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1.
针对移动机器人使用超声波传感器检测环境时存在干扰与数据不确定性问题,在分析超声波传感器工作原理和相邻位置检测数据的关联特性后,提出了基于三位置超声波检测的环境轮廓构建方法,利用超声波对室内环境进行建图;再使用改进强跟踪UKF-SLAM将超声波测量数据和移动机器人驱动模型进行滤波融合,得到更准确的位姿信息与地图特征。搭建仿真环境,并通过搭载有超声波传感器的全向轮移动机器人在实验环境内验证。仿真结果表明改进方法与其他算法相比,定位和地图构建的误差降低58.058%。室内实验中,获取环境特征的平均误差降低了50.286 3%,进一步验证了提出算法的可行性与有效性。该方法对机器人同步定位与地图构建有一定参考价值。  相似文献   
2.
为研究攀爬机器人在港口机械金属结构表面的自主移动,提出了一种应用于攀爬机器人的视觉导航定位方法。针对港口机械金属结构复杂,表面存在油污和阴影,解决现有的视觉边缘识别方法对金属结构边缘识别效率低且不连续的问题。首先通过自适应阈值的Canny进行边缘特征提取;之后根据边缘线角度特征建立约束关系,利用Hough变换剔除干扰线,并用最小二乘法拟合最终金属结构边缘;求取结构中心线方程和运动方程并计算偏航角和偏距,实现对机器人的运动控制。以港口机械某一支腿为例进行试验,实验数据表明,该方法可以很好地引导机器人的运动,满足实际应用。  相似文献   
3.
电池充电造成的电池损耗对企业运营成本影响较大,以不同SOC区间内一次充电造成的电池容量衰退成本模型估计电池损耗成本,研究了车辆途中可多次进入充电站充电的路径优化问题,在考虑运输成本、制冷成本、货损成本、充电时间成本、惩罚成本的基础上,将电动冷藏车的电池损耗成本纳入总成本最小的目标函数,并建立了线性规划数学模型。采用增加粒子间共享信息类型的改进粒子群算法对该模型进行求解。将改进粒子群算法应用于构造的算例中,得到包括充电策略在内的车辆最优路径方案和最小运营成本,结果表明充电上限为80%的车辆路径方案可得到最低的运营成本,同时与标准粒子群算法求得的计算结果进行了比较分析,证明该改进粒子群算法在求解该问题上的可行性。  相似文献   
4.
There is an unmet need for simplified in vitro models of malignancy and metastasis that facilitate fast, affordable and scalable gene and compound analysis. “Adherent” cancer cell lines frequently release “free-floating” cells into suspension that are viable and can reattach. This, in a simplistic way, mimics the metastatic process. We compared the gene expression profiles of naturally co-existing populations of floating and adherent cells in SW620 (colon), C33a (cervix) and HeLa (cervix) cancer cells. We found that 1227, 1367 and 1333 genes were at least 2-fold differentially expressed in the respective cell lines, of which 122 were shared among the three cell lines. As proof of principle, we focused on the anti-metastatic gene NM23-H1, which was downregulated both at the RNA and protein level in the floating cell populations of all three cell lines. Knockdown of NM23-H1 significantly increased the number of floating (and viable) cells, whereas overexpression of NM23-H1 significantly reduced the proportion of floating cells. Other potential regulators of these cellular states were identified through pathway analysis, including hypoxia, mTOR (mechanistic target of rapamycin), cell adhesion and cell polarity signal transduction pathways. Hypoxia, a condition linked to malignancy and metastasis, reduced NM23-H1 expression and significantly increased the number of free-floating cells. Inhibition of mTOR or Rho-associated protein kinase (ROCK) significantly increased cell death specifically in the floating and not the adherent cell population. In conclusion, our study suggests that dynamic subpopulations of free-floating and adherent cells is a useful model to screen and identify genes, drugs and pathways that regulate the process of cancer metastasis, such as cell detachment and anoikis.  相似文献   
5.
Extracellular vesicles (EVs) are cell-derived nanostructures that mediate intercellular communication by delivering complex signals in normal tissues and cancer. The cellular coordination required for tumor development and maintenance is mediated, in part, through EV transport of molecular cargo to resident and distant cells. Most studies on EV-mediated signaling have been performed in two-dimensional (2D) monolayer cell cultures, largely because of their simplicity and high-throughput screening capacity. Three-dimensional (3D) cell cultures can be used to study cell-to-cell and cell-to-matrix interactions, enabling the study of EV-mediated cellular communication. 3D cultures may best model the role of EVs in formation of the tumor microenvironment (TME) and cancer cell-stromal interactions that sustain tumor growth. In this review, we discuss EV biology in 3D culture correlates of the TME. This includes EV communication between cell types of the TME, differences in EV biogenesis and signaling associated with differing scaffold choices and in scaffold-free 3D cultures and cultivation of the premetastatic niche. An understanding of EV biogenesis and signaling within a 3D TME will improve culture correlates of oncogenesis, enable molecular control of the TME and aid development of drug delivery tools based on EV-mediated signaling.  相似文献   
6.
