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Development of a vision-based ground target detection and tracking system for a small unmanned helicopter

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Science in China(Series F) 2009年第11期52卷 2201-2215页

作者： LUM Kai-Yew ChEN ben M. LEE Tong h. Department of Electrical & Computer Engineering National University of Singapore

It is undoubted that the latest trend in the unmanned aerial vehicles （UAVs） community is towards vision-based unmanned small-scale helicopter, utilizing the maneuvering capabilities of the helicopter and the rich information of visual sensors, in order to arrive at a versatile platform for a variety of applications such as navigation, surveillance, tracking, etc. In this paper, we present the development of a vision-based ground target detection and tracking system for a small UAV helicopter. More specifically, we propose a real-time vision algorithm, based on moment invariants and two-stage pattern recognition, to achieve automatic ground target detection. In the proposed algorithm, the key geometry features of the target are extracted to detect and identify the target. Simultaneously, a Kalman filter is used to estimate and predict the position of the target, referred to as dynamic features, based on its motion model. These dynamic features are then combined with geometry features to identify the target in the second-stage of pattern recognition, when geometry features of the target change significantly due to noise and disturbance in the environment. Once the target is identified, an automatic control scheme is utilized to control the pan/tilt visual mechanism mounted on the helicopter such that the identified target is to be tracked at the center of the captured images. Experimental results based on images captured by the small-scale unmanned helicopter, SheLion, in actual flight tests demonstrate the effectiveness and robustness of the overall system.

关键词： target tracking unmanned aerial vehicle image processing pattern recognition Kalman filtering

2型糖尿病心脏自主神经病变合并视网膜病变和肾病的临床研究

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重庆医科大学学报 2024年第1期49卷 18-23页

作者：田丽娜牛奔朱恩仙谢亚娟云南中医药大学第一临床医学院昆明650000 云南省第一人民医院/昆明理工大学附属医院内分泌科昆明650032

目的:探讨2型糖尿病心脏自主神经病变合并视网膜病变和肾病的患病率及危险因素。方法:选取2022年5月至2023年5月于云南省第一人民医院内分泌科住院的2型糖尿病(type 2 diabetes mellitus,T2DM)患者203例,以心血管反射试验(cardiovascula... 详细信息

目的:探讨2型糖尿病心脏自主神经病变合并视网膜病变和肾病的患病率及危险因素。方法:选取2022年5月至2023年5月于云南省第一人民医院内分泌科住院的2型糖尿病(type 2 diabetes mellitus,T2DM)患者203例,以心血管反射试验(cardiovascular autonomic reflex tests,CARTs)结合评分判定糖尿病心脏自主神经病变(diabetic cardiac autonomic neuropathy,CAN),按照是否合并糖尿病视网膜病变(diabetic retinopathy,DR)、糖尿病肾脏病变(diabetic kidney disease,DKD)分为单纯CAN组、CAN合并DR组、CAN合并DKD组及CAN合并DR、DKD组,收集所有受试者的临床相关资料。采用SPSS 26.0软件进行统计学分析。结果:①203例T2DM患者中,CAN的患病率为58.62%,CAN合并DR、CAN合并DKD及CAN合并DR、DKD的患病率分别为10.08%、7.56%、10.92%。②在4组中年龄、糖化血红蛋白(glycosylated hemoglobin,hbA1c)、估算肾小球滤过率(estimated glomerular filtration rate,eGFR)、乳酸脱氢酶(lactate dehydrogenase,LDh)、直接胆红素(direct bilirubin,DBIL)、72 h动态血糖葡萄糖在目标范围内时间(72 hours dynamic blood glucose within the target range of time,TIR)等因素差异有统计学意义(PhbA1c(OR=2.948,95%CI=1.015~8.560,P=0.047)、LDh(OR=1.151,95%CI=1.035~1.280,P=0.010)为CAN合并DR、DKD发生发展的促进因素;DBIL(OR=0.057,95%CI=0.005~0.658,P=0.022)、eGFR(OR=0.700,95%CI=0.513~0.955,P=0.025)、TIR(OR=0.877,95%CI=0.775~0.992,P=0.037)、年龄(OR=0.550,95%CI=0.349~0.868,P=0.010)的水平与CAN合并DR、DKD的发生发展相关。结论:较低的eGFR、TIR、DBIL、年龄与CAN合并DR、DKD的发生呈负相关,较高的hbA1c、LDh与CAN合并DR、DKD的发生呈正相关,故在eGFR、TIR、DBIL、年龄相对偏低和(或)hbA1c、LDh相对偏高的糖尿病人群中需更注重CAN合并DR、DKD的筛查。

