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基于激光雷达的室内机器人路径规划方法研究

激光与红外 2024年第7期54卷 1028-1036页

作者：韩慧妍韩方正韩燮况立群曹亚明中北大学计算机科学与技术学院太原030051 机器视觉与虚拟现实山西省重点实验室太原030051 山西省视觉信息处理及智能机器人工程研究中心太原030051

自主移动机器人在室内环境中的导航取得了重大进展,然而地图构建精度较差且路径规划欠佳,限制了这类机器人的实际应用。为了解决这些问题,提出了一种基于引导搜索的路径规划算法,即引力双向快速搜索随机树算法(GBI-RRT),该算法采用目标... 详细信息

自主移动机器人在室内环境中的导航取得了重大进展,然而地图构建精度较差且路径规划欠佳,限制了这类机器人的实际应用。为了解决这些问题,提出了一种基于引导搜索的路径规划算法,即引力双向快速搜索随机树算法(GBI-RRT),该算法采用目标偏差抽样,有效地引导节点走向目标,减少无效搜索。为了进一步提高导航效率,又提出了一种消除低质量节点,提高路径曲率的路径重组策略,为了验证上述方法的有效性,将其集成到一个基于ros系统的移动机器人中,并在仿真和真实环境实验中进行了评估。结果表明,GBI-RRT在各种室内环境下的性能均优于现有算法。

关键词：自主移动地图构建路径规划偏差抽样

原花青素B2在双环己酮草酰二腙诱导脱髓鞘模型中调节铁代谢和减轻氧化应激促进髓鞘再生作用机制研究

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中国新药杂志 2024年第8期33卷 825-835页

作者：苑舒文陈莹刘健梁亚杰李彦青柴智肖保国马存根王青山西中医药大学国家中医药管理局多发性硬化益气活血重点研究室神经生物学研究中心晋中030619 复旦大学附属华山医院神经内科医学神经生物学国家重点实验室上海200025

目的:探究原花青素B2(proanthocyanidins B2,PC-B2)促进双环己酮草酰二腙(cuprizone,CPZ)诱导的小鼠脱髓鞘模型髓鞘再生的作用机制。方法:选用40只C57BL/6雄性小鼠,随机分为4组,给予0.2%(质量分数)的CPZ构建脱髓鞘小鼠模型;采用旷场、T... 详细信息

目的:探究原花青素B2(proanthocyanidins B2,PC-B2)促进双环己酮草酰二腙(cuprizone,CPZ)诱导的小鼠脱髓鞘模型髓鞘再生的作用机制。方法:选用40只C57BL/6雄性小鼠,随机分为4组,给予0.2%(质量分数)的CPZ构建脱髓鞘小鼠模型;采用旷场、T迷宫和高架十字迷宫观察小鼠行为学变化;通过固蓝染色(luxol fast blue,LFB)和免疫荧光染色观察胼胝体区域髓鞘、髓鞘碱性蛋白(myelin basic protein,MBP)、降解髓鞘碱性蛋白(degraded myelin basic protein,dMBP)、腺瘤样息肉抗体(adenomatous polyposis coli,CC1)、铁蛋白(ferritin)、胶质纤维酸性蛋白(glial fibrillary acidic protein,GFAP)、离子化钙结合适配分子1(ionized calcium binding adapter molecule 1,Iba1)的变化;采用ELISA法检测脑匀浆中过氧化氢酶(catalase,CAT)、丙二醛(malondialdehyde,MDA)、活性氧(reactive oxygen species,ros)、超氧化物歧化酶(superoxide dismutase,SOD)、谷胱甘肽过氧化物酶(glutathione peroxidase,GSH-Px)以及亚铁离子和总铁的表达水平;分别采用RT-PCR和Western Blot检测转铁蛋白受体1(transferrin receptor 1,TfR1)、核受体辅活化子4(nuclear receptor coactivator 4,NCOA4)、ferritin、膜铁转运蛋白l(ferroportin 1,FPN1)、谷胱甘肽过氧化物酶4(glutathione peroxidase 4,GPX4)、核因子E2相关因子2/血红素加氧酶-1(nuclear factor erythroid 2-related factor 2/heme oxygenase-1,Nrf2/HO-1)通路的表达情况。结果:与CPZ+NS组比较,PC-B2能够促进小鼠脑内胼胝体区域髓鞘再生,改善CPZ诱导的脑内铁代谢异常和脂质过氧化反应,增强CAT,SOD和GSH-Px活性,增加少突胶质细胞和星形胶质细胞的数量,减少小胶质细胞的数量,降低TfR1,NCOA4的表达,增加ferritin,FPN1,GPX4以及Nrf2/HO-1的表达。结论:PC-B2可能通过激活Nrf2/HO-1信号通路,改善CPZ小鼠脑内的铁代谢紊乱和氧化应激,发挥髓鞘修复作用。

