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多传感器点云数据融合算法环境感知研究
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作者 王涵 孟锁 刘益剑 《福建电脑》 2025年第11期8-14,共7页
为提高室内移动机器人对静态与动态障碍物的感知精度,本文提出一种多传感器点云数据融合算法。首先将深度相机数据转换为点云,并提出超声波数据点云化算法,将一维声波数据扩展为二维点云;随后融合激光雷达、相机及超声波点云,形成统一... 为提高室内移动机器人对静态与动态障碍物的感知精度,本文提出一种多传感器点云数据融合算法。首先将深度相机数据转换为点云,并提出超声波数据点云化算法,将一维声波数据扩展为二维点云;随后融合激光雷达、相机及超声波点云,形成统一的环境表征。实验表明,相较于单一激光雷达,本算法对镂空与透明静态障碍物的检测相对误差分别降低94.64%与95.04%,动态障碍物检测误差减少84.32%,显著提升了环境感知的准确性。 展开更多
关键词 多传感器融合 点云融合 透明障碍物检测 动态障碍物感知
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Telmisartan prevents high-fat diet-induced hypertension and decreases perirenal fat in rats 被引量:3
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作者 Yaping Wang Yan Song +2 位作者 meng suo Xin Jin Gang Tian 《The Journal of Biomedical Research》 CAS 2012年第3期219-225,共7页
We sought to investigate the effects of telmisartan on high-fat diet-induced hypertension and to explore the possible underlying mechanisms. Rats receiving high-fat diet were randomly divided into two groups, the tel-... We sought to investigate the effects of telmisartan on high-fat diet-induced hypertension and to explore the possible underlying mechanisms. Rats receiving high-fat diet were randomly divided into two groups, the tel- misartan group (n = 9) and the high-fat diet group (n = 10). The control group consisted of age-matched rats on a regular diet (n = 10). At the end of the treatment, the body weight, blood pressure, insulin sensitivity and serum adiponectin levels of all rats were examined, and their visceral fat was extracted and weighed. Our results showed that telmisartan improved insulin resistance and dyslipidemia and increased serum adiponectin levels. Telmisar- tan also lowered both systolic blood pressure and diastolic blood pressure, and decreased the accumulation of perirenal fat associated with high-fat diet. Furthermore, telmisartan increased adiponectin mRNA expression in the perirenal fat. Correlation analysis showed that both systolic blood pressure and diastolic blood pressure were positively correlated with perirenal fat. These effects of telmisartan may be mediated through decreases in perirenal fat and contributed to the improvement of perirenal fat function. Our findings suggested a strong link between perirenal fat and high-fat diet-induced hypertension, and identified telmisartan as a potential drug for the treatment of obesity-related hypertension. 展开更多
关键词 TELMISARTAN high-fat diet HYPERTENSION perirenal fat ADIPONECTIN
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Self-assembled nanomedicine for radiotherapy-activated cascade reactive oxygen species generation to sensitize senescence-based immunotherapy for breast cancer
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作者 Wei Tang Guining Zhang +4 位作者 Hang Yi Xueyan Yun Shipeng Ning meng suo Jianlan Mo 《Nano Research》 2025年第10期887-896,共10页
ABSTRACT:Although radiotherapy(RT)can induce immunogenic cell death(ICD),the endogenous resistance of tumor cells to X-rays and the immunosuppressive microenvironment has suppressed its therapeutic effect,which can ea... ABSTRACT:Although radiotherapy(RT)can induce immunogenic cell death(ICD),the endogenous resistance of tumor cells to X-rays and the immunosuppressive microenvironment has suppressed its therapeutic effect,which can easily lead to tumor recurrence and metastasis after RT.Herein,we prepared a glutathione(GSH)-responsive system called AHD,by loading Aurora-A inhibitor alisertib(Ali)and iron protoporphyrin Ⅸ chloride(Hemin),for X-raytriggered continuous reactive oxygen species(ROS)generation to sensitize breast cancer senescence immunotherapy.AHD accumulates at the tumor tissue through the enhanced permeability and retention(EPR)effect,shows high specificity for the tumor microenvironment with overexpressed GSH,and rapidly releases Ali and Hemin.Under external X-ray irradiation,tumor cells produce H_(2)O_(2),and AHD activates Hemin to catalyze the chemical kinetics process of H_(2)O_(2),continuously generating hydroxyl radicals(·OH).Meanwhile,AHD can also induce tumor cell senescence by up-regulating P21 and P16 expressions.In vitro and in vivo experimental results show that the cascade ROS generation induced by the AHD system can trigger extensive ICD in tumor cells,alleviate the immunosuppressive microenvironment after RT,activate the anti-tumor immune ability of CD8^(+)T cells.Therefore,AHD can be used as a tumor immunomodulator to enhance radioimmunotherapy and has great potential for clinical translation. 展开更多
关键词 self-assembled nanomedicine cascade reactive oxygen species(ROS)generation SENESCENCE RADIOTHERAPY IMMUNOTHERAPY
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Near-infrared laser-activated aggregation-induced emission nanoparticles boost tumor carbonyl stress and immunotherapy of breast cancer 被引量:2
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作者 You Pan meng suo +6 位作者 Qinqin Huang meng Lyu Yi Jiang Shile Wang Wenxue Tang Shipeng Ning Tianfu Zhang 《Aggregate》 EI CAS 2024年第2期201-212,共12页
The induction of tumor carbonyl stress is reported to efficiently revert immune suppression in the tumor microenvironment and enhance cancer immunotherapy.However,low oxygen concentration due to inherent tumor hypoxia... The induction of tumor carbonyl stress is reported to efficiently revert immune suppression in the tumor microenvironment and enhance cancer immunotherapy.However,low oxygen concentration due to inherent tumor hypoxia limits its catalytic effect.Herein,an injectable thermosensitive hydrogel system(named APH)is developed for co-loading of near-infrared(NIR)aggregation-induced emission(AIE)nanoparticles and plasma amine oxidase(PAO)for boosting carbonyl stress and enhancing antitumor immunity.Upon 808 nm NIR laser irradiation,the AIE nanoparticles trigger a mild-temperature(around 45℃)photothermal effect in the tumor site,which significantly relieves tumor hypoxia and promotes the catalytic effect of released PAO to inhibit the growth of Myeloid-derived suppressor cells.Remarkably,the synergistic therapeutic effect of APH is verified through a significant inhibitory effect on the distant tumor,enhanced immune memory,and effective suppression of postoperative recurrence,rechallenge,and metastasis.Overall,the combined effect of AIE-mediated photothermal therapy and carbonyl stress by APH upon NIR irradiation therapy can significantly activate cancer immunotherapy,making it a promising treatment approach for cancer treatment. 展开更多
关键词 aggregation-induced emission cancer recurrence IMMUNOTHERAPY photothermal therapy tumor carbonyl stress
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