视觉同步定位与建图(simultaneous localization and mapping,SLAM)是实现移动机器人自主定位并构建环境地图的关键环节。SLAM技术虽能精确重建环境几何结构,却难以为机器人提供执行复杂任务所需的语义理解能力;建筑信息模型(building i...视觉同步定位与建图(simultaneous localization and mapping,SLAM)是实现移动机器人自主定位并构建环境地图的关键环节。SLAM技术虽能精确重建环境几何结构,却难以为机器人提供执行复杂任务所需的语义理解能力;建筑信息模型(building information model,BIM)包含丰富的建筑信息,但与机器人操作系统(robot operating system,ROS)之间存在显著的数据格式和表达方式差异,且现有研究多采用人工方式进行转换,效率低下难以规模化应用,且室内环境并非静态不变,从而会影响机器人的导航决策。因此,提出一种集成BIM数据的ROS室内语义地图构建与动态更新方法。通过研发工业基础类(industry foundation classes,IFC)到统一机器人描述格式(unified robot description format,URDF)自动转换器,实现从BIM到机器人仿真环境的自动化建模;融合YOLOv8与随机采样一致性(random sample consensus,RANSAC)算法,建立视觉驱动的语义地图动态更新机制。结果表明,静态建筑元素还原准确率达98%以上,动态物体识别精度达0.9以上,显著提升了语义地图的自动化程度、知识丰富度及环境适应性。展开更多
Hepatic fibrosis is regulated by the synergistic actions of various cells and cytokines,with the activation and proliferation of hepatic stellate cells(HSCs) being considered the central event in this process.To achie...Hepatic fibrosis is regulated by the synergistic actions of various cells and cytokines,with the activation and proliferation of hepatic stellate cells(HSCs) being considered the central event in this process.To achieve specific targeting of activated hepatic stellate cells(a HSCs) and precise treatment of hepatic fibrosis,this study developed a dual-functional drug delivery system(SIL/c RGD-PEG-PPS PMs) with both targeting and responsive release capabilities.It aims to target the αvβ 3 receptor specifically expressed on the surface of a HSCs using the cyclic peptide c(RGDyk),and to exploit the high reactive oxygen species(ROS) level in the cellular microenvironment to achieve concentrated burst release of drugs at the pathological sites of hepatic fibrosis.Based on multiple assessments,SIL/c RGD-PEG-PPS PMs specifically enhanced the targeted delivery of silybin(SIL) to a HSCs,inhibited the proliferation and migration of a HSCs,and exhibited good biosafety.Additionally,it demonstrated excellent anti-fibrotic activity in fibrotic mice.In summary,this study shows great potential in targeted treatment of hepatic fibrosis and provides a multifunctional tool for advancing the research and therapeutic strategies of hepatic fibrosis.展开更多
针对图书馆室内导航机器人惯性导航定位不准、导航有误差的问题,文章基于机器人操作系统2(Robot Operating System 2,ROS2),采用2D激光雷达(Light Detection and Ranging,LiDAR)与惯性测量单元(Inertial Measurement Unit,IMU)相结合的...针对图书馆室内导航机器人惯性导航定位不准、导航有误差的问题,文章基于机器人操作系统2(Robot Operating System 2,ROS2),采用2D激光雷达(Light Detection and Ranging,LiDAR)与惯性测量单元(Inertial Measurement Unit,IMU)相结合的方案,对图书馆室内移动机器人进行建模,并在此基础上对比Cartographer、Gmapping两种同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)技术的建图效果,通过自适应蒙特卡洛定位(Adaptive Monte Carlo Localization,AMCL)算法定位,完成A*和Dijkstra导航算法的比较,最终实现了机器人SLAM与路径规划仿真,验证了基于ROS2实现图书馆室内移动机器人导航仿真的可行性。展开更多
Caffeic acid-O-methyltransferase(COMT)is a crucial enzyme in the phenylpropanoid metabolic pathway,with significant roles in both the lignin and coumarin pathways.The function of COMT in plant disease resistance has b...Caffeic acid-O-methyltransferase(COMT)is a crucial enzyme in the phenylpropanoid metabolic pathway,with significant roles in both the lignin and coumarin pathways.The function of COMT in plant disease resistance has been demonstrated in several species.Our research identified the potato COMT gene family on a genome-wide scale and StCOMT1 as a candidate gene for enhancing potato disease resistance under DON induction through phylogenetic analyses combined with previously identified metabolic differences and weighted gene co-expression network analysis(WGCNA)results.In order to better understand the function of StCOMT1,heterologous expression and overexpression assays were conducted.StCOMT1 is localized in chloroplasts and was found to catalyze the methylation of substrates to produce ferulic acid and melatonin in vitro.Physiological parameters showed that,compared with wild-type potato plants,StCOMT1-overexpressing plants infected with Fusarium sporotrichioides exhibited smaller lesion areas and lower reactive oxygen species(ROS)levels.High-performance liquid chromatography(HPLC)and RT-qPCR analyses revealed organ-specific accumulation of coumarin-related compounds and organ-specific expression of their corresponding genes in StCOMT1-overexpressing plants post-inoculation.The results indicate that StCOMT1 overexpression in potatoes enhanced resistance to F.sporotrichioides by enhancing reactive oxygen species clearance and promoting organ-specific accumulation of coumarin-related compounds.展开更多
