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 investigate antimicrobial resistance of clinical isolates from 15 hospitals submitted to Guangzhou Surveillance of Antimicrobial Resistance (GSAR) in 2007,and to learn the feature of bacterial resistance in Guangzhou.Methods Disc diffusion test (K-B methods) was employed to study the antimicrobial resistance.Results Of 18 500 clinical isolates,Gram negative bacilli and Gram positive cocci accounted for 68.4% and 31.6%,respectively,and 45.7% isolates in Gram negative bacilli belonged to non-fermentative bacilli.The detection rotes of methiciHin-resistant strains was 55.9% in Staphylococcus aureus and 75.9% in coagulase negative Staphylococcus.All of the Staphylococcus pneumoniae isolates were penicillin-susceptible (PSSP) according to 2008 CLSI criterion.One strains of Enterobacter faecium were identified as vancomycin-resistance (VRE).The resistant rates of Enterobacter to imipenem and merpenem were the lowest.The prevalence of ESBLs-producing strains in Enterobacter coli and Klebsiella spp.isolates was 43.8% and 39.8%,respectively.Against all the ESBLs strains in Enterobacter coli and Klebsiella spp,meropenem,imipenem,cefoperazone/sulbactam,and piperacillin/tazobactam showed the lowest resistant rates,ranging from 0 to 14.1%,20.4%,24.4% and 25.4% isolates of Pseudomonas aernginosa were resistant to efoperazone/sulbactam,piperacillin/tazobactam and meropenem,while 75.6%,72.4% and 63.2% isolates of Pseudomonas aeruginosa were susceptible to piperacillin/tazobactam,meropenem and cefoperazone/sulbactam,respectively.The resistance rates of Acinetobacter spp.to cefoperazone/sulbactam and meropenem were 2.6% and 5.1%,respectively.Some panresistant isolates of Pseudomonas aeruginosa (5.5%) and Ac/naobacter baumannii (1.5%) emerged.The resistance of Pseudomonas aeruginosa and Aeinetobacter baumannii isolated from sputum sample was higher than those from blood sample.Conclusions The increase of isolated rates of non-fermentative Gram-negative bacilli and the emerging bacterial resistance and oandrug resistance in Pseudomonas aeruginosa and Acinetobacter baumannii warrants further enbancing the local surveillance of bacterial resistance and characterization of panresistance mechanism to inform the rational use of anfimicrobial agents and containment of bacterial resistance.

Objective To investigate the diagnostic value of neutrophil CD64 expression for bacterial infection in children . Methods 168 children were divided into the infection group (n=133) and non-infection group(n=35) according to the results of bacterial culture .CD64 reagents from Beckman company and BD company were employed to detect CD 64 in neutrophils and lym-phocytes .Flow cytometry was used to assay their average fluorescence intensity and the CD 64 indexes were calculated .Receiver operator characteristic(ROC) curve was adopted to analyze the diagnostic performance of CD64 indexes .Results Average fluores-cence intensity of neutrophil CD64 detected by CD64 reagents from Beckman company and BD company were 46 .16 ± 29 .21 , 28 .11 ± 17 .90 ,respectively ,with statistical difference(P<0 .01) ,and their CD64 indexes were 4 .98 ± 3 .09 ,4 .89 ± 3 .53 ,respective-ly ,without statistical difference(P>0 .05) .The CD64 index of children in infection group (7 .06 ± 4 .20) was higher than that in the non-infection group(2 .93 ± 0 .79)(P<0 .01) .When CD64 index cut-off point was 3 .37 ,the sensitivity and specificity for bacterial infection diagnosis of CD64 were 93 .2% and 82 .9% ,respectively .Conclusion CD64 index may be served as an effective indicator for early diagnosis of bacterial infection in children .

Objective To propose a grasp torque control based on experimental learning and haptic feedback to facilitate the manipulator in dexterous manipulation.Methods An experience database was built firstly,and then the object was recognized by tactile feedback in the grasp task.If the object had been experitentially grasped,the torque was output based on the database.In case a new object was grasped,the optimal output torque was calculated by iterative learning.Results The experiment showed that the robot hand could find the experiential output torque quickly when encountering the object in database and calculate the torque by iterative learning to achieve grasp task.Conclusion The experiential database grows up when the robot hand learns more and more experience.It can fast output torque like human in the grasp task.

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 analyze the expression of urine exosomal miR-375 in prostate tumors and investigate its clinical utility.Methods A total of 45 patients with PCa,24 with benign prostate hyperplasia (BPH) and 24 healthy individuals were enrolled into this study.Exosomes were isolated from the urine of PCa,BPH and healthy individuals and the total RNA was extracted from the exosomes.The exosomal miR-375 expression was assessed by quantitative real-time PCR and analyzed with the comparative quantification cycle method (2-△△CT).We performed comprehensive biostatistical analyses to explore the clinical value of miR-375 in prostate cancer.Results The urine exosomal miR-375 expression was significantly downregulated in the patients with PCa compared with BPH and the healthy controls (P ＜ 0.01).No statistically significant difference of the urine exosomal miR-375 expression levels between the patients with BPH and healthy individuals was observed (P ＞ 0.05).The urine exosomal miR-375 expression level was also found to be associated with clinical stage and bone metastasis status of the patients with PCa (P ＜0.05),and with the increase of Clinical stage.The expression level of miR-375 decreased.No significant relationship was detected between miR-375 level and the patient's age,gleason score and serum prostate-specific antigen level (P ＞ 0.05).Receiver operator characteristic analyses demonstrated that the urine exosomal miR-375 expression could better differentiate PCa from BPH patients:AUC 0.715 (95％ CI:0.589-0.842) vs PSA AUC 0.632 (95％ CI:0.492-0.771) (P＜0.01).Conclusion The urine exosomal miR-375 could serve as a non-invasive biomarker for the diagnosis of PCa.

