Bayesian Landmark Learning for Mobile Robot Localization

To operate successfully in indoor environments, mobile robots must be able to localize themselves. Most current localization algorithms lack flexibility, autonomy, and often optimality, since they rely on a human to determine what aspects of the sensor data to use in localization (e.g., what landmarks to use). This paper describes a learning algorithm, called BaLL, that enables mobile robots to learn what features/landmarks are best suited for localization, and also to train artificial neural networks for extracting them from the sensor data. A rigorous Bayesian analysis of probabilistic localization is presented, which produces a rational argument for evaluating features, for selecting them optimally, and for training the networks that approximate the optimal solution. In a systematic experimental study, BaLL outperforms two other recent approaches to mobile robot localization.     

一种融合PCA 和KFDA 的人脸识别方法

提出一种融合PCA和KFDA的人脸识别方法，即在进行非线性映射之前，首先利用经典的主分量分析(C—PCA)进行降维，然后执行KFDA．为进一步降低整个算法的计算时问，又提出一种I—PCA KFDA方法，它直接基于图像矩阵的主分量分析(I—PCA)．ORL标准人脸库的试验结果表明，与现有的核Fisher鉴别分析方法相比，两种方法可将特征抽取的速度分别提高3倍和7倍，其识别精度没有丝毫的降低．     

会展建筑中的大空间排烟系统分析

通过对会展建筑中的大空间展厅的火灾情形、排烟量及排烟方式的分析,得出了一个适合此类建筑的排烟系统设计的经济合理的参考方案.     

Recovery of indium and lead from lead bullion

Lead and indium were recovered by electrolysis and nonequilibrium solvent extraction process from lead bullion.The effects of current density,electrolytic period and circle amnant of electrolyte on the electrochemical dissolution of lead and indium were investigated.The effects of extraction phase ratio and mixing time on solvent extraction of indium and striping phase ratio and stripping stage on the loaded organic phase stripping were also investigated.The experimental results indicate that under optimum conditions,the purity of lead deposited on cathode is 98.5% and the deposit rate of lead is 99.9%,the dissolution rate of indium is 94.28%,the extraction rate of indium is 98.69%,the stripping rate of indium is almost 100%,and the impurity elements,such as Zn,Fe and Sn can be removed.     

相关反馈结合鲁棒局部二值模式的CBIR算法

提出了一种鲁棒局部二值模式结合相关反馈的基于内容的图像检索算法.鲁棒局部二值模式是一种性能较好的特征提取算子,对噪声和光照变化具有较强的鲁棒性,且不会造成原始数据的改变,可提高特征提取的准确性.相关反馈使系统可获知用户的偏好,对检索结果具有导向作用.多个纹理数据库的实验结果表明,提出算法的检索准确性和鲁棒性优于同类算法.     

桑黄多糖提取工艺优化、结构表征及抗氧化活性研究

目的 以临清桑黄为研究材料,采用热水浸提法制备桑黄多糖（Sanghuangporus sanghuang polysaccharide-hot water extraction, SSP-W）并研究其结构特征和抗氧化活性。方法 以SSP-W提取得率为指标,采用单因素和响应面试验对制备工艺进行优化,采用高效阴离子交换色谱-脉冲安培检测法（high performance anion exchange chromatography-pulsed amperometric detection,HPAEC-PAD）、傅里叶变换红外光谱（Fourier transform infrared spectroscopy,FT-IR）、扫描电镜和X-衍射对其结构进行初步表征。结果 最佳制备工艺为：提取时间2.4 h、提取温度95℃、液料比27:1（mL/g）,在此条件下,SSP-W提取得率为2.34%。其结构特征为：SSP-W以吡喃环为基本骨架,由Fuc、GlcN、Glc、Man 4种单糖组成。扫描电镜结果表明,SSP-W形状不规则,有明显的孔洞。X-衍射结果表明,SSP-W以结晶态聚合物和非结晶态聚合物的形式共存。抗氧化试验表明,SSP-W具有较强的抗氧化活性,其羟自由基和ABTS+自由基的EC50值（concentration for 50% of maximal effect,EC50）分别为492 μg/mL和75 μg/mL,当浓度为250 μg/mL时,ABTS+自由基清除率达到96.27%。结论 SSP-W是一种具有抗氧化潜力的活性物质。本研究结果将为临清桑黄多糖的精深加工和高值化利用提供科学依据。     

γ射线对萃取剂OMPPD萃取铀(VI)的影响

研究了新型酰胺萃取剂N-辛酰-2-甲基哌啶烷(OMPPD)在硝酸介质中萃取铀(VI)的辐照性能,考察了γ射线剂量以及在不同的酸度和稀释剂中γ射线对萃取铀(VI)分配比的影响,发现OMPPD比磷酸三丁酯(TBP)具有较好的耐辐照性能。     

ADP-核糖化对大鼠脾细胞核转录活性的影响及其辐射效应

本实验采用8Gyγ线全身照射成年雄性Wistar大鼠,观察ADP-核糖化对大鼠脾细胞核转录活性的影响。结果表明核糖化对RNA pol(Ⅰ+Ⅲ)、polⅡ的活性均有抑制作用,并且对pol(Ⅰ+Ⅲ)的抑制率高于polⅡ,提示ADP-核糖化是脾细胞核RNA聚合酶,特别是polⅠ活性的影响因素;当核糖化液中加入ADPRT的特异性抑制剂3-AB,核糖化对转录活性的抑制作用消失,这进一步证实了RNA聚合酶活性的减少是由于核糖化所致。结果还表明照后4h内,ADPRT活性降低,然后逐渐恢复,到18h巳完全恢复,表明8Gyγ线照射可抑制ADPRT的活性,并且其辐射效应修复快。     

基于GA的2DPCA在人脸识别中的应用

采用基于遗传算法(GA)的二维主成分分析法(2DPCA)进行人脸识别.2DPCA直接以二维图像矩阵为研究对象,以其协方差矩阵的特征向量为投影轴进行特征提取.为了达到识别时的信息最优,将遗传算法融入2DPCA,对协方差矩阵的特征向量进行优化选择得到最优投影轴,并在此基础上提取特征.最后在MIT人脸数据库上进行实验,表明识别率和速度均高于单纯使用2DPCA的方法.     

Binding Properties of RNA Quadruplex of SARS-CoV-2 to Berberine Compared to Telomeric DNA Quadruplex

Previous studies suggest that berberine, an isoquinoline alkaloid, has antiviral potential and is a possible therapeutic candidate against SARS-CoV-2. The molecular underpinnings of its action are still unknown. Potential targets include quadruplexes (G4Q) in the viral genome as they play a key role in modulating the biological activity of viruses. While several DNA-G4Q structures and their binding properties have been elucidated, RNA-G4Qs such as RG-1 of the N-gene of SARS-CoV-2 are less explored. Using biophysical techniques, the berberine binding thermodynamics and the associated conformational and hydration changes of RG-1 could be characterized and compared with human telomeric DNA-G4Q 22AG. Berberine can interact with both quadruplexes. Substantial changes were observed in the interaction of berberine with 22AG and RG-1, which adopt different topologies that can also change upon ligand binding. The strength of interaction and the thermodynamic signatures were found to dependent not only on the initial conformation of the quadruplex, but also on the type of salt present in solution. Since berberine has shown promise as a G-quadruplex stabilizer that can modulate viral gene expression, this study may also contribute to the development of optimized ligands that can discriminate between binding to DNA and RNA G-quadruplexes.