Objective To realize SLAM and path planning of mobile robot to solve the problem of real-time data association in the process of moving and to update the computational complexity of the state covariance matrix.Methods The mathematical model of SLAM was built,and FastSlam algorithm based on particle filter,A* and dynamic window approach (DWA) were used to prepare gmapping function package in the ROS framework.Results The motion simulation,path planning and dynamic obstacle avoidance of mobile robot in the ROS framework were realized.Conclusion By using ROS platform,mobile robots can execute path planning efficiently while completing self-localization and map building.

Zusanli (ST 36), Shangjuxu (ST 37) and Xiajuxu (ST 39) are considered as the lower He-sea points, which are located along the leg lines of stomach meridian of foot Yangming from top to bottom. According to the corresponding zang-fu of lower He-sea points, the distribution order from top to bottom is stomach, large intestine and small intestine. This is significantly different from digestive physiology function sequence of stomach, small intestine and large intestine in modern medicine. However, it conforms to their anatomical position from top to bottom. In order to make a further confirmation that the indication specificity of Zusanli (ST 36), Shangjuxu (ST 37) and Xiajuxu (ST 39) is closely associated with anatomical location, a great number of ancient and modern literature is reviewed. It is found that the functions of the three acupoints are obviously related to stomach, large intestine and small intestine, respectively, indicating that the sequence of Zusanli (ST 36), Shangjuxu (ST 37) and Xiajuxu (ST 39) is related to anatomical position of corresponding zang-fu. This study conclusion could play an important role for exploring the significance of anatomical location in indication specificity of acupoints.
Acupuncture Points ; Acupuncture Therapy ; history ; China ; History, Ancient ; Humans ; Intestine, Large ; physiopathology ; Medicine in Literature ; Meridians ; Stomach ; physiopathology

Objective To explore the effect of Fas and caspase-3 on apoptosis in the white matter damage(WMD) neonatal rats.Methods The pups(45 in each group) were perfused at 30 min,1 h,4 h,12 h,1 d,3 d,7 d,14 d,21 d of recovery from hypoxia-ischemia(HI).Immunohistochemical technique was applied to investigate the changes in the expression of Fas and caspase-3 in periventricular white matter tissues.Apoptotic cells were detected in these tissues by TUNEL.Results Apoptosis index(AI) in the experimental group increased significantly at 4 h and reached the peak at 3 d after HI.No expression of Fas was found in the control group.The expression of Fas in the experimental group appeared at 30 min after HI,increased at 1 h,reached the peak at 12 h and lasted till 3 d.Caspase-3 in the experiment group was up-regulated,peaked at 1 d,demonstrating significant differences at 1 h,4 h,12 h,1 d,3 d and 7 d compared with the control group(P

Objective To study the effect of p38MAPK on the activity and c-myc protein expression in rat acetaldehyde-induced hepatic stellate cell(HSC),and to investigate the alcoholic liver fibrosis related mechanism.Methods The different concentrations of SB203580 as the p38 specific blocker was adopted to conduct the intervention on rat acetaldehyde-induced HSC.The cellular mor-phological change was observed by the microscope.The cell proliferation was detected by MTT,the cell cycle was analyzed by flow cytometry(FCM),and the expression of c-myc protein was examined by the SABC method.Results (1)after acetaldehyde stimula-tion,HSC was increased in size and proliferated rapidly,but with the added SB203580 concentration increase,the cellular prolifera-tion was slowed down,the cells size was diminished and the deformed cells were increased.(2)The proliferation of acetaldehyde-in-duced HSC was inhibited by different doses of SB203580,and the higher concentration has the more significant inhibiting effect.(3) With the SB203580 concentration increase,the cells at the phase G0 and G1 were increased,while the cells at the phase S were de-creased,at the same time the expression positive rate of c-myc protein was decreased.Conclusion Blocking p38MAPK pathway ac-tivity could inhibit the proliferation of acetaldehyde-induced HSC,which may be related to the down-regulation of C-myc protein ex-pression and blocking the DNA synthesis in cells entering from G0/G1 phase to S phase.

Objective Oral and Maxillofacial trauma Diagnosis and Treatment Expert system (OMDTES)was used in maxillofacial trauma PBL teaching to improve the quality of PBL teaching,and perfeet the assessment criteria, Methods OMDTES was applied in two procedures of maxillofacial injury PBL teaching activity:the preparation of lesson plan and assessment criteria.Then a questionnaire was designed to assess the effect of this new mode of PBL teaching.Results The new teaching model is welcomed by students and can improve students'interest in learning,the satisfaction of teaching and ameliorate method of assessment of PBL teaching.Conclusion Applying OMDTES in oral and maxinofacial injury PBL teaching has special advantages in raising the leavnevs'activity of learning,training their ability of chnical thinking and analysis.And it is worthy of further research and amelioration.

