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.

Objective To explore the clinical effect of laparoscopic electrocoagulating hook'method in treatment of rectal cancer.Methods The retrospective cohort study was adopted.The clinical data of 237 patients with rectal cancer who were admitted to the Second People's Hospital of Guangxi Zhuang Autonomous Region from June 2004 to June 2009 were collected.Among 237 patients undergoing radical resection of rectal cancer,120 using laparoscopic electrocoagulating hook'method were allocated into the laparoscopic electrocoagulating hook'group and 117 using laparoscopic ultrasound knife's method were allocated into the laparoscopic ultrasound knife's group.Observation indicators included:(1)treatment situations:operation time,volume of intraoperative blood loss,number of lymph node dissected,time to anal exsufflation,time for out-of-bed activity,duration of hospital stay,treatment expenses and occurrence of complications(anastomotic leakage,intestinal obstruction,postoperative dysuresia and sexual dysfunction),(2)follow-up situations.Follow-up using outpatient examination and telephone interview was performed to detect tumor recurrence and metastasis up to December 18,2014.The colonoscopy,chest X-ray and abdominal computed tomography(CT)were applied to suspected patients with local or distal tumor recurrence.Measurement data with normal distribution were represented asx±s and comparison between groups was analyzed using t test.Count data were analyzed using chi-square test or Fisher exact probability.The survival curve was drawn by Kaplan-Meier method,and the survival rate was analyzed using the Log-rank test.Results(1)Treatment situations:all the patients underwent successful laparoscopic surgery,without conversion to open surgery.Operation time,number of lymph node dissected,time to anal exsufflation,time for out-of-bed activity and duration of hospital stay were respectively(156±33)minutes,18±2,(1.5±0.6)days,(1.5±0.5)days,(7.5±2.5)days in the laparoscopic electrocoagulating hook'group and(175±21)minutes,16±4,(1.6±0.5)days,(1.4±0.5)days,(8.0±1.8)days in the laparoscopic ultrasound knife's group,with no statistically significant difference in the above indexes between the 2 groups(t=25.324,20.117,21.477,1.617,1.770,P＞0.05).Volume of intraoperative blood loss and treatment expenses were respectively(116±12)mL,(2.4±0.3)×104 yuan in the laparoscopic electrocoagulating hook'group and(149±25)mL,(2.8±0.2)×104 yuan in the laparoscopic ultrasound knife's group,with statistically significant differences in the above indexes between the 2 groups(t=212.740,211.071,P＜0.05).Anastomotic leakage,intestinal obstruction and dysuresia or sexual dysfunction were respectively detected in 6,3,0 in the laparoscopic electrocoagulating hook'group and 7,3,5 in the laparoscopic ultrasound knife's group,with no statistically significant difference in the anastomotic leakage and intestinal obstruction between the 2 groups(x2=0.110,P＞0.05)and with a statistically significant difference in the dysuresia or sexual dysfunction between the 2 groups(P＜0.05).All the patients received postoperative chemotherapy of FOLFOX regimens for 6 cycles.(2)Followup situations:226 patients were followed up for a median time of 52 months(range,11-121 months),and 11 patients lost to follow-up were included in the study as censored data,including 5 in the laparoscopic electrocoagulating hook'group and 6 in the laparoscopic ultrasound knife's group.During the follow-up,67 patients were dead,including 58 died of tumor recurrence and metastasis,4 died of cerebral hemorrhage,3 died of myocardial infarction and 2 died of renal failure.The overall survival rate and overall survival time were 70.36％and 51 months.The overall local tumor recurrence rate,distal tumor recurrence rate and 5-year survival rate were 8.33％(10/120),25.83％(31/120),71.7％in the laparoscopic electrocoagulating hook'group and 7.69％(9/117),29.06％(34/117),72.4％in the laparoscopic ultrasound knife's group,with no statistically significant difference between the 2 groups(x2=0.033,0.310,0.002,P＞0.05).Conclusion The laparoscopic electrocoagulating hook'method in treatment of rectal cancer is safe and effective compared with traditional laparoscopic surgery,and it could also reduce the incidence of autonomic nerve-related complications and treatment expenses.

