Accurate calibration between LiDAR and camera sensors is crucial for autonomous driving systems to perceive and understand the environment effectively. Typically, LiDAR-camera extrinsic calibration ...requires feature alignment and overlapping fields of view. Aligning features from different modalities can be challenging due to noise influence. Therefore, this paper proposes a targetless extrinsic calibration method for monocular cameras and LiDAR sensors that have a non-overlapping field of view. The proposed solution uses pose transformation to establish data association across different modalities. This conversion turns the calibration problem into an optimization problem within a visual SLAM system without requiring overlapping views. To improve performance, line features serve as constraints in visual SLAM. Accurate positions of line segments are obtained by utilizing an extended photometric error optimization method. Moreover, a strategy is proposed for selecting appropriate calibration methods from among several alternative optimization schemes. This adaptive calibration method selection strategy ensures robust calibration performance in urban autonomous driving scenarios with varying lighting and environmental textures while avoiding failures and excessive bias that may result from relying on a single approach.
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IZUM, KILJ, NUK, PILJ, PNG, SAZU, UL, UM, UPUK
The increasing prevalence of antibiotic resistance genes (ARGs) in the environment has garnered significant attention due to their health risk to human beings. Horizontal gene transfer (HGT) is ...considered as an important way for ARG dissemination. There are four general routes of HGT, including conjugation, transformation, transduction and vesiduction. Selection of appropriate examining methods is crucial for comprehensively understanding characteristics and mechanisms of different HGT ways. Moreover, combined with the results obtained from different experimental methods, mathematical models could be established and serve as a powerful tool for predicting ARG transfer dynamics and frequencies. However, current reviews of HGT for ARG spread mainly focus on its influencing factors and mechanisms, overlooking the important roles of examining methods and models. This review, therefore, delineated four pathways of HGT, summarized the strengths and limitations of current examining methods, and provided a comprehensive summing-up of mathematical models pertaining to three main HGT ways of conjugation, transformation and transduction. Finally, deficiencies in current studies were discussed, and proposed the future perspectives to better understand and assess the risks of ARG dissemination through HGT.
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•A novel approach for anammox bacteria culture was developed based on microfluidics.•Both free and granular forms of anammox bacteria could be cultured on the chips.•Anammox bacteria ...could grow quickly and be enriched on the chips.•The reaction kinetics of granular sludge with different sizes were obtained.•Microfluidic chip can be a powerful tool for anammox bacteria study.
Anammox bacteria are being increasingly investigated as part of an emerging nitrogen removal technology. However, due to the difficulty in culturing, current understanding of their behavior is limited. In this study, anaerobic microfluidic chips were used to study anammox bacteria, showing great advantages over reactors. On-chip fluorescence in situ hybridization (FISH) showed the relative abundance of free form anammox bacteria increased by 56.1 % after one week’s culture, an increase that is three times higher than that of bioreactor (17.1 %). For granular form cultures, the nitrogen removal load reached 2.34 ∼ 2.51 kg-N/(m3·d), which was also substantially higher than the bioreactor (∼1.22 kg-N/(m3·d)). Furthermore, studying the kinetics of nitrite inhibition of granular sludge with different particle sizes (100–900 μm) showed that the maximum ammonia load and the nitrite semi-saturation coefficient noticeably decreased for smaller particle sizes. These results illustrate the usefulness of the microfluidic method for in-depth understanding anammox process and its implementation.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
Antibody drug conjugates (ADCs) have emerged as a new promising class of anti- cancer agents. However, limitations such as higher costs and unavoidable immunogenicity due to their relatively large ...structures cannot be ignored. Therefore, the development of lightweight drugs such as small molecule–drug conjugates (SMDCs) based on the ADC design idea has become a new option for targeted therapy. SMDCs are derived from the coupling of small-molecule targeting ligands with cytotoxic drugs. They are composed of three parts: small-molecule targeting ligands, cytotoxic molecules, and linkers. Compared with ADCs, SMDCs can be more rapidly and evenly dispersed into tumor tissues, with low cost and no immunogenicity. In this article, we will give a comprehensive review of different types of SMDCs currently under clinical trials to provide ideas and inspirations for the development of clinically applicable SMDCs.
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IJS, KILJ, NUK, PNG, UL, UM
The safety and decommissioning of lithium-ion batteries (LIBs) are closely related to the remaining useful life (RUL). Accurate life prediction of LIBs can prevent safety issues and recycling at the ...end of life. This paper proposes a method based on the multiple kernel extreme learning machine (MKELM) to improve the stability and accuracy of LIBs life prediction. According to the measured cyclic aging data of the 18650 battery, in-depth analysis of charging curves, extract the equal voltage rise charging time, the constant voltage charging time and the equal time voltage drop in the static state as the health factors, using MKELM to predict the remaining cycle life of LIBs, and using the whale algorithm to optimize the nuclear parameters of MKELM. The proposed method is simulated and verified by the actual LIBs data. When the training set is the first 50% of the data, the whale optimization algorithm-MKELM (WOA-MKELM) algorithm predicts the average error cycle number of the three batteries is 15.6 cycles. After adding 10% of the training set, the average number of forecast error cycles reduced to 5 cycles, and the results show that the method has high stability and accuracy.
