In recent years, simultaneous localization and mapping in dynamic environments (dynamic SLAM) has attracted significant attention from both academia and industry. Some pioneering work on this ...technique has expanded the potential of robotic applications. Compared to standard SLAM under the static world assumption, dynamic SLAM divides features into static and dynamic categories and leverages each type of feature properly. Therefore, dynamic SLAM can provide more robust localization for intelligent robots that operate in complex dynamic environments. Additionally, to meet the demands of some high-level tasks, dynamic SLAM can be integrated with multiple object tracking. This article presents a survey on dynamic SLAM from the perspective of feature choices. A discussion of the advantages and disadvantages of different visual features is provided in this article.
A pressurized melt gyration process has been used for the first time to generate poly(ε‐caprolactone) (PCL) fibers. Gyration speed, working pressure, and melt temperature are varied and these ...parameters influence the fiber diameter and the temperature enabled changing the surface morphology of the fibers. Two types of nonwoven PCL fiber constructs are prepared. First, Ag‐doped PCL is studied for antibacterial activity using Gram‐negative Escherichia coli and Pseudomonas aeruginosa microorganisms. The melt temperature used to make these constructs significantly influences antibacterial activity. Neat PCL nonwoven scaffolds are also prepared and their potential for application in muscular tissue engineering is studied with myoblast cells. Results show significant cell attachment, growth, and proliferation of cells on the scaffolds.
This work is about novel manufacturing of polycaprolactone nonwoven scaffolds for application in tissue engineering and as antimicrobial mats. The process makes use of rotation speed of an aluminium cylindrical vessel, working pressure, and the temperature to jet out the fibrous products on a large scale.
Highlights
An asymmetric membrane electrode based on phosphorene/MXene heterostructure-textured nanopiezocomposite was fabricated via a polar urea-assisted self-assembly strategy and additive ...manufacturing of the heterostructure beyond the skin effect.
The merits of this novel asymmetric heterostructure-textured electrode and its intrinsic piezoelectricity were detailedly discussed.
The stepwise lithiation process of phosphorene was revealed, and the enhanced electrochemical properties of this phosphorene-based nanopiezocomposite textured electrode were verified by the improved cycling stability and kinetics.
Black phosphorus with a superior theoretical capacity (2596 mAh g
−1
) and high conductivity is regarded as one of the powerful candidates for lithium-ion battery (LIB) anode materials, whereas the severe volume expansion and sluggish kinetics still impede its applications in LIBs. By contrast, the exfoliated two-dimensional phosphorene owns negligible volume variation, and its intrinsic piezoelectricity is considered to be beneficial to the Li-ion transfer kinetics, while its positive influence has not been discussed yet. Herein, a phosphorene/MXene heterostructure-textured nanopiezocomposite is proposed with even phosphorene distribution and enhanced piezo-electrochemical coupling as an applicable free-standing asymmetric membrane electrode beyond the skin effect for enhanced Li-ion storage. The experimental and simulation analysis reveals that the embedded phosphorene nanosheets not only provide abundant active sites for Li-ions, but also endow the nanocomposite with favorable piezoelectricity, thus promoting the Li-ion transfer kinetics by generating the piezoelectric field serving as an extra accelerator. By waltzing with the MXene framework, the optimized electrode exhibits enhanced kinetics and stability, achieving stable cycling performances for 1,000 cycles at 2 A g
−1
, and delivering a high reversible capacity of 524 mAh g
−1
at − 20 ℃, indicating the positive influence of the structural merits of self-assembled nanopiezocomposites on promoting stability and kinetics.
For Crohn's disease (CD), the alternation of the active phase and inactive phase may be related to humoral immunity and cellular immunity. This study aims to understand the characteristics of immune ...cells in patients with active CD (CDa) and inactive CD (CDin).
