Spatial and temporal patterns of the sensitivity of radial growth response by Picea schrenkiana to regional climate change in the Tianshan Mountains

Climate change significantly impacts forest ecosystems in arid and semi-arid regions.However,spatiotemporal patterns of climate-sensitive changes in individual tree growth under increased climate warming and precipitation in north-west China is unclear.The dendrochronological method was used to study climate response sensitivity of radial growth of Picea schrenkiana from 158 trees at six sites during 1990-2020.The results show that climate warming and increased precipitation significantly promoted the growth of trees.The response to temperature first increased,then decreased.However,the response to increased precipitation and the self-calibrating Palmer Drought Severity Index(scPDSI)increased significantly.In most areas of the Tianshan Mountains,the proportion of trees under increased precipitation and scPDSI positive response was relatively high.Over time,small-diameter trees were strongly affected by drought stress.It is predicted that under continuous warming and increased precipitation,trees in most areas of the Tianshan Mountains,especially those with small diameters,will be more affected by precipitation.

Synergy mechanism of defect engineering in MoS_(2)/FeS_(2)/C heterostructure for high-performance sodium-ion battery

MoS_(2) is a promising anode material in sodium-ion battery technologies for possessing high theoretical capacity.However,the sluggish Na^(+) diffusion kinetics and low electronic conductivity hinder the promises.Herein,a unique MoS_(2)/FeS_(2)/C heterojunction with abundant defects and hollow structure(MFCHHS)was constructed.The synergy of defect engineering in MoS_(2),FeS_(2),and the carbon layer of MFCHHS with a larger specific surface area provides multiple storage sites of Na^(+)corresponding to the surface-controlled process.The MoS_(2)/FeS_(2)/C heterostructure and rich defects in MoS_(2) and carbon layer lower the Na^(+) diffusion energy barrier.Additionally,the construction of MoS_(2)/FeS_(2) heterojunction promotes electron transfer at the interface,accompanying with excellent conductivity of the carbon layer to facilitate reversible electrochemical reactions.The abundant defects and mismatches at the interface of MoS_(2)/FeS_(2) and MoS_(2)/C heterojunctions could relieve lattice stress and volume change sequentially.As a result,the MFCHHS anode exhibits the high capacity of 613.1 mA h g^(-1)at 0.5 A g^(-1) and 306.1 mA h g^(-1) at 20 A g^(-1).The capacity retention of 85.0%after 1400 cycles at 5.0 A g^(-1) is achieved.The density functional theory(DFT)calculation and in situ transmission electron microscope(TEM),Raman,ex-situ X-ray photon spectroscopy(XPS)studies confirm the low volume change during intercalation/deintercalation process and the efficient Na^(+)storage in the layered structure of MoS_(2) and carbon layer,as well as the defects and heterostructures in MFCHHS.We believe this work could provide an inspiration for constructing heterojunction with abundant defects to foster fast electron and Na^(+) diffusion kinetics,resulting in excellent rate capability and cycling stability.

Molten Salt-Shielded Synthesis(MS^(3))of MXenes in Air

MXenes are two-dimensional transition metal carbides and/or nitrides with unique physiochemical properties and have attracted extensive interest in numerous fields.However,current MXene synthesis methods are limited by hazardous synthesis conditions,high production costs,or difficulty in largescale production.Therefore,a general,safe,cost-effective,and scalable synthesis method for MXenes is crucial.Here,we report the fast synthesis of MXenes in the open air using a molten salt-shielded synthesis(MS^(3))method,which uses Lewis-acid salts as etchants and a low-melting-point eutectic salt mixture as the reaction medium and shield to prevent MXene oxidation at high temperatures.Carbide and nitride MXenes,including Ti_(3)C_(2)T_(x),Ti_(2)CT_(x),Ti_(3)CNT_(x),and Ti_(4)N_(3)T_(x),were successfully synthesized using the MS^(3) method.We also present the flexibility of the MS^(3) method by scaling the etching process to large batches of 20 and 60 g of Ti_(3)AlC_(2) MAX precursor in one pot.When used as negative electrodes,the prepared MS^(3)-MXenes delivered excellent electrochemical properties for high-rate Li-ion storage.