关键词：原花青素B2 双环己酮草酰二腙脱髓鞘铁代谢氧化应激核因子E2相关因子2/血红素加氧酶-1通路

Sticking-bacteria gel enhancing anti-multidrug-resistant microbial therapy under ultrasound

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Nano Research 2022年第10期15卷 9105-9113页

作者： ya-Qi Zhu Wei-Qiang Huang Guang Chen Lei Xia Ye-Zi You Yue Yu The Department of Gastroenterology The First Affiliated Hospital of USTCDivision of Life Sciences and MedicineUniversity of Science and Technology of ChinaHefei 230026China Department of Polymer Science and Engineering University of Science and Technology of ChinaHefei 230026China

The use of antibiotic could cause severe drug-resistance and the increasing spread of pathogenic drug-resistant bacteria has brought a big threat to human health,hence,some innovative methods inspired,such as sonodynamic therapy,have become increasingly attractive for realizing the antibiotic-free methods against bacterial ***,many pathogens can invade normal healthy cells to establish intracellular replicative niches,which makes it more difficult to kill and remove these ***,inspired by respiratory mucus trapping bacteria to kill them,we developed a novel gel of amorphous TiO_(x) nanofibers dotted with Ti_(2)C(OH)_(2) nanosheets,which could capture and trap bacteria into the gel via a strong binding ability toward bacteria by forming a Ti–O–P bond between phosphate in the bacterial wall and Ti-OH in the gel,thereby,efficiently blocking the invasions of ***,the gel has excellent ability for generating reactive oxygen species(ros)under ultrasound irradiation,therefore,the bacteria in the gel could be effectively killed by the ros produced under ultrasound ***,Ti2C(OH)2 in the gel was able to scavenge H_(2)O_(2),and transfer it into O_(2) in the infection environment,providing enough O_(2) for sonodynamic *** experimental results have demonstrated that the functional gel obviously accelerated the healing of multidrug-resistant microorganisms-infected wounds.

关键词： multidrug-resistant bacteria gel ultrasound bacteria-sticking

Guidelines for rational design of high-performance absorbents:A case study of zeolite adsorbents for emerging pollutants in water

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Green Energy & Environment 2017年第4期2卷 363-369页

作者： Xiaoxuan Wei ya Wang Arturo J.Hernndez-Maldonado Zhongfang Chen Department of Chemistry Institute for Functional Nanomaterials University of Puerto Rico Rio Piedras Campus Department of Chemical Engineering Institute for Functional Nanomaterials University of Puerto Rico Mayagüez Campus

Rational design is important to achieve high-performance sorbents used to remove the contaminants of emerging concern(CECs) from ***, it is hard to propose effective design guidelines due to the lack of a clear understanding of the interaction mechanisms. By means of systematic quantum chemical computations, as a case study, we investigated the interactions between zeolite X/M^(n+)-zeolite X(Si/Al=1,M^(n+)=Cu^(2+) and Ni^(2+)) and three commonly used CECs(namely salicylic acid, carbamazepine and ciprofloxacin) in water to clarify the adsorption mechanisms. Our computations found that anionic salicylic acid cannot be adsorbed by neither zeolite X nor M^(n+)-zeolite X in neutral water due to the high electrostatic repulsion. In comparison, carbamazepine and ciprofloxacin have favorable binding energies with both zeolite X and M^(n+)-zeolite X, and their interactions with M^(n+)-zeolite X are stronger due to the joint effects of H-bond, metal complexation and electrostatic interaction. The adsorption loading of ciprofloxacin, which has a large molecular size, on M^(n+)-zeolite X is limited due to the steric hindrance. In general, steric hindrance, electrostatic interaction, H-bond and metal complexation are dominant factors for the examined systems in this study. Thus, for the design of high-performance absorbing materials, we should fully consider the molecular properties of pollutants(molecular size, surface electrostatic potential and atomic type, etc.), and properly enhance the favorable effects and avoid the unfavorable factors as much as possible under the guidance of the interaction mechanisms.

