This paper aims to develop a novel attitude determination system aided by polarization sensor. An improved heading angle function is derived using the perpendicular relationship between directions of E-vector of linearly polarized light and solar vector in the atmospheric polarization distribution model. The Extended Kalman filter (EKF) with quaternion differential equation as a dynamic model is applied to fuse the data from sensors. The covariance functions of filter process and measurement noises are deduced in detail. The indoor and outdoor tests are conducted to verify the validity and feasibility of proposed attitude determination system. The test results showed that polarization sensor is not affected by magnetic field, thus the proposed system can work properly in environments containing the magnetic interference. The results also showed that proposed system has higher measurement accuracy than common attitude determination system and can provide precise parameters for Unmanned Aerial Vehicle (UAV) flight control. The main contribution of this paper is implementation of the EKF for incorporating the self-developed polarization sensor into the conventional attitude determination system. The real-world experiment with the quad-rotor proved that proposed system can work in a magnetic interference environment and provide sufficient accuracy in attitude determination for autonomous navigation of vehicle.
The colorectal-cancer (CRC) incidence rate and mortality have remained high for several years. In recent years, immune-checkpoint-inhibitor (ICI) therapy has rapidly developed. However, it is only effective in a few CRC patients with microsatellite-instability-high (MSI-H) or mismatch-repair-deficient (dMMR) CRC. How to improve the efficiency of ICI therapy in CRC patients with microsatellite stability (MSS) remains a huge obstacle. Tumor-associated neutrophils (TANs), which are similar to macrophages, also have N1 and N2 phenotypes. They can be recruited and polarized through different cytokines or chemokines, and then play an antitumor or tumor-promoting role. In CRC, we find that the prognostic significance of TANs is still controversial. In this review, we describe the antitumor regulation of TANs, and their mechanism of promoting tumor progression by boosting the transformation of inflammation into tumors, facilitating tumor-cell proliferation, metastasis and angiogenesis. The targeting of TANs combined with ICIs may be a new treatment model for CRC. Relevant animal experiments have shown good responses, and clinical trials have also been carried out in succession. TANs, as “assistants” of ICI treatment, may become the key to the success of CRC immunotherapy, although no significant results have been obtained.
Ionic defects generated from the grain boundaries and surfaces of perovskite films are primary factors that degrade nonlinear optical (NLO) properties, filling or eliminating these defects is crucial for achieving...
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