未知环境下GNSS辅助视觉自主定位方法

自主导航与定位是无人系统智能化的基础,未知环境下持续、稳定、可靠的位置服务对自主导航与定位尤为重要。针对低置信度下GNSS信号微弱、突防能力差、易受干扰而无法持续定位的问题,文章提出了一种GNSS辅助视觉自主动态定位方法,可以在未知环境下提供全局定位服务。该方法以三帧影像及其对应的GNSS坐标作为约束数据,通过Horn坐标变换得到GNSS坐标系和世界坐标系转换矩阵;通过对极几何、单应变换、2D-3D位姿解算,得到后续影像序列在世界坐标系的相对位姿;最终得到GNSS不可用时无人载体在GNSS坐标系的全局位置数据。数据集验证表明,该算法适用于GNSS信号间歇性存在的情况,可以提供全局位置服务,且短时定位精度较高。进一步对比传统状态估计和BA优化后误差,结果表明,相比于传统状态估计,BA优化后定位精度提高10%—20%,证明了在未知环境下该算法具有良好的可靠性和适用性。

Visualizing Wallerian degeneration in the corticospinal tract after sensorimotor cortex ischemia in mice

Stroke can cause Wallerian degeneration in regions outside of the brain,particularly in the corticospinal tract.To investigate the fate of major glial cells and axons within affected areas of the corticospinal tract following stroke,we induced photochemical infarction of the sensorimotor cortex leading to Wallerian degeneration along the full extent of the corticospinal tract.We first used a routine,sensitive marker of axonal injury,amyloid precursor protein,to examine Wallerian degeneration of the corticospinal tract.An antibody to amyloid precursor protein mapped exclusively to proximal axonal segments within the ischemic cortex,with no positive signal in distal parts of the corticospinal tract,at all time points.To improve visualization of Wallerian degeneration,we next utilized an orthograde virus that expresses green fluorescent protein to label the corticospinal tract and then quantitatively evaluated green fluorescent protein-expressing axons.Using this approach,we found that axonal degeneration began on day 3 post-stroke and was almost complete by 7 days after stroke.In addition,microglia mobilized and activated early,from day 7 after stroke,but did not maintain a phagocytic state over time.Meanwhile,astrocytes showed relatively delayed mobilization and a moderate response to Wallerian degeneration.Moreover,no anterograde degeneration of spinal anterior horn cells was observed in response to Wallerian degeneration of the corticospinal tract.In conclusion,our data provide evidence for dynamic,pathogenic spatiotemporal changes in major cellular components of the corticospinal tract during Wallerian degeneration.

Polyethylene glycol fusion repair of severed rat sciatic nerves reestablishes axonal continuity and reorganizes sensory terminal fields in the spinal cord

Peripheral nerve injuries result in the rapid degeneration of distal nerve segments and immediate loss of motor and sensory functions;behavioral recovery is typically poor.We used a plasmalemmal fusogen,polyethylene glycol(PEG),to immediately fuse closely apposed open ends of severed proximal and distal axons in rat sciatic nerves.We have previously reported that sciatic nerve axons repaired by PEG-fusion do not undergo Wallerian degeneration,and PEG-fused animals exhibit rapid(within 2–6 weeks)and extensive locomotor recovery.Furthermore,our previous report showed that PEG-fusion of severed sciatic motor axons was non-specific,i.e.,spinal motoneurons in PEG-fused animals were found to project to appropriate as well as inappropriate target muscles.In this study,we examined the consequences of PEG-fusion for sensory axons of the sciatic nerve.Young adult male and female rats(Sprague–Dawley)received either a unilateral single cut or ablation injury to the sciatic nerve and subsequent repair with or without(Negative Control)the application of PEG.Compound action potentials recorded immediately after PEG-fusion repair confirmed conduction across the injury site.The success of PEG-fusion was confirmed through Sciatic Functional Index testing with PEG-fused animals showing improvement in locomotor function beginning at 35 days postoperatively.At 2–42 days postoperatively,we anterogradely labeled sensory afferents from the dorsal aspect of the hindpaw following bilateral intradermal injection of wheat germ agglutinin conjugated horseradish peroxidase.PEG-fusion repair reestablished axonal continuity.Compared to unoperated animals,labeled sensory afferents ipsilateral to the injury in PEG-fused animals were found in the appropriate area of the dorsal horn,as well as inappropriate mediolateral and rostrocaudal areas.Unexpectedly,despite having intact peripheral nerves,similar reorganizations of labeled sensory afferents were also observed contralateral to the injury and repair.This central reorganization may contribute to the improved behavioral recovery seen after PEG-fusion repair,supporting the use of this novel repair methodology over currently available treatments.

