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Benchmarking visual SLAM methods in mirror environments

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Computational Visual Media 2024年第2期10卷 215-241页

作者： Peter Herbert Jing Wu Ze Ji yu-kun Lai School of Computer Science and Informatics Cardiff UniversityAbacws BuildingSenghennydd RdCardiff CF244AGUK School of Engineering Cardiff UniversityQueen’s BuildingsThe ParadeCardiff CF243AAUK

Visual simultaneous localisation and mapping(vSLAM)finds applications for indoor and outdoor navigation that routinely subjects it to visual complexities,particularly mirror *** effect of mirror presence(time visible and its average size in the frame)was hypothesised to impact localisation and mapping performance,with systems using direct techniques expected to perform ***,a dataset,MirrEnv,of image sequences recorded in mirror environments,was collected,and used to evaluate the performance of existing representative *** ORB-SLAM3 and BundleFusion appear to show moderate degradation of absolute trajectory error with increasing mirror duration,whilst the remaining results did not show significantly degraded localisation *** mesh maps generated proved to be very inaccurate,with real and virtual reflections colliding in the reconstructions.A discussion is given of the likely sources of error and robustness in mirror environments,outlining future directions for validating and improving vSLAM performance in the presence of planar *** MirrEnv dataset is available at https://***/10.17035/d.2023.0292477898.

关键词： visual simultaneous localisation and mapping(vSLAM) mirror localisation mapping reflection datase

Novel subtype of obesity influencing the outcomes of sleeve gastrectomy:Familial aggregation of obesity

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World Journal of Gastroenterology 2024年第13期30卷 1887-1898页

作者： Ze-yu Wang yun-Fei Qu tian-Ming yu Zeng-Lin Liu yu-Gang Cheng Ming-Wei Zhong San-yuan Hu Department of General Surgery The First Affiliated Hospital of Shandong First Medical University and Shandong Provincial Qianfoshan HospitalJinan 250000Shandong ProvinceChina Department of Postgraduate Shandong First Medical University and Shandong Academy of Medical SciencesJinan 250000Shandong ProvinceChina Department of General Surgery Shandong Provincial Qianfoshan HospitalCheeloo College of Medicine Shandong UniversityJinan 250000Shandong ProvinceChina State key Laboratory of Integration and Innovation of Classic Formula and Modern Chinese Medicine Lunan Pharmaceutical Group Co.Ltd.Linyi 276005Shandong ProvinceChina

BACkGROUND Differences in the preoperative characteristics and weight loss outcomes after sleeve gastrectomy(SG)between patients with familial aggregation of obesity(FAO)and patients with sporadic obesity(SO)have not been *** to explore the impact of SG on weight loss and the alleviation of obesity-related comorbidities in individuals with *** A total of 193 patients with obesity who underwent SG were *** with FAO/SO were matched 1:1 by propensity score matching and were categorized into 4 groups based on the number of first-degree relatives with obesity(1 SO vs 1FAO,2SO vs 2FAO).the baseline characteristics,weight loss outcomes,prevalence of obesity-related comorbidities and incidence of major surgeryrelated complications were compared between *** We defined FAO as the presence of two or more first-degree relatives with *** with FAO did not initially show significant differences in baseline data,short-term postoperative weight loss,or obesity-related comorbidities when compared to patients with SO ***,distinctions between the two groups became evident at the two-year mark,with statistically significant differences in both percentage of total weight loss(P=0.006)and percentage of excess weight loss(Pthe FAO group exhibited weaker remission of type 2 diabetes mellitus(t2DM)(P=0.031),hyperlipidemia(P=0.012),and non-alcoholic fatty liver disease(NAFLD)(P=0.003)as well as a lower incidence of acid reflux(P=0.038).CONCLUSION FAO patients is associated with decreased mid-to-long-term weight loss outcomes;the alleviation of t2DM,hyperlipidemia and NAFLD;and decreased incidence of acid reflux postoperatively.

