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LiDAR-Visual SLAM with Integrated Semantic and Texture Information for Enhanced Ecological Monitoring Vehicle Localization

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Computers, Materials & Continua 2025年第1期82卷 1401-1416页

作者： Yiqing Lu Liutao zhao Qiankun zhao Foreign Environmental Cooperation Center Ministry of Ecology and Environment of PRCBeijing100035China Beijing Computing Center Co. Ltd.Beijing Academy of Science and TechnologyBeijing100083China Beijing Guyu Interactive Artificial Intelligence Application Co. Ltd.Beijing100024China

Ecological monitoring vehicles are equipped with a range of sensors and monitoring devices designed to gather data on ecological and environmental *** vehicles are crucial in various fields,including environmental science research,ecological and environmental monitoring projects,disaster response,and emergency management.A key method employed in these vehicles for achieving high-precision positioning is LiDAR(lightlaser detection and ranging)-Visual Simultaneous Localization and Mapping(SLAM).However,maintaining highprecision localization in complex scenarios,such as degraded environments or when dynamic objects are present,remains a significant *** address this issue,we integrate both semantic and texture information from LiDAR and cameras to enhance the robustness and efficiency of data ***,semantic information simplifies the modeling of scene elements,reducing the reliance on dense point clouds,which can be less ***,visual texture information complements LiDAR-Visual localization by providing additional contextual *** incorporating semantic and texture details frompaired images and point clouds,we significantly improve the quality of data association,thereby increasing the success rate of *** approach not only enhances the operational capabilities of ecological monitoring vehicles in complex environments but also contributes to improving the overall efficiency and effectiveness of ecological monitoring and environmental protection efforts.

关键词： LiDAR-Visual simultaneous localization and mapping integrated semantic texture information

Negative PO3-implanted bionic ion transport channels for promoting Li-S battery

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Science China Chemistry 2025年

作者： Wenhuan Huang Shun Wang Xuehan Hou Yanan zhang Xingxing zhang Yaoxiao zhao Xilang Jin Huabin zhang Fei Wang Jian zhang Key Laboratory of Chemical Additives for China National Light Industry College of Chemistry and Chemical EngineeringShaanxi University of Science and Technology School of Materials and Chemical Engineering Xi'an Technological University Chemistry Program Physical Science and Engineering Division King Abdullah University of Science and Technology State Key Laboratory of Structural Chemistry Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences

Lithium-sulfur （Li-S） battery,as a promising next-generation high-energy-density battery,suffers from lithium polysulfides（LPSs） shuttle and Li dendrites *** crystalline framework-based membranes as separator can effectively absorb and restrain LPSs but without precise structural design principal exploration and mechanism ***,bio-inspired 1D oriented lithium-ion transport channels with molecular negatively charged PO3（-1） have been developed in hybrid tetrazole frameworks for promoting the transmission of Li+*** theoretical calculations and in situ spectroscopy demonstrated the higher binding energy and inhibited diffusion of LPSs in *** assembled PP@PO3Janus separator in Li-S coin cell delivered a high initial capacity of 1410.9 mAh g-1at 0.1 C and a low attenuation rate of 0.038%per cycle over 500 cycles at 5 ***,the high capacities of 862,542 and 409 mAh g-1based on high-sulfur-loading cathodes of 2.6,3.8 and 5.0 mg cm-2at0.5 C were achieved,***,the punch battery of PO3@PP separator with S-cathode of 1.2 mg cm-2has been developed for demonstrating its potentials commercial application,which displays impressive capacity of 873.4 mAh g-1with the retention of～78.9%over 50 cycles.