In vivo imaging of the neuronal response to spinal cord injury:a narrative review

Deciphering the neuronal response to injury in the spinal cord is essential for exploring treatment strategies for spinal cord injury(SCI).However,this subject has been neglected in part because appropriate tools are lacking.Emerging in vivo imaging and labeling methods offer great potential for observing dynamic neural processes in the central nervous system in conditions of health and disease.This review first discusses in vivo imaging of the mouse spinal cord with a focus on the latest imaging techniques,and then analyzes the dynamic biological response of spinal cord sensory and motor neurons to SCI.We then summarize and compare the techniques behind these studies and clarify the advantages of in vivo imaging compared with traditional neuroscience examinations.Finally,we identify the challenges and possible solutions for spinal cord neuron imaging.

Ectopic Cornual Pregnancy: Case Report

This article showcases a clinical case of ectopic pregnancy lodged in the cornual. A pregnancy implanted in this location is a rarity, making it difficult to diagnose. By describing this case and screening of the literature, we explain the various diagnostic and therapeutic methods, both medical and surgical. Highlighting the importance of conservative treatment flush with the uterine horn, and conclude with some practical recommendations.

Chemical Analysis of Activated Carbon from Bull and Cow Horns Pyrolysis to Be Used as Antidotes

The purpose of this study is to compare the results of chemical analysis of two types of activated from the pyrolysis of bull horn and that of cow. Six samples were used to measure pH, carbon, calcium and to determine adsorbent power. The pH was measured at a temperature of 20˚C using an “ANION 7010 ionomer” pH meter, the carbon (C) content was analyzed using a “EURO EA 3000” analyzer. and the electronic balance: “Sartorius CP-2P”, calcium (Ca) was analyzed using a DFS-8 spectrograph. For the adsorbency test, the 0.15% methylene blue R solution was used. At the end of this study, we found that the activated carbon from the bull horn demonstrated a carbon content that is higher than that of the cow horn (20.79% against 15.63%), activated carbon of cow horn is richer in calcium than that of bull horn (16.27% against 3.69%) and then the pH. The cow horn is higher than that of the bull horn (7.43 versus 6.5). For the adsorbent power, the sample (75% bull horn and 25% cow horn) was recorded with the greatest adsorbent power. Thus, from this study, it can be recommended as an activated carbon antidote to be used for poisonings treatment.

Physical and Chemical Properties of Horns Sheaths Particles for the Manufacture of Composite Materials

Salvaged cow horns from slaughterhouses have been transformed into fine particles for a physical characterization that has led us to determine the humidity rate (2.34% ± 0.054%), the actual density situated between 0.586 g/cm3 and 0.732 g/cm3, the swelling rate (12%), and one chemical characterization that permitted us to determine the rate of dry matters (97.05%), of mineral matters (2.5%), of protein matters (94.52%). From these weak values, it can easily be seen that cow horn case doesn’t absorb much water and improve the mechanical characteristics of the composite;the high rate of protein shows that keratin which is the structural molecule favors its gripping as reinforcing element in the manufacturing of composite materials.

