Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real...Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.展开更多
Due to the unique steering mechanism and driving characteristics of the articulated vehicle,a hybrid path planning method based on the articulated vehicle model is proposed to meet the demand of obstacle avoidance and...Due to the unique steering mechanism and driving characteristics of the articulated vehicle,a hybrid path planning method based on the articulated vehicle model is proposed to meet the demand of obstacle avoidance and searching the path back and forth of the articulated vehicle.First,Support Vector Machine(SVM)theory is used to obtain the two-dimensional optimal zero potential curve and the maximum margin,and then,several key points are selected from the optimal zero potential curves by using Longest Accessible Path(LAP)method.Next,the Cubic Bezier(CB)curve is adopted to connect the curve that satisfies the curvature constraint of the articulated vehicle between every two key points.Finally,Back and Forth Rapidly-exploring Random Tree with Course Correction(BFRRT-CC)is designed to connect paths that do not meet articulated vehicle curvature requirements.Simulation results show that the proposed hybrid path planning method can search a feasible path with a 90-degree turn,which meets the demand for obstacle avoidance and articulated vehicle back-and-forth movement.展开更多
目的评估中国新诊断胶质母细胞瘤(glioblastoma multiforme,GBM)患者实际接受的治疗方案与指南推荐的Stupp方案的一致性。方法纳入202例新诊断GBM患者,评估实际接受的治疗方案与Stupp方案一致的患者比例,以及不符合Stupp方案的原因。结...目的评估中国新诊断胶质母细胞瘤(glioblastoma multiforme,GBM)患者实际接受的治疗方案与指南推荐的Stupp方案的一致性。方法纳入202例新诊断GBM患者,评估实际接受的治疗方案与Stupp方案一致的患者比例,以及不符合Stupp方案的原因。结果研究发现,仅15.8%的GBM患者接受了与Stupp方案一致的治疗。治疗方案的不一致主要是由于同步放化疗阶段替莫唑胺剂量>75 mg/m^(2)(58/120;48.3%)和治疗持续时间<42 d(84/120;70.0%),以及辅助治疗阶段替莫唑胺剂量<150 mg/m^(2)(89/101;88.1%)。接受符合Stupp方案治疗的患者的中位总生存期(27.09 vs 18.21个月)和无进展生存期(14.27 vs 12.10个月)更长。结论需要提高中国GBM患者实际接受的治疗方案与Stupp方案的一致性。展开更多
OBJECTIVE Cytokine-induced killer(CIK)cells are T-cells that display effective anti-tumor activity.In this study,we investigated the anti-tumor activity of CIK cells in vitro,and conducted a preliminary investigation ...OBJECTIVE Cytokine-induced killer(CIK)cells are T-cells that display effective anti-tumor activity.In this study,we investigated the anti-tumor activity of CIK cells in vitro,and conducted a preliminary investigation using autologous CIK cells to treat glioma patients through local administration. METHODS The CIK cells were derived from peripheral blood monocytes(PBMCs)of the glioma patients.The anti-tumor activity of the CIK cells against human T98-G glioma cell was tested in vitro.In addition,the autologous CIK ceils were locally administrated into the tumor cavity in the malignant glioma patients through an Ommaya reservoir which was pre-inserted during tumor resection.The 4×10~8 CIK cells in a 5 ml suspension were injected once a week 2 times per cycle.Five hundreds KU of IL-2 was injected every other day. RESULTS(i)With incubation,the CIK cells showed dual staining of CD3^+CD56^+with a positive rate of 3.45% on day 10 and 55.2% on day 30.In vitro anti-tumor activity(against T98-G cells)of the CIK cells reached the highest level after 18 days of incubation with different effector/target(E:T)ratios.(ii) Six patients received autologous CIK cell treatment(10 cycles). Two patients showed no recurrence and are still alive(24 and 10 months),while 4 cases had a recurrence 3 of which have died.The mean survival time from the first CIK cell treatment to the end of follow-up was 12.5 months.The main side-effects of the local CIK cell treatment was brain edema,which was controlled by mannitol in most of the cases.However for one patient injection of CIK cells and IL-2 had to be discontinued. CONCLUSION In vitro CIK cells are effective anti-glioma T-cells.Local therapy with CIK cells has potential anti-glioma efficacy and tolerable side-effects.展开更多
The chicken chorioallantoic membrane (CAM) is a classical in vivo biological model in studies of angiogenesis. Combined with the right tumor system and experimental configuration this classical model can offer new app...The chicken chorioallantoic membrane (CAM) is a classical in vivo biological model in studies of angiogenesis. Combined with the right tumor system and experimental configuration this classical model can offer new approaches to investigating tumor processes. The increase in development of biotechnolo- gical devices for cancer diagnosis and treatment, calls for more sophisticated tumor models that can easily adapt to the technology, and provide a more accurate, stable and consistent platform for rapid quantitative and qualitative analysis. As we discuss a variety of applications of this novel in vivo tumor spheroid based shell-less CAM model in biomedical engineering research, we will show that it is extremely versatile and easily adaptable to an array of biomedical applications. The model is particularly useful in quantitative studies of the progression of avascular tumors into vascularized tumors in the CAM. Its environment is more stable, flat and has a large working area and wider field of view excellent for imaging and longitudinal studies. Finally, rapid data acquisition, screening and validation of biomedical devices and therapeutics are possible with the short experimental window.展开更多
