In this paper, we present an optimization mechanism for two popular landmark-based mobile robot visual homing algorithms (ALV and HiSS), called vector pre-assigned mechanism (VPM). VPM contains two branches, both of which can promote the homing performance effectively. In addition, to make the landmark distribution satisfy the equal distance assumption, a landmark optimization strategy is proposed based on imaging principle of the panoramic vision. Experiments on both panoramic image database and a real mobile robot have confirmed the effectiveness of the proposed methods.

In a series of recent papers we have shown how the continuum mechanics can be extended to nano-scale by supplementing the equations of elasticity for the bulk material with the generalised Young-Laplace equations of surface elasticity. This review paper begins with the generalised Young-Laplace equations. It then generalises the classical Eshelby formalism to nano-inhomogeneities; the Eshelby tensor now depends on the size of the inhomogeneity and the location of the material point in it. The generalized Eshelby formalism for nano-inhomogeneities is then used to calculate the strain fields in quantum dot (QD) structures. This is followed by generalisation of the micro-mechanical framework for determining the effective elastic properties of heterogeneous solids containing nano-inhomogeneities. It is shown that the elastic constants of nanochannel-array materials with a large surface area can be made to exceed those of the non-porous matrices through pore surface modification or coating. Finally, the scaling laws governing the properties of nano-structured materials are given.

Copper slag is a by-product obtained during smelting and refining of copper. Copper smelting slag typically contains about 1 wt.% copper and 40 wt.% iron depending upon the initial ore quality and the furnace type. Main components of copper slag are iron oxide and silica. These exist in copper slag mainly in the form of fayalite (2FeO ·SiO2). This study was intended to recover pig iron from the copper smelting slag by reduction smelting method. At the reaction temperature of below 1400°С the whole copper smelting slag was not smelted, and some agglomerated, showing a mass in a sponge form. The recovery behavior of pig iron from copper smelting slag increases with increasing smelting temperature and duration. The recovery rate of pig iron varied greatly depending on the reaction temperature.

Montmorillonite (MMT), a natural absorbent agent, has widely been accepted for its antidiarrhea function in human and farm animals; however, its specific physicochemical property limits its biological function in practical use. In the current study, raw MMT was loaded by andrographolide, namely andrographolide loaded montmorillonite (AGP-MMT). The microstructure of AGP-MMT was observed by scanning electron microscope (SEM) and X-ray diffraction (XRD). The effect of AGP-MMT on the growth performance, intestinal barrier and inflammation was investigated in an enterotoxigenic Escherichia coli (ETEC) challenged mice model. The results show that the microstructure of MMT was obviously changed after andrographolide modification: AGP-MMT exhibited a large number of spheroid particles, and floccule aggregates, but lower interplanar spacing compared with MMT. ETEC infection induced body weight losses and intestinal barrier function injury, as indicated by a lower villus height and ratio of villus height/crypt depth, whereas the serum levels of diamine oxidase (DAO), D-xylose and ETEC shedding were higher in the ETEC group compared with the CON group. Mice pretreated with AGP-MMT showed alleviated body weight losses and the intestinal barrier function injury induced by ETEC challenge. The villus height and the ratio of villus height/crypt depth, were higher in mice pretreated with AGP-MMT than those pretreated with equal levels of MMT. Pretreatment with AGP-MMT also alleviated the increased concentration of serum tumor necrosis factor-α (TNF-α) and interleukin-1β (IL-1β), and the corresponding genes in the jejunum induced by ETEC infection in mice. The protein and mRNA levels of IL-1β were lower in mice pretreated with AGP-MMT than those with equal levels of MMT. The results indicate that AGP-MMT was more effective in alleviating intestinal barrier injury and inflammation in mice with ETEC challenge than MMT.

Osteocalcin is a major non-collagenous component of the bone extracellular matrix and is considered to be an indicative factor of osteoblast differentiation. In the present study, we detected osteocalcin expression in different antler areas and growth phases by immunohisto- chemistry. Osteocalcin was highly expressed in all areas during the mineralization period and in mesenchymal cell and chondrocyte areas during the rapid growth period. The nucleotide sequence of the osteocalcin gene in sika deer antler was determined. The open reading frame was 303 bp encoding a protein of 100 amino acids. The estimated molecular mass of osteocalcin was 10.38 kDa and the theoretical isoelectric point was 5.37. The osteocalcin gene with a 6× His-tag at the C-terminus was cloned into the pGEX-4T1 vector and expressed in Escherichia coli under optimal conditions. The recombinant soluble protein fused with GST was purified with Ni-NTA resin. The purified osteocalcin protein exhibited a significant increase in HA adhesion and promoted antler chondrocyte proliferation. Osteocalcin is an important factor in regulating the rapid growth and differentiation of deer antlers.

Based on the mould temperature measured by thermocouples during slab continuous casting, a difference of temperature thermograph is developed to detect slab cracks. In order to detect abnormal temperature region caused by longitudinal crack, the suspicious regions are extracted and divided by virtue of computer image processing algorithms, such as threshold segmentation, connected region judgement and boundary tracing. The abnormal regions are then determined and labeled with the eight connected component labeling algorithm. The boundary of abnormal region is also extracted to depict characteristics of longitudinal crack. Based on above researches, longitudinal crack with abnormal temperature region can be detected and is different from other abnormalities. Four samples of temperature drop are picked up to compare with longitudinal crack on the abnormal region formation, length, width, shape, et al. The results show that the abnormal region caused by longitudinal crack has a linear and vertical shape. The height of abnormal region is more than the width obviously. The ratio of height to width is usually larger than that of other temperature drop regions. This method provides a visual and easy way to detect longitudinal crack and other abnormities. Meanwhile it has a positive meaning to the intelligent and visual mould monitoring system of continuous casting.

In this study, a SYBR Green-based real-time quantitative polymerase chain reaction (qPCR) assay was developed for rapid detection of porcine parvovirus (PPV) 6. Primer pairs targeting the conserved regions of PPV6 Capsid gene were designed. Sensitivity analyses revealed the lowest detection limit of the SYBR Green-based real-time PCR assay to be 47.8 copies/μL, which indicated it was 1000 times higher than that found in the conventional PCR investigations. This assay was specific and showed no cross-species amplification with other six porcine viruses. The assay demonstrated high repeatability and reproducibility; the intra- and inter-assay coefficients of variation were 0.79% and 0.42%, respectively. The positive detection rates of 180 clinical samples with SYBR Green-based real-time PCR and conventional PCR were 12.22% (22/180) and 4.44% (8/180), respectively. Our method is sensitive, specific, and reproducible. The use of SYBR Green-based real-time PCR may be suitable for the clinical detection and epidemiological investigation of PPV6.

In this study, we developed a SYBR Green I real-time PCR method for the rapid and sensitive detection of novel porcine parvovirus 7 (PPV7). Specific primers were designed based on the highly conserved region within the Capsid gene of PPV7. The established method was 1,000 times more sensitive than the conventional PCR method and had a detection limit of 35.6 copies. This method was specific and had no cross-reactions with PCV2, PCV3, PRV, PEDV, PPV1, and PPV6. Experiments testing the intra and interassay precision demonstrated a high reproducibility. Testing the newly established method with 200 clinical samples revealed a detection rate up to 17.5% higher than that of the conventional PCR assay. The established method could provide technical support for clinical diagnosis and epidemiological investigation of PPV7.