LIO-SAM++: A Lidar-Inertial Semantic SLAM with Association Optimization and Keyframe Selection.

Current lidar-inertial SLAM algorithms mainly rely on the geometric features of the lidar for point cloud alignment. The issue of incorrect feature association arises because the matching process is susceptible to influences such as dynamic objects, occlusion, and environmental changes. To address this issue, we present a lidar-inertial SLAM system based on the LIO-SAM framework, combining semantic and geometric constraints for association optimization and keyframe selection.

Poria cocos: traditional uses, triterpenoid components and their renoprotective pharmacology.

Poria cocos and its surface layer of Poria cocos (Schw.) Wolf (Polyporaceae), are used in traditional Chinese medicine for its diuretic and renoprotective effects. Phytochemical studies have shown that lanostane and 3,4-seco-lanostane tetracyclic triterpenoids are the main components of P.

Inorganic-Enriched Solid Electrolyte Interphases: A Key to Enhance Sodium-Ion Battery Cycle Stability?

The characteristics of solid electrolyte interphase (SEI) at both the cathode and anode interfaces are crucial for the performance of sodium-ion batteries (SIBs). The research demonstrates the merits of a balanced organic component, specifically the organic sodium alkyl sulfonate (ROSONa) featured in this work, in conjunction with the inorganic sodium fluoride (NaF), to enhance the interfacial stability. Using a customized electrolyte, it has optimized the interphase, curbing excess NaF production, and created a thin and uniform NaF/ROSONa-rich SEI layer.

Hydrogen-Bond-Repairing Solar Evaporator with Reconstructed Large-Width Channels for Durable Solarizing Seawater.

Conventional solarizing seawater suffers from inefficiency and space constraints. Interfacial solar vapor generation (ISVG) presents an energy-efficient alternative, yet the scalability, adaptability, and durability of a solar evaporator for practical use are remaining concerns. Herein, a hydrogen-bond-repairing solar evaporator featuring reconstructed large-width channels is proposed for ongoing solarization of seawater in ISVG.

Preoperative versus postoperative nonsteroidal anti-inflammatory drugs in femoroacetabular impingement patients undergoing hip arthroscopy surgery: analgesic effect, joint function, patients' satisfaction, and quality of life.

Background: Nonsteroidal anti-inflammatory drugs (NSAIDs) have analgesic effects on femoroacetabular impingement (FAI) patients undergoing hip arthroscopy surgery (HAS). However, the influence of medication time on the analgesic effect of NSAIDs is uncertain. This study aimed to compare the analgesic effect, joint function, quality of life (QoL), and patients' satisfaction between preoperative and postoperative NSAIDs in these patients.

Lactobacilli-derived adjuvants combined with immunoinformatics-driven multi-epitope antigens based approach protects against Clostridium perfringens in a mouse model.

Clostridium perfringens is ubiquitously distributed and capable of secreting toxins, posing a significant threat to animal health. Infections caused by Clostridium perfringens, such as Necrotic Enteritis (NE), result in substantial economic losses to the livestock industry annually. However, there is no effective commercial vaccine available.

Electronanofiltration Membranes with a Bilayer Charged Structure Enable High Li/Mg Selectivity.

Achieving separation of lithium and magnesium with similar radii is crucial for the current lithium extraction technology from salt lakes, which usually possess a high lithium-to-magnesium ratio. Herein, we proposed the facile sequential interfacial polymerization (SIP) approach to construct electronanofiltration membranes (ENFMs) with a bilayer charged structure consisting of a high positively charged surface and a negatively charged sublayer. The trimesoyl chloride (TMC) concentration was adjusted to enhance the -COOH content and negative charge of the polyamide sublayer to promote Li migration, and then the quaternized polyethylenimine was introduced to the membrane surface by the SIP process to increase the positive charge density on the surface of the ENFMs, which would block the migration of Mg and enhance the Li/Mg selectivity of the ENFMs.

Comparative Investigation of the Microstructure of MgCl Aqueous Solutions Using Different X-ray Scattering Sources, Raman Spectroscopy, and Atomistic Simulations.

Aqueous solutions of magnesium chloride (MgCl(aq)) are often used to test advances in the theory of electrolyte solutions because they are considered an ideal strong 2:1 electrolyte. However, there is evidence that some ion association occurs in these solutions, even at low concentrations. Even a small ion-pairing constant can have a significant impact on the chemical speciation of ions, so it is important to determine whether ion pairing actually occurs.

Incidence and Predictive Factors of New Onset Postoperative Sacroiliac Joint Pain After Posterior Lumbar Fusion Surgery for Degenerative Lumbar Disease.

Introduction: To explore the incidence and predictive factors of new onset postoperative sacroiliac joint pain (PSJP) after posterior lumbar fusion surgery for degenerative lumbar disease.

Methods: Three hundred and sixty-seven patient medical records from January 2020 to December 2021 were retrieved. The patients were divided into two groups: PSJP group and N-PSJP (non-postoperative sacroiliac joint pain group).

Effects of Catecholamine Stress Hormones Norepinephrine and Epinephrine on Growth, Antimicrobial Susceptibility, Biofilm Formation, and Gene Expressions of Enterotoxigenic .