关键词： 2型糖尿病心脏自主神经病变糖尿病微血管病变患病率危险因素

Detection of oxidative stress and DNA damage in freshwater snail Lymnea leuteola exposed to profenofos

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Frontiers of Environmental Science & Engineering 2018年第5期12卷 181-187页

作者： Daoud Ali huma Ali Saud Alifiri saad Alkahtani Abdullah A Alkahtane Shaik Althaf huasain Department of Zoology College of ScienceKing Saud UniversityRiyadh 11451Saudi Arabia 2 Department of ChemistryMANITBhopal 462003India

Extensive production and use of organophosphate pesticide in agriculture,has risen concerned about its ecotoxicity and risk assessment of insecticides,which are more ***,the present investigation was aimed to study the induction of oxidative stress and DNA damage by organophosphate insecticide profenofos(PFF)in freshwater snail Lymnea luteola(***).The median lethal value(96 h LC50)of PFF was estimated as 1.26 mg/L for *** in a semi-static system and on the basis of LC50 value three concentrations viz.,0.126(1/10 of LC50,Sublethal I),0.63(1/2 of LC50,Sublethal II)and 0.84 mg/L(2/3 of LC50,Sublethal III)were *** were exposed to above-mentioned concentrations of PFF along with solvent control(acetone)and negative control for 96 *** haemolymph was collected at 24 and 96 h of after *** heamolymph of PFF exposed snail,lipid peroxide,glutathione reduced glutathione S transferase and superoxide dismutase activities at the tested concentrations significantly differ from those in the *** genotoxicity induced in hemocytes of treated snails was measured by alkaline single cell gel electrophoresis *** data of this experiment demonstrated significantly enhancement of oxidative stress and DNA damage in the treated snails as compared to ***,we observed statistically significant correlations of ROS with DNA damage(%tail DNA)(R^(2)=0.9708)for 24 h and DNA damage(R^(2)=0.9665)for 96 *** of the current experiment can be useful in risk evaluation of PFF among aquatic *** study confirmed the use of comet assay for in vivo laboratory experiments using freshwater snail for selecting the toxic potential of industrial chemicals and environmental contaminants.

关键词： Acute toxicity Profenofos ROS oxidative stress DNA damage Lymnea luteola

Sorption of 2,4-dinitroanisole (DNAN) on lignin

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Journal of Environmental Sciences 2012年第5期24卷 808-813页

作者： Rabih saad Zorana Radovic-hrapovic Behzad Ahvazi Sonia Thiboutot Guy Ampleman Jalal hawari Biotechnology Research Institute National Research Council of Canada6100 Royalmount AvenueMontréalQuebecCanada Defense Research Development Canada Department of National DefenseValcartierQuebecCanada

The present study describes the use of two commercially available lignins,namely,alkali and organosolv lignin,for the removal of2,4-dinitroanisole（DNAN）,a chemical widely used by the military and the dye industry,from *** of DNAN on bothlignins reached equilibrium within 10 hr and followed pseudo second-order kinetics with sorption being faster with alkali than withorganosolv lignin,i.e.k2 10.3 and 0.3 g/（mg·hr）,*** a separate study we investigated sorption of DNAN between 10 and40 C and found that the removal of DNAN by organosolv lignin increased from 0.8 to 7.5 mg/g but reduced slightly from 8.5 to 7.6mg/g in the case of alkali *** isotherms for either alkali or organosolv lignin best fitted Freundlich equation with enthalpyof formation,h0 equaled to 14 or 80 kJ/*** help understand DNAN sorption mechanisms we characterized the two lignins byelemental analysis,BET nitrogen adsorption-desorption and 31P *** in elemental compositions between the two ligninsindicated that alkali lignin should have more sites（O-and S-containing functionalities） for *** BET surface area andcalculated total pore volume of alkali lignin were almost 10 times greater than that of organosolv lignin suggesting that alkali ligninshould provide more sites for sorption.31P NMR showed that organosolv lignin contains more phenolic-Oh groups than alkali lignin,i.e.,70% and 45%,*** variations in the type of Oh groups between the two lignins might have affected the strength ofh-bonding between DNAN and the type of lignin used.

关键词： sorption DNAN lignin kinetics isotherms.