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 We investigated interleukin (IL)-23 that might play a role in the pathogenesis of rheumatoid arthritis (RA) and whether it was correlated with disease activity and clinical manifestations in axial spondyloarthritis (SPA).In addition, the Spondyloarthritis Research Consortium of Canada (SPARCC) scores was used to examine whether recombinant human tumor necrosis factor-α receptor Ⅱ IgG Fc fusion protein for injection (rhTNFR:Fc) was effective for the reduction of magnetic resonance imaging (MRI)-proven sacroiliac joint (SIJ) inflammation.Methods The serum IL-23 levels of etanercept and conven-tional treatment groups were measured using enzyme-linked immunosorbent assay kits.At the same time, SIJ MRI SPARCC score levels were assessed by MRI, the change of clinical indicators of patients was observed.ANOVA, repeated measure data of ANOVA and Spearman's correlation analysis were used for statisical analysis.Results ① The basal serum IL-23 levels of the Etanercept group were (34.2±1.8) pg/ml and those of the conventional treatment group were (34.1 ±1.8) pg/ml (F=1 073.790, P=0.991), both were significantly higher than the healthy control group (18.1±0.8) pg/ml (P=0.005).After treatment, serum IL-23 levels of the rhTNFR: Fc treatment and conventional treatment group were (24.5 ±1.7) pg/ml and (25.2±1.7) pg/ml (F=232.488, P=0.242), (19.2±0.8) pg/ml and (21.6±1.3) pg/ml (F=114.135, P=0.025), (19.0±0.8) pg/ml and(19.4± 0.8) pg/ml (F=23.374, P=0.085) respectively.A significant decrease was observed in the two groups and the serum level of IL-23 of the rhTNFR:Fc group was lower than that of the conventional group at week 12.② SIJ MRI SPARCC scores of the rhTNFR:Fc group and the conventional drugs group were (20.1± 1.2) scores and(20.7±1.5) scores (F=2003.660, P=0.191), (12.5± 0.8) scores and (15.4±0.9) scores (F=1 680.430, P=0.004), (8.8±0.9) scores and (12.8± 0.9) scores (F=972.877, P=0.002), the scores of two group were significantly decreased after treatment.At week 12, 24 of the treatment, the rhTNFR:Fc group scores were lower than the conventional drugs group.③ The serum IL-23 levels, SLJ MRI SPARCC scores and clinical index (ESR, CRP, PGA, BASDAI, BASFI, BASMI and number of painful joints) were not correlated (P＞0.05), the SIJ MRI SPARCC scores and clinical indicators were not correlated (P＞0.05).Conclusion ① The serum IL-23 levels of the rhTNFR:Fc are higher than healthy controls.② rhTNFR:Fc treatment could significantly decrease IL-23 levels and improve the sacroiliac joint inflammation compared to conventional treatment.③ SIJ MRI is a good assessment method for the detection of SpA sacroiliac joint inflammation.

New Chemical Entities (NCEs) development is a systematic long-term project that involves multiple disciplines. The translation research will help to build an advanced R&D system from the basic laboratory research, preclinical studies and clinical evaluation to clinical application of drug, for the purpose of shortening the R&D cycle and accelerate the launch of new drugs. In new drug R&D and its clinical application, drug disposition (absorption, distribution, metabolism, excretion, ADME) properties are important criteria for assessing drug-likeness of candidates. ADME evaluation of NCEs plays an important role in the translation research throughout innovative drug R&D process. Therefore, ADME evaluation at the early stage of drug design and development will be helpful to improve the success rate and reduce costs, and further access to safe, effective drugs.