Multiple light scattering is considered as the major limitation for deep imaging and focusing in turbid media.In this paper,we present an innovative method to overcome this limitation and enhance the delivery of light...Multiple light scattering is considered as the major limitation for deep imaging and focusing in turbid media.In this paper,we present an innovative method to overcome this limitation and enhance the delivery of light energy ultradeep into turbid media with significant improvement in focusing.Our method is based on a wide-field reflection matrix optical coherence tomography(RM-OCT).The time-reversal decomposition of the RM is calibrated with the Tikhonov regularization parameter in order to get more accurate reversal results deep inside the scattering sample.We propose a concept named model energy matrix,which provides a direct mapping of light energy distribution inside the scattering sample.To the best of our knowledge,it is the first time that a method to measure and quantify the distribution of beam intensity inside a scattering sample is demonstrated.By employing the inversion of RM to find the matched wavefront and shaping with a phase-only spatial light modulator,we succeeded in both focusing a beam deep(~9.6 times of scattering mean free path,SMFP)inside the sample and increasing the delivery of light energy by an order of magnitude at an ultra-deep(~14.4 SMFP)position.This technique provides a powerful tool to understand the propagation of photon in a scattering medium and opens a new way to focus light inside biological tissues.展开更多
We review the principle and some recent applications of Doppler optical coherence tomography (OCT). The advances of the phase-resolved Doppler OCT method are described. Functional OCT algorithms which are based on an ...We review the principle and some recent applications of Doppler optical coherence tomography (OCT). The advances of the phase-resolved Doppler OCT method are described. Functional OCT algorithms which are based on an extension of the phase-resolved scheme are also introduced. Recent applications of Doppler OCT for quantification of flow, imaging of microvasculature and vocal fold vibration, and optical coherence elastography are briefly discussed.展开更多
The phase stability of an optical coherence elastography(OCE)system is the key determining factor for achieving a precise elasticity measurement,and it can be affected by the signal-to-noise ratio(SNR),timing jitters ...The phase stability of an optical coherence elastography(OCE)system is the key determining factor for achieving a precise elasticity measurement,and it can be affected by the signal-to-noise ratio(SNR),timing jitters in the signal acquisition process,and fluctuations in the optical path difference(OPD)between the sample and reference arms.In this study,we developed an OCE system based on swept-source optical coherence tomography(SS-OCT)with a common-path configuration(SS-OCECP).Our system has a phase stability of 4.2 mrad without external stabilization or extensive post-processing,such as averaging.This phase stability allows us to detect a displacement as small as~300 pm.A common-path interferometer was incorporated by integrating a 3-mm wedged window into the SS-OCT system to provide intrinsic compensation for polarization and dispersion mismatch,as well as to minimize phase fluctuations caused by the OPD variation.The wedged window generates two reference signals that produce two OCT images,allowing for averaging to improve the SNR.Furthermore,the electrical components are optimized to minimize the timing jitters and prevent edge collisions by adjusting the delays between the trigger,k-clock,and signal,utilizing a high-speed waveform digitizer,and incorporating a high-bandwidth balanced photodetector.We validated the SSOCECP performance in a tissue-mimicking phantom and an in vivo rabbit model,and the results demonstrated a significantly improved phase stability compared to that of the conventional SS-OCE.To the best of our knowledge,we demonstrated the first SS-OCECP system,which possesses high-phase stability and can be utilized to significantly improve the sensitivity of elastography.展开更多
文摘Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.
