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An improved Gmapping algorithm based map construction method for indoor mobile robot

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High Technology Letters 2021年第3期27卷 227-237页

作者： Tao yong Jiang Shan Ren Fan Wang Tianmiao Gao He School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191P.R.China research Institute of Aero-Engine Beihang UniversityBeijing 100191P.R.China

With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research *** accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and ***,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor *** this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)*** improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line *** show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.

关键词： complex indoor environment single-line Lidar map construction improved Gmapping algorithm sparse pose adjustment(SPA)optimization

Creating a Peaceful and Stable Neighboring Environment

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China International Studies 2010年第2期30卷 4-24页

作者： Zheng Ruixiang Senior research Fellow at China Institute of International Studies

China is a country with the most neighboring countries in the ***'s land borders total more than 22,000 kilometers in length;its mainland coastline stretches for some 18,000 kilometers;and it shares common borders wit... 详细信息

关键词：周边环境稳定社会制度中国海岸线邻国公里边界

The Troyan Terrorism as an Established Order （Disciplina）, or the Nomadic Colonatus（Mission of Mith in the space of Sir Thomas More’s “Utopia”）

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International Relations and Diplomacy 2018年第2期6卷 129-141页

作者： Menshikova Elena Rudolfovna Expert New Institute for Cultural research MoscowRussia

The Troyan horse served here as a sufficiently vivid picture to enter into the history conflicts of an archetypal symbol of treachery and robbery, a metaphor for domination, a monad of violence and its justification. The body of terrorism rests not on ideology/beliefs/religions-it is purely a practical idea, behind which there is only one thing： terra nova-the habitat. It is necessary to look for other reasons for the massacres and public executions of modern times, because no religion calls for open murder-only dogmatists armed with faith, craved crusaders hikes, and therefore cannot be recognized and accepted as responsible for the murder. This is the search for the guilty, but only the person is guilty-the fault is his area of responsibility. The Utopians of Thomas More, who revered Mithra, acted like him： like Greek gods, they interfered in human wars, descending from heaven, and restored justice by waging war beyond their state borders, as if protecting the inviolability of their territory and their laws, whose rejection, like, and encroachment on them, led to armed conflicts, the purpose of allowing them was the introduction of forced disciplina （established order）, sanctioned by Mithra himself. It is this identity that allows us to consider Utopia as an extended invective for the entire social order, regardless of time and place, and in particular the state as a paramilitary mechanism for the improvement of the human hostel, based on regulations that allow and, more often, provoke its violation, since destabilization is the driving force of existence. This polar involvement of Mithra in the war lies hidden in the very aporia of the world-war, which turns the god of treaties into the chthonic deity of destruction and murder.

关键词： Troy terra colonatus nomadic piracy disciplina Thomas More Mithra state

Novel nanocomposites based on a strawberry-like gold-coated magnetite （Fe@Au） for protein separation in multiple myeloma serum samples

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Nano research 2015年第4期8卷 1189-1198页

作者： Jose E. Araujo Carlos Lodeiro Jose L. Capelo Benito Rodrfguez-Gonzalez Alcindo A. dos Santos~ Hugo M. Santos Javier Ferna.ndez-Lodeiro BIOSCOPE research Group UCIBIO-REQUIMTE Department of Chemistry Faculty of Science and Technology University NOVA of Lisbon 2829-516 Caparica Portugal PROTEOMASS Scientific Society Madan Parque Rua dos Inventores 2825-182 Caparica Portuga Scientific and Technological research Assistance Centre (CACTI) University of Vigo Vigo Spain Instituto de Quimica Universidade de Sao Paulo Av. Prof. Lineu Prestes 748 CxP 26077 Sao Paulo 05508-000 Brazil

A new process to produce magnetite partially coated with strawberry-like gold nanoparticles in aqueous media is reported. The fast response to magnetic fields and optical properties of gold nanoparticle-based colloidal systems are the two main advantages of this new Fe@Au nanomaterial. These advantages allow for the use of this new colloidal nanomaterial for various purposes in proteomics and biomedicine, as proteins can bind to the surface, and the surface can also be funcfionalized. As proof-of-concept, the new Fe@Au nanoparticles have been assessed in biomarker discovery as a tool for pre-concentration and separation of proteins from complex proteomes. To this end, sera from healthy people were compared with sera from patients diagnosed with multiple myeloma. The application of this new Fe@Au nanomaterial combined with mass spectrometry has allowed for the identification of 53 proteins, and it has also shown that the heat shock protein HSP75 and the plasma protease C1 inhibitor are potential biomarkers for diagnostics and control of multilvle mveloma vro^ression.

