THE expressive,exotic Argentina-born tango music has engrossed generations of Chinese audiences through films,album records,and radio stations since the twentieth century.Today,in China,a tango ensemble,called“To Mel...THE expressive,exotic Argentina-born tango music has engrossed generations of Chinese audiences through films,album records,and radio stations since the twentieth century.Today,in China,a tango ensemble,called“To Melody Ensemble”and composed of young graduates from the elite Central Conservatory of Music(CCOM),is exploring new dimensions by incorporating Chinese tunes into tango music.展开更多
目的:利用运输和高尔基体组织蛋白2同系物(transport and Golgi organization protein 2 homolog,TANGO2)敲除小鼠阐明TANGO2在哺乳动物中的生理功能,探究TANGO2是否是导致DiGeorge综合征发生的候选基因。方法:制备TANGO2敲除小鼠模型,...目的:利用运输和高尔基体组织蛋白2同系物(transport and Golgi organization protein 2 homolog,TANGO2)敲除小鼠阐明TANGO2在哺乳动物中的生理功能,探究TANGO2是否是导致DiGeorge综合征发生的候选基因。方法:制备TANGO2敲除小鼠模型,通过实时荧光定量PCR检测该小鼠模型的基因敲除效率。观察并记录野生型、杂合和纯合敲除小鼠的表型和生长繁育情况。通过组织解剖和组织学分析,观察野生型和敲除小鼠的心脏和大脑组织的形态结构。结果:TANGO2 mRNA在野生型小鼠的心脏和大脑中表达,而在敲除小鼠相应组织中的表达水平显著降低。TANGO2敲除小鼠发育正常,能够存活和繁殖,没有明显的表型异常。与野生型同窝仔相比,生存率没有显著差异。组织形态分析显示,新生敲除小鼠和6月龄敲除小鼠的心脏和大脑与野生型之间无明显差异。结论:TANGO2敲除小鼠能够正常发育和繁殖,并且缺乏人类中TANGO2相关疾病或DiGeorge综合征的相关表型。展开更多
室内三维场景实时感知是室内增强现实、三维测图和机器人自主定位与导航的关键技术之一。利用智能手机Tango传感器搭载的单目摄像头和深度相机,根据实时获取的彩色图像和深度信息,研究并提出了一种实时的室内三维场景感知方法;该方法首...室内三维场景实时感知是室内增强现实、三维测图和机器人自主定位与导航的关键技术之一。利用智能手机Tango传感器搭载的单目摄像头和深度相机,根据实时获取的彩色图像和深度信息,研究并提出了一种实时的室内三维场景感知方法;该方法首先根据智能手机Tango传感器获取的彩色图像存在的问题,采用多项式函数对彩色相机进行校正。接着,使用ORB(oriented FAST and rotated BRIEF)算子对彩色图像进行特征提取,利用RANSAC算法剔除误匹配点;并根据优化后的匹配点对采用ICP算法对手机姿态进行初步估计。最后,基于融合空间关系的视觉词典(SDBo W2)对感知的初步室内场景进行闭环检测;并通过图优化得到实时感知的室内三维场景模型。实验表明,方法能利用Tango传感器高效地获取室内场景完整的三维结构信息与纹理。展开更多
Aiming at the problem of system error and noise in simultaneous localization and mapping(SLAM) technology, we propose a calibration model based on Project Tango device and a loop closure detection algorithm based on v...Aiming at the problem of system error and noise in simultaneous localization and mapping(SLAM) technology, we propose a calibration model based on Project Tango device and a loop closure detection algorithm based on visual vocabulary with memory management. The graph optimization is also combined to achieve a running application. First, the color image and depth information of the environment are collected to establish the calibration model of system error and noise. Second, with constraint condition provided by loop closure detection algorithm, speed up robust feature is calculated and matched. Finally, the motion pose model is solved, and the optimal scene model is determined by graph optimization method. This method is compared with Open Constructor for reconstruction on several experimental scenarios. The results show the number of model's points and faces are larger than Open Constructor's, and the scanning time is less than Open Constructor's. The experimental results show the feasibility and efficiency of the proposed algorithm.展开更多
文摘THE expressive,exotic Argentina-born tango music has engrossed generations of Chinese audiences through films,album records,and radio stations since the twentieth century.Today,in China,a tango ensemble,called“To Melody Ensemble”and composed of young graduates from the elite Central Conservatory of Music(CCOM),is exploring new dimensions by incorporating Chinese tunes into tango music.
文摘目的:利用运输和高尔基体组织蛋白2同系物(transport and Golgi organization protein 2 homolog,TANGO2)敲除小鼠阐明TANGO2在哺乳动物中的生理功能,探究TANGO2是否是导致DiGeorge综合征发生的候选基因。方法:制备TANGO2敲除小鼠模型,通过实时荧光定量PCR检测该小鼠模型的基因敲除效率。观察并记录野生型、杂合和纯合敲除小鼠的表型和生长繁育情况。通过组织解剖和组织学分析,观察野生型和敲除小鼠的心脏和大脑组织的形态结构。结果:TANGO2 mRNA在野生型小鼠的心脏和大脑中表达,而在敲除小鼠相应组织中的表达水平显著降低。TANGO2敲除小鼠发育正常,能够存活和繁殖,没有明显的表型异常。与野生型同窝仔相比,生存率没有显著差异。组织形态分析显示,新生敲除小鼠和6月龄敲除小鼠的心脏和大脑与野生型之间无明显差异。结论:TANGO2敲除小鼠能够正常发育和繁殖,并且缺乏人类中TANGO2相关疾病或DiGeorge综合征的相关表型。
文摘室内三维场景实时感知是室内增强现实、三维测图和机器人自主定位与导航的关键技术之一。利用智能手机Tango传感器搭载的单目摄像头和深度相机,根据实时获取的彩色图像和深度信息,研究并提出了一种实时的室内三维场景感知方法;该方法首先根据智能手机Tango传感器获取的彩色图像存在的问题,采用多项式函数对彩色相机进行校正。接着,使用ORB(oriented FAST and rotated BRIEF)算子对彩色图像进行特征提取,利用RANSAC算法剔除误匹配点;并根据优化后的匹配点对采用ICP算法对手机姿态进行初步估计。最后,基于融合空间关系的视觉词典(SDBo W2)对感知的初步室内场景进行闭环检测;并通过图优化得到实时感知的室内三维场景模型。实验表明,方法能利用Tango传感器高效地获取室内场景完整的三维结构信息与纹理。
基金Supported by the National Natural Science Foundation of China(61772379)
文摘Aiming at the problem of system error and noise in simultaneous localization and mapping(SLAM) technology, we propose a calibration model based on Project Tango device and a loop closure detection algorithm based on visual vocabulary with memory management. The graph optimization is also combined to achieve a running application. First, the color image and depth information of the environment are collected to establish the calibration model of system error and noise. Second, with constraint condition provided by loop closure detection algorithm, speed up robust feature is calculated and matched. Finally, the motion pose model is solved, and the optimal scene model is determined by graph optimization method. This method is compared with Open Constructor for reconstruction on several experimental scenarios. The results show the number of model's points and faces are larger than Open Constructor's, and the scanning time is less than Open Constructor's. The experimental results show the feasibility and efficiency of the proposed algorithm.