基金This work was supported by the Jiangsu Natural Science Foundation Project BK20170681National Natural Science Foundation of China 51675281.
文摘Due to the unique steering mechanism and driving characteristics of the articulated vehicle,a hybrid path planning method based on the articulated vehicle model is proposed to meet the demand of obstacle avoidance and searching the path back and forth of the articulated vehicle.First,Support Vector Machine(SVM)theory is used to obtain the two-dimensional optimal zero potential curve and the maximum margin,and then,several key points are selected from the optimal zero potential curves by using Longest Accessible Path(LAP)method.Next,the Cubic Bezier(CB)curve is adopted to connect the curve that satisfies the curvature constraint of the articulated vehicle between every two key points.Finally,Back and Forth Rapidly-exploring Random Tree with Course Correction(BFRRT-CC)is designed to connect paths that do not meet articulated vehicle curvature requirements.Simulation results show that the proposed hybrid path planning method can search a feasible path with a 90-degree turn,which meets the demand for obstacle avoidance and articulated vehicle back-and-forth movement.
基金This study was approved by the Ethics Committee of the Peking Union Medical College Hospital,China(EC No.:S-473).Written informed consent was obtained from all patients prior to enrollment.
文摘目的评估中国新诊断胶质母细胞瘤(glioblastoma multiforme,GBM)患者实际接受的治疗方案与指南推荐的Stupp方案的一致性。方法纳入202例新诊断GBM患者,评估实际接受的治疗方案与Stupp方案一致的患者比例,以及不符合Stupp方案的原因。结果研究发现,仅15.8%的GBM患者接受了与Stupp方案一致的治疗。治疗方案的不一致主要是由于同步放化疗阶段替莫唑胺剂量>75 mg/m^(2)(58/120;48.3%)和治疗持续时间<42 d(84/120;70.0%),以及辅助治疗阶段替莫唑胺剂量<150 mg/m^(2)(89/101;88.1%)。接受符合Stupp方案治疗的患者的中位总生存期(27.09 vs 18.21个月)和无进展生存期(14.27 vs 12.10个月)更长。结论需要提高中国GBM患者实际接受的治疗方案与Stupp方案的一致性。
文摘OBJECTIVE Cytokine-induced killer(CIK)cells are T-cells that display effective anti-tumor activity.In this study,we investigated the anti-tumor activity of CIK cells in vitro,and conducted a preliminary investigation using autologous CIK cells to treat glioma patients through local administration. METHODS The CIK cells were derived from peripheral blood monocytes(PBMCs)of the glioma patients.The anti-tumor activity of the CIK cells against human T98-G glioma cell was tested in vitro.In addition,the autologous CIK ceils were locally administrated into the tumor cavity in the malignant glioma patients through an Ommaya reservoir which was pre-inserted during tumor resection.The 4×10~8 CIK cells in a 5 ml suspension were injected once a week 2 times per cycle.Five hundreds KU of IL-2 was injected every other day. RESULTS(i)With incubation,the CIK cells showed dual staining of CD3^+CD56^+with a positive rate of 3.45% on day 10 and 55.2% on day 30.In vitro anti-tumor activity(against T98-G cells)of the CIK cells reached the highest level after 18 days of incubation with different effector/target(E:T)ratios.(ii) Six patients received autologous CIK cell treatment(10 cycles). Two patients showed no recurrence and are still alive(24 and 10 months),while 4 cases had a recurrence 3 of which have died.The mean survival time from the first CIK cell treatment to the end of follow-up was 12.5 months.The main side-effects of the local CIK cell treatment was brain edema,which was controlled by mannitol in most of the cases.However for one patient injection of CIK cells and IL-2 had to be discontinued. CONCLUSION In vitro CIK cells are effective anti-glioma T-cells.Local therapy with CIK cells has potential anti-glioma efficacy and tolerable side-effects.
基金Financial support for this project was provided by the NIH F31 Grants CA12371-01 and CA12371-02the Merck-UNCF pre-doctoral fellowshipNIH grant number EB-00293.