从生活到工程:化工原理研究性教学模式的实施

化工原理作为化工类本科生进入工程领域的敲门砖,承担着工程科学与工程技术的双重教育任务。从化工原理课程的特点出发,以单元操作为根本,以研究型课题为导入点,学生通过翻转课堂,由浅入深,从日常生活到生产实践,呈现对问题的解决过程。并将课程设计融入其中,提高学生的综合能力和合作能力。

Exosome在眼底疾病中的研究新进展

外泌体(exosome)是一种可由多种细胞分泌形成的微小囊泡,其含有母体细胞多种特异的结构成分。由于可在细胞之间进行信息传递,因此参与了众多生理病理过程,成为人们对疾病研究的一个焦点和热点。本文将近年来exosome在眼底疾病中的研究进行回顾,包括exosome对疾病危险因素、病理机制、诊断治疗等方面,现综述如下。

鼻内镜术后并发下肢静脉血栓及肺栓塞的分析(附5例报告)

目的探讨鼻内镜术后下肢静脉血栓(LEVT)及肺栓塞(PE)的发生情况,旨在提高耳鼻喉科医生对术后LEVT和PE的认识和诊断水平,总结治疗经验。方法回顾性分析2020年1月-2021年7月该院耳鼻咽喉头颈外科5例鼻内镜术后并发LEVT及PE的患者的临床资料。结果5例患者鼻内镜术后均出现LEVT和PE,经抗凝治疗后安全出院。结论急性PE起病急,死亡率高,鼻内镜术后并发PE的发生率较低,以往没有得到耳鼻喉科医生的足够重视,通过分析病例和回顾文献,提高耳鼻喉科医生对鼻内镜术后患者血栓的预防和重视,降低血栓发生率,并及早进行干预,提高治愈率。

大鼠复发性实验性自身免疫性葡萄膜炎眼部炎症和病理特征分析

背景目前用于自身免疫性葡萄膜炎的实验研究动物模型多为单次发作性葡萄膜炎，与临床上自身免疫性葡萄膜炎患者反复发作导致的眼部严重组织形态学和功能学改变的自然病程并不完全相符。建立复发性实验性自身免疫性葡萄膜炎（EAU）模型对临床研究具有重要意义。目的建立大鼠复发性EAU动物模型，动态观察眼部炎症和病理特点，并分析其眼部白细胞介素-17（IL-17）的表达。方法采用光感受器间维生素A类结合蛋白1177—1191多肽片段（IRBP1177—1191，R16）注射于9只SPF级Lewis大鼠皮下进行免疫，10d后分离淋巴结及脾脏T细胞，体外R16刺激下培养2d。将24只SPF级Lewis大鼠按随机数字表法分为正常组和造模后1、2、3个月组，每组6只。将制备的T细胞悬液通过尾静脉注射法注入模型组大鼠体内，建立复发性EAU模型。注射后每天在裂隙灯显微镜下观察大鼠眼部炎症表现，依据Caspi炎症反应分级标准进行评分。分别于造模后1、2、3个月处死动物后制备视网膜切片，并行苏木精-伊红染色，观察视网膜组织中炎性细胞浸润情况和视网膜厚度的改变；采用免疫组织化学法检测IL-17A在各组大鼠视网膜中的表达，并计算阳性表达的评分。结果R16特异性T细胞注射后第4天大鼠前房出现不同程度的混浊，炎症评分为2分。第6天前房重度混浊，评为3分；至第10天大鼠眼前节恢复正常，但造模后2个月内炎症复发4—5次，且大鼠一侧眼发病而对侧眼可正常，与人自身免疫性葡萄膜炎的自然病程极为相似。视网膜组织病理学检查发现，造模后1、2、3个月组随着注射时间的延长，炎性细胞浸润逐渐减少。与正常组大鼠比较，造模后1、2、3个月组大鼠视网膜全层、外核层及内核层逐渐变薄，4个组间的总体比较差异均有统计学意义（F=20．46、288．40、4．43，均P=0．00）；正常组及造模后1、2、3个月组大鼠视网膜神经节细胞（RGCs）数分别为（231．27±15．36）、（225．36±17．79）、（132．18±9．39）和（67．45±11．90）个，显示造模后随着时间的延长，RGCs逐渐减少，差异有统计学意义（F=68．94，P=0．00）。正常组及造模后1、2、3个月组大鼠视网膜中IL-17表达评分分别为（0．64±0．17）、（1．92±0．19）、（1．17±0．23）和（0．83±0．23）分，显示造模后大鼠视网膜中IL-17表达明显增强，差异有统计学意义（F=64．10，P=0．00）。结论利用R16特异性T细胞可成功诱导大鼠的复发性EAU模型，Th17可能参与疾病的整个过程。

