环境感知技术是智能车功能实现的前提,而在感知的基础上提高智能车对环境的认知能力是实现全自动驾驶的关键。针对室外交通场景,基于卷积神经网络提出了一种新的智能车同时定位以及语义地图构建方法。对智能车进行定位,并且构建稠密的3...环境感知技术是智能车功能实现的前提,而在感知的基础上提高智能车对环境的认知能力是实现全自动驾驶的关键。针对室外交通场景,基于卷积神经网络提出了一种新的智能车同时定位以及语义地图构建方法。对智能车进行定位,并且构建稠密的3D语义地图,提高智能车的环境感知、认知能力。首先,基于双目ORB-SLAM提出了一种四线程的双目SLAM(simultaneous localization and mapping)方法构建稠密的3D点云地图,四线程分别为追踪线程,局部地图构建线程,回环检测线程以及稠密地图构建线程。其次,为提高智能车的环境认知能力,使用端对端的方法对图像进行语义分割,并且为提高语义分割精确率,将环境的几何信息也作为卷积神经网络输入。最后,将感知的能力与认知的能力相结合构建语义地图,为智能车实现全自动驾驶奠定基础。将算法在KITTI数据集上进行测试,整体算法速度为10帧/s,语义分割的全局精确率为73.1%,构建的语义地图显示本文提出算法能够在大规模室外场景下重构全局一致性地图,并且帮助智能车实现对环境的解析。展开更多
本研究将羊乳、牛乳、人乳中乳清蛋白进行分离并结合液质联用技术鉴定,在羊乳、牛乳、人乳乳清蛋白中分别鉴定出156、278、454种蛋白质。与牛乳与人乳乳清蛋白对比显示,羊乳含有99种特异性表达蛋白质,与牛乳和人乳分别有31种和15种相同...本研究将羊乳、牛乳、人乳中乳清蛋白进行分离并结合液质联用技术鉴定,在羊乳、牛乳、人乳乳清蛋白中分别鉴定出156、278、454种蛋白质。与牛乳与人乳乳清蛋白对比显示,羊乳含有99种特异性表达蛋白质,与牛乳和人乳分别有31种和15种相同表达蛋白质。通过分析基因本体(gene ontology,GO)功能注释发现,羊乳乳清蛋白在生物过程中主要发挥生物调节作用;在分子功能上,主要体现在结合作用方面;在细胞组成上,参与的细胞组成主要为细胞器区和胞外区。羊乳乳清蛋白在以上三种功能上与人乳有较大差距,但与牛乳相近。通过分析京都基因与基因组百科全书系统(Kyoto Encyclopedia of Genes and Genomes,KEGG)代谢通路可知,羊乳主要参与补体和凝血级联反应以及吞噬作用,对人体免疫能力有积极影响。对羊乳与人乳、牛乳乳清蛋白组成及功能区别的研究,为羊乳的进一步研究和开发提供一定的理论参考。展开更多
In the present study, a gastric retention floating system for Brucea javanica oil, composed of alginate and carrageenan, was prepared using ionotropic gelation. Parameters for floatability, drug load, encapsulation ef...In the present study, a gastric retention floating system for Brucea javanica oil, composed of alginate and carrageenan, was prepared using ionotropic gelation. Parameters for floatability, drug load, encapsulation efficiency, bead morphology, in vitro release, and in vivo gastric retention were evaluated. The optimized formulation via Box–Behnken design consisted of 1.7% alginate(W/V), 1.02% carrageenan(W/V), 1.4% CaCO_3(W/V), and a gelling bath of pH 0.8. The alginate–carrageenan–Brucea javanica oil beads had a porous structure and exhibited up to 24 h of in vitro floatability with a load capacity of 45%–55% and an encapsulation efficiency of 70%–80%. A 6-h sustained release was observed in vitro. The beads had a prolonged gastric retention(> 60% at 6 h) in fasted rats, compared to non-floating beads(15% at 6 h), as measured by gamma scintigraphy with single-photon emission tomography/computed tomography(SPET/CT). In conclusion, the alginate–carrageenan–Brucea javanica oil system showed enhanced oil encapsulation efficiency, excellent floating and gastric retention abilities, and a favorable release behavior.展开更多
