Objective:The present study aims to evaluate the in vivo efficacy of YINDARA-4 in improving the symptoms of irritable bowel syndrome(IBS)in a rat model and investigate the impact of YINDARA-4 on potential targets of I...Objective:The present study aims to evaluate the in vivo efficacy of YINDARA-4 in improving the symptoms of irritable bowel syndrome(IBS)in a rat model and investigate the impact of YINDARA-4 on potential targets of IBS management,such as the serotonin level in intestinal tissues and the structure and composition of the gut microbiota.Methods:We developed an IBS rat model by combining stress from maternal separation,acetic acid administration,and restraint.We administered YINDARA-4 water extract to the IBS rat model for 10 consecutive days.The fecal water content,visceral sensitivity,gut microbiota,and serotonin levels in the colonic tissue were then analyzed and compared between the control group,IBS model group,and YINDARA-4–treated groups.Results:Treatment with YINDARA-4 reversed visceral hypersensitivity in a dose-dependent manner in the experimental rat model of IBS.The relief of visceral hypersensitivity upon treatment with YINDARA-4 involved regulation of the gut microbiota structure and composition,and normalization of elevated serotonin levels in the colon.The decrease in colonic serotonin levels with YINDARA-4 treatment might be associated with a reduction in the abundance of Helicobacter and enrichment of Butyricimonas.Conclusions:Treatment with YINDARA-4 was beneficial against visceral hypersensitivity in a rat model of IBS.The improved symptoms exhibited in IBS rats were associated with favorably altered gut microbiota and normalization of serotonin levels in the colon.展开更多
针对PL-SLAM(Point and Line Simultaneous Localization And Mapping)算法在稠密场景下同时使用点线特征造成特征计算冗余,以及曲线运动时漏选关键帧等问题,提出一种基于改进关键帧选取策略的快速PL-SLAM算法(Improved keyframe extrac...针对PL-SLAM(Point and Line Simultaneous Localization And Mapping)算法在稠密场景下同时使用点线特征造成特征计算冗余,以及曲线运动时漏选关键帧等问题,提出一种基于改进关键帧选取策略的快速PL-SLAM算法(Improved keyframe extraction strategy-based Fast PL-SLAM algorithm,IFPL-SLAM).该算法引入一种基于信息熵引导的位姿跟踪决策,使用信息熵评价优先提取的特征点,依据评价结果决策点线特征的融合使用方式,避免了在纹理稠密场景下点线特征同时使用造成数据冗余,提高了算法的实时性;与此同时,为避免曲线运动时漏选关键帧,采用逆向索引关键帧选取策略补充在曲线运动中漏选的关键帧,提高了闭环的准确率和定位精度.在公开的KITTI数据集和TUM数据集中进行测试,测试结果表明本文算法的运行时间与PL-SLAM算法相比减少了16.0%,绝对轨迹误差相比于PL-SLAM算法缩小了23.4%,表现出了良好的构图能力.展开更多
基金funded by the foundation of the Key Laboratory of Ethnomedicine(Minzu University of China),the Ministry of Education(KLEM-ZZ201903,KLEM-ZZ2020GD01)the Natural Science Foundation of Ningxia(2021AAC03358)funded by the National Natural Science Foundation of China(81901682)
文摘Objective:The present study aims to evaluate the in vivo efficacy of YINDARA-4 in improving the symptoms of irritable bowel syndrome(IBS)in a rat model and investigate the impact of YINDARA-4 on potential targets of IBS management,such as the serotonin level in intestinal tissues and the structure and composition of the gut microbiota.Methods:We developed an IBS rat model by combining stress from maternal separation,acetic acid administration,and restraint.We administered YINDARA-4 water extract to the IBS rat model for 10 consecutive days.The fecal water content,visceral sensitivity,gut microbiota,and serotonin levels in the colonic tissue were then analyzed and compared between the control group,IBS model group,and YINDARA-4–treated groups.Results:Treatment with YINDARA-4 reversed visceral hypersensitivity in a dose-dependent manner in the experimental rat model of IBS.The relief of visceral hypersensitivity upon treatment with YINDARA-4 involved regulation of the gut microbiota structure and composition,and normalization of elevated serotonin levels in the colon.The decrease in colonic serotonin levels with YINDARA-4 treatment might be associated with a reduction in the abundance of Helicobacter and enrichment of Butyricimonas.Conclusions:Treatment with YINDARA-4 was beneficial against visceral hypersensitivity in a rat model of IBS.The improved symptoms exhibited in IBS rats were associated with favorably altered gut microbiota and normalization of serotonin levels in the colon.
文摘针对PL-SLAM(Point and Line Simultaneous Localization And Mapping)算法在稠密场景下同时使用点线特征造成特征计算冗余,以及曲线运动时漏选关键帧等问题,提出一种基于改进关键帧选取策略的快速PL-SLAM算法(Improved keyframe extraction strategy-based Fast PL-SLAM algorithm,IFPL-SLAM).该算法引入一种基于信息熵引导的位姿跟踪决策,使用信息熵评价优先提取的特征点,依据评价结果决策点线特征的融合使用方式,避免了在纹理稠密场景下点线特征同时使用造成数据冗余,提高了算法的实时性;与此同时,为避免曲线运动时漏选关键帧,采用逆向索引关键帧选取策略补充在曲线运动中漏选的关键帧,提高了闭环的准确率和定位精度.在公开的KITTI数据集和TUM数据集中进行测试,测试结果表明本文算法的运行时间与PL-SLAM算法相比减少了16.0%,绝对轨迹误差相比于PL-SLAM算法缩小了23.4%,表现出了良好的构图能力.