25G前段玻璃体切除术治疗极浅前房青光眼合并白内障的疗效和安全性

目的:观察巩膜瓣下25G前段玻璃体切除术在超声乳化联合小梁切除术治疗极浅前房青光眼合并白内障中的安全性及有效性。方法:回顾性分析18例18眼青光眼合并白内障患者(8例男性,10例女性),其中11眼为原发性急性闭角型青光眼,7眼为晶状体半脱位继发青光眼。所有患者经保守治疗后眼压不能控制,均接受白内障超声乳化并人工晶状体植入术、小梁切除术及巩膜瓣下前段玻璃体切除术。主要观察指标为最佳矫正视力、前房深度、眼压、裂隙灯显微镜、降眼压药物、眼底及并发症情况。结果:患者平均眼轴为21.5±0.6 mm,平均年龄为62.3±7.9岁。术前平均前房深度0.78±0.43 mm,术后1wk平均前房深度2.89±0.41 mm(P<0.001)。术后1wk平均眼压16.72±6.28 mmHg,较术前平均眼压43.28±9.38 mmHg显著下降(P<0.001)。均未发生如眼内炎、视网膜脱离、脉络膜上腔出血、角膜内皮失代偿、恶性青光眼等并发症。结论:巩膜瓣下25G前段玻璃体切除术在超声乳化联合小梁切除术治疗极浅前房青光眼合并白内障是安全有效的。

Therapeutic effects of mesenchymal stem cells administered at later phase of recurrent experimental autoimmune uveitis

AIM:To test the therapeutic effects of delayed treatment of mesenchymal stem cells(MSCs) in recurrent experimental autoimmune uveitis(r EAU).METHODS: The efficacy of different regimens of MSC administration in r EAU were tested by evaluation of clinical and pathological intraocular inflammation,as well as retinal structural and functional integrity using optical coherence tomography(OCT) and electroretinogram(ERG).The retinal sections were also immunostained with antibodies to glial fibrillary acidic protein(GFAP)and rhodopsin(RHO). RESULTS: Delayed treatment of MSCs effectively alleviated the severity of intraocular inflammation with relative intact of outer retinal structure and function.Moreover,double therapies with longer interval led to an even better clinical evaluation,as well as a trend of decrease in relapse and amelioration of retinal function.MSC therapies also effectively reduced GFAP expression and increased RHO expression in the retina.CONCLUSION: MSC administration can effectively treat developed diseases of rEAU,and multiple therapies can provide additional therapeutic benefits.

Electrochemical Lithium Storage Performance of Molten Salt Derived V_(2)SnC MAX Phase

MAX phases are gaining attention as precursors of two-dimensional MXenes that are intensively pursued in applications for electrochemical energy storage.Here,we report the preparation of V_(2)SnC MAX phase by the molten salt method.V_(2)SnC is investigated as a lithium storage anode,showing a high gravimetric capacity of 490 mAh g−1 and volumetric capacity of 570 mAh cm^(−3) as well as superior rate performance of 95 mAh g^(−1)(110 mAh cm^(−3))at 50 C,surpassing the ever-reported performance of MAX phase anodes.Sup-ported by operando X-ray diffraction and density functional theory,a charge storage mechanism with dual redox reaction is proposed with a Sn-Li(de)alloying reaction that occurs at the edge sites of V_(2)SnC particles where Sn atoms are exposed to the electrolyte followed by a redox reaction that occurs at V_(2)C layers with Li.This study offers promise of using MAX phases with M-site and A-site elements that are redox active as high-rate lithium storage materials.

Testing a bell-shaped function for estimation of fully expanded leaf area in modern maize under potential production conditions

