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基于移动长基线和导航误差修正的USV/UUV协同导航算法
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作者 焦慧峰 叶琛 +2 位作者 王文初 毛昭勇 王银涛 《水下无人系统学报》 2024年第5期864-873,共10页
针对无人水下航行器长时间协同运动,惯性导航误差累积增长的问题,为减小USV/UUV之间相对导航误差,提高UUV导航精度,提出一种基于移动长基线和导航误差修正的无人水面艇(USV)/无人水下航行器(UUV)协同导航算法。该算法基于水声通信测距,... 针对无人水下航行器长时间协同运动,惯性导航误差累积增长的问题,为减小USV/UUV之间相对导航误差,提高UUV导航精度,提出一种基于移动长基线和导航误差修正的无人水面艇(USV)/无人水下航行器(UUV)协同导航算法。该算法基于水声通信测距,首先由UUV收集其与USV间相对距离信息,计算相对导航误差修正量,接着将修正量添加到USV当前导航位置中,结合USV与UUV间的队形设置以及UUV自身低精度导航设备解算的位置,最终实现对UUV累积的惯导位置误差修正。仿真结果表明,在USV/UUV协同运动过程中,通过对修正后UUV位置信息以及UUV惯导解算得到的位置量进行融合,可显著提高UUV导航精度。 展开更多
关键词 无人水下航行器 无人水面艇 协同导航 移动长基线 相对导航误差
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Effects of AZT and RNA-protein complex (FA-2-b-β) extracted from Liang Jin mushroom on apoptosis of gastric cancer cells 被引量:11
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作者 Yan-Qing Sun Zi-Ren Wang +3 位作者 Tian-Kang Guo Ya-Ming Xi Che Chen, Jin-Wang 《World Journal of Gastroenterology》 SCIE CAS CSCD 2007年第31期4185-4191,共7页
To investigate the synergistic effects of 3′-azido-3′- deoxythymidine (AZT) and FA-2-b-β extracted from Ling Jin mushroom on apoptosis of gastric cancer cells MKN45 in vitro. METHODS: Ml-I- analysis was made to ... To investigate the synergistic effects of 3′-azido-3′- deoxythymidine (AZT) and FA-2-b-β extracted from Ling Jin mushroom on apoptosis of gastric cancer cells MKN45 in vitro. METHODS: Ml-I- analysis was made to examine the inhibition rate of MKN45 cells treated with AZT (2.5, 5, 10 and 20 mg/L) and FA-2-b-13 (5, 10, 20 and 40 mg/L) singly and combinatively for 24, 48 and 72 h. Apoptotic effects were evaluated by morphological methods, DNA agarose gel electrophoresis and flow cytometry, respectively. Telomerase activity was estimated by TRAP- ELISA. The mRNA expression of caspase-3 and Bcl-2 were detected by RT-PCR. RESULTS: AZT and FA-2-b-13 could significantly inhibit MKN45 cell proliferation and induce its apoptosis. MKN45 cells were inhibited in dose- and time- dependent manner. The inhibition effect of AZT combined with FA-2- b-β was obviously better than that used singly (0.469 + 0.022 vs 1.075 4- 0.055, P 〈 0.05, 0.325 4- 0.029 vs 0.469 + 0.022 P 〈 0.01). AZT used singly and combination of FA-2-b-β could decrease the activity of tumor cell telomerase, and AZT has synergistic function with FA- 2-b-β. A certain concentration of AZT could up-regulate the expression of caspase-3 mRNA (r = 0.9969, P 〈 0.01), which was positively related to apoptosis rate, and could down-regulate the expression of Bcl-2 mRNA, which was negatively related to apoptosis rate (r = 0.926, P 〈 0.01). Furthermore, the effect of AZT combined with FA-2-b-13 was significantly higher than that used singly. CONCLUSION: Combination of AZT and FA-2-b-β has an obviously synergetic effect in the gastric cancer cells MKN45, which has provided a new approach to the treatment of gastric cancer clinically. 展开更多
关键词 AZT FA-2-b-β APOPTOSIS Telomerase Bcl-2 Caspase-3 MKN45 cell
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