77 research outputs found

    FF-LINS: A Consistent Frame-to-Frame Solid-State-LiDAR-Inertial State Estimator

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    Most of the existing LiDAR-inertial navigation systems are based on frame-to-map registrations, leading to inconsistency in state estimation. The newest solid-state LiDAR with a non-repetitive scanning pattern makes it possible to achieve a consistent LiDAR-inertial estimator by employing a frame-to-frame data association. In this letter, we propose a robust and consistent frame-to-frame LiDAR-inertial navigation system (FF-LINS) for solid-state LiDARs. With the INS-centric LiDAR frame processing, the keyframe point-cloud map is built using the accumulated point clouds to construct the frame-to-frame data association. The LiDAR frame-to-frame and the inertial measurement unit (IMU) preintegration measurements are tightly integrated using the factor graph optimization, with online calibration of the LiDAR-IMU extrinsic and time-delay parameters. The experiments on the public and private datasets demonstrate that the proposed FF-LINS achieves superior accuracy and robustness than the state-of-the-art systems. Besides, the LiDAR-IMU extrinsic and time-delay parameters are estimated effectively, and the online calibration notably improves the pose accuracy. The proposed FF-LINS and the employed datasets are open-sourced on GitHub (https://github.com/i2Nav-WHU/FF-LINS)

    CD133-Positive Cells Might Be Responsible for Efficient Proliferation of Human Meningioma Cells

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    Owing to lack of appropriate model systems, investigations of meningioma biology have come to a stop. In this study, we developed a comprehensive digestion method and defined a culture system. Using this method and system, primary meningioma cells in conditioned suspension medium and a hypoxic environment could be amplified in spheres and were passaged for more than ten generations. Meningioma sphere cells were positive for meningioma cell markers and negative for markers of neural cell types. Importantly, we found the cells expressed the stem cell marker, CD133, but not nestin. All of the tumor sphere cell populations showed a slower degree of cell proliferation than that of human glioma cells and fetal neural stem cells (NSCs). Further studies showed that the proliferative rate was positively correlated with CD133 expression. The higher the CD133 expression, the faster the cell proliferation. With the increase in cell generations, the cell proliferation rate gradually slowed down, and CD133 expression also decreased. Single CD133+ cells rather than CD133− cells could form spheres. Thus, the results above indicated that those cells expressing CD133 in spheres might be stem-like cells, which may be responsible for efficient amplification of human meningioma cells. Decreased expression of CD133 may lead to the failure of long-term passaging

    The microbiota continuum along the female reproductive tract and its relation to uterine-related diseases

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    Reports on bacteria detected in maternal fluids during pregnancy are typically associated with adverse consequences, and whether the female reproductive tract harbours distinct microbial communities beyond the vagina has been a matter of debate. Here we systematically sample the microbiota within the female reproductive tract in 110 women of reproductive age, and examine the nature of colonisation by 16S rRNA gene amplicon sequencing and cultivation. We find distinct microbial communities in cervical canal, uterus, fallopian tubes and peritoneal fluid, differing from that of the vagina. The results reflect a microbiota continuum along the female reproductive tract, indicative of a non-sterile environment. We also identify microbial taxa and potential functions that correlate with the menstrual cycle or are over-represented in subjects with adenomyosis or infertility due to endometriosis. The study provides insight into the nature of the vagino-uterine microbiome, and suggests that surveying the vaginal or cervical microbiota might be useful for detection of common diseases in the upper reproductive tract.Shenzhen Municipal Government of China [JCYJ20160229172757249, JCYJ20150601090833370]; Danish Strategic Research Council [2106-07-0021]; Ole Romer grant from Danish Natural Science Research Council; Solexa project [272-07-0196]SCI(E)ARTICLE

    Comparative genetic architectures of schizophrenia in East Asian and European populations

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    Schizophrenia is a debilitating psychiatric disorder with approximately 1% lifetime risk globally. Large-scale schizophrenia genetic studies have reported primarily on European ancestry samples, potentially missing important biological insights. Here, we report the largest study to date of East Asian participants (22,778 schizophrenia cases and 35,362 controls), identifying 21 genome-wide-significant associations in 19 genetic loci. Common genetic variants that confer risk for schizophrenia have highly similar effects between East Asian and European ancestries (genetic correlation = 0.98 ± 0.03), indicating that the genetic basis of schizophrenia and its biology are broadly shared across populations. A fixed-effect meta-analysis including individuals from East Asian and European ancestries identified 208 significant associations in 176 genetic loci (53 novel). Trans-ancestry fine-mapping reduced the sets of candidate causal variants in 44 loci. Polygenic risk scores had reduced performance when transferred across ancestries, highlighting the importance of including sufficient samples of major ancestral groups to ensure their generalizability across populations

    Experimental and theoretical study on minimum achievable foil thickness during asymmetric rolling

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    Parts produced by microforming are becoming ever smaller. Similarly, the foils required in micro-machines are becoming ever thinner. The asymmetric rolling technique is capable of producing foils that are thinner than those produced by the conventional rolling technique. The difference between asymmetric rolling and conventional rolling is the \u27cross-shear\u27 zone. However, the influence of the cross-shear zone on the minimum achievable foil thickness during asymmetric rolling is still uncertain. In this paper, we report experiments designed to understand this critical influencing factor on the minimum achievable thickness in asymmetric rolling. Results showed that the minimum achievable thickness of rolled foils produced by asymmetric rolling with a rolling speed ratio of 1.3 can be reduced to about 30% of that possible by conventional rolling technique. Furthermore, the minimum achievable thickness during asymmetric rolling could be correlated to the cross-shear ratio, which, in turn, could be related to the rolling speed ratio. From the experimental results, a formula to calculate the minimum achievable thickness was established, considering the parameters cross-shear ratio, friction coefficient, work roll radius, etc. in asymmetric rolling
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