Mass cytometry (CyTOF) and single-cell RNA sequencing (scRNA-seq) data about CDa, CDin, and healthy control (HC) were included. CyTOF analysis was performed to capture gated subsets, including T cells, T regulatory (Treg) cells, B cells, innate immune cells, and natural killer (NK) cells. Differential analysis was used to identify different immune cell subsets among CDa, CDin, and HC. ScRNA-seq analysis was used to verify the results of CyTOF. CD-related signaling pathways were obtained using KEGG pathway enrichment analysis. CellChat analysis was used to infer the cell communication network among immune cell subsets.
Compared to patients with CDin, patients with CDa had higher abundances of CD16
CD38
CD4
CXCR3
CCR6
naive T cells, HLA-DR
CD38
IFNγ
TNF
effector memory (EM) T cells, HLA-DR
IFNγ
naive B cells, and CD14
CD11C
IFNγ
IL1B
monocytes. KEGG analysis showed the similarity of pathway enrichment for the earlier four subsets, such as thermogenesis, oxidative phosphorylation, and metabolic pathways. The patients with CDin were characterized by an increased number of CD16
CD56
CD44
HLA-DR
IL22
NK cells. Compared to HC, patients with CDa demonstrated a low abundance of HLA-DR
CCR6
NK cells and a high abundance of FOXP3
CD44
EM Tregs. CellChat analysis revealed the interaction network of cell subsets amplifying in CDa compared with CDin.
Some immune subsets cells were identified for CDa and CDin. These cells may be related to the occurrence and development of CD and may provide assistance in disease diagnosis and treatment.
Background:
The pathogenesis of ulcerative colitis (UC) is closely related to immunity. The immune characteristic differences between active UC (UCa) and inactive UC (UCin) have not been completely ...explained. Mass cytometry (CyTOF) and single-cell RNA sequencing (scRNA-seq) were used to analyze the immune cells of UCa, UCin and healthy control (HC) subjects to determine the specific immune characteristics.
Methods:
The immune cell subsets among UCa, UCin, HC were distinguished using CyTOF analysis. scRNA-seq analysis was used to validate the results of CyTOF. Gene ontology (GO) and Kyoto Encyclopedia of Genes and Genomes (KEGG) pathway analyses were performed to understand the roles of differential immune cell subsets.
Results:
After CyTOF analysis and validation of scRNA-seq analysis, differential immune cell subsets mainly contained TNF
+
IL
-
17A
++
effector memory (EM) Tregs, CXCR3
+
CTLA4
+
EM Tregs, CXCR3
++
CCR7
+
B cells, HLA-DR
+
CCR7
+
dendritic cells (DCs) and CTLA-4
+
natural killer (NK) cells. In comparison to HC, CCR6
+
TNF
+
CD161
+
EM T cells were highly enriched in UCa and UCin. Besides, UCa was characterized by an increase in CD38
+
TNF
+
EM Tregs, CXCR3
+
CCR4
+
naïve B cells, HLA-DR
+
CD14
+
IL21
+
macrophages/monocytes, HLA-DR
+
CCR7
+
DCs, AHR
+
CD14
+
cytotoxic NK (cNK) cells and CD8A
+
IFNG
+
cNK cells. Decreases in CD38
+
CD27
+
plasmablasts, CXCR3
+
CD38
+
regulatory NK cells, and CXCR3
+
CCR7
+
tolerant NK cells in UCa were discovered.
Conclusions:
Novel immune cell subsets which was used to distinguish UCa, UCin and HC were identified. This information might be utilized to distinguish the patients with UCa and UCin.
