Cancer metastasis is the leading cause of death in cancer patients worldwide and one of the major challenges in treating cancer.Circulating tumor cells(CTCs)play a pivotal role in cancer metastasis.However,the content...Cancer metastasis is the leading cause of death in cancer patients worldwide and one of the major challenges in treating cancer.Circulating tumor cells(CTCs)play a pivotal role in cancer metastasis.However,the content of CTCs in peripheral blood is minimal,so the detection of CTCs in real samples is extremely challenging.Therefore,efficient enrichment and early detection of CTCs are essential to achieve timely diagnosis of diseases.In this work,we constructed an innovative and sensitive single-nanoparticle collision electrochemistry(SNCE)biosensor for the detection of MCF-7 cells(human breast cancer cells)by immunomagnetic separation technique and liposome signal amplification strategy.Liposomes embedded with platinum nanoparticles(Pt NPs)were used as signal probes,and homemade gold ultramicroelectrodes(Au UME)were used as the working electrodes.The effective collision between Pt NPs and UME would produce distinguishable step-type current.MCF-7 cells were accurately quantified according to the relationship between cell concentration and collision frequency(the number of step-type currents generated per unit time),realizing highly sensitive and specific detection of MCF-7 cells.The SNCE biosensor has a linear range of 10 cells·mL^(-1)to 10^(5) cells·mL^(-1)with a detection limit as low as 5 cells·mL^(-1).In addition,the successful detection of MCF-7 cells in complex samples showed that the SNCE biosensors have great potential for patient sample detection.展开更多
A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, ...A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.展开更多
For real-time and distributed features of multi-robot system,the strategy of combining the improved artificial potential field method and the rules based on priority is proposed to study the collision avoidance planni...For real-time and distributed features of multi-robot system,the strategy of combining the improved artificial potential field method and the rules based on priority is proposed to study the collision avoidance planning in multi-robot systems. The improved artificial potential field based on simulated annealing algorithm satisfactorily overcomes the drawbacks of traditional artificial potential field method,so that robots can find a local collision-free path in the complex environment. According to the movement vector trail of robots,collisions between robots can be detected,thereby the collision avoidance rules can be obtained. Coordination between robots by the priority based rules improves the real-time property of multi-robot system. The combination of these two methods can help a robot to find a collision-free path from a starting point to the goal quickly in an environment with many obstacles. The feasibility of the proposed method is validated in the VC-based simulated environment.展开更多
To study battle-field simulation methods based on Vega,a virtual battle-field simulated by an imaginary combat happened on the sea was designed. The simulation framework in the sea battle-filed included helicopter sim...To study battle-field simulation methods based on Vega,a virtual battle-field simulated by an imaginary combat happened on the sea was designed. The simulation framework in the sea battle-filed included helicopter simulation,fire simulation, collision detection and detonation, and simulation of dynamic sea surface. The method to build the simulation environments and actions to them was discussed. And the simulation experiments were conducted.,It is indicated that the simulated sea battle-field based on Vega is feasible and helpful for forces and battle-field.展开更多
The linkage of aromatic ring structures in vacuum residues was important for the refining process. The Fourier transform ion cyclotron resonance mass spectrometry(FT-ICR MS) combined with collision-induced dissociatio...The linkage of aromatic ring structures in vacuum residues was important for the refining process. The Fourier transform ion cyclotron resonance mass spectrometry(FT-ICR MS) combined with collision-induced dissociation(CID) is a powerful method to characterize the molecular structure of petroleum fractions. In this work, model compounds with different aromatic ring structures were measured by CID FT-ICR MS. The cracking of the parent ions and the generated fragment ions were able to distinguish different linkage of the model compounds. Then, vacuum residues were separated into saturates, aromatics, resins and asphaltenes fractions(SARA), and each fraction was characterized by CID technology. According to the experimental results, the aromatic rings in saturates and aromatics fractions were mainly of the island-type structures, while the aromatic rings in resins and asphaltenes fractions had a significant amount of archipelago-type structures.展开更多
