地下车库中纯视觉的即时定位与建图(simultaneous localization and mapping,SLAM)方法无法克服光线不足和弱特征纹理两大不利因素,为此,提出一种基于VINS-Mono框架下改进的视觉惯导融合算法,把原算法中提取Harris角点的方法改进为提取...地下车库中纯视觉的即时定位与建图(simultaneous localization and mapping,SLAM)方法无法克服光线不足和弱特征纹理两大不利因素,为此,提出一种基于VINS-Mono框架下改进的视觉惯导融合算法,把原算法中提取Harris角点的方法改进为提取灰度值陡变的像素点,并使用非线性优化方法在初始化阶段进行视觉位姿估计。后端采用滑动窗口的形式建立先验估计残差、惯性测量单元(inertial measurement unit,IMU)残差以及基于灰度值不变原理构建的视觉残差的联合残差模型,进一步提升了系统底层变量的优化效果,从而提高算法的定位准确度。通过基于EuRoc数据集的仿真实验和地下车库实际场景的实车实验,验证了所提算法的鲁棒性和精确性。展开更多
目的观察分析艾迪注射液联合紫杉醇注射液治疗老年非小细胞肺癌的疗效及安全性。方法选择2016年1月至2017年6月本院收治的老年非小细胞肺癌患者94例为研究对象。按照随机数表法将其分为对照组和观察组,每组各47例。在常规化疗的基础上,...目的观察分析艾迪注射液联合紫杉醇注射液治疗老年非小细胞肺癌的疗效及安全性。方法选择2016年1月至2017年6月本院收治的老年非小细胞肺癌患者94例为研究对象。按照随机数表法将其分为对照组和观察组,每组各47例。在常规化疗的基础上,对照组患者加用紫杉醇注射液,观察组患者加用艾迪注射液联合紫杉醇注射液。观察并比较两组患者的临床疗效、肺功能及不良反应发生率。结果观察组患者治疗总有效率显著高于对照组(P<0.05);治疗后,两组患者第一秒用力呼气量(forced expiratory volume in first second,FEV_1)、用力肺活量(forced vital capacity,FVC)、FEV_1占FVC的百分比(FEV_1/FVC)均明显高于治疗前(P<0.05),且观察组上述指标水平均显著高于对照组(P<0.05);两组患者肝功能损伤、神经毒性、过敏以及脱发发生率比较均无显著差异(P>0.05);观察组患者骨髓抑制、胃肠道反应发生率均显著低于对照组(P<0.05)。结论在化疗基础上加用艾迪注射液联合紫杉醇注射液可有效提高老年非小细胞肺癌患者的临床疗效,并降低骨髓抑制和胃肠道反应的发生率。展开更多
Five different isoforms (IrlVHA-c1-c5) of V-ATPase subunit c (VHA-c) were cloned from a Japanese iris (Iris lactea Pall. var. chinensis Fisch. Koidz) cDNA library using degenerate primers PCR and the 5'-RACE te...Five different isoforms (IrlVHA-c1-c5) of V-ATPase subunit c (VHA-c) were cloned from a Japanese iris (Iris lactea Pall. var. chinensis Fisch. Koidz) cDNA library using degenerate primers PCR and the 5'-RACE technique. The sequence analysis showed the open reading frame (ORF) of the IrlVHA-c1 c5 to be 495 bp, corresponding to a protein of 164 amino acids. Among the five isoforms, IrlVHA-c1 and IrlVHA-c2 are completely homologous. The IrlVHA-c protein is localized at the vacuolar membrane as indicated by a green fluorescent protein (GFP) marker. Its over-expression in yeast could enhance yeast tolerance to NaCl stress. These results show that there are at least five genes encoding different isoforms of IrlVHA-c in Japanese iris and IrlVHA-c is important for the function of V-ATPase.展开更多
文摘目的观察分析艾迪注射液联合紫杉醇注射液治疗老年非小细胞肺癌的疗效及安全性。方法选择2016年1月至2017年6月本院收治的老年非小细胞肺癌患者94例为研究对象。按照随机数表法将其分为对照组和观察组,每组各47例。在常规化疗的基础上,对照组患者加用紫杉醇注射液,观察组患者加用艾迪注射液联合紫杉醇注射液。观察并比较两组患者的临床疗效、肺功能及不良反应发生率。结果观察组患者治疗总有效率显著高于对照组(P<0.05);治疗后,两组患者第一秒用力呼气量(forced expiratory volume in first second,FEV_1)、用力肺活量(forced vital capacity,FVC)、FEV_1占FVC的百分比(FEV_1/FVC)均明显高于治疗前(P<0.05),且观察组上述指标水平均显著高于对照组(P<0.05);两组患者肝功能损伤、神经毒性、过敏以及脱发发生率比较均无显著差异(P>0.05);观察组患者骨髓抑制、胃肠道反应发生率均显著低于对照组(P<0.05)。结论在化疗基础上加用艾迪注射液联合紫杉醇注射液可有效提高老年非小细胞肺癌患者的临床疗效,并降低骨髓抑制和胃肠道反应的发生率。
基金supported by the Heilongjiang Province Postdoctoral Science Foundation(LBH-Q10144)
文摘Five different isoforms (IrlVHA-c1-c5) of V-ATPase subunit c (VHA-c) were cloned from a Japanese iris (Iris lactea Pall. var. chinensis Fisch. Koidz) cDNA library using degenerate primers PCR and the 5'-RACE technique. The sequence analysis showed the open reading frame (ORF) of the IrlVHA-c1 c5 to be 495 bp, corresponding to a protein of 164 amino acids. Among the five isoforms, IrlVHA-c1 and IrlVHA-c2 are completely homologous. The IrlVHA-c protein is localized at the vacuolar membrane as indicated by a green fluorescent protein (GFP) marker. Its over-expression in yeast could enhance yeast tolerance to NaCl stress. These results show that there are at least five genes encoding different isoforms of IrlVHA-c in Japanese iris and IrlVHA-c is important for the function of V-ATPase.