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 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 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 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 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.

Objective To study 18F-deoxyglueose positron emission tomography computed tomo graphy(18 FDG PET-CT) in the diagnosis of cervical lymph node(LN) metastasis from rabbit nasopharyngeal VX2 carcinoma.Methods Nasopharyngeal VX2 carcinoma model using 30 rabbits was established. 18 FDG PET-CT,MRI and pathological diagnosis were performed and compared.ResultsFifty-three cervi cal LNs were picked up from resected specimens of 30 rabbits with nasopharyngeal VX2 carcinoma.There were 42 pathologically confirmed positive LNs.Positivity rate was significantly correlated with the volume and the shortest diameter of the LNs (r = 9.18,P =0.007 ; r = 2.77,P = 0.008).The diagnostic sensitivity of PET-CT was 96% (24/25) and 29% (5/17) for LNs with volume >0.5 cm3 and ≤0.5 cm3 ,83% (25/30) and 33% (4/12) for LNs with the shortest diameter ≥0.5 cm and < 0.5 cm,respectively.The diagnostic sensitivity,specificity and accuracy of PET-CT was 69% (29/42) ,100% (11/11) and 95% (40/42) ,com paring with 60% (25/42) ,91% (10/11) and 83% (35/42) of MRl,respectively.The volume measured by PET-CT images was not significantly different from the pathologically measured volume (t =-1.23,P = 0.233) ,while the volume measured by MRI was significantly different from the pathologically measured vol ume (t =-3.99,P = 0.001).Conclusions The sensitivity,specificity and accuracy of PET-CT are better than those of MRl,especially for the cervical lymph nodes with volume >0.5 cm3 or the shortest diameter ≤ 0.5 cm.PET-CT also can be used to detect the smaller metastatic lymph nodes,though the false negative rate is higher.

Objective To observe the behavior changes and synaptic reconstruction of brain and the impact of gastrodin in rats with epilepysy induced by pentylenetetrazole.Methods Fifty Wistar rats in growth(50-70 g) were randomly divided into 5 groups:control group,Pentylenetetrazole (PTZ) group,gastrodin high dose group,gastrodin low dose group and sodium valproate group,each group had 10 rats.According to Racine classification,the behavior changes of rats and the frequency were recorded.Conventional method was adopt to perfuse cordis, fix and extract the brain,and the immunohistochemistry was used to detect synaptophysin(P38) expression in the temporal lobe and hippocampus of the brain after 4 weeks.Results 1.Four weeks after pentylenetetrazole ignited the growth period rats,the attack-level of each experimental group through comparison with each other,there was statistically significant difference(?2=35.83 P0.05).Conclusions There are mossy fiber sprouting and the formation of synaptic reconstruction in temporal lobe and hippocampus of the growth period rats repea-tedly ignited by pentylenetetrazole.Gastrodin may play a role in the formation of antiepileptic obviously,and through decreasing the expression of P38,which can inhibit the formation of synaptic reconstruction,as control seizures indirectly.

Objective To establish guinea pig model of type Ⅰ anaphylaxis, isolate the anaphy-lactic antibody(IgE and IgG) preliminarily from sera of sensitized guinea pigs, and investigate its functional characteristics. Methods Animal model was established by sensitizing guinea pigs with OVA and Al(OH)_3, level of antibody was determined by ELISA, IgE and IgG in sera were preliminarily isolated through saturated ammonium sulphate precipitate and affinity chromatograph of Protein A. A continuous passive cutaneous ana-phylaxis test (PCA) was performed by sensitizing guinea pigs individually with IgE and IgG and then challenging at different time , and the variation of blue spots in skin were observed after challenge . Results Concentration of IgE in model group and control group were 719.3750 ng/ml and 2.5250 ng/ml, the optical density of IgG in model group and control group were 0.9921 and 0.0174, the level of two antibodies in model group were significantly higher than that of control group (P<0.05). In 9 d continuous PCA test, the blue spot induced by IgE in skin lasted for 9 days and appeared the largest when challenged at day 5. The diameter of blue spot induced by IgG was the largest when challenged at day 2 and then decreased fast. Con-clusion Anaphylactic antibodies were successfully preliminarily isolated from sera of sensitizing guinea pig, both IgE and IgG play roles in type Ⅰ anaphylaxis of guinea pig, the hypersensitive reaction induced by IgG is fast and short than that induced by IgE, and IgG may become an important surrogate marker in immunotoxic-ity evaluation(type Ⅰ anaphylaxis)of vaccine.