OBJECTIVE: To investigate mRNA expression of GABAa receptor(GABAaR) subunits in the rat cochlear spiral ganglion neurons (SGN) and explore the effect of sodium salicylate (SS) on the expression of GABAaR subunits. METHOD: The realtime fluorescent quantitative PCR (FQ-PCR) was used to detect mRNA expression of twelve GABAaR subunits in the newborn rat SGN and then investigate mRNA expression of GABAaR subunits after treatment with 5 mmol/L SS for 15 min, 30 min, 1 h, 3 h and 6 h in the primary culture SGN. RESULT: (1) GABAaR subunits of α1-6, β1-3, and γ1-3 were detected in the SGN, and the expression of GABAaR subunits was lower than those in the cerebral cortex. In the subunit α family of GABAaR, the expression rank was α2>α3/α5>α4>a1>α6, and the expression of α3 and α5 had no difference (P>0. 05). In the subunit β family, the expression rank was β3>β2>β1. In the subunit γ family, the expression rank was γ1>γ2>γ3. (2) The expression of all subunits of GABAa receptor was obviously fluctuated excepting subunit α5 after treatment with SS. At 15 min post-SS, α1, α2 , β1 and γ1-3 were upregulated, and α3 was downregulated; At 30 min post-SS, α3, β1 and β3 were upregulated, and γ1 was downregulated; At 1 h post-SS, β2 was upregulated and γ3 was downregulated; At 3 h post-SS, β1 and β2 were upregulated, and α3 and γ2 were downregulated; At 6 h post-SS, αl, α3 ,β2, β3 and γ1 were upregulated, and α2, α4 and β1 were downregulated. CONCLUSION The mRNA of GABAaR was expressed in the rat SGN, and the expression of GABAaR subunits was lower in SGN than the cerebral cortex. SS could alter the GABAaR expression quantity in rat SGN; Most of the subunits expression were elevated obviously in the early post SS (15 min), followed by a slight fluctuation.
Animals ; Cells, Cultured ; Cochlea ; cytology ; In Situ Hybridization ; Neurons ; drug effects ; RNA, Messenger ; Rats ; Receptors, GABA-A ; metabolism ; Sodium Salicylate ; pharmacology ; Spiral Ganglion ; drug effects

Objective: To explore the association of hypertriglyceridemic waist phenotype ( HTGW ) with impaired fasting glucose ( IFG ) and diabetes, so as to provide reference for the early prevention and control of diabetes. Methods: The survey was conducted among 35 to 75-year-old residents in 8 project sites in Jiangsu Province from 2015 to 2019. The information about demography and lifestyle was collected by the general information questionnaire and the primary screening questionnaire from the National Center for Cardiovascular Diseases; waist circumference, height, weight, triglyceride, high-density lipoprotein cholesterol, total cholesterol and fasting plasma glucose were measured. The multinomial logistic regression model was employed to analyze the association of HTGW with IFG and diabetes. Results: A total of 118 383 subjects were included, among whom 21 851 cases of HTGW, 27 245 cases of IFG and 22 899 cases of diabetes were identified, with the prevalence of 18.46%, 23.01% and 19.34%. The multinomial logistic regression analysis showed HTGW was statistically associated with IFG ( OR=1.414, 95%CI: 1.343-1.489 ) and diabetes ( OR=2.216, 95%CI: 2.098-2.341 ). Conclusion HTGW is associated with IFG and diabetes, which make it possible to be an indicator for screening and assessment of glucose abnormality in middle-aged and elderly population.