关键词： Obesity Bariatric surgery Sleeve gastrectomy Family history Weight loss

Effect of viral hepatitis on type 2 diabetes:A Mendelian randomization study

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World Journal of Diabetes 2024年第2期15卷 220-231页

作者： yun-Feng yu Gang Hu ke-ke tong Xin-yu Yang Jing-Yi Wu Rong yu the First Hospital of Hunan University of Chinese Medicine Changsha 410007Hunan ProvinceChina the Hospital of Hunan University of traditional Chinese Medicine Changde 415213Hunan ProvinceChina College of Chinese Medicine Hunan University of Chinese MedicineChangsha 410208Hunan ProvinceChina the third Hospital of Zhejiang Chinese Medical University Hangzhou 310005Zhejiang ProvinceChina

BACkGROUND the effects of viral hepatitis(VH)on type 2 diabetes(t2D)remain *** to analyze the causal correlation between different types of VH and t2D using Mendelian randomization(MR).MEtHODS Single nucleotide polymorphisms of VH,chronic hepatitis B(CHB),chronic hepatitis C(CHC)and t2D were obtained from the BioBank Japan Project,European Bioinformatics Institute,and *** variance weighted,MREgger,and weighted median were used to test exposure-outcome *** MR-Egger intercept analysis and Cochran’s Q test were used to assess horizontal pleiotropy and heterogeneity,***-one-out sensitivity analysis was used to evaluate the robustness of the MR analysis *** the MR analysis showed no significant causal relationship between VH and t2D in Europeans[odds ratio(OR)=1.028;95%confidence interval(CI):0.995-1.062,P=0.101].there was a negative causal association between CHB and t2D among East Asians(OR=0.949;95%CI:0.931-0.968,Pthere was no significant causal association between CHC and t2D among East Asians(OR=1.018;95%CI:0.959-1.081,P=0.551).Intercept analysis and Cochran’s Q test showed no horizontal pleiotropy or heterogeneity(P>0.05).Sensitivity analysis showed that the results were *** Among East Asians,CHB is associated with a reduced t2D risk,but this association is limited by HBV load and *** VH among Europeans and CHC among East Asians are not associated with the risk of t2D,focusing on blood glucose in patients with CHC is still relevant for the early detection of t2D induced by CHCmediated pathways of hepatic steatosis,liver fibrosis,and cirrhosis.

关键词： Viral hepatitis Chronic hepatitis B Chronic hepatitis C type 2 diabetes Mendelian randomization

High-resolution tsunami hazard assessment for the Guangdong-Hong kong-Macao Greater Bay Area based on a non-hydrostatic tsunami model

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Science China Earth Sciences 2024年第7期67卷 2326-2351页

作者： Yifan ZHU Chao AN Houyun yu Wei ZHANG Xiaofei CHEN key Laboratory of Hydrodynamics(Ministry of Education) School of Ocean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Earth and Space Sciences Southern University of Science and Technology Shenzhen 518055China

the Guangdong-Hong kong-Macao Greater Bay Area(GBA)is threatened by potential tsunami hazards from the Littoral Fault Zone(LFZ)and the Manila subduction zone(MSZ),and may suffer huge damage because of its dense population,concentrated infrastructure,and low-lying *** tsunami studies for the GBA made simple assumptions on the mechanisms of LFZ earthquakes,and used coarse bathymetry data in tsunami simulation,which limited the prediction of detailed tsunami hazard *** this paper,we develop a parallel dispersive tsunami model PCOMCOt to efficiently simulate dispersive,nonlinear,and breaking tsunami *** also construct large-scale and high-resolution bathymetry models for the GBA by correcting and integrating various data *** rupture simulation is performed for the LFZ to obtain a more reliable earthquake source *** propose several representative earthquake scenarios for the LFZ and MSZ,and use PCOMCOt to calculate the resulting tsunami waves,currents,and inundation in the *** results indicate that if an M_(w)7.5 oblique-slip earthquake occurs in the LFZ off the Pearl River Estuary(PRE),the subsequent tsunami will primarily impact Hong kong,causing maximum positive and negative waves of around 1 m and -2 m,respectively,along with slightly destructive currents(≥1.5 m/s).An M_(w)9.0 MSZ megathrust earthquake can lead to widespread inundation with>1 m depth on the outlying islands of Macao and in the urban areas of Hong kong around the Victoria ***,it will also cause catastrophic tsunami currents along the narrow waterways in Hong kong and Macao,and the spatial distribution of strong currents(≥3 m/s)shows a considerable discrepancy from the areas of serious ***,more attention should be paid to the potential impacts of tsunami currents on the GBA.

