An increasing number of drivers are relying on digital map navigation systems in vehicles or mobile phones to select optimal driving routes in order to save time and improve safety. In the near future, digital map nav...An increasing number of drivers are relying on digital map navigation systems in vehicles or mobile phones to select optimal driving routes in order to save time and improve safety. In the near future, digital map navigation systems are expected to play more important roles in transportation systems. In order to extend current navigation systems to more applications, two fundamental problems must be resolved: the lane-level map model and lane-level route planning. This study proposes solutions to both problems. The current limitation of the lane-level map model is not its accuracy but its flexibility;this study proposes a novel seven-layer map structure, called as Tsinghua map model, which is able to support autonomous driving in a flexible and efficient way. For lane-level route planning, we propose a hierarchical route-searching algorithm to accelerate the planning process, even in the presence of complicated lane networks. In addition, we model the travel costs allocated for lane-level road networks by analyzing vehicle maneuvers in traversing lanes, changing lanes, and turning at intersections. Tests were performed on both a grid network and a real lane-level road network to demonstrate the validity and efficiency of the proposed algorithm.展开更多
Intestinal Ca2+ absorption is a crucial physiological process for maintaining bone mineralization and Ca2+ homeostasis. It occurs through the transcellular and paracellular pathways. The first route comprises 3steps: ...Intestinal Ca2+ absorption is a crucial physiological process for maintaining bone mineralization and Ca2+ homeostasis. It occurs through the transcellular and paracellular pathways. The first route comprises 3steps: the entrance of Ca2+ across the brush border membranes(BBM) of enterocytes through epithelial Ca2+ channels TRPV6, TRPV5, and Cav1.3; Ca2+ movement from the BBM to the basolateral membranes by binding proteins with high Ca2+ affinity(such as CB9k); and Ca2+ extrusion into the blood. Plasma membrane Ca2+ ATPase(PMCA1b) and sodium calcium exchanger(NCX1) are mainly involved in the exit of Ca2+ from enterocytes. A novel molecule, the 4.1R protein, seems to be a partner of PMCA1 b, since both molecules colocalize and interact. The paracellular pathway consists of Ca2+ transport through transmembrane proteins of tight junction structures, such as claudins 2, 12, and 15. There is evidence of crosstalk between the transcellular and paracellular pathways in intestinal Ca2+ transport. When intestinal oxidative stress is triggered, there is a decrease in the expression of several molecules of both pathways that inhibit intestinal Ca2+ absorption. Normalization of redox status in the intestine with drugs such as quercetin, ursodeoxycholic acid, or melatonin return intestinal Ca2+ transport to control values. Calcitriol [1,25(OH)2D3] is the major controlling hormone of intestinal Ca2+ transport. It increases the gene and protein expression of most of the molecules involved in both pathways. PTH, thyroid hormones, estrogens, p ro l a c t i n, g ro w t h h o r m o n e, a n d g l u c o c o r t i c o i d s apparently also regulate Ca2+ transport by direct action, indirect mechanism mediated by the increase of renal 1,25(OH)2D3 production, or both. Different physiological conditions, such as growth, pregnancy, lactation, and aging, adjust intestinal Ca2+ absorption according to Ca2+ demands. Better knowledge of the molecular details of intestinal Ca2+ absorption could lead to the development of nutritional and medica展开更多
Endoscopic retrograde cholangiopancreatography (ERCP) is efficacious in patients who have undergone Billroth II gastroenterostomies, but the success rate decreases in patients who also have experienced Braun anastomos...Endoscopic retrograde cholangiopancreatography (ERCP) is efficacious in patients who have undergone Billroth II gastroenterostomies, but the success rate decreases in patients who also have experienced Braun anastomoses. There are currently no reports describing the preferred enterography route for cannulation in these patients. We first review the patient’s previous surgery records, which most often indicate that the efferent loop is at the greater curvature of the stomach. We recommend extending the duodenoscope along the greater curvature of the stomach and then advancing it through the “lower entrance” at the site of the gastrojejunal anastomosis, along the efferent loop, and through the “middle entrance” at the site of the Braun anastomosis to reach the papilla of Vater. Ten patients who had each undergone Billroth II gastroenterostomy and Braun anastomosis between January 2009 and December 2011 were included in our study. The overall success rate of enterography was 90% for the patients who had undergone Billroth II gastroenterostomy and Braun anastomosis, and the therapeutic success rate was 80%. We believe that this enterography route for ERCP is optimal for a patient who has had Billroth II gastroenterostomy and Braun anastomosis and helps to increase the success rate of the procedure.展开更多
基金the National Key Research and Development Program of China (2018YFB0105000)the National Natural Science Foundation of China (61773234 and U1864203)+2 种基金the Project of Tsinghua University and Toyota Joint Research Center for AI Technology of Automated Vehicle (TT2018-02)the International Science and Technology Cooperation Program of China (2016YFE0102200)the software developed in the Beijing Municipal Science and Technology Program (D171100005117001 and Z181100005918001).
