RESUMEN
The intrusion of objects into track areas is a significant issue affecting the safety of urban rail transit systems. In recent years, obstacle detection technology based on LiDAR has been developed to identify potential issues, in which accurately extracting the track area is critical for segmentation and collision avoidance. However, because of the sparsity limitations inherent in LiDAR data, existing methods can only segment track regions over short distances, which are often insufficient given the speed and braking distance of urban rail trains. As such, a new approach is developed in this study to indirectly extract track areas by detecting references parallel to the rails (e.g., tunnel walls, protective walls, and sound barriers). Reference point selection and curve fitting are then applied to generate a reference curve on either side of the track. A centerline is then extrapolated from the two curves and expanded to produce a 2D track area with the given size specifications. Finally, the 3D track area is acquired by detecting the ground and removing points that are either too high or too low. The proposed technique was evaluated using a variety of scenes, including tunnels, elevated sections, and level urban rail transit lines. The results showed this method could successfully extract track regions from LiDAR data over significantly longer distances than conventional algorithms.
RESUMEN
The hypoglycemic and anti-diabetic effect of Rehmannia glutinosa oligosaccharide (ROS) in glucose-induced hyperglycemic and alloxan-induced diabetic rats and its mechanism was investigated in this paper. It was found that pretreatment of ROS in normal rats with 100 mg/kg for 3 days, i.p., induced a partial prevention of hyperglycemia caused by glucose (2g/kg, i.p.), while when hyperglycemia was induced in adrenalectomized (ADX) rats, the preventive effect of ROS on hyperglycemia was lost. In alloxan-induced diabetic rats, ROS (100 mg/kg for 15 days, i.p.) showed a significant decrease in blood glucose level and hepatic glucose-6-phosphatase activity with an increase in hepatic glycogen content. Furthermore, ROS raised plasma insulin level and lowered plasma corticosterone level in alloxan-induced diabetic rats. The results indicated that oligosaccharide of Rehmannia glutinosa Libosch. exerted a significant hypoglycemic effect in normal and alloxan-induced diabetic rats. The regulatory mechanism of ROS on glucose metabolism was adrenal dependent and had a close relation with the neuroendocrine system.