The differential expression of genes in HepG2 cells caused by UC001kfo RNAi was investigated using RNA-seq.HepG2 cells were infected by Lenti-shUC001kfo lentivirus particles.The expression of UC001kfo mRNA in the HepG2-shUC001kfo cell line was detected by real-time PCR.RNA-seq technology was used to identify the difference in the expression of genes regulated by lncRNA UC001kfo in the HepG2 cell line.Gene ontology and signaling pathway analysis were performed to reveal the biological functions of the genes encoding of significantly different mRNAs.The results showed that mRNAs were differentially expressed between the HepG2-shUC001kfo cell line and the HepG2 cell line.The UC001kfo mRNA was significantly down-regulated in the stable cell line HepG2-shUC001kfo (P＜0.001).Additionally,we found 19 signaling pathways or functional classifications encompassing 30 genes that played a role in cancer characteristics,cell adhesion,invasion and migration.The results also showed that the expression of many genes associated with cancer cell invasion and metastasis was decreased with the down-regulation of the lncRNA UC001kfo.LncRNA UC001kfo may play a role in regulating cancer cell invasion and metastasis.It was suggested that mRNAs were differentially expressed in the HepG2 cell line after the down-regulation of lncRNA-UC001kfo.Some took part in the extracellular matrix,cell adhesion,motility,growth,and localization.The genes encoding of differentially expressed mRNAs may participate in cell invasion and metastasis.

Objective To investigate the infection status of HIV/AIDS patients complicated with pneumocystis Carinii Poneumonia(PCP),and the role of CD4+ T lymphocyte in PCP.Methods PC was detected by Giemsa's staining and CD4+ T lymphocyte was counted by flow cytometry.Meanwhile,this text calculated and compared a series of indexes about PC infection,such as the total positive rate,the average annual positive rate,the average monthly positive rate,the positive rate between female and male,the positive rate between sputum and BALF specimens,and the relationship between the positive rate and CD4+ T lymphocyte count.Results The total positive rate about PC infection of the 1 806 eases of sputum specimens was 46.8％,and the incidence mainly from April to July during a year,and the positive rates were 46.3％ and 50.2％ for males and females respectively.The results showed that there were no significant differences when compared with the average annual positive rate ( P ＞ 0.05 ),but there were significant differences when compared with the average monthly positive rate ( P ＜ 0.05 ),the positive rate between female and male(P＞0.05),and among 3 formerly defined ranges of CD4+count(P ＜0.05).Conclusion Giemsa's staining showed the total positive rate was 46.8％ of the HIV/AIDS patients infected by PC with sputum specimens,which represented a seasonal fluctuation tendency.The positive rate of BALF was higher than that in sputum,and it increased with CD4+ count decreasing.Giemsa's staining was an efficient,simple and feasible way for PC detection and easy for generalization.Meanwhile,it is strongly relied on the operator's experience and skill.

Objective To determine the prevalence of and correlations between HIV infection and syphilis among men who have sex with men (MSM) in Beijing.Methods Totally,600 MSM collected from sentinel surveillance sites for AIDS in Beijing were recruited in this study,and underwent screening tests for HIV infection and syphilis.Enzyme-linked immunosorbent assay (ELISA) was used for the primary screening for HIV infection,and Western blot for its confirmation.Both nontreponemal test (rapid plasma regain (RPR) assay) and treponemal test (Treponema pallidum particle agglutination assay,TPPA) were performed to detect syphilis,and only those with a reactive TPPA result were defined as having syphilis (including past infection).Specimens confirmed as HIV-1 positive were further tested with BED-capture enzyme immunoassay (CEIA) to find recent HIV-1 infection,and the incidence of HIV infection was then calculated.The correlation between syphilis and HIV infection was statistically analyzed.Results Of the 600 MSM,49 (8.17％) had HIV infection,including 14 cases of recent infection,with the incidence rate of HIV infection being 4.68％; 51 were positive for both RPR and TPPA tests with the infection rate (including past infection) being 18.5％ (111/600).People without a Beijing household registration and those with high education levels accounted for a large proportion of HIV-infected MSM.Conclusions The prevalence and incidence of HIV infection as well as prevalence of syphilis maintain at a relatively high level in MSM in Beijing.HIV infection is markedly correlated with syphilis in MSM population.