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MEMS惯导管内坐标测量的改进RTS平滑滤波算法 被引量:3
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作者 杨洋 李宾 +2 位作者 袁泉 杨理践 谷硕 《传感技术学报》 CAS CSCD 北大核心 2021年第2期189-195,共7页
利用管内检测器搭载MEMS器件实现小口径埋地管道的三维地理坐标测量,该方法以航迹推算(DR)为主要定位方式,所采用的检测器全部都在管道内部,检测时不影响管道的正常工作,对管道的安全维护具有重要意义。如何对解算误差进行有效校正是实... 利用管内检测器搭载MEMS器件实现小口径埋地管道的三维地理坐标测量,该方法以航迹推算(DR)为主要定位方式,所采用的检测器全部都在管道内部,检测时不影响管道的正常工作,对管道的安全维护具有重要意义。如何对解算误差进行有效校正是实现该技术的关键问题。利用里程计测得的里程信息进行DR解算,代替传统的捷联惯导(SINS)解算方式,降低速度更新的误差累加现象;引入管内可测的地磁和重力信息,增加了对姿态误差估计的观测量;采用改进的RTS平滑滤波算法(RTS-FC)进行离线解算,通过引入终止点对准信息进一步提高系统的定位精度。利用其检测180 m长管道,结果的最大误差为8 m,实验结果表明了算法的有效性。该方法为MEMS器件管内地理坐标测量的实用化奠定一定的基础。 展开更多
关键词 传感器信号处理 管道内检测 DR解算 平滑滤波
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Characteristics of the TCR Vβ repertoire in imatinib-resistant chronic myeloid leukemia patients with ABL mutations 被引量:2
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作者 XU ling LU Yu Hong +9 位作者 LAI Jing YU Wei ZHANG Yi Kai JIN Zhen Yi XU Yan CHEN Jie ZHA Xian Feng CHEN Shao Hua yang li jian li yang Qiu 《Science China(Life Sciences)》 SCIE CAS CSCD 2015年第12期1276-1281,共6页
Diversity in the T cell receptor(TCR) repertoire provides a miniature defense ability for the T cell immune system that may be related to tumor initiation and progression. Understanding the T cell immune status of leu... Diversity in the T cell receptor(TCR) repertoire provides a miniature defense ability for the T cell immune system that may be related to tumor initiation and progression. Understanding the T cell immune status of leukemia patients is critical for establishing specific immunotherapies. Previous studies have reported abnormal TCR repertoires and clonally expanded TCR V? T cells in chronic myeloid leukemia in chronic phase(CP-CML). In this study, we investigated the distribution and clonality of the TCR V? repertoire in 4 cases with imatinib-resistant CML in blast crisis(BC-CML) with abelson murine leukemia viral oncogene homolog 1(ABL1) kinase domain mutations(KDMs). Examination of TCR V? expression and clonality was performed by reverse transcription-polymerase chain reaction(RT-PCR) and Gene Scan analysis. Significantly skewed TCR V? repertoires were observed in BC-CML patients with different KDMs, and 4 to 8 oligoclonally expanded TCR V? subfamilies could be identified in each sample. Intriguingly, a relatively highly expanded V?9 clone with the same length as complementarity-determining region 3(CDR3)(139 bp) was found in all three CML patients in lymphoid blast crisis(LBC-CML) who had different KDMs, but the clone was not detected in the only CML patient in myeloid blast crisis(MBC-CML). In conclusion, restricted TCR V? repertoire expression and decreased clone complexity was a general phenomenon observed in the BC-CML patients with different KDMs, indicating the T-cell immunodeficiency of these patients. In addition, clonally expanded V?9 T cell clones may indicate a specific immune response to leukemia-associated antigens in LBC-CML patients. 展开更多
关键词 T cell repertoire chronic myeloid leukemia blast crisis imatinib resistance BCR-ABL mutation
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