Accurate leaf area simulation is critical for the performance of crop growth models. Area of fully expanded individual leaves of maize hybrids released before 1995 (defined as old hybrids) has been simulated using a bell-shaped function (BSF) and the relationship between its parameters and total leaf number (TLNO). However, modern high-yielding maize hybrids show different canopy architectures. The function parameters calibrated for old hybrids will not accurately represent modern hybrids. In this study, we evaluated these functions using a dataset including old and modern hybrids that have been widely planted in China in recent years. Maximum individual leaf area (Y_0) and corresponding leaf position (X_0) were not predicted well by TLNO (R^2= 0.56 and R^2= 0.70) for modern hybrids. Using recalibrated shape parameters a and b with values of Y_0 and X_0 for modern hybrids, the BSF accurately predicted individual leaf area (R^2= 0.95–0.99) and total leaf area of modern hybrids (R^2= 0.98). The results show that the BSF is still a robust way to predict the fully expanded leaf area of maize when parameters a and b are modified and Y_0 and X_0 are fitted. Breeding programs have led to increases in TLNO of maize but have not altered Y_0 and X_0, reducing the correlation between Y_0, X_0, and TLNO. For modern hybrids, the values of Y_0 and X_0 are hybrid-specific. Modern hybrids tend to have less-negative values of parameter a and more-positive values of parameter b in the leaf profile. Growth conditions, such as plant density and environmental conditions, also affect the fully expanded leaf area but were not considered in the original published equations. Thus, further research is needed to accurately estimate values of Y_0 and X_0 of individual modern hybrids to improve simulation of maize leaf area in crop growth models.

Computational Insights into Charge Storage Mechanisms of Supercapacitors

Computational modeling methods,including molecular dynamics(MD)and Monte Carlo(MC)simulations,and density functional theory(DFT),are receiving booming interests for exploring charge storage mechanisms of electrochemical energy storage devices.These methods can effectively be used to obtain molecular scale local information or provide clear explanations for novel experimental findings that cannot be directly interpreted through experimental investigations.This short review is dedicated to emphasizing recent advances in computational simulation methods for exploring the charge storage mechanisms in typical nanoscale materials,such as nanoporous carbon materials,2 D MXene materials,and metal-organic framework electrodes.Beyond a better understanding of charge storage mechanisms and experimental observations,fast and accurate enough models would be helpful to provide theoretical guidance and experimental basis for the design of new high-performance electrochemical energy storage devices.

Policy options for addressing the high cost of specialty pharmaceuticals

The cost to U.S.consumers of specialty drugs is too high,and cost-sharing obligations are reducing patient access to affordable and life-changing medications.While accounting only for approximately two percent of prescriptions filled,specialty drugs accounted for nearly 45 percent of the U.S.drug spend in 2018,and this rate continues to rise.This review analyzes the current state of the U.S.specialty drug market and recommends six policy options for decreasing out-of-pocket costs to consumers.A systematic review was conducted,gathering articles from peer-reviewed and government resources published from January 2014 to May 2019 using databases such as PubMed,OVID,and the Congressional Research Service(CRS).Articles were reviewed for unique and relevant information relating to cost specialty drugs,industry trends,underlying legislation and policy challenges,and viable policy options.The findings show that,while the cost of specialty drug prices is growing,the rate of growth is projected to slow to a compound annual growth rate(CAGR)of 4 to 7 percent between 2019 to 2023,as compared to a CAGR of 7.2 percent from 2014 to 2018,largely due to the Food and Drug Administration's approval of 10 new biosimilars in 2018 and early 2019.However,specialty drug spending as a percentage of total spending continues to rise and can cost payers and patients more than USD 3,500 on average per month.We recommend six policy options for reducing consumers'out-of-pocket cost obligations:(1)discourage"pay-for-delay"agreements and patent evergreening;(2)align incentives across the specialty drug supply chain with value-based pricing;(3)tighten orphan drug eligibility or impose a sales tax on drugs if the sales tax exceeds a specified threshold until federal subsidies are recouped;(4)increase transparency in transactions between specialty drug supply chain stakeholders;(5)tax the direct-to-consumer advertising of specialty drugs and use the proceeds to fund public research;and(6)support copay cards and patient assistance programs.While the consensus across the industry is that the out-of-pocket costs of specialty drugs to patients are too high,industry stakeholders must agree about which set of policy options to implement.Lawmakers must explore options for reducing the out-of-pocket costs of specialty medications and gather public input on how to best align stakeholder incentives across the specialty drug supply chain.