关键词： nanoproteomics strawberry-nanopartides multifunctional hybridnanoparticles biomarkers multiple myeloma

Spatially explicit reconstruction of cropland cover for China over the past millennium

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Science China Earth Sciences 2023年第1期66卷 111-128页

作者： Fanneng HE Fan YANG Caishan ZHAO Shicheng LI Meijiao LI Key Laboratory of Land Surface Pattern and Simulation Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing 100101China Key research Institute of Yellow River Civilization and Sustainable Development&Collaborative Innovation Center on Yellow River Civilization Jointly Built By Henan Province and Ministry of Education Henan UniversityKaifeng 475001China University of Chinese Academy of Sciences Beijing 100049China School of Public Administration China University of GeosciencesWuhan 430074China College of Resources and Environment Shanxi University of Finance and EconomicsTaiyuan 030006China

Reconstructing historical land use and land cover change using explicit temporal,quantitative,and spatial information is not only the prerequisite for simulating long-term climate change and ecological effects but is also a scientific basis for comprehensively understanding the process and mechanism of anthropogenic land use *** changes in historical borders and administrative divisions,a provincial cropland area dataset for China over the past millennium was created on the basis of existing estimations since the Song *** suitability for cultivation was then assessed by incorporating altitude,slope,soil texture,and the maximum potential productivity of ***,a gridding allocation model for cropland was constructed,and the provincial cropland area for 24 years over the past millennium was allocated into grids with a resolution of 10 *** cropland area in China increased from 3.71×10^(7)ha in AD 1000 to 12.92×10^(7)ha in AD 1999,with a peak of 13.50×10^(7)ha in AD *** total cropland area in China showed fluctuating increasing trends that can be divided into three phases:fluctuation without notable net change for AD 1000–1290,slow increase for AD 1290–1661,and rapid increase for AD 1661–***,cropland intensified in the middle-lower reaches of the Yellow and Yangtze Rivers and expanded to mountainous and frontier areas over the last ***,over the entire period,the fractional cropland areas(FCAs)in the middle-lower reaches of the Yellow and Yangtze Rivers increased by 1.4 and 0.8 times,*** the mid-Qing Dynasty,large-scale land reclamation expanded to areas of low reclamation in southwest and northeast *** FCAs for southwest and northeast China increased from 2.13%and 0.55%in AD 1661 to 18.00%and 26.61%in AD 1999,*** AD 1661–1999,the proportion of cropland increased by 55%in the hills and low mountains and 27%in the middle and high *** comparison wit

关键词： Land use and land cover change Historical cropland Gridding reconstruction China Last millennium

Influence of the Agreement on Enhancing International Arctic Scientific Cooperation on the approach of non-Arctic states to Arctic scientific activities

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Advances in Polar Science 2018年第1期29卷 51-60页

作者： LIU Han Division of Polar Strategic Studies Polar Research Institute of China

As the third legally-binding instrument of the Arctic Council, the Agreement on Enhancing International Arctic Scientific Cooperation was signed in May 2017 and entered into force on 23 May 2018. The Agreement not only reduces obstacles to the international scientific cooperation and promotes the movement of people and equipment across borders for the effective and efficient development of Arctic scientific knowledge, but also provides an improved international Arctic legal environment for conducting Arctic scientific cooperation based on UNCLOS and institutional arrangements. However, the observer states, the NGOs and IGOs, as well as Permanent Participants are rarely mentioned in this Agreement. This article chooses one group, non-Arctic states, as a case in point in order to critically discuss the influence of this new Arctic scientific cooperation agreement. It argues that the non-Arctic states are left behind at the original legal situation and trapped in an inferior status in Arctic science. Under these circumstances, this article suggests that non-Arctic states, especially those with competitive research abilities, should appeal for amendment of the Agreement to allow wider access to research areas and data sharing, especially when cooperating with the eight-member states of the Arctic Council. Also, non-Arctic states should take the Agreement as the reference when signing bilateral agreements with Arctic states so as to safeguard their interests when conducting Arctic scientific activities. Moreover, the active participation in other fora as well as various bilateral scientific projects can assist non-Arctic states to strengthen the relations with the Arctic states and build trust in the Arctic Council.

关键词： Arctic Council scientific cooperation agreement science diplomacy non-Arctic states Arctic scientific activities Sino-Russian cooperation

A historical view of alveolar echinococcosis, 160 years after the discovery of the first case in humans： part 1. What have we learnt on the distribution of the disease and on its parasitic agent？

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Chinese Medical Journal 2011年第18期124卷 2943-2953页

作者： Dominique Angele Vuitton WANG Qian ZHOU Hong-xia Francis Raoul Jenny Knapp Solange Bresson-Hadni WEN Hao Patrick Giraudoux WHO Collaborating Center for Prevention and Treatment of Human Echinococcosis University Hospital and University of Francbe-Comte 25030 Besancon France Sichuan Center for Disease Control and Prevention Chengdu Sichuan 610031 China Guangxi Medical University Nanning Guangxi 530021 China Chrono-Environnement Joint research Unit UMR 6249 University of Franche-Comte CNRS and INRA 25030 Besancon France Xinjiang Key Laboratory for Echinococcosis research 1st Teaching Hospital of Xinjiang Medical University Urumqi Xiniianz 830000. China