Numerical Simulation of a Granular Flow on a Smooth Inclined Plane

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Fluid Dynamics & Materials Processing 2022年第6期18卷 1631-1638页

作者： Rida Tazi Adil Echchelh Mohammed El Ganaoui Aouatif saad Laboratory of Materials and Energy Faculty of SciencesIbn Tofail UniversityKenitraMorocco LERMAB/IUT Longwy Institut CarnotNancyFrance ASELab Advanced Systems Engineering Laboratory National School of Applied SciencesIbn Tofail UniversityKenitraMorocco

Unlike most fluids,granular materials include coexisting solid,liquid or gaseous regions,which produce a rich variety of complex *** flows of grains driven by gravity down inclines occur in nature and in *** describe the granular flow on an inclined surface,several studies were carried *** can cite in particular the description of Saint-Venant which considers a dry granular flow,without cohesion and it only takes into account the substance-substrate friction,this model proposes a simplified form of the granular flow,which depends on the one side on the angle of inclination of the substrate with respect to the horizontal plane and on the other side on the thickness of the substance *** numerical simulation we have developed is first based on the Saint-Venant model,it allowed us to visualize the variation of the speed according to the thickness of the substance(from 0 to h)and to deduce the average speed of the substance on an inclined ***,this restrictive model does not take into account the effect of particle friction on the flow and considers that the thickness h is *** make our simulation more realistic,we opted for the Savage-hatter *** took into account the variation of the thickness on the particles speed,in addition we have studied the effect of the variation of many parameters on the granular flow,namely the temperature and the roughness of the substrate,the density and the compactness of the substance,we found that the speed of the particles increases and the treatment time decreases with an increase in temperature.

关键词： Granular flow friction cohesion angle ofinclination temperature

Incidence, mortality, and risk factors of immunotherapy-associated hepatotoxicity: A nationwide hospitalization analysis

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Liver Research 2021年第1期5卷 28-32页

作者： Simcha Weissman saad Saleem Sachit Sharma Menashe Krupka Faisal Inayat Muhammad Aziz James h.Tabibian Department of Medicine Hackensack Meridian Health Palisades Medical CenterNorth BergenNJUSA Department of Medicine Sunrise Hospital and Medical CenterLas VegasNVUSA Department of Medicine University of Toledo Medical CenterToledoOHUSA Department of Medicine Westchester Medical CenterValhallaNYUSA Department of Medicine Allama Iqbal Medical CollegeLahorePakistan Division of Gastroenterology and hepatology University of Toledo Medical CenterToledoOHUSA Division of Gastroenterology Department of MedicineOlive View-UCLA Medical CenterSylmarCAUSA David Geffen School of Medicine at UCLA Los AngelesCAUSA

Background and aims Anti-neoplastic immunotherapy has revolutionized cancer management;however,its safety profile with respect to liver-related injury remains largely ***,we analyzed a United States national database to determine the incidence,mortality,and predictors of hepatotoxicity in the setting of anti-neoplastic *** This was a nationwide retrospective study of hospital encounters from 2011 to 2014 using the National Inpatient Sample(NIS)*** utilized the International Classification of Diseases,Ninth Revision(ICD-9)coding system to identify all adult patients who underwent anti-neoplastic immunotherapy during *** primary outcome was the incidence of hepatotoxicity during the same *** outcomes included in-hospital mortality as well as socioeconomic and ethno-racial predictors of *** were performed using IBM SPSS Statistics *** The sample included 3002 patients who underwent inpatient anti-neoplastic *** incidence of hepatotoxicity was 10.1%,which was significantly higher as compared to a matched inpatient population(adjusted odds ratio(aOR)4.93,95%confidence interval(CI):3.80–6.40,P=0.001).No significant mortality difference was seen in those that developed hepatotoxicity compared to those who did not(aOR 0.47,95%CI:0.03–8.03,P=0.612).Age under 60(aOR 1.56,95%CI:1.23–1.78,P=0.050)and white race(aOR 1.85,95%CI:1.35–2.04,Pherapy-associated *** In this large,nationwide database analysis,we found that anti-neoplastic immunotherapy was associated with a nearly five-fold risk of in-hospital hepatotoxicity as compared to a matched inpatient population,though without an associated mortality ***,younger age and white race were identified as predictors of immunotherapy-associated *** vigilance and prospective investigation of the

关键词： hepatotoxicity Tumor immunotherapy Liver enzymes Outcomes Risk factors Mortality

