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Loop closure detection (LCD), also known as place recognition, is a crucial component of visual simultaneous localization and mapping (vSLAM) systems, aiding in the reduction of cumulative localization errors on a global scale. However, changes in environmental appearance and differing viewpoints pose significant challenges to the accuracy of the LCD algorithm. Addressing this issue, this paper presents a novel end-to-end framework (MetricNet) for LCDs to enhance detection performance in complex scenes with distinct appearance variations. Focusing on deep features with high distinguishability, an attention-based Channel Weighting Module(CWM) is designed to adaptively detect salient regions of interest. In addition, a patch-by-patch Similarity Measurement Module (SMM) is incorporated to steer the network for handling challenging situations that tend to cause perceptual aliasing. Experiments on three typical datasets have demonstrated MetricNet's appealing detection performance and generalization ability compared to many state-of-the-art learning-based methods, where the mean average precision is increased by up to 11.92%, 18.10%, and 5.33% respectively. Moreover, the detection results on additional open datasets with apparent viewpoint variations and the odometry dataset for localization problems have also revealed the dependability of MetricNet under different adaptation scenarios. [ABSTRACT FROM AUTHOR]

To better harvest the kinetic energy of the human and broaden the energy harvest frequency band, a nonlinear piezo-electromagnetic composite human energy harvester (NPE-HEH) is proposed. A magnetic repulsion force between the two groups of magnets makes the energy harvester nonlinear. The excitation experiment and the actual experiment of the human are carried out for the harvester. The excitation experiment results show that there is an optimal resistance value of the harvester to maximize the output power value. When the excitation acceleration is 0.4 g and the excitation frequency is 9 Hz, the output voltage value and the output power of the electromagnetic part of the energy harvester are 0.86 V and 2.47 mW respectively, and the output performance is excellent. When the energy harvester is installed in a backpack with a moving speed of 9 km/h, it can generate 0.7 mW of power. When the energy harvester is placed on the leg, the output performance is good and the output power can reach 1.3 mW. The energy harvester can efficiently harvest energy at low frequencies. This harvester is efficient at low frequencies, compact in size, and easy to carry, making it highly suitable for human vibration energy harvesting applications. [ABSTRACT FROM AUTHOR]

AbstractThis article proposes a low-frequency and efficient tension-like nonlinear piezoelectric energy harvester, which increases the harvesting performance of the harvester by swinging the support frame. Firstly, design the structure of the harvester and draw a physical model. Secondly, finite element models are used to simulate and analyze the structure’s dynamic characteristics. Finally, make an experimental prototype of the harvester and explore the power generation characteristics of the device through experiments. The results indicate that the harvester has two natural frequencies under low-frequency conditions. The energy harvester has the optimal external resistance to achieve peak output power. The greater the excitation acceleration, the greater the total output power value of the energy harvester. When the mass of the mass block is 3.7 g and the excitation acceleration is 0.4 g, the total output power value of the energy harvester is 3.88 mW, and the harvesting frequency band is wide, indicating excellent output performance of the harvester. The experimental results of the energy harvester device are consistent with the simulation results, fully verifying the correctness of the experiment and simulation. This piezoelectric energy harvester can efficiently harvest vibration energy at low frequencies, providing a good prospect for supplying power to microelectronic devices. [ABSTRACT FROM AUTHOR]

Background: Chronic Kidney Disease (CKD) leads to structural and functional abnormalities of the kidneys and seriously jeopardizes human health. Shenyan Oral Liquid (SOLI), a Chinese medicinal preparation, has been reported to protect podocytes in patients with chronic kidney disease (CKD)., Objective: The objective of this study is to investigate the mechanism of action of the Chinese medicinal preparation Senyan Oral Liquid (SOLI) in the treatment of CKD by protecting podocytes through network pharmacology technology and experimental validation., Methods: Compounds of SOLI and targets of CKD disease were collected and screened. The SOLI network of bioactive compounds targeting CKD and the protein-protein interaction (PPI) network were constructed using Cytoscape software and the STRING online database. Gene ontology (GO) and Kyoto Encyclopedia of Genes and Genomes (KEGG) enrichment analyses were performed using the R software Cluster Profiler package. Molecular docking was performed using Autodock software to verify the binding ability of bioactive compounds and target genes. Subsequently, the potential mechanism of SOLI on CKD predicted by network pharmacological analysis was experimentally studied and verified in an adriamycin-induced nephropathy rat model., Results: A total of 81 targets of SOLI components acting on CKD were identified. The results of the PPI analysis clarified that five key target genes (TNF, AKT1, IL6, VEGFA, and TP53) play a critical role in the treatment of CKD by SOLI. The GO analysis and KEGG enrichment analysis indicated that SOLI acts through multiple pathways, including the PI3K/AKT signaling pathway against CKD. Molecular docking showed that the main compounds of SOLI and five key genes had strong binding affinity. In a rat model of adriamycin-induced nephropathy, SOLI significantly ameliorated disease symptoms and improved renal histopathology. Mechanistic studies showed that SOLI upregulated the expression level of Nephrin, inhibited the PI3K/AKT pathway in renal tissues, and ultimately suppressed the activation of autophagy-related proteins in CKD., Conclusion: SOLI exerted a renoprotective effect by regulating the Nephrin-PI3K/AKT autophagy signaling pathway, and these findings provide new ideas for the development of SOLI-based therapeutic approaches for CKD., (Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.net.)