Since the first 2 cases observed in southern Germany and the correct identification of a parasite at the origin of the disease by the famous scientist Rudolf Virchow in 1855, the borders of the endemic area of alveolar echinococcosis （AE） have never stopped to expand. The parasite was successively recognized in Switzerland, then in Russia, Austria and France which were long considered as the only endemic areas for the disease. Cases were disclosed in Turkey in 1939; then much attention was paid to Alaska and to Hokkaido, in Japan. The situation totally changed in 1991 after the recognition of the Chinese endemic areas by the international community of scientists. The world map was completed in the beginning of the 21st century by the identification of AE in most of the countries of central/eastern Europe and Baltic States, and by the recognition of cases in central Asia. Up to now, the disease has however never been reported in the South hemisphere and in the United Kingdom. In the mid-1950s, demonstration by Rausch and Schiller in Alaska, and by Vogel in Germany, of the distinction between 2 parasite species responsible respectively for cystic echinococcosis （＂hydatid disease＂） and AE put an end to the long-lasting debate between the ＂dualists＂, who believed in that theory which eventually proved to be true, and the ＂unicists＂, who believed in a single species responsible for both diseases. At the end of the 20th century, molecular biology fully confirmed the ＂dualist＂ theory while adding several new species to the initially described E. granulosus; within the past decade, it also confirmed that little variation existed within Echinococcus （E.） multilocularis species, and that AE-Iooking infection in some intermediate animal hosts on the Tibetan plateau was indeed due to a new species, distinct from E. multilocularis, named E. shiquicus. Since the 1970s, the unique ecological interactions between the landscape, the hosts, and E. multilocularis have progressively be

关键词： alveolar echinococcosis Echinococcus species epidemiology history Rudolf Virchow western China

Fusing Digital Elevation Models to Improve Hydrological Interpretations

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Journal of Geographic Information System 2017年第5期9卷 558-575页

作者： Shane Furze Jae Ogilvie Paul A. Arp Forest Watershed research Center University of New Brunswick Fredericton Canada

Improving the accuracy of digital elevation is essential for reducing hydro-topographic derivation errors pertaining to, e.g., flow direction, basin borders, channel networks, depressions, flood forecasting, and soil drainage. This article demonstrates how a gain in this accuracy is improved through digital elevation model (DEM) fusion, and using LiDAR-derived elevation layers for conformance testing and validation. This demonstration is done for the Province of New Brunswick (NB, Canada), using five province-wide DEM sources (SRTM 90 m;SRTM 30 m;ASTER 30 m;CDED 22 m;NB-DEM 10 m) and a five-stage process that guides the re-projection of these DEMs while minimizing their elevational differences relative to LiDAR-captured bare-earth DEMs, through calibration and validation. This effort decreased the resulting non-LiDAR to LiDAR elevation differences by a factor of two, reduced the minimum distance conformance between the non-LiDAR and LiDAR-derived flow channels to ± 10 m at 8.5 times out of 10, and dropped the non-LiDAR wet-area percentages of false positives from 59% to 49%, and of false negatives from 14% to 7%. While these reductions are modest, they are nevertheless not only consistent with already existing hydrographic data layers informing about stream and wet-area locations, they also extend these data layers across the province by comprehensively locating previously unmapped flow channels and wet areas.

关键词： DEM Fusion LiDAR-Based Calibration Hydrographic Interpretations Stream Network Wet-Areas Mapping

Ten-year survey on oncology publications from China and other top-ranking countries

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Chinese Medical Journal 2011年第20期124卷 3314-3319页

作者： LIU Xiang-yi WAN Xiao-hua LI Zhong-wu Department of Laboratory Medicine Beijing Tongren HospitalCapital Medical University Beijing 100730 China Department of Pathology Key Laboratory of Carcinogenesis andTranslational Research of Ministry of Education PekingUniversity School of Oncology Beijing Cancer Hospital ＆Institute Beijing 100142 China

Background Cancer is a global disease that knows no borders. Over the past decade, oncology research had developed rapidly worldwide. The aim of this study was to evaluate the publication characteristics in oncology journals from China and other top-ranking countries. Methods The present study was designed to study publication characteristics in oncology journals from China and other top-ranking countries, the United States （USA）, Japan, Germany, the United Kingdom （UK） and France, from 2001 to 2010. We also examined the research output from the three different regions of China： the mainland of China, Hong Kong and Taiwan. Results Articles published in 163 journals related to oncology were retrieved from the PubMed database. The number of articles showed significantly positive trends for the six countries. The percentage of articles in the world output showed a significantly positive increase in contributions from China, especially the mainland of China. China contributed 4.5% of the total 163 journals, and 2.5% of the journals with the top 10% impact factor （IF） scores. USA contributed 31.4% of the total world output, 40.5% of the top 10% IF score journals and ranked the first. Conclusions This analysis described the research output from each country and region of China, and revealed the positive trend in China during 2001 and 2010. Also, by contrast with other top-ranking countries, these results imply that China falls behind the others in conducting hi qh-quality oncolocjy research.

关键词： China impact factor journal citation reports oncology science citation index expanded