| 1 | Automatic Lane-Level Intersection Map Generation using Low-Channel Roadside LiDAR显示文摘A lane-level intersection map is a cornerstone in high-definition(HD) traffic network maps for autonomous driving and high-precision intelligent transportation systems applications such as traffic management and control, and traffic accident evaluation and prevention. Mapping an HD intersection is time-consuming, labor-intensive, and expensive with conventional methods. In this paper, we used a low-channel roadside light detection and range sensor(LiDAR) to automatically and dynamically generate a lane-level intersection, including the signal phases, geometry, layout, and lane directions. First, a mathematical model was proposed to describe the topology and detail of a lane-level intersection. Second, continuous and discontinuous traffic object trajectories were extracted to identify the signal phases and times. Third, the layout, geometry, and lane direction were identified using the convex hull detection algorithm for trajectories. Fourth, a sliding window algorithm was presented to detect the lane marking and extract the lane, and the virtual lane connecting the inbound and outbound of the intersection were generated using the vehicle trajectories within the intersection and considering the traffic rules. In the field experiment, the mean absolute estimation error is 2 s for signal phase and time identification. The lane marking identification Precision and Recall are96% and 94.12%, respectively. Compared with the satellite-based,MMS-based, and crowdsourcing-based lane mapping methods,the average lane location deviation is 0.2 m and the update period is less than one hour by the proposed method with low-channel roadside LiDAR. | Hui Liu Ciyun Lin Bowen Gong Dayong Wu | 2023 | IEEE/CAA Journal of Automatica Sinica2023，10，5： | 0 |
| 2 | Effects of Yishenjiangzhuo granules on immunity and bone metabolism in patients with stage 3-4 chronic kidney disease显示文摘OBJECTIVE:To determine the effects of Yishenjiangzhuo granules(YJG)on bone metabolism and to explore the changes in levels of bone Gla protein(BGP),tartrate-resistant acid phosphatase(TRAP),as well as their relationships with levels of B cells,regulatory T cells(Treg)and interleukin(IL)-17 in patients with stage 3-4 chronic kidney disease(CKD)before and after treatment.METHODS:Fifty-three stage 3-4 CKD patients were divided randomly into two groups:YJG treatment and control.Peripheral blood was taken from two groups of CKD patients and 21 healthy subjects in the normal group.The parameters determined were the levels of CD4+,CD19+,CD19+CD69+,CD19+AV,Treg(CD4+CD25+CD127lo),BGP,TRAP,IL-17,calcium,phosphate,blood urea nitrogen,serum creatinine(SCr),hemoglobin(Hb)in peripheral blood,and urinary creatinine.Calcium-phosphate products and endogenous creatinine clearance rate(CCr)were calculated according to standard protocols.RESULTS:In YJG and control groups,SCr levels were lowered(P<0.01)after treatment,whereas CCr(P<0.05)as well as Hb and albumin levels(P<0.01)were increased.The changes in levels of CCr and SCr in the YJG group were more significant.After treatment,CD19+CD69+and Treg levels in the two groups varied(P<0.01)compared with those of the normal group;the level of CD19+increased but the levels of CD4+and CD19+AV decreased(P<0.01)in both groups.Compared with the control group,the changes of CD19+and CD19+AV in the YJG group were more apparent(P<0.05).Compared with the normal group,levels of IL-17 in both groups increased significantly(P<0.01),and the difference in the control group was more significant(P<0.05).After treatment,the TRAP level increased(P<0.05),but the difference in BGP level(P>0.05)was not significant.CONCLUSION:In stage 3-4 CKD patients,B cells and IL-17 participated in the induction of osteoclast activation.YJG could also elevate the level of B cells and decrease their apoptosis,but showed no significant effects on active B cells,IL-17 or osteoclast activity. | Jing Zheng Yingda Lin Lu Huang Caifeng Chen Xuemin Zheng Xinhong Wu Ciyun Liu | 2013 | Journal of Traditional Chinese Medicine2013，33，5： | 0 |
您所在的机构暂未开通此部分的功能，请联系管理员