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Direct and rapid detection of serum amino acid and monoamine neurotransmitters to assist the diagnosis of panic disorder

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Science China Chemistry 2025年第01期 377-384页

作者： Shiwen Liu Xuerui Wan Meng zhao Jiaqi Wang Weilan Wu Linlin You Yonggui Yuan Qian Xu rong Gao Key Laboratory of Environmental Medicine Engineering Ministry of Education School of Public Health Southeast University Key Laboratory of Modern Toxicology of Ministry of Education Department of Hygienic Analysis and Detection School of Public HealthNanjing Medical University Department of Psychosomatics and Psychiatry Zhongda Hospital School of Medicine Southeast University

The measurement of amino acid and monoamine neurotransmitters（NTs） in serum plays a central role in the identification and monitoring of clinical panic disorder（PD）. However, the strong polarity and chemical heterogeneity of NTs make direct extraction and rapid detection extremely challenging. Herein, we developed a strategy that integrated solid phase extraction based on magnetic Fe3O4coated with polydopamine（Fe3O4@PDA） and direct analysis of mass spectrometry in real time（DART-MS） for quantification of 10 NTs. We systematically investigated the optimal conditions of this strategy to achieve good accuracy and precision. Compared with existing magnetic solid phase extraction methods for NTs detection in biological samples, this strategy could adsorb more targets while having similar adsorption efficiencies, and the total process time was reduced by an average of 69.42%. We rapidly determined the metabolic abnormality of 6 types of NTs in the serum of PD patients and demonstrated their diagnostic accuracy. In addition, an outstanding feature of PD in which tryptophan was more metabolized by the KYN pathway and the 5-hydroxytryptamine pathway was inhibited could be elucidated by this strategy. Our results highlighted the potential ability of Fe3O4@PDA coupled with DART-MS to assist in the clinical diagnosis of PD.

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龙门山构造带北段构造变形特征——来自汶川科钻四号孔(WFSD-4)的证据

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地球学报 2019年第1期40卷 93-105页

作者：张佳佳李海兵郑勇王焕李成龙张钊荣中国地质科学院探矿工艺研究所四川成都611734 中国地质调查局地质灾害防治技术中心四川成都611734 自然资源部深地动力学重点实验室中国地质科学院地质研究所北京100037

2008年MW7.9汶川地震在青藏高原东缘龙门山构造带内毫无征兆的情况下发生,并沿灌县—安县断裂和映秀—北川断裂分别产生了约80 km和275 km的不同性质的地表破裂带,在世界地震史上实属罕见,表明龙门山构造带在以往经历了极为复杂的构造... 详细信息

2008年MW7.9汶川地震在青藏高原东缘龙门山构造带内毫无征兆的情况下发生,并沿灌县—安县断裂和映秀—北川断裂分别产生了约80 km和275 km的不同性质的地表破裂带,在世界地震史上实属罕见,表明龙门山构造带在以往经历了极为复杂的构造演化和运动变形。地震后迅速启动的汶川地震断裂带科学钻探项目,为我们认识龙门山构造带以往运动和变形本质提供了全新的素材和视角。本文以位于龙门山构造带北段的汶川地震断裂带科学钻探四号孔(WFSD-4)岩心作为主要研究对象,并结合地表构造变形研究,对WFSD-4的岩心变形特征和龙门山构造带北段的构造变形序列进行了分析与探讨,认为:D1变形期以岩心和地表早期面理S1顺成份层发育为特征,多被同时期长英质脉体填充,显示伸展机制下的韧性变形,推测为轿子顶穹隆构造的形成时期; D2变形期为区域主导性面理S2的形成时期,岩心中劈理面上可见绢云母等矿物,石香肠构造指示NW–SE的韧性挤压变形特征。岩心和地表均可见S2切割早期面理S1,错断早期顺S1贯入的长英质脉体; D3变形期以NW–SE向挤压冲断为主,岩心中面理S2发生褶皱变形,局部生成间隔劈理S3。地表可见区域主导面理S2变形,形成平行褶皱,轴面走向北东,发育同时期的NW向陡倾的活动断裂,部分成为汶川地震的发震断裂,该期对应于龙门山构造带北段的喜山期构造运动,褶皱强化,推覆强烈,也是唐王寨向斜的最终成型时期;岩心和地表均可见面理S2膝折的构造现象,为局部地表抬升过程中的重力成因,构成D4期变形。

