In distributed fusion,when one or more sensors are disturbed by faults,a common problem is that their local estimations are inconsistent with those of other fault-free sensors.Most of the existing fault-tolerant distr...In distributed fusion,when one or more sensors are disturbed by faults,a common problem is that their local estimations are inconsistent with those of other fault-free sensors.Most of the existing fault-tolerant distributed fusion algorithms,such as the Covariance Union(CU)and Faulttolerant Generalized Convex Combination(FGCC),are only used for the point estimation case where local estimates and their associated error covariances are provided.A treatment with focus on the fault-tolerant distributed fusions of arbitrary local Probability Density Functions(PDFs)is lacking.For this problem,we first propose Kullback–Leibler Divergence(KLD)and reversed KLD induced functional Fuzzy c-Means(FCM)clustering algorithms to soft cluster all local PDFs,respectively.On this basis,two fault-tolerant distributed fusion algorithms of arbitrary local PDFs are then developed.They select the representing PDF of the cluster with the largest sum of memberships as the fused PDF.Numerical examples verify the better fault tolerance of the developed two distributed fusion algorithms.展开更多
Maintaining homeostasis of the immune system is critical to human health.Postbiotics are inactive probiotics and their metabolites.Despite their numerous health benefits,the immunomodulatory potential of postbiotics h...Maintaining homeostasis of the immune system is critical to human health.Postbiotics are inactive probiotics and their metabolites.Despite their numerous health benefits,the immunomodulatory potential of postbiotics has received less attention.The aim of this study was to explore the immunomodulatory influences of Lacto-bacillus helveticus postbiotics on cyclophosphamide(CTX)-induced immunocompromised mice and the underly-ing mechanism.The results showed a notable decrease in the immune function of the mice within the immunocompromised model.After treatment with Lactobacillus helveticus KLDS 1.8701 postbiotics,the immunity of mice was restored,as evidenced by an increase in organ index,proliferative capacity of splenic lymphocytes,NK cell activity,and serum immunoglobulin.It also promoted intestinal SIgA secretion and alleviated the degree of CTX-induced damage to the intestinal mucosal barrier.Meanwhile,Lactobacillus helveticus KLDS 1.8701 postbiotics demonstrated the ability to balance T helper cells 17(Th17)and Regulatory T cells(Treg),exerting regulatory control over the serum levels of IL-17 and TGF-β,and thereby influencing the immune response.Therefore,Lactobacillus helveticus KLDS 1.8701 may be used as a potential functional food additive to prevent and treat CTX-induced immunocompromise.展开更多
对于AGV(Automated Guided Vehicle)传统导航定位方式存在的维护成本高、鲁棒性低,以及原始AMCL(Adaptive Monte Carlo Localization)激光定位方法位姿跟踪精度低、全局定位及机器人“被绑架”问题成功率低的问题,提出了一种基于改进AMC...对于AGV(Automated Guided Vehicle)传统导航定位方式存在的维护成本高、鲁棒性低,以及原始AMCL(Adaptive Monte Carlo Localization)激光定位方法位姿跟踪精度低、全局定位及机器人“被绑架”问题成功率低的问题,提出了一种基于改进AMCL算法的AGV激光定位方法。首先在位姿、权重更新阶段,采用最优粒子滤波器(OPF)取代原始AMCL中用于计算粒子新姿态和权重的传统蒙特卡洛定位方法,提高位姿跟踪精度;其次在重采样阶段,在原始AMCL算法KLD(Kullback-Leibler distance)采样粒子滤波器的基础上,新添加自适应粒子滤波器(SAPF)算法,提高全局定位及机器人“被绑架”问题成功率;最后,针对AGV工作时的特性,在真实车间环境中进行重复定位精度测试,改进后的算法比原算法均方根误差分别提高了54.5%、53.1%、44.7%,且位姿误差可以控制在4 cm、2°以内,满足实际使用要求。展开更多
基金supported in part by the Open Fund of Intelligent Control Laboratory,China(No.ICL-2023–0202)in part by National Key R&D Program of China(Nos.2021YFC2202600,2021YFC2202603)。
文摘In distributed fusion,when one or more sensors are disturbed by faults,a common problem is that their local estimations are inconsistent with those of other fault-free sensors.Most of the existing fault-tolerant distributed fusion algorithms,such as the Covariance Union(CU)and Faulttolerant Generalized Convex Combination(FGCC),are only used for the point estimation case where local estimates and their associated error covariances are provided.A treatment with focus on the fault-tolerant distributed fusions of arbitrary local Probability Density Functions(PDFs)is lacking.For this problem,we first propose Kullback–Leibler Divergence(KLD)and reversed KLD induced functional Fuzzy c-Means(FCM)clustering algorithms to soft cluster all local PDFs,respectively.On this basis,two fault-tolerant distributed fusion algorithms of arbitrary local PDFs are then developed.They select the representing PDF of the cluster with the largest sum of memberships as the fused PDF.Numerical examples verify the better fault tolerance of the developed two distributed fusion algorithms.
基金supported by the Natural Science Foundation of Heilongjiang Province(Project No.LH2022C087)National Center of Technology Innovation for Dairy(2022-Open Topics-13).
文摘Maintaining homeostasis of the immune system is critical to human health.Postbiotics are inactive probiotics and their metabolites.Despite their numerous health benefits,the immunomodulatory potential of postbiotics has received less attention.The aim of this study was to explore the immunomodulatory influences of Lacto-bacillus helveticus postbiotics on cyclophosphamide(CTX)-induced immunocompromised mice and the underly-ing mechanism.The results showed a notable decrease in the immune function of the mice within the immunocompromised model.After treatment with Lactobacillus helveticus KLDS 1.8701 postbiotics,the immunity of mice was restored,as evidenced by an increase in organ index,proliferative capacity of splenic lymphocytes,NK cell activity,and serum immunoglobulin.It also promoted intestinal SIgA secretion and alleviated the degree of CTX-induced damage to the intestinal mucosal barrier.Meanwhile,Lactobacillus helveticus KLDS 1.8701 postbiotics demonstrated the ability to balance T helper cells 17(Th17)and Regulatory T cells(Treg),exerting regulatory control over the serum levels of IL-17 and TGF-β,and thereby influencing the immune response.Therefore,Lactobacillus helveticus KLDS 1.8701 may be used as a potential functional food additive to prevent and treat CTX-induced immunocompromise.
文摘对于AGV(Automated Guided Vehicle)传统导航定位方式存在的维护成本高、鲁棒性低,以及原始AMCL(Adaptive Monte Carlo Localization)激光定位方法位姿跟踪精度低、全局定位及机器人“被绑架”问题成功率低的问题,提出了一种基于改进AMCL算法的AGV激光定位方法。首先在位姿、权重更新阶段,采用最优粒子滤波器(OPF)取代原始AMCL中用于计算粒子新姿态和权重的传统蒙特卡洛定位方法,提高位姿跟踪精度;其次在重采样阶段,在原始AMCL算法KLD(Kullback-Leibler distance)采样粒子滤波器的基础上,新添加自适应粒子滤波器(SAPF)算法,提高全局定位及机器人“被绑架”问题成功率;最后,针对AGV工作时的特性,在真实车间环境中进行重复定位精度测试,改进后的算法比原算法均方根误差分别提高了54.5%、53.1%、44.7%,且位姿误差可以控制在4 cm、2°以内,满足实际使用要求。
