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
Particulate matter(PM)can cause adverse health effects by overproducing reactive oxygen species(ROS).Although the ability of PM to induce ROS generation depends on its composi-tion and environmental factors.This study...Particulate matter(PM)can cause adverse health effects by overproducing reactive oxygen species(ROS).Although the ability of PM to induce ROS generation depends on its composi-tion and environmental factors.This study explores how photo-oxidation affects ROS gen-eration from aromatic compounds(ACs,including catechol(CAT),phthalic acid(PA),and 4,4-oxydibenzoic acid(4,4-OBA))and their mixtures with transition metals(TMs,includ-ing Fe(II),Mn(II),and Cu(II))using Fourier-transform infrared(FTIR)and Ultraviolet-visible spectroscopy(UV-Vis).Results showed that photo-oxidation facilitated ROS generation from ACs.CAT-Fe(II)/Cu(II)showed synergistic effects,but 4,4-OBA-Fe(II)/Cu(II)showed antag-onistic effects.ACs-Mn(II)and PA-Fe(II)/Cu(II)exhibited synergistic effects first and then showed antagonistic effects.The different interactions were due to complexation between ACs and TMs.The photo-oxidized ACs-TMs significantly enhanced ROS generation com-pared with ACs-TMs.The study suggested the photo-oxidation mechanism involved that the transfer ofπ-electrons from the ground to an excited state in benzene rings and func-tional groups,leading to the breakage and formation of chemical bonds or easierπ-electron transfer from ACs to TMs.The former could generate ROS directly or produce polymers that promoted ROS generation,while the latter promoted ROS generation by transferringπ-electrons to dissolved oxygen quickly.Our study revealed that both interactions among components and photo-oxidation significantly influenced ROS generation.Future studies should integrate broader atmospheric factors and PM components to fully assess oxidative potential and health impacts.展开更多
The presence of heavy metals in soil negatively impacts its mechanical properties.Reactive MgO carbonation presents a promising approach to enhance the solidification of Pb-contaminated sandy soils.However,the mechani...The presence of heavy metals in soil negatively impacts its mechanical properties.Reactive MgO carbonation presents a promising approach to enhance the solidification of Pb-contaminated sandy soils.However,the mechanical properties and structural behavior of contaminated soils during carbonation can vary significantly due to differences in soil composition.This study examines the potential application and underlying mechanisms of reactive MgO carbonation in improving the mechanical properties of Pb-contaminated red clay.The findings demonstrate that Pb-contaminated red clay transitions from a plastic to a brittle state following reactive MgO carbonation.After 1 h of treatment,the strength of the red clay exceeded 3 MPa,even at high Pb^(2+)concentrations.The deformation modulus to unconfined compressive strength(UCS)ratio was calculated to be 37.761,with the failure strain primarily ranging from 1.5%to 4.0%.A strength prediction model for the reactive MgO-stabilized Pb-contaminated red clay was proposed,which showed good predictive accuracy.Furthermore,reactive MgO carbonation significantly reduced the Pb leaching concentration in the high-level Pb-contaminated soil to below 0.1 mg/L.Microscopic analysis revealed that an optimal amount of hydrated magnesium carbonates(HMCs)formed a stable and compact structure with the soil particles.However,long-term carbonation causes red clay particles to become sandy,and excessive HMCs can harm the soil structure.Therefore,to maximize the strength improvement while avoiding structural damage,the carbonation time should be controlled to 1 h.展开更多
Prostate cancer(PCa)is a leading cause of cancer-related mortality among men.Radiotherapy is the cornerstone of PCa treatment.However,a major limitation of radiotherapy is the development of resistance,which compromis...Prostate cancer(PCa)is a leading cause of cancer-related mortality among men.Radiotherapy is the cornerstone of PCa treatment.However,a major limitation of radiotherapy is the development of resistance,which compromises treatment efficacy.Reactive oxygen species(ROS),which are generated by radiation,have a dual role in PCa by inducing DNA damage and apoptosis,while also promoting tumor progression and radioresistance.Elevated ROS levels enhance metabolic reprogramming,activate oncogenic pathways,and influence the tumor microenvironment by modulating immune responses and promoting the epithelial-mesenchymal transition(EMT).Key molecular mechanisms,including the Nrf2/Keap1 signaling axis,Bcl-2 mutations,and Speckle-type POZ protein alterations,contribute to radioresistance by enhancing antioxidant defenses and DNA repair capacity.Additionally,the interplay between hypoxia,androgen receptor variants(AR-Vs),and ferroptosis regulators further influence radiotherapy outcomes.Understanding these resistance mechanisms is crucial for developing targeted strategies to enhance radiosensitivity and improve therapeutic outcomes in PCa patients.