Long-term navigation ability based on consumer-level wearable inertial sensors plays an essential role towards various emerging fields, for instance, smart healthcare, emergency rescue, soldier positioning et al. The ...Long-term navigation ability based on consumer-level wearable inertial sensors plays an essential role towards various emerging fields, for instance, smart healthcare, emergency rescue, soldier positioning et al. The performance of existing long-term navigation algorithm is limited by the cumulative error of inertial sensors, disturbed local magnetic field, and complex motion modes of the pedestrian. This paper develops a robust data and physical model dual-driven based trajectory estimation(DPDD-TE) framework, which can be applied for long-term navigation tasks. A Bi-directional Long Short-Term Memory(Bi-LSTM) based quasi-static magnetic field(QSMF) detection algorithm is developed for extracting useful magnetic observation for heading calibration, and another Bi-LSTM is adopted for walking speed estimation by considering hybrid human motion information under a specific time period. In addition, a data and physical model dual-driven based multi-source fusion model is proposed to integrate basic INS mechanization and multi-level constraint and observations for maintaining accuracy under long-term navigation tasks, and enhanced by the magnetic and trajectory features assisted loop detection algorithm. Real-world experiments indicate that the proposed DPDD-TE outperforms than existing algorithms, and final estimated heading and positioning accuracy indexes reaches 5° and less than 2 m under the time period of 30 min, respectively.展开更多
The dense extracellular matrix and high interstitial pressure within tumors hinder nanoparticle penetration,reducing therapeutic efficacy.To address this,we engineered a dual-driven nanomotor based on a diselenide met...The dense extracellular matrix and high interstitial pressure within tumors hinder nanoparticle penetration,reducing therapeutic efficacy.To address this,we engineered a dual-driven nanomotor based on a diselenide metal-organic framework(MOF)using a layer-by-layer assembly process for multimodal synergistic tumor therapy.Diselenide-containing imidazole derivatives coordinated with Zn2+form the MOF,sequentially encapsulating near-infrared-Ⅱ(NIR-Ⅱ)photothermal-responsive gold nanorods(AuRods),Mn_(2)CO_(10)(MnCO),and glucose oxidase(GOD).The nanoparticle surface was functionalized with 4T1 cancer cell membranes(DSACGM NPs),guiding it to drive toward the tumor site.The photothermal effect of AuRods and CO release drives nanomotor propulsion,enhancing tumor tissue penetration.GOD catalyzes glucose(Glu)oxidation,inducing tumor starvation,while the resulting H_(2)O_(2)triggers CO release,suppressing heat shock protein(HSP)expression and enhancing mild photothermal therapy(PTT).The release of CO and the Mn^(2+)-triggered Fenton-like reaction from MnCO increased intracellular ROS levels,while diselenide depletion of glutathione(GSH)amplified chemodynamic therapy(CDT).In vitro and in vivo experiments show that DSACGM NPs induce cancer cell apoptosis under NIR-Ⅱirradiation and efficiently ablate tumors in mice at sub-hyperthermic temperatures(<45℃)with excellent biocompatibility.This study provides valuable insights into nanomedicine design and its potential in advanced tumor therapies.展开更多
文摘Long-term navigation ability based on consumer-level wearable inertial sensors plays an essential role towards various emerging fields, for instance, smart healthcare, emergency rescue, soldier positioning et al. The performance of existing long-term navigation algorithm is limited by the cumulative error of inertial sensors, disturbed local magnetic field, and complex motion modes of the pedestrian. This paper develops a robust data and physical model dual-driven based trajectory estimation(DPDD-TE) framework, which can be applied for long-term navigation tasks. A Bi-directional Long Short-Term Memory(Bi-LSTM) based quasi-static magnetic field(QSMF) detection algorithm is developed for extracting useful magnetic observation for heading calibration, and another Bi-LSTM is adopted for walking speed estimation by considering hybrid human motion information under a specific time period. In addition, a data and physical model dual-driven based multi-source fusion model is proposed to integrate basic INS mechanization and multi-level constraint and observations for maintaining accuracy under long-term navigation tasks, and enhanced by the magnetic and trajectory features assisted loop detection algorithm. Real-world experiments indicate that the proposed DPDD-TE outperforms than existing algorithms, and final estimated heading and positioning accuracy indexes reaches 5° and less than 2 m under the time period of 30 min, respectively.
基金supported by the National Key R&D Program of China(2020YFA0908500)the National Natural Science Foundation of China(22161142015,22201058,and 22275046)+1 种基金the Interdisciplinary Research Project of Hangzhou Normal University(2024JCXK01)the Hangzhou Leading Innovation and Entrepreneurship Team Project of Hangzhou Science and Technology Bureau(TD2022001)。
文摘The dense extracellular matrix and high interstitial pressure within tumors hinder nanoparticle penetration,reducing therapeutic efficacy.To address this,we engineered a dual-driven nanomotor based on a diselenide metal-organic framework(MOF)using a layer-by-layer assembly process for multimodal synergistic tumor therapy.Diselenide-containing imidazole derivatives coordinated with Zn2+form the MOF,sequentially encapsulating near-infrared-Ⅱ(NIR-Ⅱ)photothermal-responsive gold nanorods(AuRods),Mn_(2)CO_(10)(MnCO),and glucose oxidase(GOD).The nanoparticle surface was functionalized with 4T1 cancer cell membranes(DSACGM NPs),guiding it to drive toward the tumor site.The photothermal effect of AuRods and CO release drives nanomotor propulsion,enhancing tumor tissue penetration.GOD catalyzes glucose(Glu)oxidation,inducing tumor starvation,while the resulting H_(2)O_(2)triggers CO release,suppressing heat shock protein(HSP)expression and enhancing mild photothermal therapy(PTT).The release of CO and the Mn^(2+)-triggered Fenton-like reaction from MnCO increased intracellular ROS levels,while diselenide depletion of glutathione(GSH)amplified chemodynamic therapy(CDT).In vitro and in vivo experiments show that DSACGM NPs induce cancer cell apoptosis under NIR-Ⅱirradiation and efficiently ablate tumors in mice at sub-hyperthermic temperatures(<45℃)with excellent biocompatibility.This study provides valuable insights into nanomedicine design and its potential in advanced tumor therapies.