文摘视觉同步定位与建图(simultaneous localization and mapping,SLAM)是实现移动机器人自主定位并构建环境地图的关键环节。SLAM技术虽能精确重建环境几何结构,却难以为机器人提供执行复杂任务所需的语义理解能力;建筑信息模型(building information model,BIM)包含丰富的建筑信息,但与机器人操作系统(robot operating system,ROS)之间存在显著的数据格式和表达方式差异,且现有研究多采用人工方式进行转换,效率低下难以规模化应用,且室内环境并非静态不变,从而会影响机器人的导航决策。因此,提出一种集成BIM数据的ROS室内语义地图构建与动态更新方法。通过研发工业基础类(industry foundation classes,IFC)到统一机器人描述格式(unified robot description format,URDF)自动转换器,实现从BIM到机器人仿真环境的自动化建模;融合YOLOv8与随机采样一致性(random sample consensus,RANSAC)算法,建立视觉驱动的语义地图动态更新机制。结果表明,静态建筑元素还原准确率达98%以上,动态物体识别精度达0.9以上,显著提升了语义地图的自动化程度、知识丰富度及环境适应性。
基金supported by the financial assistance from Natural Science Fund Project of Science and Technology Department of Jilin Province (Nos.YDZJ202301ZYTS141,YDZJ202501ZYTS793)。
文摘Hepatic fibrosis is regulated by the synergistic actions of various cells and cytokines,with the activation and proliferation of hepatic stellate cells(HSCs) being considered the central event in this process.To achieve specific targeting of activated hepatic stellate cells(a HSCs) and precise treatment of hepatic fibrosis,this study developed a dual-functional drug delivery system(SIL/c RGD-PEG-PPS PMs) with both targeting and responsive release capabilities.It aims to target the αvβ 3 receptor specifically expressed on the surface of a HSCs using the cyclic peptide c(RGDyk),and to exploit the high reactive oxygen species(ROS) level in the cellular microenvironment to achieve concentrated burst release of drugs at the pathological sites of hepatic fibrosis.Based on multiple assessments,SIL/c RGD-PEG-PPS PMs specifically enhanced the targeted delivery of silybin(SIL) to a HSCs,inhibited the proliferation and migration of a HSCs,and exhibited good biosafety.Additionally,it demonstrated excellent anti-fibrotic activity in fibrotic mice.In summary,this study shows great potential in targeted treatment of hepatic fibrosis and provides a multifunctional tool for advancing the research and therapeutic strategies of hepatic fibrosis.
文摘针对图书馆室内导航机器人惯性导航定位不准、导航有误差的问题,文章基于机器人操作系统2(Robot Operating System 2,ROS2),采用2D激光雷达(Light Detection and Ranging,LiDAR)与惯性测量单元(Inertial Measurement Unit,IMU)相结合的方案,对图书馆室内移动机器人进行建模,并在此基础上对比Cartographer、Gmapping两种同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)技术的建图效果,通过自适应蒙特卡洛定位(Adaptive Monte Carlo Localization,AMCL)算法定位,完成A*和Dijkstra导航算法的比较,最终实现了机器人SLAM与路径规划仿真,验证了基于ROS2实现图书馆室内移动机器人导航仿真的可行性。
基金supported by the National Natural Science Foundation of China(U22A20443)the Heilongjiang Provincial Research Institutes Scientific Research Operating Expenses Project,China(CZKYF2023-1-B020)+1 种基金the Key Research and Development Plan Project of Heilongjiang Province,China(GA23B015)the Young Scientists Fund of the National Natural Science Foundation of China(32201717)。
文摘Caffeic acid-O-methyltransferase(COMT)is a crucial enzyme in the phenylpropanoid metabolic pathway,with significant roles in both the lignin and coumarin pathways.The function of COMT in plant disease resistance has been demonstrated in several species.Our research identified the potato COMT gene family on a genome-wide scale and StCOMT1 as a candidate gene for enhancing potato disease resistance under DON induction through phylogenetic analyses combined with previously identified metabolic differences and weighted gene co-expression network analysis(WGCNA)results.In order to better understand the function of StCOMT1,heterologous expression and overexpression assays were conducted.StCOMT1 is localized in chloroplasts and was found to catalyze the methylation of substrates to produce ferulic acid and melatonin in vitro.Physiological parameters showed that,compared with wild-type potato plants,StCOMT1-overexpressing plants infected with Fusarium sporotrichioides exhibited smaller lesion areas and lower reactive oxygen species(ROS)levels.High-performance liquid chromatography(HPLC)and RT-qPCR analyses revealed organ-specific accumulation of coumarin-related compounds and organ-specific expression of their corresponding genes in StCOMT1-overexpressing plants post-inoculation.The results indicate that StCOMT1 overexpression in potatoes enhanced resistance to F.sporotrichioides by enhancing reactive oxygen species clearance and promoting organ-specific accumulation of coumarin-related compounds.
