煤矿智能化是煤炭行业高质量发展的技术支撑,关键岗位的机器人替代是实现煤炭少人化、无人化的高效开采的发展趋势。即时定位与地图构建(Simultaneous Localization and Mapping,SLAM)是煤矿机器人自主移动与导航的关键技术之一。煤矿...煤矿智能化是煤炭行业高质量发展的技术支撑,关键岗位的机器人替代是实现煤炭少人化、无人化的高效开采的发展趋势。即时定位与地图构建(Simultaneous Localization and Mapping,SLAM)是煤矿机器人自主移动与导航的关键技术之一。煤矿井下为典型非结构化环境,空间狭长局促,结构复杂多变,照明情况不均匀,对煤矿井下SLAM提出了严峻挑战。总结了煤矿井下地图构建研究现状,针对LeGO-LOAM算法的回环检测仍存在的不足,利用SegMatch算法改进LeGO-LOAM的回环检测模块,且使用ICP算法进行全局图优化,提出了一种融合LeGO-LOAM和SegMatch的改进算法,阐述了该算法的原理和实现步骤;开展了煤矿井下模拟场景试验,对比分析改进前后SLAM算法的建图效果以及精度,试验结果表明改进算法构建的地图回环效果更好,估计轨迹更平滑、精确;结合导航需求研究了二维占据栅格地图的构建方法,试验验证了该方法所构建的栅格地图精度,结果表明有效滤除动态障碍物等离群噪点后的栅格地图具有0.01 m的建图精度,且所需存储空间较点云地图降低了3个数量级。研究成果有助于煤矿井下非结构环境下SLAM和煤矿机器人实时定位和自主移动。展开更多
The effect of mulberry leaf powder on growth,slaughter performance and meat quality of Wanxi white goose was investigated by adding different proportions of mulberry leaf powder in the basal goose diet. After 125-day-...The effect of mulberry leaf powder on growth,slaughter performance and meat quality of Wanxi white goose was investigated by adding different proportions of mulberry leaf powder in the basal goose diet. After 125-day-old Wanxi white geese were fed with diets supplemented with 5%,8% and 11% mulberry leaf powder for consecutive 50 d,the average daily feed intake increased slightly,while the average daily weight gain decreased extremely（ P 〈 0. 01）,and the ratio of feed to gain increased significantly（ P 〈 0. 01） compared to control. The slaughter rate,semi-eviscerated rate and eviscerated rate of Wanxi white goose in experimental groups Ⅱ,Ⅲ and Ⅳ were higher than those in control group,and the slaughter rate was significantly higher than that in control group（ P 〈 0. 05）. Adding mulberry leaf powder in diet significantly reduced the abdominal fat rate of Wanxi white goose（ P 〈 0. 01）,but had no significant impact on pectoral muscle rate and limb muscle rate（ P 〉 0. 05）. Compared to control group,the contents of dry matter,fat,crude protein,saturated fatty acid and unsaturated fatty acid of Wanxi white geese in experimental groups decreased significantly（ P 〈 0. 05）,and the content of total amino acids also decreased slightly. The inosinic acid content in muscle of Wanxi white goose in groups Ⅱ and Ⅳ were slightly higher than that in control group. The thiamine content of Wanxi white goose in group Ⅳ was 52. 00%higher than that in control group（ P 〈 0. 05）. These results preliminarily showed that adding appropriate amount of mulberry leaf powder in diet could significantly improve the slaughter performance of Wanxi white goose,and improve the flavor of meat. But high amount of mulberry leaf powder should be avoided to ensure the palatability of diet.展开更多
Alzheimer's disease(AD)is the most common cause of dementia,mainly manifested by cognition decline and memory loss.Recent research has revealed that myelin plays an important role for memory capacity.However,the m...Alzheimer's disease(AD)is the most common cause of dementia,mainly manifested by cognition decline and memory loss.Recent research has revealed that myelin plays an important role for memory capacity.However,the myelin dynamics in AD brains remains unclear.In this study,we examined the myelin changes in the APP/PS1 mutant brains by immunostaining and transmission EM,and used the PLP-CreERt;mTomato/mGFP(mT/mG);APP/PS1 line to label and track pre existing myelin at the age of 4 months.Our results indicated that MBP expression was reduced in the 13-month old APP/PS1AD brains as compared to the age matched wild type brains.展开更多