展开更多
Generating excessively reactive oxygen species(ROS)within tumor cells is a widely adopted therapeutic strategy.However,single-type ROS exhibit fixed attack sites and mechanisms of action in tumor cells,rendering them ...Generating excessively reactive oxygen species(ROS)within tumor cells is a widely adopted therapeutic strategy.However,single-type ROS exhibit fixed attack sites and mechanisms of action in tumor cells,rendering them susceptible to resistance via cellular repair mechanisms.To overcome this limitation,this study proposes a polymorphic ROS strategy that simultaneously induces multiple types of ROS to enhance the therapeutic efficacy.A nanoplatform named as AuPd@Mn_(x)O_(y)/L/DOX(APM@L/D)is developed.AuPd core can catalyze oxygen to generate superoxide anions(O_(2)^(·-)),and the released multivalent manganese ions in tumor can trigger the production of singlet oxygen(^(1)O_(2))and hydroxyl radicals(·OH).The polymorphic ROS(O_(2)^(·-),^(1)O_(2),·OH)with different reactivity,lifetime,and diffusion capacity can achieve multifaceted oxidative damage,significantly improving tumor eradication.Concurrently,photothermal heating and DOX release can enhance catalytic reaction rate and intracellular hydrogen peroxide levels,further amplifying polymorphic ROS generation.Both in vitro and in vivo experiments demonstrate that AP-M@L/D induces significant intracellular oxidative stress and enhances cell-killing efficiency by activating the apoptotic pathway.In summary,the spatiotemporally controllable polymorphic ROS can enhance antitumor efficacy and provide a guidance for ROS therapy.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
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 Weiqiao-UCAS Special Projects on Low-Carbon Technology Development(No.GYY-DTFZ-2022-007)the Fundamental Research Funds for the Central Universities(No.E0E48927×2)the National Natural Science Foundation of China(No.21677145).
文摘Particulate matter(PM)can cause adverse health effects by overproducing reactive oxygen species(ROS).Although the ability of PM to induce ROS generation depends on its composi-tion and environmental factors.This study explores how photo-oxidation affects ROS gen-eration from aromatic compounds(ACs,including catechol(CAT),phthalic acid(PA),and 4,4-oxydibenzoic acid(4,4-OBA))and their mixtures with transition metals(TMs,includ-ing Fe(II),Mn(II),and Cu(II))using Fourier-transform infrared(FTIR)and Ultraviolet-visible spectroscopy(UV-Vis).Results showed that photo-oxidation facilitated ROS generation from ACs.CAT-Fe(II)/Cu(II)showed synergistic effects,but 4,4-OBA-Fe(II)/Cu(II)showed antag-onistic effects.ACs-Mn(II)and PA-Fe(II)/Cu(II)exhibited synergistic effects first and then showed antagonistic effects.The different interactions were due to complexation between ACs and TMs.The photo-oxidized ACs-TMs significantly enhanced ROS generation com-pared with ACs-TMs.The study suggested the photo-oxidation mechanism involved that the transfer ofπ-electrons from the ground to an excited state in benzene rings and func-tional groups,leading to the breakage and formation of chemical bonds or easierπ-electron transfer from ACs to TMs.The former could generate ROS directly or produce polymers that promoted ROS generation,while the latter promoted ROS generation by transferringπ-electrons to dissolved oxygen quickly.Our study revealed that both interactions among components and photo-oxidation significantly influenced ROS generation.Future studies should integrate broader atmospheric factors and PM components to fully assess oxidative potential and health impacts.
基金supported by the National Key Research and Development Program of China(Grant No.2023YFC3707900)the National Natural Science Foundation of China(Grant Nos.42030710 and 42472337).