关键词： tsunami hazards Inundation tsunami currents Non-hydrostatic model Guangdong-Hong kong-Macao Greater Bay Area

Structure engineering of cathode host materials for Li-S batteries

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Rare Metals 2024年第4期43卷 1370-1389页

作者： Jia-Jun Long Hua yu Wen-Bo Liu School of New Energy and Materials Southwest Petroleum UniversityChengdu610500China School of Mechanical Engineering Sichuan UniversityChengdu610065China

Although lithium-sulfur batteries are one of the favorable candidates for next-generation energy storage devices,a few key challenges that have not been addressed have limited its *** challenges include lithium dendrite growth in the anode side,volume change of the active material,poor electrical conductivity,dissolution and migration of poly sulfides,and slow rate of solid-state reactions in the cathode *** the electrochemical performance of lithium-sulfur batteries is greatly affected by the design of the cathode host material,it has also been widely discussed in addressing the abovementioned *** this paper,three design ideas of cathode host materials in terms of microstructure,crystal structure and electronic structure are introduced and ***,the current progress of these three structural design strategies and their effects on the electrochemical performance of lithium-sulfur batteries are discussed in ***,future directions in the structural design of cathode materials for lithium-sulfur batteries are discussed and further perspectives are provided.

关键词： Lithium-sulfur batteries Structure engineering Cathode Host materials

targeting CD47-SIRPα axis for Hodgkin and non-Hodgkin lymphoma immunotherapy

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Genes & Diseases 2024年第1期11卷 205-217页

作者： Pengcheng Zhao Longyan Xie Lei yu Ping Wang School of Life Sciences and Medicine Shandong University of TechnologyZiboShandong 255000China tongji University Cancer Center Shanghai Tenth People's HospitalSchool of MedicineTongji UniversityShanghai 200092China

the interaction between cluster of differentiation 47(CD47)and signal regulatory proteinα(SiRPa)protects healthy cells from macrophage attack,which is crucial for maintain-ing immune *** of CD47 occurs widely across various tumor cell types and transmits the"don't eat me"signal to macrophages to avoid phagocytosis through binding to *** of the CD47-SIRPa axis is therefore a promising approach for cancer *** is the most common hematological malignancy and is an area of unmet clin-ical *** review mainly described the current strategies targeting the CD47-SIRPa axis,including antibodies,SiRPaFc fusion proteins,small molecule inhibitors,and peptides both in preclinical studies and clinical trials with Hodgkin lymphoma and non-Hodgkin lymphoma.

关键词： Cancer treatment CD47-SIRPαaxis Hodgkin lymphoma Immunotherapy Non-Hodgkin lymphoma

Micro defects formation and dynamic response analysis of steel plate of quasi-cracking area subjected to explosive load

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Defence technology（防务技术） 2024年第1期31卷 580-593页

作者： Zheng-qing Zhou Ze-chen Du Xiao Wang Hui-ling Jiang Qiang Zhou yu-long Zhang yu-zhe Liu Pei-ze Zhang Research Institute of Macro-Safety Science University of Science and TechnologyBeijing100083China School of Civil and Resource Engineering University of Science and Technology BeijingBeijing100083China School of Mechanical Engineering Nantong UniversityNantong226019China China North Industry Advanced technology Generalization Institute Beijing100089China China Academy of Ordnance Science China

As the protective component,steel plate had attracted extensive attention because of frequently threats of explosive *** this paper,the evolution of microstructure and the mechanism of damage in the quasi-cracking area of steel plate subjected to explosive load were discussed and the relationships between micro defects and dynamic mechanical response were *** the explosion experiment,five observation points were selected equidistant from the quasi-cracking area of the section of the steel plate along the thickness direction,and the characteristics of micro defects at the observation points were analyzed by optical microscope(OM),scanning electron microscope(SEM) and electron backscattered diffraction(EBSD).the observation result shows that many slip bands(SBs) appeared,and the grain orientation changed obviously in the steel plate,the two were the main damage types of micro *** addition,cracks,peeling pits,grooves and other lager micro defects were appeared in the lower area of the *** stress parameters of the observation points were obtained through an effective numerical *** mechanism of damage generation and crack propagation in the quasicracking area were clarified by comparing the specific impulse of each observation point with the corresponding micro *** result shows that the generation and expansion of micro defects are related to the stress area(*** upper compression area,the neutral plane area,and the lower tension area).the micro defects gather and expand at the grain boundary,and will become macroscopic damage under the continuous action of tensile ***,the micro defects at the midpoint of the section of the steel plate in the direction away from the explosion center(*** horizontal direction) were also *** was found that the specific impulse at these positions were much smaller than that in the thickness direction,the micro defects were only SBs and a few micro cracks,and the those decrea