关键词：龙门山汶川地震断裂带科学钻探岩心特征变形序列面理

茎瘤芥(榨菜)晚播条件下主要数量性状遗传参数分析

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西南农业学报 2011年第2期24卷 677-680页

作者：冷容刘义华张召荣李娟冉广葵重庆市涪陵区农业科学研究所重庆涪陵408000

以23份茎瘤芥品种资源为试材,在晚播条件下对茎瘤芥15个数量性状的遗传力等遗传参数进行了估算。结果表明,广义遗传力的大小次序为营养生长期、瘤茎膨大期、茎/叶、菜形指数、瘤茎横径、瘤茎纵径、菜皮百分率、叶宽、瘤茎产量、瘤茎空... 详细信息

以23份茎瘤芥品种资源为试材,在晚播条件下对茎瘤芥15个数量性状的遗传力等遗传参数进行了估算。结果表明,广义遗传力的大小次序为营养生长期、瘤茎膨大期、茎/叶、菜形指数、瘤茎横径、瘤茎纵径、菜皮百分率、叶宽、瘤茎产量、瘤茎空心率、开展度、株鲜重、出苗至瘤茎膨大始期、叶长、株高;瘤茎空心率、茎/叶、菜皮百分率、瘤茎产量等性状遗传变异系数较大、遗传力和遗传进度均较高,在选育群体中进行选择和利用,其选择潜力大,选择有效,可望获得较大的遗传进展。

关键词：茎瘤芥晚播数量性状遗传参数

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肾上腺髓质素单克隆抗体制备和在人体器官组织中的表达

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复旦学报（医学版） 2002年第3期29卷 173-175,F003页

作者：刘学光张秀荣赵仲华张志刚陈琦郭慕依复旦大学医学院病理学教研室上海200032

目的　自制特异性肾上腺髓质素 (AM)单克隆抗体 ,观察AM在人正常组织中的表达。方法　以AM为抗原免疫BALB/c小鼠 ,取其脾细胞与SP2 / 0骨髓瘤细胞株融合 ,建立阳性杂交瘤细胞克隆 ,制备AM单克隆抗体 ;以此为第一抗体 ,采用ABC免疫组化... 详细信息

目的　自制特异性肾上腺髓质素 (AM)单克隆抗体 ,观察AM在人正常组织中的表达。方法　以AM为抗原免疫BALB/c小鼠 ,取其脾细胞与SP2 / 0骨髓瘤细胞株融合 ,建立阳性杂交瘤细胞克隆 ,制备AM单克隆抗体 ;以此为第一抗体 ,采用ABC免疫组化法检测其在人体心、肾、肝、肺和脾组织的表达。结果　AM在上述器官中的分布较广泛 ,表达于这些组织中的血管平滑肌细胞和内皮细胞 ,以及心肌细胞、肾小球上皮细胞和内皮细胞 ,肾小管和集合管上皮细胞 ,肝胆管上皮细胞 ,肺支气管及其黏液腺上皮细胞、平滑肌细胞和肺泡Ⅱ型上皮细胞胞质。结论　AM在人器官组织中分布广泛 ,提示其生物学作用可能是多方面的。

关键词：肾上腺髓质素单克隆抗体制备人体器官组织表达 ABC免疫组化法

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白银东大沟水体和底泥中重金属污染评价

物探与化探 2019年第3期43卷 649-657页

作者：张钊熔段星星夏明哲长安大学地球科学与资源学院陕西西安710054 中国地质调查局西安地质调查中心陕西西安710054

为了给白银东大沟河道生态治理和底泥处理风险评价提供科学参考,分析了东大沟水体中Cu、Pb、Zn、Cd、As、Hg和底泥中Cr、Zn、Pb、Cu、Cd、Hg重金属的含量水平、分布特征及含量变化趋势,并采用内梅罗综合指数法和潜在生态风险指数法分别... 详细信息