Objective To detect the cellular immune and humoral immune function in infants with Mycoplasma pneumoniae(Mp) infection,and to study its change regularity and the related clinical indexes.Methods The peripheral blood samples were collected from infantile patients with MP infection.The expression of CD3,CD4 and CD8 on the surface of T lymphocyte(T-cell)were detec-ted by the flow cytometry and the concentrations of IgG,IgA and IgM in serum were detected by the automatic biochemistry analy-zer.At the same time the normal control group was set up.Results The proportion of CD3 + and CD4 + T-cell,CD4 +/CD8 + ratio and the concentration of IgG,IgA in the patient group were significantly lower than those in the control group,while the concentra-tion of IgM in the patient group were significantly lower than those in the normal children.The concentration of IgM was higher than that in the normal children;the proportion of peripheral blood CD4 + T-cell and the concentration of IgM in the low-copy group were significantly lower than those in the high-copy group.Conclusion The immune status in children with Mp infection has obvi-ous change.The immune function of T-cell is suppressed.the humoral immune function has certain turbulence.

ObjectiveTo investigate the positive rate of thyroid peroxidase antibody(TPO-Ab) in the diabetic in-patients. MethodsThe positive rates of thyroid peroxidase antibody ( TPO-Ab ) was measured in 1884 subjects, including 1508 type 2 diabetes mellitus ( T2DM ), 76 classic typetype 1 diabeties( T1 DM ), 44 latent autoimmune diabetes in adults (LADA) and 256 "untype" diabetics ( NTDM ). Clinical data were registered and analyzed. Results( 1 )The positive rates of TPO-Ab were 14. 59％ in T2DM(220/1508) ,42. 11％ in T1DM (32/76) ,31.25％ in NTDM ( 80/256 ), 63.64％ in LADA group ( 28/44 ), respectively. The positive rate of T2DM was significantly lower than that of LADA ( P ＜ 0. 05 ), but no significant difference was found in the coparison between T1 DM and NTDM ( P ＞ 0. 05 ). ( 2 ) There were no significant differences between LADA and NTDM groups in the comparison of age, course of disease and BMI ( Ps ＞ 0. 05 ). Conclusion①The positive rate of TPO-Ab in NTDM was significantly higher than that of T2DM, whereas significantly lower than that of T1 DM and LADA.②The positive rate of TPO-Ab was highest in LADA, which indicate that LADA and AIT might have the common etiological mechanisms. ③There is a consisted increasing trend in the positive rate of TPO-Ab from T2DM ,NTDM,and classic T1DM to LADA.

Objective To observe the effects of asthmatic children treated by inhaled salmeterol xinafoate and fluticasone propi-onate powder. Methods One hundred and fourty cases of moderate and severe asthmatic children were treated in non- acute period aged from 4 to 14 years by inhaling salmeterol xinafoate and fluticasone propionate powder, compared with control group treated by flu-ticasone propionate in 106 cases, and the pulmonary function was monitored simultaneously. Results The total effective rate of the treatment group and control group were 99. 3 % , 99. 1 % , respectively.The pulmonary function indexes such as the first one second expiration volume(FEV1), flow velocity of 50 % expiration vital capacity(FEF50%), peak expiration velocity(PEF1) after being treated 4 months was improved significantly compared with those before treatment.The difference between them was statistically significant (P

Objective To observe the changes of immunological parameters and the effects of intravenous immunoglobulin (IVIG) in children with idiopathic thrombocytopenic purpura (ITP),schonlein-Henoch purpura(HSP) and mucocutaneoas lymph node syn-drome(kawasaki disease, KD).Methods T cell subsets and serum immunoglobulins and complements were measured with the flow cytometry and enhanced trubidimetric immunoassay. Routine therapy combined with IVIG. Results CD3+ CD4+ T cells were de-creased in children with ITP accompanied by increased serum IgG;Serum IgA and CD3+ T cells were increased in children with HSP; CD3+ CD8+ T cells were decreased in children with KD. Clinical features were markedly improved after treatment with IVIG. It was noted that the incidence of damage to coronary artery decreased after the use of IVIG. Conclusions T cell subsets, serum immunoglobulins should undergo the clinical routine examinations in ITP,HSP and KD. Early administration of IVIG might be important to improve disease prognosis and shorten its course of treatment in children with three kinds of immunology related diseases.