RESUMO
Drones traditionally rely on satellite signals for positioning and altitude. However, when in a special denial environment, satellite communication is interrupted, and the traditional positioning and height determination methods face challenges. We made a dataset at the height of 80-200 m and proposed a multi-scale input network. The positioning index RDS achieved 76.3 points, and the positioning accuracy within 20 m was 81.7%. This paper proposes a method to judge the height by image alone, without the support of other sensor data. One height judgment can be made per single image. Based on the UAV image-satellite image matching positioning technology, by calculating the actual area represented by the UAV image in real space, combined with the fixed parameters of the optical camera, the actual height of the UAV flight is calculated, which is 80-200 m, and the relative error rate of height is 18.1%.
RESUMO
Tumor-resident microbiota in breast cancer promotes cancer initiation and malignant progression. However, targeting microbiota to improve the effects of breast cancer therapy has not been investigated in detail. Here, we evaluated the microbiota composition of breast tumors and found that enterotoxigenic Bacteroides fragilis (ETBF) was highly enriched in the tumors of patients who did not respond to taxane-based neoadjuvant chemotherapy. ETBF, albeit at low biomass, secreted the toxic protein BFT-1 to promote breast cancer cell stemness and chemoresistance. Mechanistic studies showed that BFT-1 directly bound to NOD1 and stabilized NOD1 protein. NOD1 was highly expressed on ALDH+ breast cancer stem cells (BCSCs) and cooperated with GAK to phosphorylate NUMB and promote its lysosomal degradation, thereby activating the NOTCH1-HEY1 signaling pathway to increase BCSCs. NOD1 inhibition and ETBF clearance increase the chemosensitivity of breast cancer by impairing BCSCs.