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面向数据共享的多无人机协同SLAM方法 被引量:8
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作者 史殿习 杨卓越 +3 位作者 金松昌 张拥军 苏向东 李睿豪 《计算机学报》 EI CAS CSCD 北大核心 2021年第5期983-998,共16页
协同即时定位与地图构建(SLAM)建立在多无人机的联合感知能力之上,通过局部地图的交互融合构建一个增量式全局环境地图,以提高多无人机任务协同的准确性、实时性和鲁棒性.针对多无人系统协同定位与构图中数据高效共享与利用的难题,面向... 协同即时定位与地图构建(SLAM)建立在多无人机的联合感知能力之上,通过局部地图的交互融合构建一个增量式全局环境地图,以提高多无人机任务协同的准确性、实时性和鲁棒性.针对多无人系统协同定位与构图中数据高效共享与利用的难题,面向快速、准确、大范围多机协同SLAM需求,本文提出了一种基于集中式架构的多无人机局部地图数据高效共享和融合的SLAM方法——Data Sharing Oriented Multi-UAV Collaborative SLAM(DSM-SLAM).该方法创新性地提出了:(1)基于共享局部地图的两步重定位机制,实现了多机间全局地图的高效闭环检测;(2)基于层次聚类的地图融合选择机制,提高了地图融合的快速性和准确性,最终,在增强单无人机跟踪定位鲁棒性的同时,实现了高效地闭环检测,提升了多无人机视觉SLAM系统的数据协同处理能力.本文不仅基于ROS实现了DSM-SLAM的原型系统,而且采用公开数据集KITTI对该方法展开了一系列实验验证,结果表明,基于上述两种机制设计的DSM-SLAM方法,不仅能够快速高效地恢复单无人机跟踪定位,而且可以自适应选择数据融合的顺序,有效增强了全局地图构建的完整性和准确性. 展开更多
关键词 SLAM 多无人机 数据共享 地图融合
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Total glucosides of paeony attenuates animal psoriasis induced inflammatory response through inhibiting STAT1 and STAT3 phosphorylation 被引量:24
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作者 LI Bin-bin HE Shu-cheng +12 位作者 LIU Rui HUANG Liang-liang LIU Ge WANG Rui-xuan yang zhuo-yue LIU Xin-yi LENG Ye LIU Dan YE Cheng-yu LI Yun-man CHEN Yong-jian IN Hong FANG Wei-rong 《中国药理学与毒理学杂志》 CAS 北大核心 2019年第9期742-742,共1页
OBJECTIVE Psoriasis is an immune system meditated disease,especially T cells.It disturbed many people around the world and hard to therapy.Paeonia lactiflora Pall has been used as a medicine in china for thousands of ... OBJECTIVE Psoriasis is an immune system meditated disease,especially T cells.It disturbed many people around the world and hard to therapy.Paeonia lactiflora Pall has been used as a medicine in china for thousands of years.Recent studies has found that the main component of Paeonia lactiflora Pall can alleviates the immune response in many diseases.In this study,we researched the effects and possible mechanisms of total glucosides of paeony(TGP)on animal psoriasis in order to study the therapeutic effects and mechanisms of TGP in 5%propranolol creaminduced psoriasis in guinea pigs and Imiquimod(IMQ)cream-induced psoriasis in mice.METHODS The effect of TGP was evaluated using a psoriasis-like model of guinea pigs and mice.Ear thickness was accessed,and pathology injury was observed by HE staining.The levels of serum IL-1β,IL-6,IL-12,IL-17,IL-23,TNF-α,and IFN-γ,skin IL-17A,IL-22 and orphan nuclear receptor(RORγt)mRNA expression,proliferating cell nuclear antigen(PCNA),total or phosphorylated signal transducers and activators of transcription(STAT1 and STAT3)were determined by ELISA,real time PCR,immu⁃nohistochemical staining,and Western blotting,respectively.RESULTS Compared with model group,TGP treatment decreased the ear thickness,improved pathology of psoriasis,alleviated IMQ-induced keratinocyte proliferation,reduced the inflammatory cytokine,and downregulated IL-17A,IL-22,and RORγt mRNA in mice.Further study indicated that TGP inhibited STAT1 and STAT3 phosphorylation in lesion skins of psoriasis-like mice.CONCLUSION TGP alleviates the symptoms of psoriasis-like guinea pigs and mice,and the possible mechanism may relate to inhibit T helper 17(TH17)cell differentiation and keratinocytes proliferation by inhibiting STAT1 and STAT3 phosphorylation. 展开更多
关键词 PSORIASIS total glucosides of paeony inflammatory cytokine T cells STAT
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Investigation on Metallurgical Factors Controlling Charpy Impact Toughness in 1Cr21Ni5Ti Duplex Stainless Steel 被引量:2
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作者 yang zhuo-yue SU Jie WANG Ya-ming 《Journal of Iron and Steel Research(International)》 SCIE EI CAS CSCD 2009年第2期73-79,共7页
Based on the fact that toughness degradation occurred in 1Cr21Ni5Ti duplex stainless steel during slow cooling in a temperature interval of 400-600 ℃ following brazed welding, a simulated embrittlement treatment was ... Based on the fact that toughness degradation occurred in 1Cr21Ni5Ti duplex stainless steel during slow cooling in a temperature interval of 400-600 ℃ following brazed welding, a simulated embrittlement treatment was utilized to evaluate its emhrittlement tendency. Accumulated experiences have shown that high Ti and A1 contents led frequently to severe toughness deterioration. To elucidate this phenomenon, four heats with various Ti and Al contents were prepared in laboratory-scale melts, which were used to investigate the inherent embrittlement nature. The results have shown that 550 ℃ aging led only to a modest toughness reduction, whereas, aging around 475 ℃ resulted in ferrite embrittlement, regardless of Ti, A1 levels. However, high Ti, A1 levels reduced the austenite phase, which, in the case of its inferior shape and distribution due to insufficient hot deformation, failed to resist cleavagetype cracks initiated in the ferrite phase. Increasing hot-forged areas reduction could modify the shape and distribution of austenite, resulting in the enhanced resistance of the austenite to the cleavage-type cracks, which have been confirmed to be beneficial for brittlement suppression of 1Cr21Ni5Ti duplex stainless steel. 展开更多
关键词 1Cr21Ni5Ti steel emhrittlement Ti content AI content impact toughness
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