文摘An increasing number of drivers are relying on digital map navigation systems in vehicles or mobile phones to select optimal driving routes in order to save time and improve safety. In the near future, digital map navigation systems are expected to play more important roles in transportation systems. In order to extend current navigation systems to more applications, two fundamental problems must be resolved: the lane-level map model and lane-level route planning. This study proposes solutions to both problems. The current limitation of the lane-level map model is not its accuracy but its flexibility;this study proposes a novel seven-layer map structure, called as Tsinghua map model, which is able to support autonomous driving in a flexible and efficient way. For lane-level route planning, we propose a hierarchical route-searching algorithm to accelerate the planning process, even in the presence of complicated lane networks. In addition, we model the travel costs allocated for lane-level road networks by analyzing vehicle maneuvers in traversing lanes, changing lanes, and turning at intersections. Tests were performed on both a grid network and a real lane-level road network to demonstrate the validity and efficiency of the proposed algorithm.
文摘Intestinal Ca2+ absorption is a crucial physiological process for maintaining bone mineralization and Ca2+ homeostasis. It occurs through the transcellular and paracellular pathways. The first route comprises 3steps: the entrance of Ca2+ across the brush border membranes(BBM) of enterocytes through epithelial Ca2+ channels TRPV6, TRPV5, and Cav1.3; Ca2+ movement from the BBM to the basolateral membranes by binding proteins with high Ca2+ affinity(such as CB9k); and Ca2+ extrusion into the blood. Plasma membrane Ca2+ ATPase(PMCA1b) and sodium calcium exchanger(NCX1) are mainly involved in the exit of Ca2+ from enterocytes. A novel molecule, the 4.1R protein, seems to be a partner of PMCA1 b, since both molecules colocalize and interact. The paracellular pathway consists of Ca2+ transport through transmembrane proteins of tight junction structures, such as claudins 2, 12, and 15. There is evidence of crosstalk between the transcellular and paracellular pathways in intestinal Ca2+ transport. When intestinal oxidative stress is triggered, there is a decrease in the expression of several molecules of both pathways that inhibit intestinal Ca2+ absorption. Normalization of redox status in the intestine with drugs such as quercetin, ursodeoxycholic acid, or melatonin return intestinal Ca2+ transport to control values. Calcitriol [1,25(OH)2D3] is the major controlling hormone of intestinal Ca2+ transport. It increases the gene and protein expression of most of the molecules involved in both pathways. PTH, thyroid hormones, estrogens, p ro l a c t i n, g ro w t h h o r m o n e, a n d g l u c o c o r t i c o i d s apparently also regulate Ca2+ transport by direct action, indirect mechanism mediated by the increase of renal 1,25(OH)2D3 production, or both. Different physiological conditions, such as growth, pregnancy, lactation, and aging, adjust intestinal Ca2+ absorption according to Ca2+ demands. Better knowledge of the molecular details of intestinal Ca2+ absorption could lead to the development of nutritional and medica
基金Supported by Shanghai Education Commission Scientific Research and Innovation ProjectNo.11YZ55
文摘Endoscopic retrograde cholangiopancreatography (ERCP) is efficacious in patients who have undergone Billroth II gastroenterostomies, but the success rate decreases in patients who also have experienced Braun anastomoses. There are currently no reports describing the preferred enterography route for cannulation in these patients. We first review the patient’s previous surgery records, which most often indicate that the efferent loop is at the greater curvature of the stomach. We recommend extending the duodenoscope along the greater curvature of the stomach and then advancing it through the “lower entrance” at the site of the gastrojejunal anastomosis, along the efferent loop, and through the “middle entrance” at the site of the Braun anastomosis to reach the papilla of Vater. Ten patients who had each undergone Billroth II gastroenterostomy and Braun anastomosis between January 2009 and December 2011 were included in our study. The overall success rate of enterography was 90% for the patients who had undergone Billroth II gastroenterostomy and Braun anastomosis, and the therapeutic success rate was 80%. We believe that this enterography route for ERCP is optimal for a patient who has had Billroth II gastroenterostomy and Braun anastomosis and helps to increase the success rate of the procedure.