Unusual Brain Trauma Injury

Unusual head trauma is rare with various mechanisms of occurrence. The injuries can be similar to those of road accidents but sometimes with significant complexities. The objective was to determine the frequency of this pathology in our practice, describe the different mechanisms and report the craniocerebral lesions caused by this type of trauma. Materials and Method: This was a descriptive study with retrospective collection spread over a period of 3 years. After selecting the files, the patients and/or their companions were contacted by telephone to inquire about them and then returned to the consultation for reassessment. Disease history and information were obtained from patients’ medical records. Result: The frequency of this pathology was 1.78% and his incidence was 0.4 cases per month. The average age of the patients was 13.47 years. All the victims were male. 41.17% of patients were in school. The mechanisms of trauma were the hoof blow 47.1%, the horn blow 29.4% and the stone blow 11.7% respectively. 23.5% of patients were confused and 11.7% children were in coma. One patient presented an anisocoria. The motor deficit was present in 5 cases. CT-scan made it possible to highlight a skull depressing fracture 58.8% and confirm a craniocerebral wound in 35.3%. The average time between patient admission to hospital and completion of surgery was 24.5 hours. The surgery had consisted of the trimming of cranio-cerebral wounds, exploration, duroplasty and lifting of skull depressing fracture. After 15 months of follow-up, the evolution was favorable in 53.3%, the morbidity was 33.4% and the mortality 17.6%. Conclusion: These are rare but serious conditions because they are fatal and disabling. An early and multidisciplinary management can hope to have a good favorable.

A Preliminary Study on Colletorichum from Horned Gallnut

A pathogenic fungus Colletorichum gloeosporioides(Penz.) Sacc isolated from horned gallnut,a Chinese gallnut from Yunnan Province,was reported for the first time.Its morphological and molecular biological characteristics were identified, and its damage status and mycelium characters on gall and mydium were described.The pathogenic fungi C.gloeosporioides Sacc belongs to Melanconiales(Deuteromycotina:Coelomycetes).

基于概率推理的知识图谱链接预测方法

为了有效发现实体间隐含的关联关系并对其进行量化,以全面准确地进行知识图谱(KG)链接预测,提出基于概率推理KG链接预测方法。该方法以描述实体间隐含关联关系并度量链接存在的可能性为目标,基于AMIE算法挖掘KG中的规则并将其转换为Horn子句,进一步构建描述不同实体依赖关系的规则链接贝叶斯网(RLBN),将KG的链接预测任务转换为RLBN的概率推理任务来计算实体间的关联度,从而预测实体间的链接关系。实验结果表明,基于RLBN的KG链接预测精确率和召回率优于其他方法,验证了所提模型的有效性与高效性。

Motor neuron-specific RhoA knockout delays degeneration and promotes regeneration of dendrites in spinal ventral horn after brachial plexus injury

Dendrites play irreplaceable roles in the nerve conduction pathway and are vulnerable to various insults.Peripheral axotomy of motor neurons results in the retraction of dendritic arbors,and the dendritic arbor can be re-expanded when reinnervation is allowed.RhoA is a target that regulates the cytoskeleton and promotes neuronal survival and axon regeneration.However,the role of RhoA in dendrite degeneration and regeneration is unknown.In this study,we explored the potential role of RhoA in dendrites.A line of motor neuronal conditional knockout mice was developed by crossbreeding HB9~(Cre+)mice with RhoA~(flox/flox)mice.We established two models for assaying dendrite degeneration and regeneration,in which the brachial plexus was transection or crush injured,respectively.We found that at 28 days after brachial plexus transection,the density,complexity,and structural integrity of dendrites in the ventral horn of the spinal cord of RhoA conditional knockout mice were slightly decreased compared with that in Cre mice.Dendrites underwent degeneration at 7 and 14 days after brachial plexus transection and recovered at 28–56 days.The density,complexity,and structural integrity of dendrites in the ventral horn of the spinal cord of RhoA conditional knockout mice recovered compared with results in Cre mice.These findings suggest that RhoA knockout in motor neurons attenuates dendrite degeneration and promotes dendrite regeneration after peripheral nerve injury.