文摘The presence of heavy metals in soil negatively impacts its mechanical properties.Reactive MgO carbonation presents a promising approach to enhance the solidification of Pb-contaminated sandy soils.However,the mechanical properties and structural behavior of contaminated soils during carbonation can vary significantly due to differences in soil composition.This study examines the potential application and underlying mechanisms of reactive MgO carbonation in improving the mechanical properties of Pb-contaminated red clay.The findings demonstrate that Pb-contaminated red clay transitions from a plastic to a brittle state following reactive MgO carbonation.After 1 h of treatment,the strength of the red clay exceeded 3 MPa,even at high Pb^(2+)concentrations.The deformation modulus to unconfined compressive strength(UCS)ratio was calculated to be 37.761,with the failure strain primarily ranging from 1.5%to 4.0%.A strength prediction model for the reactive MgO-stabilized Pb-contaminated red clay was proposed,which showed good predictive accuracy.Furthermore,reactive MgO carbonation significantly reduced the Pb leaching concentration in the high-level Pb-contaminated soil to below 0.1 mg/L.Microscopic analysis revealed that an optimal amount of hydrated magnesium carbonates(HMCs)formed a stable and compact structure with the soil particles.However,long-term carbonation causes red clay particles to become sandy,and excessive HMCs can harm the soil structure.Therefore,to maximize the strength improvement while avoiding structural damage,the carbonation time should be controlled to 1 h.
基金supported by grants from Ningbo Yongjiang Talent programme-Project for Innovative Talents(Grant No.20240340)Jinhua Science and Technology Bureau(Grant No.2022-4-258)2022 Shandong Medical Association Clinical Research Special Fund for Dynamic Monitoring of Lymphocyte Subpopulations by Flow Cytometry(Grant No.YXH2022ZX03227)。
文摘Prostate cancer(PCa)is a leading cause of cancer-related mortality among men.Radiotherapy is the cornerstone of PCa treatment.However,a major limitation of radiotherapy is the development of resistance,which compromises treatment efficacy.Reactive oxygen species(ROS),which are generated by radiation,have a dual role in PCa by inducing DNA damage and apoptosis,while also promoting tumor progression and radioresistance.Elevated ROS levels enhance metabolic reprogramming,activate oncogenic pathways,and influence the tumor microenvironment by modulating immune responses and promoting the epithelial-mesenchymal transition(EMT).Key molecular mechanisms,including the Nrf2/Keap1 signaling axis,Bcl-2 mutations,and Speckle-type POZ protein alterations,contribute to radioresistance by enhancing antioxidant defenses and DNA repair capacity.Additionally,the interplay between hypoxia,androgen receptor variants(AR-Vs),and ferroptosis regulators further influence radiotherapy outcomes.Understanding these resistance mechanisms is crucial for developing targeted strategies to enhance radiosensitivity and improve therapeutic outcomes in PCa patients.
基金financially supported by the Major Research Plan of National Natural Science Foundation of China(Key Programme)(No.92359204)the Postdoctoral Fellowship Program of CPSF(No.GZB20230990)+2 种基金the First Affiliated Hospital of Naval Medical University(Nos.2023PY26,2025SZ10,and 2023QD10)Naval Medical University(No.2024QN029)the State Key Laboratory of Molecular Engineering of Polymers at Fudan University(No.K2023-24)
文摘Generating excessively reactive oxygen species(ROS)within tumor cells is a widely adopted therapeutic strategy.However,single-type ROS exhibit fixed attack sites and mechanisms of action in tumor cells,rendering them susceptible to resistance via cellular repair mechanisms.To overcome this limitation,this study proposes a polymorphic ROS strategy that simultaneously induces multiple types of ROS to enhance the therapeutic efficacy.A nanoplatform named as AuPd@Mn_(x)O_(y)/L/DOX(APM@L/D)is developed.AuPd core can catalyze oxygen to generate superoxide anions(O_(2)^(·-)),and the released multivalent manganese ions in tumor can trigger the production of singlet oxygen(^(1)O_(2))and hydroxyl radicals(·OH).The polymorphic ROS(O_(2)^(·-),^(1)O_(2),·OH)with different reactivity,lifetime,and diffusion capacity can achieve multifaceted oxidative damage,significantly improving tumor eradication.Concurrently,photothermal heating and DOX release can enhance catalytic reaction rate and intracellular hydrogen peroxide levels,further amplifying polymorphic ROS generation.Both in vitro and in vivo experiments demonstrate that AP-M@L/D induces significant intracellular oxidative stress and enhances cell-killing efficiency by activating the apoptotic pathway.In summary,the spatiotemporally controllable polymorphic ROS can enhance antitumor efficacy and provide a guidance for ROS therapy.
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。