Enterotoxigenic (ETEC) is a significant contributor to diarrhea. To determine whether ETEC-catecholamine hormone interactions contribute to the development of diarrhea, we tested the effects of catecholamine hormones acting on ETEC in vitro. The results showed that in the presence of norepinephrine (NE) and epinephrine (Epi), the growth of 9 out of 10 ETEC isolates was promoted, the MICs of more than 60% of the isolates to 6 antibiotics significantly increased, and the biofilm formation ability of 10 ETEC isolates was also promoted.

Quinolines: A Promising Heterocyclic Scaffold for Cancer Therapeutics.

The quinoline scaffold is a widely recognized heterocycle with applications across various disease categories, ranging from malaria and viral infections to bacterial infections, high cholesterol, and even tumors. Consequently, quinoline plays a crucial role in the development of new drugs, and the field greatly benefits from advancements in computer-aided drug design. This review aims to provide insights into the evolution of quinoline and its derivatives, offering a comprehensive exploration of both marketed and developing drugs.

The prevalence, genetic diversity and evolutionary analysis of cachavirus firstly detected in northeastern China.

Canine cachavirus is a novel parvovirus belonging to the genus that was first detected in dogs in the United States. However, our knowledge of the prevalence and genetic characteristics of cachavirus is relatively limited. In this study, 325 canine fecal specimens collected from healthy and diarrheic dogs in northeastern China were screened with PCR.

A comparative study of using linear anastomosis with circular anastomosis in digestive tract reconstruction after laparoscopic radical total gastrectomy: A retrospective study.

The purpose of this study is to compare the incidence of anastomotic leakage or stenosis, anastomotic bleeding, anastomosis time, postoperative exhaust time, pneumonia, gastroesophageal reflux, hospitalization and mental state after laparoscopic radical gastrectomy, so as to provide a reliable basis for the safety selection of the 2 clinical anastomosis methods and postoperative care. This study retrospectively analyzed the clinical data of 160 gastric cancer patients treated by our medical team from February 2021 to December 2021. We divided them into side-to-side anastomosis with linear stapler (linear stapler) and end-to-side anastomosis with circular stapler (circular stapler), analyzed the incidence and clinical efficacy of anastomotic complications after laparoscopic radical total gastrectomy.

Full-Endoscopic Isolation Zone Technique for the Treatment of Lumbar Disc Herniation.

Lumbar disc herniation (LDH) is a type of serious sinus or sciatic nerve dysfunction caused by nucleus pulposus protrusion and annulus fibrosus tears. Its clinical symptoms often include severe low back pain, limited lumbar movement, sciatic nerve pain in the lower limbs, and even cauda equina syndrome. The common treatment for LDH is a conservative treatment scheme involving medicine, rest, and physical therapy.

Prevalence and genetic diversity of canine coronavirus in northeastern China during 2019-2021.

Canine coronavirus (CCoV) is associated with diarrhea in dogs, with a high incidence and sometimes even death. However, there is currently limited information about its prevalence and molecular characterization in northeastern China. Therefore, in this study, we examined 325 canine fecal specimens in four provinces in northeastern China from 2019 to 2021.

Cellular retinol-binding protein 1: a therapeutic and diagnostic tumor marker.

Cellular Retinol Binding Protein 1 (CRBP1) gene is a protein coding gene located on human chromosome 3q21, which codifies a protein named CRBP1. CRBP1 is widely expressed in many tissues as a chaperone protein to regulate the uptake, subsequent esterification and bioavailability of retinol. CRBP1 combines retinol and retinaldehyde with high affinity to protect retinoids from non-specific oxidation, and transports retinoids to specific enzymes to promote the biosynthesis of retinoic acid.

Dealloying-Derived Nanoporous Bismuth for Selective CO Electroreduction to Formate.

Electrochemical CO reduction (COER) to formate is an attractive approach for CO utilization. Here, we report a nanoporous bismuth (np-Bi) catalyst fabricated by chemically dealloying a rapidly solidified MgBi alloy for COER. The np-Bi catalyst exhibits a three-dimensional interconnected ligament-channel network structure, which can efficiently convert CO to formate with a selectivity of ≤94% and an activity of 62 mA cm in a wide potential range.

Biomechanical effect of Coflex and X-STOP spacers on the lumbar spine: a finite element analysis.

Objective: To explore the biomechanical differences between Coflex and X-STOP devices by finite element analysis.

Methods: Based on the normal lumbar CT images from a healthy adult volunteer, four finite element models including the healthy lumbar segment model, the mild degenerated lumbar segment model, a Coflex fixed lumbar segment model and X-STOP fixed lumbar segment model were constructed. A simulation analysis under the conditions of flexion, extension, lateral bending, and rotation was performed to compare range of motion (ROM), intradiscal pressure, the facet joint force, the maximum Von Mises stress and the peak facet contact forces, between Coflex and X-STOP devices.

Integrative phosphatidylcholine metabolism through phospholipase A in rats with chronic kidney disease.

Dysregulation in lipid metabolism is the leading cause of chronic kidney disease (CKD) and also the important risk factors for high morbidity and mortality. Although lipid abnormalities were identified in CKD, integral metabolic pathways for specific individual lipid species remain to be clarified. We conducted ultra-high-performance liquid chromatography-high-definition mass spectrometry-based lipidomics and identified plasma lipid species and therapeutic effects of Rheum officinale in CKD rats.