文摘煤矿智能化是煤炭行业高质量发展的技术支撑,关键岗位的机器人替代是实现煤炭少人化、无人化的高效开采的发展趋势。即时定位与地图构建(Simultaneous Localization and Mapping,SLAM)是煤矿机器人自主移动与导航的关键技术之一。煤矿井下为典型非结构化环境,空间狭长局促,结构复杂多变,照明情况不均匀,对煤矿井下SLAM提出了严峻挑战。总结了煤矿井下地图构建研究现状,针对LeGO-LOAM算法的回环检测仍存在的不足,利用SegMatch算法改进LeGO-LOAM的回环检测模块,且使用ICP算法进行全局图优化,提出了一种融合LeGO-LOAM和SegMatch的改进算法,阐述了该算法的原理和实现步骤;开展了煤矿井下模拟场景试验,对比分析改进前后SLAM算法的建图效果以及精度,试验结果表明改进算法构建的地图回环效果更好,估计轨迹更平滑、精确;结合导航需求研究了二维占据栅格地图的构建方法,试验验证了该方法所构建的栅格地图精度,结果表明有效滤除动态障碍物等离群噪点后的栅格地图具有0.01 m的建图精度,且所需存储空间较点云地图降低了3个数量级。研究成果有助于煤矿井下非结构环境下SLAM和煤矿机器人实时定位和自主移动。
基金Supported by Seed Engineering Project of Anhui Academy of Agricultural Sciences(15D0605)Youth Innovation Fund Project of Anhui Academy of Agricultural Sciences(15130634)+1 种基金Special Fund for Agro-scientific Research in the Public Interest(201403049)Special Fund of China Agricultural Industry Research System(CARS-22-SYZ09)
文摘The effect of mulberry leaf powder on growth,slaughter performance and meat quality of Wanxi white goose was investigated by adding different proportions of mulberry leaf powder in the basal goose diet. After 125-day-old Wanxi white geese were fed with diets supplemented with 5%,8% and 11% mulberry leaf powder for consecutive 50 d,the average daily feed intake increased slightly,while the average daily weight gain decreased extremely（ P 〈 0. 01）,and the ratio of feed to gain increased significantly（ P 〈 0. 01） compared to control. The slaughter rate,semi-eviscerated rate and eviscerated rate of Wanxi white goose in experimental groups Ⅱ,Ⅲ and Ⅳ were higher than those in control group,and the slaughter rate was significantly higher than that in control group（ P 〈 0. 05）. Adding mulberry leaf powder in diet significantly reduced the abdominal fat rate of Wanxi white goose（ P 〈 0. 01）,but had no significant impact on pectoral muscle rate and limb muscle rate（ P 〉 0. 05）. Compared to control group,the contents of dry matter,fat,crude protein,saturated fatty acid and unsaturated fatty acid of Wanxi white geese in experimental groups decreased significantly（ P 〈 0. 05）,and the content of total amino acids also decreased slightly. The inosinic acid content in muscle of Wanxi white goose in groups Ⅱ and Ⅳ were slightly higher than that in control group. The thiamine content of Wanxi white goose in group Ⅳ was 52. 00%higher than that in control group（ P 〈 0. 05）. These results preliminarily showed that adding appropriate amount of mulberry leaf powder in diet could significantly improve the slaughter performance of Wanxi white goose,and improve the flavor of meat. But high amount of mulberry leaf powder should be avoided to ensure the palatability of diet.
文摘Alzheimer's disease(AD)is the most common cause of dementia,mainly manifested by cognition decline and memory loss.Recent research has revealed that myelin plays an important role for memory capacity.However,the myelin dynamics in AD brains remains unclear.In this study,we examined the myelin changes in the APP/PS1 mutant brains by immunostaining and transmission EM,and used the PLP-CreERt;mTomato/mGFP(mT/mG);APP/PS1 line to label and track pre existing myelin at the age of 4 months.Our results indicated that MBP expression was reduced in the 13-month old APP/PS1AD brains as compared to the age matched wild type brains.