Dynamic physical characteristics of DC arc on arcing horn for HVDC grounding electrode line

The dynamic physical characteristics of a DC arc on an arcing horn for a high voltage direct current(HVDC)grounding electrode line are significantly different from those of the switching device arc,secondary arc,AC fault arc and pantograph-catenary arc.In this work,an experimental platform for the DC arc on the arcing horn was built,and mechanisms of the arc column short circuit and arc root movement were studied.This work further analyzes the characteristics and mechanisms of the arc motion when wind speed and direction,magnetic field and the expansion angle of the electrode are varied.Arc root movement is more likely to occur at the upper electrode.There is a competitive relationship between arc expansion and the transferring effect.The effect of wind on the arc column is greater than the effect on the arc root.The magnetic field has a significant driving effect on both the arc column and the arc root.The research results provide a comprehensive experimental basis for forther probing the method of DC arc suppression,and the improvement of the arcing horn.

Laparoscopic coring-type resection of noncommunicating broadly attached rudimentary horn with recurrent large ovarian endometriomas:A report of two cases

Rudimentary horn of the uterus is a rare congenital malformation that is characterized by significant anatomic variability.We report two cases involving women who presented with a broadly attached rudimentary horn and large ovarian endometriomas that were innovatively treated by laparoscopic coring-type dissection of the rudimentary horn of the uterus.This novel surgical approach ensured the integrity of the myometrium of the unicornuate uterus and avoided uterine rupture during pregnancy and ipsilateral ovarian function impairment.

基于多尺度数学模型的波束角效应改正方法

为解决复杂水域下单波束测深波束角效应引起的地形失真难题,提出了一种基于多尺度数学模型的单波束测深波束角效应改正方法。该方法基于测深换能器波束“锥形”发射的形态、水下地形三维空间形态建立波束角效应多尺度数学改正模型,利用Horn算法拟合改正模型关键尺度水下地形点空间上坡度、坡向,实现三维空间下测深波束角效应的改正。通过乌东德库区白马口-龙街河段测深试验数据进行精度验证,以机载LIDAR点云数据为基准,对试验区域改正前、后的单波束数据进行对比分析。结果表明:改正后较差主要集中在区间[-0.25m,0.25m],且分布符合测量随机误差的规律,波束角效应带来的影响明显减弱;改正后测深中误差精度提高48.6%,倾斜地形水下测量的精度得到有效提升;论证水下地形的坡度是影响波束角效应的主要因素。该方法为波束角效应的改正研究提供了新的方向,对于提高单波束测深精度具有一定的借鉴意义。

Medicinal Standard of Rhinoceros Horn and Its Authenticity Identification

Amid the background where the rhinoceros horn has been hoarded as a rare commodity,there is never a lack of counterfeits and adulterated products of rhinoceros horns on the market.This article aims to summarize the commodity specifications and identification key points of the rhinoceros horn from its medicinal standard,to provide a reference for studying substitutes of rhinoceros horn.

Proposed Simple, Efficient Free Hand Technique for Frontal External Ventricular Drain (EVD) in Case of Small Ventricle: A Report of New Technique

