Causal association between systemic lupus erythematosus and the risk of migraine: A Mendelian randomization study.

BACKGROUND: Numerous studies have found that patients with systemic lupus erythematosus (SLE) often have comorbid headache, especially migraine. However, the causal relationship between genetically determined SLE and migraine risk remains unclear. Therefore, we conducted a Mendelian randomization (MR) study to explore this causal association. METHODS: Genome-wide association studies (GWAS) provided the instrumental variables. We selected summary data from GWAS of SLE as exposure (5201 SLE patients and 9066 controls). Both outcome GWAS data were from the Finnish Gene GWAS, including migraine with aura, migraine with aura and triptan purchases, and migraine without aura. The main MR approach was inverse-variance weighted. Pleiotropy and heterogeneity were detected using the MR pleiotropy residual sum and outlier, MR-Egger intercept test, leave-one-out analysis, and Cochran's Q test. RESULTS: There was a significant association between genetically predicted SLE susceptibility and increased risk of migraine with aura [odds ratio (OR) = 1.05, 95% confidence interval (CI) = 1.02-1.08, p = .001]. The result was consistent when the outcome was migraine with aura and triptan purchases [OR = 1.05, 95% CI = 1.02-1.08, p = .001]. However, we found no association between SLE and migraine without aura. Our MR study showed no pleiotropy or heterogeneity. CONCLUSIONS: Our study indicates that genetic susceptibility to SLE increases the incidence of migraine with aura but not migraine without aura. It is necessary for the routine evaluation and early recognition of migraine in patients with SLE in clinical settings.

An Enhanced Hybrid Visual-Inertial Odometry System for Indoor Mobile Robot.

As mobile robots are being widely used, accurate localization of the robot counts for the system. Compared with position systems with a single sensor, multi-sensor fusion systems provide better performance and increase the accuracy and robustness. At present, camera and IMU (Inertial Measurement Unit) fusion positioning is extensively studied and many representative Visual-Inertial Odometry (VIO) systems have been produced. Multi-State Constraint Kalman Filter (MSCKF), one of the tightly coupled filtering methods, is characterized by high accuracy and low computational load among typical VIO methods. In the general framework, IMU information is not used after predicting the state and covariance propagation. In this article, we proposed a framework which introduce IMU pre-integration result into MSCKF framework as observation information to improve the system positioning accuracy. Additionally, the system uses the Helmert variance component estimation (HVCE) method to adjust the weight between feature points and pre-integration to further improve the positioning accuracy. Similarly, this article uses the wheel odometer information of the mobile robot to perform zero speed detection, zero-speed update, and pre-integration update to enhance the positioning accuracy of the system. Finally, after experiments carried out in Gazebo simulation environment, public dataset and real scenarios, it is proved that the proposed algorithm has better accuracy results while ensuring real-time performance than existing mainstream algorithms.

Tailoring Photophysical Dynamics in a Hybrid Gallium-Bismuth Heterometallic Halide by Transferring from an Indirect to a Direct Band Structure.

Low-dimensional lead-free metal halides have emerged as novel luminous materials for solid-state lighting, remote thermal imaging, X-ray scintillation, and anticounterfeiting labeling applications. However, the influence of band structure on the intriguing optical property has rarely been explored, especially for low-dimensional hybrid heterometallic halides. In this study, we have developed a lead-free zero-dimensional gallium-bismuth hybrid heterometallic halide, A8(GaCl4)4(BiCl6)4 (A = C8H22N2), that is photoluminescence (PL)-inert because of its indirect-band-gap character. Upon rational composition engineering, parity-forbidden transitions associated with the indirect band gap have been broken by replacing partial Ga3+ with Sb3+, which contains an active outer-shell 5s2 lone pair, resulting in a transition from an indirect to a direct band gap. As a result, broadband yellow PL centered at 580 nm with a large Stokes shift over 200 nm is recorded. Such an emission is attributed to the radiative recombination of an allowed direct transition from triplet 3P1 states of Sb3+ based on experimental characterizations and theoretical calculations. This study provides not only important insights into the effect of the band structure on the photophysical properties but a guidance for the design of new hybrid heterometallic halides for optoelectronic applications.