文摘The chicken chorioallantoic membrane (CAM) is a classical in vivo biological model in studies of angiogenesis. Combined with the right tumor system and experimental configuration this classical model can offer new approaches to investigating tumor processes. The increase in development of biotechnolo- gical devices for cancer diagnosis and treatment, calls for more sophisticated tumor models that can easily adapt to the technology, and provide a more accurate, stable and consistent platform for rapid quantitative and qualitative analysis. As we discuss a variety of applications of this novel in vivo tumor spheroid based shell-less CAM model in biomedical engineering research, we will show that it is extremely versatile and easily adaptable to an array of biomedical applications. The model is particularly useful in quantitative studies of the progression of avascular tumors into vascularized tumors in the CAM. Its environment is more stable, flat and has a large working area and wider field of view excellent for imaging and longitudinal studies. Finally, rapid data acquisition, screening and validation of biomedical devices and therapeutics are possible with the short experimental window.
文摘Multiple light scattering is considered as the major limitation for deep imaging and focusing in turbid media.In this paper,we present an innovative method to overcome this limitation and enhance the delivery of light energy ultradeep into turbid media with significant improvement in focusing.Our method is based on a wide-field reflection matrix optical coherence tomography(RM-OCT).The time-reversal decomposition of the RM is calibrated with the Tikhonov regularization parameter in order to get more accurate reversal results deep inside the scattering sample.We propose a concept named model energy matrix,which provides a direct mapping of light energy distribution inside the scattering sample.To the best of our knowledge,it is the first time that a method to measure and quantify the distribution of beam intensity inside a scattering sample is demonstrated.By employing the inversion of RM to find the matched wavefront and shaping with a phase-only spatial light modulator,we succeeded in both focusing a beam deep(~9.6 times of scattering mean free path,SMFP)inside the sample and increasing the delivery of light energy by an order of magnitude at an ultra-deep(~14.4 SMFP)position.This technique provides a powerful tool to understand the propagation of photon in a scattering medium and opens a new way to focus light inside biological tissues.
基金supported by the National Institutes of Health(R01EB-10090,R01EY-021519,R01HL-105215,R01HL-103764,and P41EB-015890)the Air Force Office of Scientific Research(FA9550-10-1-0538)the Beckman Laser Institute Endowment
文摘We review the principle and some recent applications of Doppler optical coherence tomography (OCT). The advances of the phase-resolved Doppler OCT method are described. Functional OCT algorithms which are based on an extension of the phase-resolved scheme are also introduced. Recent applications of Doppler OCT for quantification of flow, imaging of microvasculature and vocal fold vibration, and optical coherence elastography are briefly discussed.
基金National Institutes of Health(R01EY-026091,R01EY-028662,R01HL-125084,R01HL-127271)American Heart Association(18PRE34050021)the National Science Foundation(DGE-1839285).
文摘The phase stability of an optical coherence elastography(OCE)system is the key determining factor for achieving a precise elasticity measurement,and it can be affected by the signal-to-noise ratio(SNR),timing jitters in the signal acquisition process,and fluctuations in the optical path difference(OPD)between the sample and reference arms.In this study,we developed an OCE system based on swept-source optical coherence tomography(SS-OCT)with a common-path configuration(SS-OCECP).Our system has a phase stability of 4.2 mrad without external stabilization or extensive post-processing,such as averaging.This phase stability allows us to detect a displacement as small as~300 pm.A common-path interferometer was incorporated by integrating a 3-mm wedged window into the SS-OCT system to provide intrinsic compensation for polarization and dispersion mismatch,as well as to minimize phase fluctuations caused by the OPD variation.The wedged window generates two reference signals that produce two OCT images,allowing for averaging to improve the SNR.Furthermore,the electrical components are optimized to minimize the timing jitters and prevent edge collisions by adjusting the delays between the trigger,k-clock,and signal,utilizing a high-speed waveform digitizer,and incorporating a high-bandwidth balanced photodetector.We validated the SSOCECP performance in a tissue-mimicking phantom and an in vivo rabbit model,and the results demonstrated a significantly improved phase stability compared to that of the conventional SS-OCE.To the best of our knowledge,we demonstrated the first SS-OCECP system,which possesses high-phase stability and can be utilized to significantly improve the sensitivity of elastography.
