecule 1 (ICAM 1) and liver cancer metastasis and to search for factors to predict metastasis of liver cancer. METHODS ICAM 1 expression in fresh tissues of normal liver and hepatocellular cancer (HCC) was examined by immunoperoxidase staining. The expression of ICAM 1 in human hepatoma, tumor surrounding tissues and normal livers were semiquantitatively analyzed by Dot immuno blot. Tissue ICAM 1 expression at mRNA level was detected by Northern blot. RESULTS All 6 cases of normal liver samples were negative in anti ICAM 1 immunohistochemical staining, 80 0% (36/45) of HCC presented various ICAM 1 expression. The number of positive cells was a little higher in large tumors, tumors with intact capsule and metastasis, but there was no significant difference. Two cases with cancer embolus also had high ICAM 1 expression. ICAM 1 concentration in HCC (13 43±0 09) was higher than that in tumor surrounding tissues (5 89±0 17, P <0 01) and normal livers (4 27±0 21, P <0 01). It was also higher in metastasis group (20 24±0 30) than in nonmetastasis group (10 23±0 12, P <0 05). Northern blot analysis revealed that ICAM 1 expression at mRNA level was also higher in HCC and cancer embolus than that in tumor surrounding tissues and normal livers. CONCLUSION Tissue ICAM 1 could indicate the growth and metastasis of HCC, and may be an index that can predict liver cancer metastasis.

关键词： liver cancer tumor metastasis intercellular adhesion molecule 1

IQGAP3 promotes the progression of glioma as an immune and prognostic marker

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Oncology Research 2024年第4期32卷 659-678页

作者： XIAOFENG GAO JUANJUAN ge XUZHENG GAO NA MEI YANTING SU SHIGANG SHAN WENBIN QIAN JIANGHENG GUAN ZHENWANG ZHANG LONG WANG Hubei Provincial Key Laboratory of Diabetic Cardiovascular Diseases Xianning Medical CollegeHubei University of Science and TechnologyXianning437100China School of Stomatology and Ophthalmology Xianning Medical CollegeHubei University of Science and TechnologyXianning437100China School of Basic Medical Sciences Xianning Medical CollegeHubei University of Science and TechnologyHubei University of Science and TechnologyXianning437100China School of Pharmacy Xianning Medical CollegeHubei University of Science and TechnologyXianning437100China Department of Neurosurgery The General Hospital of Chinese PLA Central Theater CommandWuhan430070China

Background:IQGAP3 plays a crucial role in regulating cell proliferation,division,and cytoskeletal *** expression of IQGAP3 has been linked to various tumors,but its function in glioma is not well ***:Various methods,including genetic differential analysis,single-cell analysis,ROC curve analysis,Cox regression,Kaplan-Meier analysis,and enrichment analysis,were employed to analyze the expression patterns,diagnostic potential,prognostic implications,and biological processes involving IQGAP3 in normal and tumor *** impact of IQGAP3 on immune infiltration and the immune microenvironment in gliomas was evaluated using ***,the cBioPortal database was used to analyze copy number variations and mutation sites of *** validation was also performed to assess the effects of IQGAP3 on glioma cells and explore underlying ***:High IQGAP3 expression in gliomas is associated with an unfavorable prognosis,particularly in wild-type IDH and 1p/19q non-codeleted *** analysis revealed that IQGAP3 is involved in regulating the cell cycle,PI3K/AKT signaling,p53 signaling,and PLK1-related ***,IQGAP3 expression may be closely related to the immunosuppressive microenvironment of ***-K88742110 and LY-303511 are potential drugs for targeting IQGAP3 in anti-glioma *** vitro experiments showed that downregulation of IQGAP3 inhibits the proliferation and migration of glioma cells,with the PLK1/PI3K/AKT pathway potentially playing a crucial role in IQGAP3-mediated glioma ***:IQGAP3 shows promise as a valuable biomarker for diagnosis,prognosis,and immunotherapeutic strategies in gliomas.