关键词： Adsorption mechanism Adsorbent design guidelines Quantum chemical computations Contaminants of emerging concern Zeolite X

Phenotypic and Genotypic Comparison of Vibrio in Seawater Fish from Batam and Mataram, Indonesia

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Journal of Agricultural Science and Technology(B) 2015年第8期5卷 561-566页

作者： rio Aditya Kumiawan Kumiasih Ministry of Marine Affairs and Fisheries Republic of Indonesia Fish Quarantine and Inspection Agency Jayapura Papua 99352Indonesia Faculty of Veterinary Medicine Gadjah Mada University Yogyakarta 55281 Indonesia

Grouper and snapper are the potential fishery commodity in Indonesia with a high economic value, as well as an export commodity. A common disease in grouper and snapper aquaculture is vibriosis. Vibriosis is a disease caused by bacteria of the genus Vibrio. The aim of study was to compare between phenotypic and genotypic identification of Vibrio isolated from Batam and Mataram, Indonesia. Bacteria were isolated from anterior kidney and eye of fish, then grown in thiosulfate-citrate-bile salts-sucrose （TCBS） and incubated in room temperature （25-28 ~C） for 24 h, and identified using morphology and biochemical test. Bacterial isolates were extracted, amplified and sequenced on 16S rRNA region. Phylogenetic tree of bacteria was constructed using neighbor-joining and maximum-parsimony methods. The phenotypic identification was found six isolates of Vibrio from Batam, such as K alginolyticus, V. carchariae, K damselae, V. fluvialis, V. furnissii and K parahaemolyticus. Three isolates were found from Mataram, such as 1I. alginolyticus, V. carchariae and V. fluvialis. Blast analysis showed isolates of V. alginolyticus_btm and V. carchariae_btm homolog to V. parahaemolyticus strain DAHMV3; isolates of V. damselae_btm and K alginolyticus_mtr homolog to V. neocaledonicus strain MS1; isolates of V. parahaemolyticus__btm and V. furnisii_btm homolog with Photobacterium damselae subsp, damselae strain： 04ya311 and isolate of K fluvialis_mtr homolog to V. azureus strain MMRF532, respectively. All phenotypic identification was not supported by molecular identification on 16S rRNA region. It was suggested that phenotypic identification should be supported by molecular examination, especially in identification of Vibrio species.

关键词： Vibrio phenotype genotype 16S rRNA.

Review:Mitochondrial functions on oocytes and preimplantation embryos

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Journal of Zhejiang University-Science B(Biomedicine & Biotechnology) 2009年第7期10卷 483-492页

作者： Li-ya WANG Da-hui WANG Xiang-yang ZOU Chen-ming XU Department of Biotechnology Dalian Medical University Dalian 116044 China The Sperm Laboratory Institute of Cell Biology and Genetics College of Life Sciences Zhejiang University Hangzhou 310058 China Department of Reproductive Endocrinology Women's Hospital School of Medicine Zhejiang University Hangzhou 310006 China

Oocyte quality has long been considered as a main limiting factor for in vitro fertilization （IVF）. In the past decade, extensive observations demonstrated that the mitochondrion plays a vital role in the oocyte cytoplasm, for it can provide adenosine triphosphate （ATP） for fertilization and preimplantation embryo development and also act as stores of intracellular calcium and proapoptotic factors. During the oocyte maturation, mitochondria are characterized by distinct changes of their distribution pattern from being homogeneous to heterogeneous, which is correlated with the cumulus apoptosis. Oocyte quality decreases with the increasing maternal age. Recent studies have shown that low quality oocytes have some age-related dysfunctions, which include the decrease in mitochondrial membrane potential, increase of mitochondrial DNA （mtDNA） damages, chromosomal aneuploidies, the incidence of apoptosis, and changes in mitochoncLrial gene expression. All these dysfunctions may cause a high level of de- velopmental retardation and arrest of preimplantation embryos. It has been suggested that these mitochondrial changes may arise from excessive reactive oxygen species （ros） that is closely associated with the oxidative energy production or calcium overload, which may trigger permeability transition pore opening and subsequent apoptosis. Therefore, mitochondria can be seen as signs for oocyte quality evaluation, and it is possible that the oocyte quality can be improved by enhancing the physical function of mitochondria. Here we reviewed recent advances in mitochondrial functions on oocytes.