Background: EVD is a common procedure done in neurosurgery and the residents should master it and this is what exactly means that it should be simple, safe, fast and accurate. EVD can be done through many entry points to the different part of the lateral ventricle but the famous site is the anterior horn of the lateral ventricle which is commonly approached through Kocher’s point which is a famous point for all neurosurgeon by its measurements of allocation. The commonest problem with EVD insertion into the anterior horn is the navigation of the ventricular cavity with the right trajectory and so the location of the catheter tip in the right place near the foramen of monro to ensure CSF draining. Size of the ventricle plays significant role in the success of the procedure especially free hand technique. The more dilated ventricle, the more chance to hit the ventricular cavity especially from the first trial and vice versa. In case of small ventricle, the procedure with free hand technique seems more complicated and the chance to hit the ventricle from the first trial may reduce especially with non-expert surgeon but may succeed in the following trials with increased risk of complications with more trials. Purpose: Most EVD’s are placed with freehand technique which depends on the operator skills to navigate the ventricle with right trajectory and hit the ventricle from the first trial, because many trials may complicate the procedure and produce undesirable side effects. So the key in this free hand technique is how to ensure the success from the first trial. In case of small anterior horn of the lateral ventricle, the procedure is even more difficult with the free hand technique and the classic Kocher point needs an expert to get the right trajectory to navigate such small ventricle. Our point idea came from this prospective and aimed at raising the success of the procedure especially in the first attempt with simple technique. Method: It is a new entry point for EVD insertion through frontal burr hole gained by the intersection of two lines: the first is running vertically from the ipsilateral medial canthus downward and the second is running horizontal along the coronal suture which is usually palpable as ridge on the scalp extended lateral from the bregma. Burr hole is done just anterior to this intersection and catheter is placed in a perpendicular trajectory toward the ventricular cavity. Result: It has been used in about (n = 50 cases) fulfilling the criteria of radiological small ventricle as defined and they were candidates for EVD insertion by free hand technique. Only 3 cases (6%) out of the 50 cases failed in the first attempt but succeeded in the following trial. So high rate of success in first trial is seen in the most of cases using this technique during a period of one year of our practice without significant side effects seen. Conclusion: Our study is not conclusive and needs further studies for more evaluation. It was a suggested point other than the classic Kocher point in case of free hand EVD insertion in small ventricle. We recommend to try it and report any advantages or disadvantages to the literature.

基于Petri网的语义Web服务自动组合方法

Web服务组合使得开发人员可以快速地创建自己的应用程序.但是,随着Internet上可用的Web服务数目的增加,Web服务组合是一项高度复杂的任务.针对语义Web服务的自动组合问题,提出了一种既考虑服务输入/输出又考虑服务行为约束的自动组合方法.首先,注册服务被转化为一组Horn子句形规则,用户的输入和输出请求分别被转化为Horn子句中的事实和目标,从而将寻找满足用户输入/输出请求的合成服务问题转化为Horn子句的逻辑推理问题;然后,用Petri网来为该Horn子句集建模,T-不变量技术被用来判定是否存在满足用户输入/输出请求的合成服务;最后给出了两种算法来获取既满足用户输入/输出请求又满足用户行为约束的合成服务的Petri网模型.

语义Web规则标记语言OWLRule+的设计与实现

语义Web是对未来Web体系结构的一个伟大设想 ,其研究分层次进行 目前足够成熟的最高层是以OWL语言为代表的ontology层 但它的语义仅限于描述逻辑 ,该逻辑主要表示对象和类的层次结构 ,而规则的表达能力弱 因此在其之上需要一种表达力更丰富的逻辑语言 设计了一种新的语义Web规则标记语言OWLRule+:其语法扩展了OWL ;语义基于CARIN ,一种结合描述逻辑和Horn规则的表示语言 ;实现基于Jess规则推理机

加拿大页岩气勘探开发现状及进展

加拿大页岩气资源丰富(主要集中在西加拿大沉积盆地),是继美国之后世界上第二个成功开发页岩气的国家。由于天然气价格低迷,目前加拿大页岩气勘探重点正从干气向富液天然气转变。加拿大利用已有资料开展页岩气勘探既经济又实用,值得我国借鉴。我国页岩气区块大多远离天然气管线,需要考虑以何种形式将天然气输送至用户,如果修建天然气管道,要分析管道的可行性和经济性等。

安全协议的扩展Horn逻辑模型及其验证方法

分析了Bruno Blanchet和Martin Abadi提出的基于Horn逻辑的安全协议模型及其验证方法,针对它们构造不满足安全性质的安全协议反例的不足,提出了安全协议的扩展Horn逻辑模型和修改版本的安全协议验证方法,使得能够从安全协议的扩展Horn逻辑模型和修改版本的安全协议验证过程中自动构造不满足安全性质的安全协议反例.在基于函数式编程语言Objective Caml开发的安全协议验证工具SPVT中,实现了上述算法,验证了算法的正确性.