Membrane technology has been intensively applied to the treatment of oily wastewater in recent years. Extensive progress has been made to design super-wetting membranes for separating stratified or ...emulsified oil/water mixtures. However, the membrane with small pore size is ineffective due to the severe decline of permeation, while the membrane with large pore size exhibits a poor separation efficiency for emulsion separation. Accordingly, a promising separation mechanism has been developed to improve the separation efficiency of the membrane with large pore size relying on the joint effect of demulsification and coalesce. Inspired by this strategy, a negatively charged superhydrophilic membrane is fabricated via the deposition of β-FeOOH nanorods on the commercialized sulfonated polyolefin lithium-ion battery separators (LIBS). The abundant sulfo groups on the polyolefin surface offer enough binding sites to anchor β-FeOOH nanorods. The fabricated membrane is qualified for separating stratified and emulsified oil/water mixtures, predominantly facilitated by the superwettability (underwater oil contact angle of 154° and underwater oil rolling angle of 3°) and the demulsification effect. A comprehensive oil/water separation performance of the composite membrane for the stratified and highly emulsified surfactant-free and surfactant-emulsified oil/water mixtures is obtained, with the respective permeation flux of up to 55503, 4112 and 1260 L m-2 h-1 and the corresponding separation efficiency of 99.9%, 99.2% and 98.7% solely driven by gravity. Moreover, considering the photo-Fenton catalysis of β-FeOOH, the hybrid membrane exhibits an excellent self-cleaning property, good nanorods coating stability and superior dye degradation ability. More importantly, LIBS possess some unique advantages of commercial availability, chemical tolerance, good flexibility and excellent mechanical strength, which provides an attempt to explore a novel high-efficiency oil/water separation material.
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•Commercial available LIBS are used to the separation of oil/water mixtures.•β-FeOOH nanorods are anchored on the membrane surface.•The membrane exhibits superior separation efficiencies for oil/water emulsions.•The membrane exhibits a superior dye degradation ability.
In this work, the biosensing and antibacterial capabilities of PVA-lysozyme microbubbles have been explored. Gas-filled PVA-lysozyme microbubbles with and without gold nanoparticles in the diameter ...range of 10 to 250 μm were produced using a single-step pressurized gyration process. Fluorescence microscopy showed the integration of gold nanoparticles on the shell of the microbubbles. Microbubbles prepared with gold nanoparticles showed greater optical extinction values than those without gold nanoparticles, and these values increased with the concentration of the gold nanoparticles. Both types of microbubbles showed antibacterial activity against Gram-negative Escherichia coli (E. coli), with the bubbles containing the gold nanoparticles performing better than the former. The conjugation of the microbubbles with alkaline phosphatase allowed the detection of pesticide paraoxon in aqueous solution, and this demonstrates the biosensing capabilities of these microbubbles.
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•β-FeOOH nanorods were anchored onto polysulfone (PSF) ultrafiltration (UF).•Two kinds of interactions guaranteed nanorods attaching onto the surface.•Photo-Fenton catalytic of ...nanorods strengthened the self-cleaning of the membrane.•The membrane exhibited a high-efficient flux recovery for wastewater remediation.
Membrane fouling problems severely hindered the integrated development of membrane technology. Currently, construction of a fouling-resistance membrane was an everlasting and ubiquitous research focus. In this study, β-FeOOH nanorods were anchored onto commercial polysulfone (PSF) ultrafiltration (UF) membranes surface via in-situ mineralization to fabricate an anti-fouling UF membrane for organic and dyes wastewater treatment. The ion-dipole interaction and π-cation interaction between Fe3+ and PSF chains guaranteed β-FeOOH nanorods attaching onto the surface without an intermediate layer. A satisfying flux recovery ratio (93.6% and 94.3%) and a low irreversible fouling ratio (6.4% and 5.9%) for bovine albumin (BSA) and sodium alginate (SA) solutions, respectively, were acquired on account of the photo-Fenton catalytic property and hydrophilicity of nanorods without sacrificing the permeation flux sharply. Importantly, the resultant membrane exhibited a desirable separation performance for various dyes solutions, with high permeation flux (53.6–100.0 L·m−2·h−1·bar−1) and appropriate rejection rates (60.9–92.6%). This work not only improved the anti-organic fouling performance extensively, but also provided a novel insight to decorate the conventional UF membrane surface straightforward without an intermediate layer.
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