关键词： Mitochondria Oocyte Preimplantation embryo

成骨细胞线粒体移植促骨髓间充质干细胞体外增殖、迁移和成骨分化

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四川大学学报（自然科学版） 2024年第2期61卷 150-158页

作者：杨雅丽司琪琦王思瑜周嘉裕郭泰林西南交通大学生命科学与工程学院成都610031 西南交通大学医学院成都610031

为探究成骨细胞(OBs)线粒体移植对骨髓间充质干细胞(BMSCs)向成骨分化的影响,本研究体外人工提取BMSCs线粒体和OBs线粒体,分别移植入受体BMSCs.实验结果发现,接受成骨细胞线粒体的BMSCs表现出显著增强的增殖、迁移、抗凋亡和成骨能力.此... 详细信息

为探究成骨细胞(OBs)线粒体移植对骨髓间充质干细胞(BMSCs)向成骨分化的影响,本研究体外人工提取BMSCs线粒体和OBs线粒体,分别移植入受体BMSCs.实验结果发现,接受成骨细胞线粒体的BMSCs表现出显著增强的增殖、迁移、抗凋亡和成骨能力.此外,接受成骨细胞线粒体的BMSCs胞内活性氧水平降低、氧气消耗速率上调、ATP产量增加.以上结果表明,(1)成骨细胞线粒体移植能够增强体外BMSCs功能,促进其向成骨分化;(2)相较于接受骨髓间充质干细胞线粒体,接受成骨细胞线粒体移植的受体BMSCs具有更强的有氧代谢能力以及更强的成骨分化能力,有望为骨生长与骨损伤修复提供一种候选方法 .

关键词：线粒体移植骨髓间充质干细胞成骨细胞成骨分化代谢

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薄荷醇对果蝇产卵驱避作用及毒杀效果

昆虫学报 2024年第7期67卷 964-975页

作者：李迅刘彤霄李隆琦李一璇姜雅琦陈利荣刘威安徽农业大学植物保护学院合肥230036 山西医科大学汾阳学院临床医学系汾阳032200 山西医科大学汾阳学院医学检验系汾阳032200

【目的】研究薄荷醇对常见几种果蝇Drosophila产卵的驱避作用,并通过后代存活率和发育历期及成虫死亡率以评价薄荷醇毒杀作用。【方法】应用产卵双向选择装置,在0.05%,0.1%和0.2%薄荷醇作用下检测果蝇的产卵选择性;利用双染料食物偏好... 详细信息

【目的】研究薄荷醇对常见几种果蝇Drosophila产卵的驱避作用,并通过后代存活率和发育历期及成虫死亡率以评价薄荷醇毒杀作用。【方法】应用产卵双向选择装置,在0.05%,0.1%和0.2%薄荷醇作用下检测果蝇的产卵选择性;利用双染料食物偏好实验检测薄荷醇对果蝇的摄食行为影响;利用产卵装置,检测薄荷醇对黑腹果蝇***的位置的影响;利用黑暗条件、摘除触角和前腿以及Orco 2突变体测定薄荷醇对黑腹果蝇产卵选择性的影响;并测定薄荷醇对黑腹果蝇后代存活率与发育历期的影响;测定薄荷醇对黑腹果蝇成虫寿命、奔跑速度和攀爬速度的影响;利用二氢乙锭(dihydroethidium,DHE)荧光染色技术,评估喂食1%薄荷醇3 d后黑腹果蝇成虫肠道内活性氧(reactive oxygen species,ros)水平。【结果】薄荷醇对果蝇雌成虫产卵有驱避性,在0.05%,0.1%和0.2%薄荷醇作用下黑腹果蝇雌成虫的产卵指数分别为-0.42,-0.58和-0.98;铃木氏果蝇***、雅库巴果蝇***和拟暗果蝇***雌成虫对薄荷醇的产卵避性反应与黑腹果蝇雌成虫相同。在摄食过程中,黑腹果蝇及铃木氏果蝇成虫均对薄荷醇培养基产生明显排斥反应。薄荷醇培养基对黑腹果蝇成虫有明显的位置驱避性,0.05%,0.1%和0.2%薄荷醇处理下位置指数分别为-0.32,-0.44和-0.84。各个浓度的薄荷醇对黑暗环境和摘除前足的黑腹果蝇雌成虫仍然表现出显著的产卵驱避性,但在摘除黑腹果蝇成虫触角的条件下,薄荷醇对它们的产卵驱避性显著降低,0.05%,0.1%和0.2%薄荷醇作用下产卵指数分别为-0.04,-0.06和-0.26,薄荷醇对Orco 2突变体仍旧有产卵驱避性。与对照组相比,1%薄荷醇处理组黑腹果蝇成蛹和成虫羽化时间明显延长,分别延长了0.74和0.73 d,存活率明显下降,分别下降了63.2%和91.3%。随着薄荷醇浓度的增加黑腹果蝇成虫存活率呈现下降的趋势,且明显降低其奔跑和攀爬速度,即薄荷醇降低了亲代黑腹果蝇的适合度。1%薄荷醇处理3 d显著提升了黑腹果蝇成虫肠道内的ros水平。【结论】薄荷醇通过嗅觉介导了果蝇的产卵避性反应,且薄荷醇降低了后代和亲代的适合度和存活率。