The samples from the hidden Daqiling muscovite monzonite granite, which has recently been recognized within the Limu Sn-polymetallic ore field, have been analyzed for zircon U-Pb ages and whole rock geochemical and Nd...The samples from the hidden Daqiling muscovite monzonite granite, which has recently been recognized within the Limu Sn-polymetallic ore field, have been analyzed for zircon U-Pb ages and whole rock geochemical and Nd-Hf isotopic compositions to discuss its genesis, source, and tectonic setting. LA-ICP-MS zircon U-Pb dating indicates that the granite crystallized in the late Indosinian(224.8±1.6 Ma). The granite is enriched in SiO2 and K2 O and low in CaO and Na2 O. It is strongly peraluminous with the A/CNK values of 1.09–1.20 and 1.4 vol%–2.7 vol% normal corundum. Chondrite-normalized REE patterns show slightly right-dipping shape with strongly negative Eu anomalies(δEu =0.08–0.17). All samples show enrichment of LILEs(Cs, Rb and K) and HFSEs(U, Pb, Ce and Hf), but have relatively low contents of Ba, Sr and Ti. The zircon saturation temperatures(Tzr) are from 711 to 740°C, which are slightly lower than the average value of typical S-type granite(764°C). The granite has negative εNd(t) and εHf(t) values, which change from ?9.1 to ?10.1 with the peak values of ?9.2 to ?9.0 and from ?3.7 to ?12.6 with the peak values of ?6 to ?5, respectively. The C DMT(Nd) and C DMT(Hf) values are 1.74–1.82 Ga with the peak values of 1.73–1.75 Ga and 1.49–2.04 Ga with the peak values of 1.5–1.6 Ga, respectively. These characteristics reveal that the source region of the granite is dominantly late Paleoproterozoic to early Mesoproterozoic crustal materials. Seven inherited magmatic zircons are dated at the age of 248.6±4.3 Ma, which suggests the existence of the early Indosinian granite in Limu area. These zircons have the εHf(t) values of ?6.7– ?2.3, similar to those of the Daqiling granite, implying the involvement of the early Indosinian granite during the formation of the Daqiling granite. Inherited zircon of 945±11 Ma has the εHf(t) and TDM(Hf) values of 8.7 and 1.14 Ga, respectively, compatible with those of the Neoproterozoic arc magmatic rocks in the eastern Jiangnan orogenic belt. Therefore we inferred that Neoproterozoic arc magma might have been involved in the formation of the Daqiling granite, and that the Neoproterozoic arc magma belt and continent-arc collision belt between the Yangtze and Cathaysia Blocks might have extended westsouthward to Limu region. It is proposed that the underplating of mantle materials triggered by crustal extension and thinning resulted in partial melting of crustal materials to form the Daqiling granite in the late Indosinian under post-collisional tectonic setting.展开更多
基金supported by the National Natural Science Foundation of China(Nos.22274037,22376055 and 21904032)the Natural Science Foundation of Hubei Province(2022CFB383)。
文摘Cancer metastasis is the leading cause of death in cancer patients worldwide and one of the major challenges in treating cancer.Circulating tumor cells(CTCs)play a pivotal role in cancer metastasis.However,the content of CTCs in peripheral blood is minimal,so the detection of CTCs in real samples is extremely challenging.Therefore,efficient enrichment and early detection of CTCs are essential to achieve timely diagnosis of diseases.In this work,we constructed an innovative and sensitive single-nanoparticle collision electrochemistry(SNCE)biosensor for the detection of MCF-7 cells(human breast cancer cells)by immunomagnetic separation technique and liposome signal amplification strategy.Liposomes embedded with platinum nanoparticles(Pt NPs)were used as signal probes,and homemade gold ultramicroelectrodes(Au UME)were used as the working electrodes.The effective collision between Pt NPs and UME would produce distinguishable step-type current.MCF-7 cells were accurately quantified according to the relationship between cell concentration and collision frequency(the number of step-type currents generated per unit time),realizing highly sensitive and specific detection of MCF-7 cells.The SNCE biosensor has a linear range of 10 cells·mL^(-1)to 10^(5) cells·mL^(-1)with a detection limit as low as 5 cells·mL^(-1).In addition,the successful detection of MCF-7 cells in complex samples showed that the SNCE biosensors have great potential for patient sample detection.
文摘A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.
基金Sponsored by the Science Foundation for Youths of Heilongjiang province (Grant No.QC08C05)
文摘For real-time and distributed features of multi-robot system,the strategy of combining the improved artificial potential field method and the rules based on priority is proposed to study the collision avoidance planning in multi-robot systems. The improved artificial potential field based on simulated annealing algorithm satisfactorily overcomes the drawbacks of traditional artificial potential field method,so that robots can find a local collision-free path in the complex environment. According to the movement vector trail of robots,collisions between robots can be detected,thereby the collision avoidance rules can be obtained. Coordination between robots by the priority based rules improves the real-time property of multi-robot system. The combination of these two methods can help a robot to find a collision-free path from a starting point to the goal quickly in an environment with many obstacles. The feasibility of the proposed method is validated in the VC-based simulated environment.