关键词： Explosive load Quasi-cracking area Micro defects Steel plate Dynamic response Numerical simulation

Vibration Control of the Rail Grinding Vehicle with Abrasive Belt Based on Structural Optimization and Lightweight Design

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 311-337页

作者： Wengang Fan Shuai Zhang Zhiwei Wu Yi Liu Jiangnan yu School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing 100044China China Railway Materials Operation and Maintenance technology Co. LtdBeijing 100036China

As a new grinding and maintenance technology,rail belt grinding shows significant advantages in many applications the dynamic characteristics of the rail belt grinding vehicle largely determines its grinding performance and service *** order to explore the vibration control method of the rail grinding vehicle with abrasive belt,the vibration response changes in structural optimization and lightweight design are respectively analyzed through transient response and random vibration simulations in this ***,the transient response simulation analysis of the rail grinding vehicle with abrasive belt is carried out under operating conditions and non-operating ***,the vibration control of the grinding vehicle is implemented by setting vibration isolation elements,optimizing the structure,and increasing ***,in order to further explore the dynamic characteristics of the rail grinding vehicle,the random vibration simulation analysis of the grinding vehicle is carried out under the condition of the horizontal irregularity of the American AAR6 ***,by replacing the Q235 steel frame material with 7075 aluminum alloy and LA43M magnesium alloy,both vibration control and lightweight design can be achieved *** results of transient dynamic response analysis show that the acceleration of most positions in the two working conditions exceeds the standard value in GB/t 17426-1998 *** optimizing the structure of the grinding vehicle in three ways,the average vibration acceleration of the whole car is reduced by about 55.1%from 15.6 m/s^(2) to 7.0 m/s^(2).the results of random vibration analysis show that the grinding vehicle with Q235 steel frame does not meet the safety conditions of 3σ.By changing frame material,the maximum vibration stress of the vehicle can be reduced from 240.7 MPa to 160.0 MPa and the weight of the grinding vehicle is reduced by about 21.7%from 1500 kg to 1175 *** modal analysis results indic

关键词： Vibration control Dynamic characteristics Structural optimization Lightweight design Modal analysis

Selective adsorption of tetracycline by β-CD-immobilized sodium alginate aerogel coupled with ultrafiltration for reclaimed water

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Chinese Journal of Chemical Engineering 2024年第4期68卷 27-34页

作者： Xi Quan Jun Zhang Linlin Yin Wei Zuo yu tian State key Laboratory of Urban Water Resource and Environment(SkLUWRE) School of EnvironmentHarbin Institute of TechnologyHarbin 150090China

In this work,a novel composite material based on β-cyclodextrin-immobilized sodium alginate aerogel(β-CD/NaAlg) was developed utilizing cross-linker of epichlorohydrin and applied as an adsorbent to remove tetracycline antibiotics from reclaimed wastewater.A series of characterizations were utilized to confirm the successful synthesis of the adsorbent and this β-CD/NaAlg presented a three-dimensional network at the nanoscale or *** optimal conditions(pH=4,t=8 h,β-CD:NaAlg=9,adsorbent dosage = 1.5 g·L-1),the maximum removal rate of β-CD/NaAlg to tetracycline was 70%.the adsorption behavior of tetracycline on β-CD/NaAlg conformed to the Freundlich isotherm model(R2=0.9977) and the pseudo-second-order kinetic model(R^(2)=0.9993).Moreover,the adsorbent still removed 55.3% of tetracycline after five ***,the adsorbent was integrated with ultrafiltration to adsorb tetracycline antibiotics from simulated reclaimed wastewater,and the removal rate of tetracycline reached 78.9% within 2 *** existence of Cr(Ⅵ) had a negligible impact on tetracycline removal,while the presence of humic acid exhibited a promoting *** possible adsorption mechanisms were also elucidated through X-ray photoelectron spectroscopy and density functional theory *** summary,β-CD/NaAlg represents an environmentally friendly,efficient,and sustainable adsorbent for removing tetracycline antibiotics from reclaimed water.

关键词： b-CD/NaAlg aerogel Covalent grafting tetracycline antibiotics Ultrafiltration Selective adsorption Reclaimed water