An overview on development of miniature unmanned rotorcraft systems

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Frontiers of Electrical and Electronic Engineering in China 2010年第1期5卷 1-14页

作者： Guowei CAI ben M.ChEN Tong h.LEE Department of Electrical and Computer Engineering National University of SingaporeSingapore 117576Singapore

In this article,we attempt to document a technical overview on modern miniature unmanned rotorcraft *** first give a brief review on the historical development of the rotorcraft unmanned aerial vehicles(UAVs),and then move on to present a fairly detailed and general overview on the hardware configuration,software integration,aerodynamic modeling and automatic flight control system involved in constructing the unmanned *** applications of the emerging technology in the military and civilian domains are also highlighted.

关键词： unmanned aerial vehicle(UAV) rotorcraft aerodynamic modeling avionic systems flight control systems

探讨补阳还五汤通过AMPK/ULK1线粒体自噬通路抑制细胞焦亡治疗糖尿病周围神经病变

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中国实验方剂学杂志 2024年第15期30卷 1-10页

作者：安静文宋林春陈蝶张旺田佳鑫张天雅贲莹河北中医药大学中西医结合学院河北省中西医结合肝肾病证重点实验室石家庄050091

目的:观察补阳还五汤通过腺苷酸活化蛋白激酶(AMPK)/UNC-51样激酶1(ULK1)线粒体自噬通路抑制细胞焦亡治疗糖尿病周围神经病变(DPN)的作用机制。方法:动物实验采用雄性SPF级SD雄性大鼠(6~7周)60只,按体质量进行编号,计算机产生随机数字... 详细信息

目的:观察补阳还五汤通过腺苷酸活化蛋白激酶(AMPK)/UNC-51样激酶1(ULK1)线粒体自噬通路抑制细胞焦亡治疗糖尿病周围神经病变(DPN)的作用机制。方法:动物实验采用雄性SPF级SD雄性大鼠(6~7周)60只,按体质量进行编号,计算机产生随机数字法随机分为4组,分别为正常组、模型组、α-硫辛酸组(60 mg·kg^(-1))、补阳还五汤组(15 g·kg^(-1)),每组15只。通过注射链脲佐菌素(STZ)制备糖尿病模型。造模成功后α-硫辛酸组和补阳还五汤组分别给与相应药物,正常组和模型组给予生理盐水。给药12周结束后检测感觉神经传导速度(SNCV)和机械性痛阈(PWT)。免疫组化和蛋白免疫印迹法(Western blot)检测背根神经节(DRG)中磷酸化腺苷酸活化蛋白激酶(p-AMPK)、磷酸化UNC-51样激酶1(p-ULK1)、微管相关蛋白1轻链3(LC3)、选择性自噬受体(p62/SQSTM1)、Beclin1、NOD样受体热蛋白结构域相关蛋白3(NLRP3)、胱天蛋白酶-1(Caspase-1)、白细胞介素-1β(IL-1β)的表达。免疫荧光检测gasdermin D的N端(N-GSDMD)表达。结果:与正常组比较,模型组大鼠空腹血糖显著升高(P<0.01),SNCV、PWT显著降低(P<0.01),LC3Ⅱ/LC3Ⅰ、Beclin1、p-AMPK/AMPK、p-ULK1/ULK1显著降低(P<0.01),p62、NLRP3、N-GSDMD/GSDMD、IL-1β、剪切的(cleaved)Caspase-1/Caspase-1显著升高(P<0.01);与模型组比较,各用药组SNCV、PWT显著升高(P<0.01),LC3Ⅱ/LC3Ⅰ、Beclin1、p-AMPK/AMPK、p-ULK1/ULK1明显升高(P<0.05,P<0.01),p62、N-GSDMD/GSDMD、cleaved Caspase-1/Caspase-1、NLRP3、IL-1β明显降低(P<0.05,P<0.01);与α-硫辛酸组比较,补阳还五汤组SNCV、PWT明显升高(P<0.05),LC3Ⅱ/LC3Ⅰ、p-ULK1/ULK1明显升高(P<0.05),NLRP3、N-GSDMD/GSDMD明显降低(P<0.05)。结论:补阳还五汤通过AMPK/ULK1通路调节线粒体自噬抑制细胞焦亡,防治DPN,其治疗效果较α-硫辛酸可能更好。

关键词：糖尿病周围神经病变线粒体自噬焦亡补阳还五汤