Objective To identify the differentially expressed genes in Uigur and Kazak patients with and without type 2 diabetes mellitus.Methods The differentially expressed cDNA bands were isolated by fluorescent mRNA differential display from peripheral blood leucocyte of the Uigur and Kazak patients with type 2 diabetes mellitus and the normal controls. After being cloned, all cDNA fragments were sequenced, then underwent sequence analysis, homogenous comparison,and Northern blot analysis. Results Z5、Z8、Z15 differentially expressed cDNA fragments were found.They were over-expressed in the normal controls and were lower or scarced in the Uigur and Kazak patients with type 2 diabetes mellitus. They were selected for sequencing and hybridization. Z5、Z8 showed highly homologous to cellular repressor of E1A-stimulated genes,Z15 are unknown. Conclusion Three differentially expressed genes may have a potential relation with type 2 diabetes mellitus.

AIM: To observe the hemostatic effect and hemostasis mechanism of XHJ (Auena fatua L.) oral Liqnid on animals. METHODS: Bleeding time (BT) and clotting time (CT) were measured by means of tail cutting and glass slide method on mice, Von willebrand factoe (vWF), prothrombin time (PT) and Kaolin partial thromboplastin time (KPTT) were observed by immunoterbidimerry and coagulase test, antithrombin Ⅲ(AT-Ⅲ) by chromophoric matrix method platelet count by tissue plasminogen activator (tPA), plasminogen activatore inactivator (PAI). CONCLUSION: The results indicate that XHJ has remarkable effect on hemostasis; Its mechanism is related to accelerating blood coagulatlon, inhibiting fibrinolytic activity, adding blood vessel endothelial cell release and improving platelet adhesiveness and aggregation.

AIM: To establish a RP-HPLC method to determine the fingerprint of Compound Fufangteng Mixture (Radix Ginseng Rubra, Radix Astragel. etc). METHODS: Chromatographic conditions included Shim-pack CLC ODS column and the mobile phase composed of a mixture of acetonitrile-water (gradient elution), detection wavelength at 203nm. The mobile phase flow rate was 1.0mL?min -1. RESULTS: 19 peaks existed on the HPLC fingerprint of Compound Fufangteng Mixture. CONCLUSION: The method can provide more information for the quality control of Compound Fufangteng Mixture.

Objective To design a vision-based detection method for rotated human bodies to fulfill unmanned wounded search in the rescue operation.Methods HOG (histogram of oriented gradient) which was the most successful visual feature in pedestrian detection was involved in,and the human detection in the wounded search task was realized by multi-directional detection.Furthermore,two human bodies datasets were established by imitating the views of unmanned ground vehicle (UGV)and unmanned aerial vehicle (UAV).Results The application to the two datasets proved the method's feasibility in UGV and UAV.Conclusion The method is robust to the in-plane rotations and out-plane rotations of human bodies,which is of vital significance to promote the efficiency of the wounded searching and rescuing.

OBJECTIVE:To explore the potential correlation between clinical efficacy of pemetrexed in the treatment of ad-vanced breast cancer and TS mRNA expression. METHODS:Patients with advanced breast cancer were recruited in our study. Three cycles of pemetrexed was given to these patients,TS mRNA expression of their tumor tissues were detected. The relationship of ther-apeutic efficacies of different chemotherapy with TS mRNA expression were observed and compared during the study period. RE-SULTS:58 patients received pemetrexed chemotherapy and therapeutic efficacies of them were evaluated. One patient (1.7%) had complete response,19 patients(32.8%)had partial response,31 patients(53.4%)had stable response and 7 patients(12.1%)has progressive disease. Objective response rate was 34.5%,and disease control rate was 87.9%. TS mRNA expression level of 55 pa-tients with completed TS mRNA expression analysis varied from 0.04 to 5.11,with a median of 0.62. Mann-Whitney rank test showed that,responders had lower TS mRNA expression than nonsponders at all visits,there was statistical significance (P<0.05). Chi-square test showed that patients with low expression level of baseline(before chemotherapy)TS mRNA had significantly higher objective response rate(63.3%)than those with high expression(36.7%),there was statistical significance(P<0.05). CON-CLUSIONS:TS mRNA expression level is related to therapeutic efficacy of pemetrexed,which may be useful for predicting thera-peutic efficacy of pemetrexed therapy in patients with advanced breast cancer.