基金Sponsored by the Heilongjiang Natural Fund for Oversea People(Grant No.LC06C08)Heilongjiang Education Science Research Fund for Oversea People (Grant No. 1151hq008)+3 种基金Heilongjiang Postdoctor Research Fund (Grant No.LBH-Z06106)the Natural Science Foundation of China (Grant No.60671011)the Science Fund for Distinguished Young Scholars of Heilongjiang Province (Grant No. JC200611)the Foundation of Harbin Instituteof Technology (Grant No.HIT.2003.53)
文摘To study battle-field simulation methods based on Vega,a virtual battle-field simulated by an imaginary combat happened on the sea was designed. The simulation framework in the sea battle-filed included helicopter simulation,fire simulation, collision detection and detonation, and simulation of dynamic sea surface. The method to build the simulation environments and actions to them was discussed. And the simulation experiments were conducted.,It is indicated that the simulated sea battle-field based on Vega is feasible and helpful for forces and battle-field.
基金supported by the Major State Basic Research Development Program of China (973 Program, No. 2012CB224801)
文摘The linkage of aromatic ring structures in vacuum residues was important for the refining process. The Fourier transform ion cyclotron resonance mass spectrometry(FT-ICR MS) combined with collision-induced dissociation(CID) is a powerful method to characterize the molecular structure of petroleum fractions. In this work, model compounds with different aromatic ring structures were measured by CID FT-ICR MS. The cracking of the parent ions and the generated fragment ions were able to distinguish different linkage of the model compounds. Then, vacuum residues were separated into saturates, aromatics, resins and asphaltenes fractions(SARA), and each fraction was characterized by CID technology. According to the experimental results, the aromatic rings in saturates and aromatics fractions were mainly of the island-type structures, while the aromatic rings in resins and asphaltenes fractions had a significant amount of archipelago-type structures.
基金supported by National Key Basic Research Program of China (Grant No. 2012CB416702)National Natural Science Foundation of China (Grant No. 41230315)China Geological Survey Program (Grant No. 1212011085407)
文摘The samples from the hidden Daqiling muscovite monzonite granite, which has recently been recognized within the Limu Sn-polymetallic ore field, have been analyzed for zircon U-Pb ages and whole rock geochemical and Nd-Hf isotopic compositions to discuss its genesis, source, and tectonic setting. LA-ICP-MS zircon U-Pb dating indicates that the granite crystallized in the late Indosinian(224.8±1.6 Ma). The granite is enriched in SiO2 and K2 O and low in CaO and Na2 O. It is strongly peraluminous with the A/CNK values of 1.09–1.20 and 1.4 vol%–2.7 vol% normal corundum. Chondrite-normalized REE patterns show slightly right-dipping shape with strongly negative Eu anomalies(δEu =0.08–0.17). All samples show enrichment of LILEs(Cs, Rb and K) and HFSEs(U, Pb, Ce and Hf), but have relatively low contents of Ba, Sr and Ti. The zircon saturation temperatures(Tzr) are from 711 to 740°C, which are slightly lower than the average value of typical S-type granite(764°C). The granite has negative εNd(t) and εHf(t) values, which change from ?9.1 to ?10.1 with the peak values of ?9.2 to ?9.0 and from ?3.7 to ?12.6 with the peak values of ?6 to ?5, respectively. The C DMT(Nd) and C DMT(Hf) values are 1.74–1.82 Ga with the peak values of 1.73–1.75 Ga and 1.49–2.04 Ga with the peak values of 1.5–1.6 Ga, respectively. These characteristics reveal that the source region of the granite is dominantly late Paleoproterozoic to early Mesoproterozoic crustal materials. Seven inherited magmatic zircons are dated at the age of 248.6±4.3 Ma, which suggests the existence of the early Indosinian granite in Limu area. These zircons have the εHf(t) values of ?6.7– ?2.3, similar to those of the Daqiling granite, implying the involvement of the early Indosinian granite during the formation of the Daqiling granite. Inherited zircon of 945±11 Ma has the εHf(t) and TDM(Hf) values of 8.7 and 1.14 Ga, respectively, compatible with those of the Neoproterozoic arc magmatic rocks in the eastern Jiangnan orogenic belt. Therefore we inferred that Neoproterozoic arc magma might have been involved in the formation of the Daqiling granite, and that the Neoproterozoic arc magma belt and continent-arc collision belt between the Yangtze and Cathaysia Blocks might have extended westsouthward to Limu region. It is proposed that the underplating of mantle materials triggered by crustal extension and thinning resulted in partial melting of crustal materials to form the Daqiling granite in the late Indosinian under post-collisional tectonic setting.