文摘环境感知技术是智能车功能实现的前提,而在感知的基础上提高智能车对环境的认知能力是实现全自动驾驶的关键。针对室外交通场景,基于卷积神经网络提出了一种新的智能车同时定位以及语义地图构建方法。对智能车进行定位,并且构建稠密的3D语义地图,提高智能车的环境感知、认知能力。首先,基于双目ORB-SLAM提出了一种四线程的双目SLAM(simultaneous localization and mapping)方法构建稠密的3D点云地图,四线程分别为追踪线程,局部地图构建线程,回环检测线程以及稠密地图构建线程。其次,为提高智能车的环境认知能力,使用端对端的方法对图像进行语义分割,并且为提高语义分割精确率,将环境的几何信息也作为卷积神经网络输入。最后,将感知的能力与认知的能力相结合构建语义地图,为智能车实现全自动驾驶奠定基础。将算法在KITTI数据集上进行测试,整体算法速度为10帧/s,语义分割的全局精确率为73.1%,构建的语义地图显示本文提出算法能够在大规模室外场景下重构全局一致性地图,并且帮助智能车实现对环境的解析。
文摘本研究将羊乳、牛乳、人乳中乳清蛋白进行分离并结合液质联用技术鉴定,在羊乳、牛乳、人乳乳清蛋白中分别鉴定出156、278、454种蛋白质。与牛乳与人乳乳清蛋白对比显示,羊乳含有99种特异性表达蛋白质,与牛乳和人乳分别有31种和15种相同表达蛋白质。通过分析基因本体(gene ontology,GO)功能注释发现,羊乳乳清蛋白在生物过程中主要发挥生物调节作用;在分子功能上,主要体现在结合作用方面;在细胞组成上,参与的细胞组成主要为细胞器区和胞外区。羊乳乳清蛋白在以上三种功能上与人乳有较大差距,但与牛乳相近。通过分析京都基因与基因组百科全书系统(Kyoto Encyclopedia of Genes and Genomes,KEGG)代谢通路可知,羊乳主要参与补体和凝血级联反应以及吞噬作用,对人体免疫能力有积极影响。对羊乳与人乳、牛乳乳清蛋白组成及功能区别的研究,为羊乳的进一步研究和开发提供一定的理论参考。
基金supported by the National Natural Science Foundation of China(No.81303233)Foundation of Shanghai Science and Technology Committee(No.13401900300)Shanghai Municipal Commission of Health and Family Planning(No.20124074)
文摘In the present study, a gastric retention floating system for Brucea javanica oil, composed of alginate and carrageenan, was prepared using ionotropic gelation. Parameters for floatability, drug load, encapsulation efficiency, bead morphology, in vitro release, and in vivo gastric retention were evaluated. The optimized formulation via Box–Behnken design consisted of 1.7% alginate(W/V), 1.02% carrageenan(W/V), 1.4% CaCO_3(W/V), and a gelling bath of pH 0.8. The alginate–carrageenan–Brucea javanica oil beads had a porous structure and exhibited up to 24 h of in vitro floatability with a load capacity of 45%–55% and an encapsulation efficiency of 70%–80%. A 6-h sustained release was observed in vitro. The beads had a prolonged gastric retention(> 60% at 6 h) in fasted rats, compared to non-floating beads(15% at 6 h), as measured by gamma scintigraphy with single-photon emission tomography/computed tomography(SPET/CT). In conclusion, the alginate–carrageenan–Brucea javanica oil system showed enhanced oil encapsulation efficiency, excellent floating and gastric retention abilities, and a favorable release behavior.