There is huge scientific interest in the neuropeptide oxytocin (OXT) due to its putative capacity to modulate a wide spectrum of physiological and cognitive processes including motivation, learning, emotion, and the stress response. The present review seeks to increase the understanding of the role of OXT in an individual’s vulnerability or resilience with regard to developing a substance use disorder. It places specific attention on the role of social stress as a risk factor of addiction, and explores the hypothesis that OXT constitutes a homeostatic response to stress that buffers against its negative impact. For this purpose, the review summarizes preclinical and clinical literature regarding the effects of OXT in different stages of the addiction cycle. The current literature affirms that a well-functioning oxytocinergic system has protective effects such as the modulation of the initial response to drugs of abuse, the attenuation of the development of dependence, the blunting of drug reinstatement and a general anti-stress effect. However, this system is dysregulated if there is continuous drug use or chronic exposure to stress. In this context, OXT is emerging as a promising pharmacotherapy to restore its natural beneficial effects in the organism and to help rebalance the functions of the addicted brain.  相似文献   
7.
Chitinases catalyze the degradation of chitin, a polymer of N-acetylglucosamine found in crustacean shells, insect cuticles, and fungal cell walls. There is great interest in the development of improved chitinases to address the environmental burden of chitin waste from the food processing industry as well as the potential medical, agricultural, and industrial uses of partially deacetylated chitin (chitosan) and its products (chito-oligosaccharides). The depolymerization of chitin can be achieved using chemical and physical treatments, but an enzymatic process would be more environmentally friendly and more sustainable. However, chitinases are slow-acting enzymes, limiting their biotechnological exploitation, although this can be overcome by molecular evolution approaches to enhance the features required for specific applications. The two main goals of this study were the development of a high-throughput screening system for chitinase activity (which could be extrapolated to other hydrolytic enzymes), and the deployment of this new method to select improved chitinase variants. We therefore cloned and expressed the Bacillus licheniformis DSM8785 chitinase A (chiA) gene in Escherichia coli BL21 (DE3) cells and generated a mutant library by error-prone PCR. We then developed a screening method based on fluorescence-activated cell sorting (FACS) using the model substrate 4-methylumbelliferyl β-d-N,N′,N″-triacetyl chitotrioside to identify improved enzymes. We prevented cross-talk between emulsion compartments caused by the hydrophobicity of 4-methylumbelliferone, the fluorescent product of the enzymatic reaction, by incorporating cyclodextrins into the aqueous phases. We also addressed the toxicity of long-term chiA expression in E. coli by limiting the reaction time. We identified 12 mutants containing 2–8 mutations per gene resulting in up to twofold higher activity than wild-type ChiA.  相似文献   
8.
本文采用两种改进的算法:基于HSV的小波融合算法(HSV-WT)、基于区域特征的自适应小波包融合算法(AWP)分别对多光谱LandSat TM数据与全色SPOT-5数据、TM数据与ERS-2的合成孔径雷达SAR数据进行融合.融合结果表明两种改进算法融合后的数据在保持光谱信息和提高空间细节信息两方面均得到提高.当应用两种方法对同一组数据进行处理时, AWP的性能参数优于HSV-WT.这两种算法相对传统小波算法,能克服对高频信息处理的缺陷,突破待融合数据的分辨率比值限制,实现分辨率之比非2n的数据融合.  相似文献   
9.
陈雪  陈大才  李继宇  郭智源  唐琦 《中州煤炭》2021,(4):197-201,206
为了有效把控配电网工程建设的规范性和经济性,提出了一种基于改进复合赋权的配电网建设多维度综合评价方法。首先分析了配电网工程建设主要评估指标,建立配电网多维度综合评价指标体系,结合改进AHP方法和反熵权法,对综合评价指标体系的各个指标进行复合赋权,最终建立基于多维度的综合评价模型,并利用该评价方法对实际配电网工程进行综合评价分析。分析结果表明:基于改进复合赋权的配电网建设多维度综合评价方法能够较为全面及客观地对各个配电网工程进行有效评估,结合实际数据以及项目建设情况,能够得到建设中存在的薄弱环节,进而实施有效改善措施。该方法能够为配电网工程建设的可行性、可靠性和经济性发展提供重要的理论指导和可靠性依据。  相似文献   
10.
刘聪  谢莉  杨慧中 《化工学报》2021,72(3):1606-1615
青霉素发酵过程具有较强的非线性、时变性、阶段性和不确定性,基于单一的软测量模型对产物浓度进行在线估计,难以满足系统对模型精度的要求。针对上述问题,提出一种改进密度峰值聚类的多模型软测量建模方法来估计青霉素发酵过程中的产物浓度。首先,引入相似度函数代替欧氏距离计算样本点的k近邻,并且计算样本点与其k近邻之间的共享近邻,进而利用样本点的k近邻及共享近邻重新定义样本点的局部密度。其次,利用样本点之间的k近邻关系来重新定义样本点的分配策略;通过改进的聚类算法得到各聚类子集,分别建立基于最小二乘支持向量机的软测量模型。Pensim仿真平台的验证结果表明,改进的聚类算法能够更加准确地对样本数据进行聚类,从而有效提高青霉素发酵过程软测量模型的估计精度。  相似文献   
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