Percutaneous Patent Foramen Ovale Closure versus Medical Therapy in Cryptogenic Stroke: An Update Meta-Analysis of Randomized Controlled Trials

Objectives: Concerns regarding the real efficacy of transcatheter patent foramen ovale (PFO) closure versus medical therapy in patients with cryptogenic stroke remained unresolved. We performed a meta-analysis using the randomized controlled trials on the efficacy and safety of transcatheter PFO closure in patients with cryptogenic stroke. Methods: Web of Science, EMBASE, PubMed, and the Cochrane Library were searched for relevant randomized controlled trials (RCTs). The primary outcome was recurrent stroke and transient-ischemic attack (TIA). Original data, hazard ratio (HR) with 95% confidence interval (95% CI) were abstracted to calculate a pooled effect size. Results: Our meta-analysis showed benefit with device closure when compared with medical therapy with an HR of 0.54 (95% CI: 0.39 - 0.74, P = 0.108) in the intention-to-treat cohort, 0.44 (95% CI: 0.24 - 0.82, P = 0.103) in the per-protocol populations, and 0.43 (95% CI: 0.31 - 0.60, P = 0.019) in the as-treated populations. There was a significantly higher incidence of new-onset atrial fibrillation in PFO closure patients (OR = 4.53, 95% CI: 2.58 - 7.97, P = 0.094). PFO Patients with an atrial septal aneurysm benefit from device closure (OR = 0.39, 95% CI: 0.22 - 0.69, P = 0.053). Patients with a substantial PFO shunt benefit the greatest with device closure with a pooled OR of 0.27 (95% CI: 0.14 - 0.56, P = 0.525). Conclusions: The meta-analysis concluded that PFO closure was associated with significantly lower risk of recurrent stroke in PFO patients with cryptogenic stroke than with medical therapy alone. The benefit of PFO closure was greater in patients with a substantial shunt and atrial septal aneurysm. PFO closure was associated with higher rates of new-onset atrial fibrillation.

Assessment value of contrast-enhanced ultrasound parameters for the nature of breast tumor and their relationship with the malignant biological behavior of tumor

Objective: To discuss the value of contrast-enhanced ultrasound parameters for assessing the nature of breast tumor and their relationship with the malignant biological behavior of tumor. Methods: A total of 176 patients with breast tumor who received surgical treatment in the hospital between January 2015 and January 2017 were divided into breast adenoma group (n=110) and breast cancer group (n=66) according to pathological results. The differences in breast contrast-enhanced ultrasound parameter levels as well as the expression of proliferation, invasion and autophagy genes in tumor tissues were compared between the two groups of patients. Pearson test was used to evaluate the correlation between contrast-enhanced ultrasound parameters and malignant molecule expression in lesion tissue of patients with breast cancer. Results: PI and AUC levels in breast cancer group were greatly higher than those in breast adenoma group;proliferation genes CXCL1 and Notch1 mRNA expression in tumor tissue were higher than those of breast adenoma group whereas HPK1 mRNA expression was lower than that of breast adenoma group;invasion genes Gab2, NUAK1 and FOXF1 mRNA expression in tumor tissue were higher than those of breast adenoma group whereas NDRG1 mRNA expression was lower than that of breast adenoma group;autophagy genes ATG2B, ATG4D and ATG9B mRNA expression in tumor tissue were lower than those of breast adenoma group. Pearson test showed that the contrast-enhanced ultrasound parameters PI and AUC levels in patients with breast cancer were directly correlated with the expression of proliferation, invasion and autophagy molecules in the lesion tissue. Conclusion: The contrast-enhanced ultrasound parameter levels in patients with breast cancer are different from those in patients with benign tumors, and the specific parameter levels are directly correlated with the tumor malignancy and can be used as the reliable means for early disease screening and malignancy assessment.

Value of transient ultrasonic elastography for evaluating the liver fibrosis and liver function in patients with drug-induced liver injury

Objective: To study the value of transient ultrasonic elastography for evaluating the liver fibrosis and liver function in patients with drug-induced liver injury. Methods: A total of 68 patients with drug-induced liver injury who were treated in our hospital between January 2016 and May 2017 were selected as drug-induced liver injury group, and 50 healthy volunteers who received physical examination in our hospital during the same period were selected as normal control group. The liver transient ultrasonic elastography parameter Stiffness levels as well as serum liver fibrosis index and liver function index contents of two groups of subjects were detected. Pearson test was used to evaluate the correlation of Stiffness levels with liver fibrosis and liver function damage degree in patients with drug-induced liver injury. Results:Stiffness level in drug-induced liver injury group was higher than that in normal control group;serum liver fibrosis indexes HA, LN, CⅣ, PⅢNP and CG contents were higher than those of normal control group;serum liver function indexes ALT, AST, ALP, STB and γ-GT contents were higher than those of normal control group. Conclusion: Transient ultrasonic elastography parameter Stiffness levels increase in patients with drug-induced liver injury, and the specific levels are consistent with the liver fibrosis and liver function damage degree, and can be used as the objective means to evaluate the disease severity.