为了给白银东大沟河道生态治理和底泥处理风险评价提供科学参考,分析了东大沟水体中Cu、Pb、Zn、Cd、As、Hg和底泥中Cr、Zn、Pb、Cu、Cd、Hg重金属的含量水平、分布特征及含量变化趋势,并采用内梅罗综合指数法和潜在生态风险指数法分别对水体和沉积底泥中的重金属污染累积程度、潜在风险进行评价。研究结果表明,东大沟水体中6种重金属平均含量在0.005 7～4.796 0 mg/L之间,其含量大小依次为Zn>Cu>Cd>Pb>As>Hg。随水流方向,水体中As含量表现为升高趋势,其余重金属含量则呈显著降低趋势。底泥中6种重金属平均含量在(61.6～5 999.3)×10-6之间,其含量大小依次为Zn>Pb>Cu>Cd>Cr>Hg。东大沟河段底泥中的重金属含量有起伏,但整体表现为随水流方向含量显著降低的趋势。参照相关评价标准,东大沟水体的主要重金属污染物为Cu、Pb、Zn、Cd,其单因子污染程度Cd>Pb>Zn>Cu,综合指数评价表明东大沟水体存在不同程度的污染;底泥主要重金属污染物为Cd、Hg、Pb、Cu,为复合污染,其生态危害风险程度Cd>Hg>Pb>Cu>Zn>Cr,潜在生态风险指数评价表明东大沟大部分河段底泥潜在生态风险指数为严重。

关键词：重金属污染水体底泥污染评价防控与治理东大沟

Low‑Temperature Fabrication of Stable Black‑Phase CsPbI_(3)Perovskite Flexible Photodetectors Toward Wearable Health Monitoring

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Nano-Micro Letters 2025年第3期17卷 232-245页

作者： Yingjie zhao Yicheng Sun Chaoxin Pei Xing Yin Xinyi Li Yi Hao Mengru zhang Meng Yuan Jinglin Zhou Yu Chen Yanlin Song College of Chemistry and Pingyuan Laboratory Zhengzhou UniversityZhengzhou 450001People’s Republic of China Key Laboratory of Green Printing Institute of ChemistryChinese Academy of SciencesBeijing 100190People’s Republic of China Key Laboratory of Bio‑Inspired Materials and Interfacial Science Technical Institute of Physics and ChemistryChinese Academy of SciencesBeijing 100190People’s Republic of China Institute of High Energy Physics Chinese Academy of SciencesBeijing 100049People’s Republic of China

Flexible wearable optoelectronic devices fabricated fromorganic–inorganic hybrid perovskites significantly accelerate the developmentof portable energy,biomedicine,and sensing fields,but their poor thermal stabilityhinders further ***,all-inorganic perovskites possessexcellent thermal stability,but black-phase all-inorganic perovskite filmusually requires high-temperature annealing steps,which increases energy consumptionand is not conducive to the fabrication of flexible wearable *** this work,an unprecedented low-temperature fabrication of stable blackphaseCsPbI3perovskite films is demonstrated by the in situ hydrolysis reactionof diphenylphosphinic chloride *** released diphenyl phosphateand chloride ions during the hydrolysis reaction significantly lower the phasetransition temperature and effectively passivate the defects in the perovskitefilms,yielding high-performance photodetectors with a responsivity of 42.1 AW−1 and a detectivity of 1.3×10^(14)***,high-fidelity imageand photoplethysmography sensors are demonstrated based on the fabricated flexible wearable *** work provides a newperspective for the low-temperature fabrication of large-area all-inorganic perovskite flexible optoelectronic devices.

关键词： In situ hydrolyzation Low-temperature processing All-inorganic perovskite Flexible photodetectors Health monitoring

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一种灵活的基于网络处理器的流量生成方法

计算机工程与应用 2007年第21期43卷 137-140页

作者：张铮赵荣彩邰铭单征解放军信息工程大学解放军信息工程大学郑州450002

流量生成是网络流量模拟和网络设备测试的关键技术。随着网络的发展,流量生成技术面临着性能、精确性和灵活性三方面的挑战。介绍了一种灵活的基于IXP2400网络处理器的高速流量生成方法,该方法主要包括两个组成部分:IXPBTG平台和3种灵... 详细信息

流量生成是网络流量模拟和网络设备测试的关键技术。随着网络的发展,流量生成技术面临着性能、精确性和灵活性三方面的挑战。介绍了一种灵活的基于IXP2400网络处理器的高速流量生成方法,该方法主要包括两个组成部分:IXPBTG平台和3种灵活的流量生成算法。

关键词：流量生成 IXP2400 网络处理器