•A prediction model of WOA algorithm to optimize the parameters is proposed.•The WOA-MKELM algorithm is constructed.•The performance of several WOA based algorithms in RUL is analyzed and compared.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
Abstract Background The purpose of this study was to evaluate the functional and radiographic results of patients with Crowe type-IV hip dysplasia treated by cementless total hip arthroplasty and ...double chevron subtrochanteric osteotomy. Methods From January 2000 to February 2006, cementless total hip arthroplasty with a double chevron subtrochanteric shortening osteotomy was performed on 18 patients (22 hips) with Crowe type-IV dysplasia. The acetabular cup was placed in the position of the anatomical hip center, and subtrochanteric femoral shortening osteotomy was performed with use of a double chevron design. The clinical and radiographic outcomes were reviewed with a mean follow-up of 6.5 years (5 to 10 years). Results The mean amount of femoral subtrochanteric shortening was 38 mm (25 to 60 mm). All osteotomy sites were healed by 3 to 6 months without complications. The mean Harris hip score improved significantly from 47 points (35 to 65 points) preoperatively to 88 points (75 to 97 points) at the final follow-up. The Trendelenburg sign was corrected from a positive preoperative status to a negative postoperative status in 12 of 22 hips. No acetabular and femoral components have loosened or required revision during the period of follow-up. Conclusion Cementless total hip arthroplasty using double chevron subtrochanteric osteotomy allowed for restoration of anatomic hip center with safely functional limb-lengthening, achieved correction of preoperative limp and good functional and radiographic outcomes for 22 Crowe type IV dislocation hips at the time of the 5- to 10-year follow-up.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK, ZRSKP
Improving the accuracy of state of charge (SOC) is beneficial for the safety and service life of batteries. The battery analysis model has become one of the research hotspots due to its clear ...physical significance and visibility of parameters. Based on analytical modeling methods, an improved gas-liquid dynamics (GLD) model of the lithium-ion battery (LIB) is proposed, which excels in simulating lithium-ion diffusion behavior and terminal voltage rebound characteristics under the open circuit state of LIBs. The parameter mapping relationships between the LIB and GLD model are improved and estimation equations of SOC, terminal voltage, and open circuit voltage are deduced according to GLD state equations. Based on these estimation equations and dual extended Kalman filter, an efficient real-time SOC estimation method for LIBs is developed. The performance of SOC estimation method is verified by LIBs data sampled by onboard BMS under five working conditions. Results show that the proposed method has strong robustness of the initial error of SOC = ±20 % which is eliminated within 15 s, and has a reliable performance of SOC estimation against the current and terminal voltage noises.
•An improved gas-liquid dynamics model is proposed.•SOC is derived based on the principle of gas-liquid dynamics.•A new SOC estimation method is developed by coupling GLD model with DEKF.•This method exhibits strong robustness to different sampling errors.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
Bone is one of the most common metastatic sites of breast cancer. CD137 (4-1BB), a member of the tumor necrosis factor (TNF) receptor superfamily, is mainly expressed in activated leukocytes. ...Previous study demonstrates the effect of CD137-CD137L bidirectional signaling pathway on RANKL-mediated osteoclastogenesis. However, the role of CD137 in bone metastasis of breast cancer needs further study.
Stable monocyte/macrophage cell lines with
overexpression and silencing were established. Western blot, real-time PCR, transwell and tartrate-resistant acid phosphatase staining were used to detect the regulatory effect of CD137 on migration and osteoclastogenesis of monocytes/macrophages
. Spontaneous bone metastasis mouse model was established, bioluminescent images, immunohistochemistry and histology assay were performed to detect the function of CD137 in bone metastasis
.
We found that CD137 promotes the migration of monocytes/macrophages to tumor microenvironment by upregulating the expression of Fra1. It also promoted the differentiation of monocytes/macrophages into osteoclasts at the same time, thus providing a favorable microenvironment for the colonization and growth of breast cancer cells in bone. Based on these findings, a novel F4/80-targeted liposomal nanoparticle encapsulating the anti-CD137 blocking antibody (NP-αCD137 Ab-F4/80) was synthesized. This nanoparticle could inhibit both bone and lung metastases of 4T1 breast cancer cells with high efficacy
. In addition, it increased the therapeutic efficacy of Fra1 inhibitor on tumor metastasis.
Taken together, these findings reveal the promotion effect of macrophage/monocyte CD137 on bone metastases and provide a promising therapeutic strategy for metastasis of breast cancer.
Allotetraploidization between A and S (closely related to B) genome species led to the speciation of allotetraploid wheat (genome BBAA). However, the immediate metabolic outcomes and adaptive changes ...caused by the allotetraploidization event are poorly understood. Here, we investigated how allotetraploidization affected salinity tolerance using a synthetic allotetraploid wheat line (genome S
S
AA, labeled as 4x), its
(genome S
S
, labeled as S
S
) and
(AA genome, labeled as AA) parents. We found that the degree of salinity tolerance of 4x was similar to its S
S
parent, and both were substantially more tolerant to salinity stress than AA. This suggests that the S
S
subgenome exerts a dominant effect for this trait in 4x. Compared with S
S
and 4x, the salinity-stressed AA plants did not accumulate a higher concentration of Na
in leaves, but showed severe membrane peroxidation and accumulated a higher concentration of ROS (H
O
and O
) and a lesser concentration of flavonoids, indicating that ROS metabolism plays a key role in saline sensitivity. Exogenous flavonoid application to roots of AA plants significantly relieved salinity-caused injury. Our results suggest that the higher accumulation of flavonoids in S
S
may contribute to ROS scavenging and salinity tolerance, and these physiological properties were stably inherited by the nascent allotetraploid S
S
AA.
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