基于物体关系描述的单目语义SLAM方法

外界环境的语义感知和自身位置的准确估计是移动机器人自主导航和作业的关键。提出了一种基于单目相机的语义SLAM(simultaneous localization and mapping)方法,在轨迹估计的同时完成三维目标检测。提取物体自身语义、尺寸、颜色分布及其邻域拓扑结构等多元信息作为描述子,实现帧间物体的准确关联。在后端对相机位姿、地图点和物体路标进行联合优化,并自适应调整代价函数中各误差项的权重系数,以提高各状态变量的估计精度和鲁棒性。实验结果表明,所提出的算法在地图构建方面具有较高的精度。     

数据挖掘中决策树算法的研究

决策树算法是数据挖掘中重要的分类算法,本文首先阐述了数据挖掘中决策树的基本思想,然后针对ID3算法倾向于取值较多的属性的缺点。对ID3算法予以改进,并通过实验对改进前后的算法进行了比较,实验表明改进后的算法是有效的。     

WDR34 is a novel TAK1-associated suppressor of the IL-1R/TLR3/TLR4-induced NF-κB activation pathway

Toll-like receptors (TLRs) act as sensors of microbial components and elicit innate immune responses. All TLR signaling pathways activate the nuclear factor-kappaB (NF-κB), which controls the expression of inflammatory cytokine genes. Transforming growth factor-β-activated kinase 1 (TAK1) is a serine/threonine protein kinase that is critically involved in the activation of NF-κB by tumor necrosis factor (TNFα), interleukin-1β (IL-1β) and TLR ligands. In this study, we identified a novel protein, WD40 domain repeat protein 34 (WDR34) as a TAK1-interacting protein in yeast two-hybrid screens. WDR34 interacted with TAK1, TAK1-binding protein 2 (TAB2), TAK1-binding protein 3 (TAB3) and tumor necrosis factor receptor-associated factor 6 (TRAF6) in overexpression and under physiological conditions. Overexpression of WDR34 inhibited IL-1β-, polyI:C- and lipopolysaccharide (LPS)-induced but not TNFα-induced NF-κB activation, whereas knockdown of WDR34 by a RNA-interference construct potentiated NF-κB activation by these ligands. Our findings suggest that WDR34 is a TAK1-associated inhibitor of the IL-1R/TLR3/TLR4-induced NF-κB activation pathway. D. Gao and R. Wang contributed equally to this work.     

舰船目标雷达视景仿真研究

针对舰船目标雷达视景仿真中舰船目标实体建模和雷达视景仿真两个主要模块,在分析各个模块实现方法及原理的基础上,提出基于积木式模型结构细化分割的建模方法,探讨了三维动态海洋场景开发的方法和基于Vega的舰船目标雷达视景仿真流程.仿真结果表明建模和仿真方法具有可行性,仿真产生的雷达图像与实际图像较为接近,并符合实际成像条件下的成像规律.     

Bi4Ti3O12纳米片的低温合成与光致发光特性研究

以Bi(NO3)3.5H2O和Ti(OC4H9)4为原料,NaOH为矿化剂,聚乙二醇(PEG)为添加剂,采用水热法制备形貌规则的Bi4Ti3O12纳米片.利用X射线衍射(XRD)、扫描电子显微镜(SEM)、透射电子显微镜(TEM)、X射线荧光光谱(XRF)研究产物的物相、显微结构和组成,利用分子荧光光谱仪(PL)研究产物的光致发光特性.结果表明水热合成的Bi4Ti3O12纳米片为正交相层状钙钛矿结构,平均边缘尺寸大约200 nm,厚度10～20 nm,主要沿着平行于(111)面和垂直于(111)面的二维方向生长.室温下Bi4Ti3O12纳米片在470.4nm处具有蓝—绿发光,在399.3 nm和417.6 nm处具有紫光发射特性,初步认为是纳米片表面的氧空位和铋空位所引起的,同时在380 nm和516 nm处存在高能带边和低能带尾.     

高能球磨制备0.3BiFeO3-0.7SrBi2 Nb2O9陶瓷及其介电性能研究

采用高能球磨制备0.3 BiFeO3-0.7SrBi2Nb2O9陶瓷.利用XRD和SEM分析球磨时间对粉体物相结构及微观形貌的影响.结果表明:随球磨时间的增加,粉体结晶度提高,颗粒不断细化,但在22.62°处有杂峰出现,经700℃退火杂峰消失.高能球磨制备的陶瓷的介电常数较传统固相反应制备的陶瓷提高30左右.     

nc-Si/SiO2复合膜的非线性光学性质

采用等离子体增强化学气相淀积(PECVD)技术,制备a-SiOx∶H(0相似文献   

Expansion of amino acid homo-sequences in proteins: Insights into the role of amino acid homo-polymers and of the protein context in aggregation

Expansion of amino acid homo-sequences, such as polyglutamines or polyalanines, in proteins has been directly implicated in various degenerative diseases through a mechanism of protein misfolding and aggregation. However, it is still unclear how the nature of the expansion and the protein context influence the tendency of a protein to aggregate. Here, we have addressed these questions using spinocerebellar ataxia type-3 (ATX3) protein, the best characterised of the polyglutamine proteins, chosen as a model system. Using a transfected mammalian cell line, we demonstrate that ATX3 aggregation is noticeably reduced by deletion or replacement of regions other than the polyglutamine tract. The nature of the amino acid homo-sequences also has a strong influence on aggregation. From our studies, we draw general conclusions on the effect of the protein architecture and of the amino acid homo-sequence on pathology. Received 3 March 2006; received after revision 19 April 2006; accepted 22 May 2006     

Glycogen synthase kinase 3β and Alzheimer’s disease: pathophysiological and therapeutic significance

Alzheimer’s disease (AD) is a neurodegenerative disorder associated with cognitive and behavioral dysfunction and is the leading cause of dementia in the elderly. Several studies have implicated molecular and cellular signaling cascades involving the serine-threonine kinase, glycogen synthase kinase β(GSK-3β) in the pathogenesis of AD. GSK-3β may play an important role in the formation of neurofibrillary tangles and senile plaques, the two classical pathological hallmarks of AD. In this review, we discuss the interaction between GSK-3β and several key molecules involved in AD, including the presenilins, amyloid precursor protein, tau, and β-amyloid. We identify the signal transduction pathways involved in the pathogenesis of AD, including Wnt, Notch, and the PI3 kinase/Akt pathway. These may be potential therapeutic targets in AD. Received 19 December 2005; received after revision 24 January 2006; accepted 6 February 2006