This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inertial odometry framework. Building on a highly efficient tightly-coupled iterated Kalman filter, FAST-LIO2 has two key novelties that allow fast, robust, and accurate LiDAR navigation (and mapping). The first one is directly registering raw points to the map (and subsequently update the map, i.e., mapping) without extracting features. This enables the exploitation of subtle features in the environment and hence increases the accuracy. The elimination of a hand-engineered feature extraction module also makes it naturally adaptable to emerging LiDARs of different scanning patterns; The second main novelty is maintaining a map by an incremental k-d tree data structure, ikd-Tree, that enables incremental updates (i.e., point insertion, delete) and dynamic re-balancing. Compared with existing dynamic data structures (octree, R * -tree, nanoflann k-d tree), ikd-Tree achieves superior overall performance while naturally supports downsampling on the tree. We conduct an exhaustive benchmark comparison in 19 sequences from a variety of open LiDAR datasets. FAST-LIO2 achieves consistently higher accuracy at a much lower computation load than other state-of-the-art LiDAR-inertial navigation systems. Various realworld experiments on solid-state LiDARs with small FoV are also conducted. Overall, FAST-LIO2 is computationally-efficient (e.g., up to 100 Hz odometry and mapping in large outdoor environments), robust (e.g., reliable pose estimation in cluttered indoor environments with rotation up to 1000 deg/s), versatile (i.e., applicable to both multi-line spinning and solid-state Li-DARs, UAV and handheld platforms, and Intel and ARM-based processors), while still achieving higher accuracy than existing methods. Our implementation of the system FAST-LIO2, and the data structure ikd-Tree are both open-sourced on Github 2,3 .

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Background. Mounting evidence suggests that most tumors consist of a heterogeneous population of cells with a subset population that has the exclusive tumorigenic ability. They are called cancer stem cells (CSCs). CSCs can selfrenew to generate additional CSCs and also differentiate to generate phenotypically diverse cancer cells with limited proliferative potential. They have been identified in a variety of tumors. In this study, we identify the marker of CSCs in the established human laryngeal tumor Hep-2 cell line in vivo. Our in vitro experiment shown as CD133, a 5-transmembrane glycoprotein expressed in Hep-2 cell line. CD133 was supposed as a candidate of CSC in laryngeal carcinoma. In this study, the expression of CD133 was detected in a Hep-2 cell line. Applying the magnetic cell sorting (MACS) technology, we reported the results of purifying CD133 positive cells from a Hep-2 cell line.

In recent years, obtaining RNA secondary structure information has played an important role in RNA and gene function research. Although some RNA secondary structures can be gained experimentally, in most cases, efficient, and accurate computational methods are still needed to predict RNA secondary structure. Current RNA secondary structure prediction methods are mainly based on the minimum free energy algorithm, which finds the optimal folding state of RNA in vivo using an iterative method to meet the minimum energy or other constraints. However, due to the complexity of biotic environment, a true RNA structure always keeps the balance of biological potential energy status, rather than the optimal folding status that meets the minimum energy. For short sequence RNA its equilibrium energy status for the RNA folding organism is close to the minimum free energy status; therefore, the minimum free energy algorithm for predicting RNA secondary structure has higher accuracy. Nevertheless, in a longer sequence RNA, constant folding causes its biopotential energy balance to deviate far from the minimum free energy status. This deviation is because of its complex structure and results in a serious decline in the prediction accuracy of its secondary structure. In this paper, we propose a novel RNA secondary structure prediction algorithm using a convolutional neural network model combined with a dynamic programming method to improve the accuracy with large-scale RNA sequence and structure data. We analyze current experimental RNA sequences and structure data to construct a deep convolutional network model, and then we extract implicit features of an effective classification from large-scale data to predict the pairing probability of each base in an RNA sequence. For the obtained probabilities of RNA sequence base pairing, an enhanced dynamic programming method is applied to obtain the optimal RNA secondary structure. Results indicate that our proposed method is superior to the common RNA secondary structure prediction algorithms in predicting three benchmark RNA families. Based on the characteristics of deep learning algorithm, it can be inferred that the method proposed in this paper has a 30% higher prediction success rate when compared with other algorithms, which will be needed as the amount of real RNA structure data increases in the future.

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