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To investigate the antitumor efficacy of pingyangmycin (PYM) in combination with anti-PD-1 antibody and determine the capability of PYM to induce immunogenic cell death (ICD) in cancer cells. The murine 4T1 breast cancer and B16 melanoma models were used for evaluation of therapeutic efficacy of the combination of PYM with anti-PD-1 antibody. The ELISA kits were used to quantify the ICD related ATP and HMGB1 levels. The Transwell assay was conducted to determine the chemotaxis ability of THP-1 cell in vitro. The flow cytometry was used to measure reactive oxygen species level and analyze the ratio of immune cell subsets. PYM induced ICD in murine 4T1 breast cancer and B16 melanoma cells and increased the release of nucleic acid fragments that may further promote the monocytic chemotaxis. In the 4T1 murine breast cancer model, PYM alone, anti-PD-1 antibody alone, and their combination suppressed tumor growth by 66.3%, 16.1% and 77.6%, respectively. PYM markedly enhanced the therapeutic efficacy of anti-PD-1 antibody against 4T1 breast cancer. The calculated CDI (coefficient of drug interaction) indicated synergistic effect. Evaluated by graphic analysis, the nucleated cells intensity in the femur bone marrow remained unchanged. Histopathological observations revealed no noticeable toxico-pathological changes in the lung and various organs, indicating that the PYM and anti-PD-1 antibody combination exerted enhanced efficacy at well-tolerated dosage level. By the combination treatment, a panel of immunological changes emerged. The ratio of CD3+ cells, NK cells and NKT cells increased and Tregs decreased in peripheral blood. The DCs increased in the spleen. Prominent changes occurred in tumor infiltrating lymphocytes. The ratio of CD8+ cells increased, while that of CD4+ cells decreased; however, the ratio of CD3+ cells remained unchanged, implying that certain immunological responses emerged in the tumor microenvironment. PYM alone could also increase CD8+ cells and reduce CD4+ cells in tumor infiltrating lymphocytes. The studies indicate that PYM, as an ICD inducer with mild myelosuppression effect, may enhance the therapeutic efficacy of anti-PD-1 antibody in association with tumor infiltrating CD8+ T cell augmentation.

The current roadheader automatic cutting technology has been relatively mature, the pose error elimination control technology has become a research hotspot. Pitch pose error of roadheader is too large will cause automatic excavating cut roof or floor, and will make the machine lose its stability. According to the movement way and the work requirements of roadheader, this paper put forward the control method of controlling shovel plate and back support to eliminate the impact of pitching pose error , and the corresponding sensors were selected based on the actual situation. According to the kinematics analysis of shovel plate and back support, the specific control method of the research was completed. The above system has been tested on EBZ200 type roadheader and testing results is good. The study of this system is a part of the pose error elimination control for roadheader, which will lay a foundation for the detection of roadheader pose and directional tunneling.

The system which could be described as "trinity, seven subsystems" has realized automatic remote control of the machine working process with orientation, localization and formalization. At local place, it realized automatic position and pose online detection, automatic orientation tunneling, automatic section cutting and forming and adaptive control of cutting arm swaying speed. It was the first time that realized absolute measuring of roadheader frame position and pose error under coal mine working condition in our country which could avoid error accumulation in relative measuring and guarantee the high precision of orientation tunneling. In underground remote, it realized remote monitoring, wireless remote control and video surveillance, thus realized remote control with multiple angles, visualization and one-button control under the condition of dustiness and vibration. At any network access point on ground using mining ring network, it realized real-time monitoring and displaying of roadheader running state parameters, and realized the functions of remote fault diagnosis and alarming. The whole system has been tested many times underground. The application results show that it is stable and reliable. With the development of automation, intellectualization, and informatization and other high technology, this system will be more and more suitable for fully mechanized excavation face.

An advanced detector based on the dual frequency IP method was designed to solve the speed unmatched problem between the detection and excavation. The detector consists of the transmission module and the receiving module. This paper designed the circuit of the transmission module with the Proteus software and completed the control program with the Keil software. Through the co-simulation of the circuit and the control program, the transmission waveforms designed were obtained and the system proved available, which laid the foundation for the development of the transmission module of the detector.

To eliminate the effects for section automatic cutting because of roadheader pose error, Control system of pose error compensation for roadheader was proposed. First, make the control strategy according to the coal mine actual working condition and the working ability of machine each actuator; Hardware system structure is proposed based on the control system and the corresponding sensors are installed; Last, according to the working way of roadheader, put forward the specific control methods of pitch attitude compensation control and cutting boundary compensation control. The above system has been tested on EBZ200 type roadheader and the testing results show that the system function is correct and reliable and the control precision is high. This system could eliminate the effects for section automatic cutting because of roadheader pose error efficiently and lays a foundation for remote control of roadheaders.