关键词：果蝇薄荷醇产卵避性嗅觉系统发育历期存活率

基于PKCβⅡ/NOX2/ros信号通路探讨柴胡三参胶囊对心肌缺血再灌注损伤大鼠的保护作用

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中国中药杂志 2024年第5期49卷 1361-1368页

作者：胡雅琪孙丽李雪珂卢圣花袁恒佑王伟松刘建和湖南中医药大学第一附属医院湖南长沙410007 国家中医心血管病临床医学研究中心分中心湖南长沙410007

基于氧化应激介导的程序性细胞死亡探讨心肌缺血再灌注损伤的发病机制,及基于PKCβⅡ/NOX2/ros信号通路探讨柴胡三参胶囊调节心肌缺血再灌注损伤的机制及作用靶点。结扎左前降支建立心肌缺血再灌注损伤大鼠模型,随机分为6组:假手术组,... 详细信息

基于氧化应激介导的程序性细胞死亡探讨心肌缺血再灌注损伤的发病机制,及基于PKCβⅡ/NOX2/ros信号通路探讨柴胡三参胶囊调节心肌缺血再灌注损伤的机制及作用靶点。结扎左前降支建立心肌缺血再灌注损伤大鼠模型,随机分为6组:假手术组,模型组,柴胡三参胶囊临床等效、高剂量组,N-乙酰半胱氨酸(N-acetylcysteine)组,蛋白激酶C抑制剂(CGP53353)组。柴胡三参胶囊各剂量组连续给药7 d后,检测各组大鼠心肌梗死面积;苏木精-伊红(HE)染色观察大鼠心肌组织病理形态;TUNEL染色观察大鼠心脏组织凋亡情况;酶联免疫吸附(enzyme-linked immunosorbent assay,ELISA)法检测大鼠心肌损伤指标和氧化应激相关指标;流式细胞仪检测心脏组织中活性氧(ros)水平;蛋白免疫印迹法(Western blot)及实时荧光定量聚合酶链式反应(real-time quantitative PCR,RT-qPCR)检测大鼠心脏组织相关蛋白及mRNA相对表达水平。结果显示,与假手术组比较,模型组大鼠心肌梗死面积明显,心肌结构紊乱、间质水肿及出血,可见大量空泡,心肌损伤标志物及心肌凋亡水平明显升高,ros及丙二醛(MDA)水平明显升高,超氧化物歧化酶(SOD)水平明显下降,心肌组织中蛋白激酶C(PKCβⅡ)、烟酰胺腺嘌呤二核苷酸磷酸氧化酶2(NOX2)、半胱氨酸蛋白酶3(caspase-3)、长链脂酰辅酶A合成酶4(ACSL4)蛋白及mRNA表达水平明显升高。与模型组比较,柴胡三参胶囊可改善大鼠心肌梗死面积和心脏组织病理形态,改善心肌损伤标志物和氧化应激相关指标,减少心肌组织凋亡水平,降低心肌组织中PKCβⅡ、NOX2、caspase-3、ACSL4蛋白及mRNA的表达。结果表明,柴胡三参胶囊可通过调控PKCβⅡ/NOX2/ros信号通路,抑制氧化应激和程序性细胞死亡(凋亡、铁死亡),从而减轻心肌缺血再灌注损伤。

关键词：心肌缺血再灌注损伤柴胡三参胶囊氧化应激程序性细胞死亡