关键词： IQGAP3 Tumor immune infiltration Prognosis Glioma Biomarker

基于Legendre正交矩的配准方法在放疗导航中的应用研究

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电子学报 2009年第7期37卷 1529-1531页

作者：葛云章东南京大学电子科学与工程系江苏南京210093

放疗导航在放射治疗的摆位精度、实时性、数字化中有着重要的应用前景,而精确配准是实施放疗导航的前提.本文提出一种基于Legendre矩的快速配准方法,用于放疗导航的红外实时跟踪.文中首先介绍了该方法的实现步骤;然后将该方法和传统松... 详细信息

放疗导航在放射治疗的摆位精度、实时性、数字化中有着重要的应用前景,而精确配准是实施放疗导航的前提.本文提出一种基于Legendre矩的快速配准方法,用于放疗导航的红外实时跟踪.文中首先介绍了该方法的实现步骤;然后将该方法和传统松弛法进行了模拟计算和实验比较,新方法在降低误识别率及避免病态方程方面,具有明显的优越性;最后将该方法应用于临床放疗导航系统中,在精确度和实时性方面取得了满意的临床应用结果.

关键词： Legendre矩图象配准图象引导放疗实时跟踪

Stimulated Raman Backscattering Amplification Using Multiple Pump Pulses

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Chinese Physics Letters 2012年第1期29卷 188-190页

作者： ge Zhe-Yi YIN Yan CHEN De-Peng ZHUO Hong-Bin MA Yan-Yun SHAO Fu-Qiu Department of Physics National University of Defense TechnologyChangsha 410073

A multiple-pump-pulses-stimulated Raman backscattering amplification (m-SRA) scheme is proposed and examined using 1D PIC *** with the SRA using a single long pump pulse,higher energy conversion efficiency can be obtained with the same output laser intensity by employing the m-SRA *** Raman forward scattering can be suppressed in the m-SRA *** pulse envelope and frequency characteristics of the seed pulse after amplification are obtained by using the m-SRA scheme.

关键词： pump pulse scattering

Neurotrophins and neural stem cells in posttraumatic brain injury repair

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Animal Models and Experimental Medicine 2024年第1期7卷 12-23页

作者： Wenwen Guo Ke Liu Yinghua Wang Xu ge Yifan Ma Jing Qin Caiqin Zhang Ya Zhao Changhong Shi Laboratory Animal Center Fourth Military Medical UniversityXi'anP.R.China Gansu University of Traditional Chinese Medicine LanzhouP.R.China Medical College of Yan'an University Yan'anP.R.China

Traumatic brain injury(TBI)is the main cause of disability,mental health disorder,and even death,with its incidence and social costs rising *** different treatment strategies have been developed and tested to mitigate neurological decline,a definitive cure for these conditions remains *** have revealed that vari-ous neurotrophins represented by the brain-derived neurotrophic factor are the key regulators of neuroinflammation,apoptosis,blood-brain barrier permeability,neurite regeneration,and memory *** factors are instrumental in alleviating neu-roinflammation and promoting *** addition,neural stem cells(NSC)contribute to nerve repair through inherent neuroprotective and immunomodulatory properties,the release of neurotrophins,the activation of endogenous NSCs,and in-tercellular ***,innovative research proposals are emerging to combine BDNF and NSCs,enabling them to synergistically complement and promote each other in facilitating injury repair and improving neuron differentiation after *** this review,we summarize the mechanism of neurotrophins in promoting neurogen-esis and restoring neural function after TBI,comprehensively explore the potential therapeutic effects of various neurotrophins in basic research on TBI,and investigate their interaction with *** endeavor aims to provide a valuable insight into the clinical treatment and transformation of neurotrophins in TBI,thereby promoting the progress of TBI therapeutics.

关键词： mutual effect neural stem cells neurological function neurotrophins traumatic brain injury

基于超级电容的新型五电平变流器控制技术研究

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太阳能学报 2012年第5期33卷 806-810页

作者：庄淑君葛运旺洛阳理工学院电气工程与自动化系洛阳471023

提出一种基于超级电容的五电平变流器拓扑,分析了变流器的运行工况和电容电压控制算法,采用基于脉冲宽度给出变流器输出电压的谐波特征,提出相应的调制策略。实验结果表明,变流可实现五电平输出,存储回馈的电能,提高系统的电压和容量。... 详细信息

提出一种基于超级电容的五电平变流器拓扑,分析了变流器的运行工况和电容电压控制算法,采用基于脉冲宽度给出变流器输出电压的谐波特征,提出相应的调制策略。实验结果表明,变流可实现五电平输出,存储回馈的电能,提高系统的电压和容量。该文提出的调制算法可显著提高输出电压的波形质量,实现对电容电压的平衡控制。

关键词：多电平超级电容 H桥电容电压平衡脉冲宽度调制