Oxidized Dopamine Acrylamide Primer to Achieve Durable Resin-Dentin Bonding

The durability of the resin-dentin bonding interface is a key issue in clinical esthetic dentistry.Inspired by the extraordinary bioadhesive properties of marine mussels in a wet environment,we designed and synthetized N-2-(3,4-dihydroxylphenyl)acrylamide(DAA)according to the functional domain of mussel adhesive proteins.DAA’s properties of collagen cross-linking,collagenase inhibition,inducing collagen mineralization in vitro,and as a novel prime monomer for clinical dentin adhesion use,its optimal parameters,and effect on the adhesive longevity and the bonding interface’s integrity and mineralization,were evaluated in vitro and in vivo.The results showed that oxide DAA can inhibit the activity of collagenase and cross collagen fibers to improve the anti-enzymatic hydrolysis of collagen fibers and induce intrafibrillar and interfibrillar collagen mineralization.As a primer used in the etch-rinse tooth adhesive system,oxide DAA can improve the durability and integrity of the bonding interface by anti-degradation and mineralization of the exposed collagen matrix.Oxidized DAA(OX-DAA)is a promising primer for improving dentin durability;using 5%OX-DAA ethanol solution and treating the etched dentin surface for 30 s is the optimal choice when used as a primer in the etch-rinse tooth adhesive system.

2020 roadmap on two-dimensional materials for energy storage and conversion

Energy storage and conversion have attained significant intere st owing to its important applications that reduce CO2 emission through employing green energy.Some promising technologies are included metalair batteries,metal-sulfur batteries,metal-ion batteries,electrochemical capacitors,etc.Here,metal elements are involved with lithium,sodium,and magnesium.For these devices,electrode materials are of importance to obtain high performance.Two-dimensional(2 D) materials are a large kind of layered structured materials with promising future as energy storage materials,which include graphene,black phosporu s,MXenes,covalent organic frameworks(COFs),2 D oxides,2 D chalcogenides,and others.Great progress has been achieved to go ahead for 2 D materials in energy storage and conversion.More researchers will join in this research field.Under the background,it has motivated us to contribute with a roadmap on ’two-dimensional materials for energy storage and conversion.

A practical method utilizing multi-spectral LiDAR to aid points cloud matching in SLAM

Light Detection and Ranging(LiDAR)sensors are popular in Simultaneous Localization and Mapping(SLAM)owing to their capability of obtaining ranging information actively.Researchers have attempted to use the intensity information that accompanies each range measurement to enhance LiDAR SLAM positioning accuracy.However,before employing LiDAR intensities in SLAM,a calibration operation is usually carried out so that the intensity is independent of the incident angle and range.The range is determined from the laser beam transmitting time.Therefore,the key to using LiDAR intensities in SLAM is to obtain the incident angle between the laser beam and target surface.In a complex environment,it is difficult to obtain the incident angle robustly.This procedure also complicates the data processing in SLAM and as a result,further application of the LiDAR intensity in SLAM is hampered.Motivated by this problem,in the present study,we propose a Hyperspectral LiDAR(HSL)-based-intensity calibration-free method to aid point cloud matching in SLAM.HSL employed in this study can obtain an eight-channel range accompanied by corresponding intensity measurements.Owing to the design of the laser,the eight-channel range and intensity were collected with the same incident angle and range.According to the laser beam radiation model,the ratio values between two randomly selected channels’intensities at an identical target are independent of the range information and incident angle.To test the proposed method,the HSL was employed to scan a wall with different coloured papers pasted on it(white,red,yellow,pink,and green)at four distinct positions along a corridor(with an interval of 60 cm in between two consecutive positions).Then,a ratio value vector was constructed for each scan.The ratio value vectors between consecutive laser scans were employed to match the point cloud.A classic Iterative Closest Point(ICP)algorithm was employed to estimate the HSL motion using the range information from the matched point clouds.According to the test results,we found that pink and green papers were distinctive at 650,690,and 720 nm.A ratio value vector was constructed using 650-nm spectral information against the reference channel.Furthermore,compared with the classic ICP using range information only,the proposed method that matched ratio value vectors presented an improved performance in heading angle estimation.For the best case in the field test,the proposed method enhanced the heading angle estimation by 72%,and showed an average 25.5%improvement in a featureless spatial testing environment.The results of the primary test indicated that the proposed method has the potential to aid point cloud matching in typical SLAM of real scenarios.