Search

Fluorene-9-bisphenol (BHPF) has been increasingly used as a bisphenol A substitute in the synthesis of various products. Previous studies have suggested that BHPF can be released from plastic bottles into drinking water, and BHPF accumulation has been reported to cause various adverse effects in humans. Nevertheless, the impact of BHPF exposure on endometrial epithelial cells remains largely unexplored. Here, we investigated the effects of exposure to different concentrations of BHPF on endometrial cells and used integrated metabolomic and transcriptomic methods to elucidate the underlying molecular mechanisms. Our results revealed significant associations between specific metabolites and genes, indicating that low-concentration exposure to BHPF affects endometrial epithelial cells by targeting pathways related to primary immunodeficiency, in which the key genes are IL7R and PTPRC. High-concentration exposure to BHPF decreased cell viability by regulating the purine metabolism pathway, as well as dysregulating the expression of PGM1, PDE3B, AK9, and ENTPD8. Our study highlights that the health risk of BHPF exposure to endometrial epithelial cells is concentration-dependent and that integrated analysis of metabolomic and transcriptomic data not only revealed the biological effects of BHPF and its underlying mechanisms, but also provided key candidate target genes for further exploration.

Feature points from moving objects can negatively impact the accuracy of Visual Simultaneous Localization and Mapping (VSLAM) algorithms, while detection or semantic segmentation-based VSLAM approaches often fail to accurately determine the true motion state of objects. To address this challenge, this paper introduces DIO-SLAM: Dynamic Instance Optical Flow SLAM, a VSLAM system specifically designed for dynamic environments. Initially, the detection thread employs YOLACT (You Only Look At CoefficienTs) to distinguish between rigid and non-rigid objects within the scene. Subsequently, the optical flow thread estimates optical flow and introduces a novel approach to capture the optical flow of moving objects by leveraging optical flow residuals. Following this, an optical flow consistency method is implemented to assess the dynamic nature of rigid object mask regions, classifying them as either moving or stationary rigid objects. To mitigate errors caused by missed detections or motion blur, a motion frame propagation method is employed. Lastly, a dense mapping thread is incorporated to filter out non-rigid objects using semantic information, track the point clouds of rigid objects, reconstruct the static background, and store the resulting map in an octree format. Experimental results demonstrate that the proposed method surpasses current mainstream dynamic VSLAM techniques in both localization accuracy and real-time performance.

SLAM (simultaneous localization and mapping) technology incorporating QR code navigation has been widely used in the mobile robotics industry. However, the particle kidnapping problem, positioning accuracy, and navigation time are still urgent issues to be solved. In this paper, a SLAM fused QR code navigation method is proposed and an improved adaptive Monte Carlo positioning algorithm is used to fuse the QR code information. Firstly, the generation and resampling methods of initialized particle swarms are improved to improve the robustness and weights of the swarms and to avoid the kidnapping problem. Secondly, the Gmapping scan data and the data generated by the improved AMCL algorithm are fused using the extended Kalman filter to improve the accuracy and stability of the state estimation. Finally, in terms of the positioning system, Gmapping is used to obtain QR code data as marker positions on static maps, and the improved adaptive Monte Carlo localization particle positioning algorithm is matched with a library of QR code templates, which corrects for offset distances and achieves precise point-to-point positioning under grey-valued raster maps. The experimental results show that the particles encountered with kidnapping can be quickly adjusted in position, with a 68.73% improvement in adjustment time, 64.27% improvement in navigation and positioning accuracy, and 42.81% reduction in positioning time.

Nitrogen (N)-containing compounds have a significant impact on the optical and toxicological properties of aerosols. 1,2,4-Trioxolanes, known as secondary ozonides (SOZs), key products from the ozonolysis of biogenic terpenoids, are readily taken up into atmospheric aerosols and act as oxidants, potentially interacting with amines in the atmosphere. In the present work, we carefully investigated the component of the particles produced by the ozonolysis of β-caryophyllene (β-C) in the presence of ethylamine (EA), methylamine (MA), dimethylamine (DMA) or ammonia. The mass spectrometric results show that SOZ is the dominant product from the ozonolysis of β-C. It readily reacts with EA and MA but has inert reactivities toward DMA and ammonia. Similar experimental results were achieved with α-humulene (α-H), an isomer of β-C, was used in place of β-C. Additionally, D2O and H218O solvents were used for the characterization of products. The results revealed an intriguing phenomenon that the products from β-C SOZ and α-H SOZ reacting with the same amine (EA or MA) possessed different functional groups, despite the fact that they are isomerized species with the identical chemical structure (1,2,4-trioxolane). That indicates the chemical conformation of SOZs has a strong influence on how they react with amines. For the first time, SOZs derived from β-C and α-H reacting with amines is reported in this study, that may represent a hitherto unrecognized source of N-containing compounds production in atmospheric aerosols. [ABSTRACT FROM AUTHOR]