No abstract

The tumor microenvironment (TME) is an ecosystem that contains various cell types, including cancer cells, immune cells, stromal cells, and many others. In the TME, cancer cells aggressively proliferate, evolve, transmigrate to the circulation system and other organs, and frequently communicate with adjacent immune cells to suppress local tumor immunity. It is essential to delineate this ecosystem’s complex cellular compositions and their dynamic intercellular interactions to understand cancer biology and tumor immunology and to benefit tumor immunotherapy. But technically, this is extremely challenging due to the high complexities of the TME. The rapid developments of single-cell techniques provide us powerful means to systemically profile the multiple omics status of the TME at a single-cell resolution, shedding light on the pathogenic mechanisms of cancers and dysfunctions of tumor immunity in an unprecedently resolution. Furthermore, more advanced techniques have been developed to simultaneously characterize multi-omics and even spatial information at the single-cell level, helping us reveal the phenotypes and functionalities of disease-specific cell populations more comprehensively. Meanwhile, the connections between single-cell data and clinical characteristics are also intensively interrogated to achieve better clinical diagnosis and prognosis. In this review, we summarize recent progress in single-cell techniques, discuss their technical advantages, limitations, and applications, particularly in tumor biology and immunology, aiming to promote the research of cancer pathogenesis, clinically relevant cancer diagnosis, prognosis, and immunotherapy design with the help of single-cell techniques.

Doppler velocity log (DVL) aided strapdown inertial navigation system (SINS) is a common navigation method for underwater applications. Owing to the in-motion condition and the lack of the GPS, it is a challenge to align a SINS under water. This paper proposed a complete in-motion alignment solution for both attitude and position. The velocity update equation and its integral form in the body frame are studied, and the attitude coarse alignment becomes an optimization-based attitude determination problem between the body frame velocity and the integral form of gravity. The body frame velocity and the Earth frame position are separately treated, and the position alignment problem turns into an equation solving problem. Simulation and on-lake tests are carried out to examine the algorithm. The heading could reach around 10 deg accuracy and the pitch and roll could be aligned up to 0.05 deg in 60 s. With attitude error of this level, the heading could reach 1 deg accuracy in 240 s using unscented Kalman filter (UKF) based fine alignment. The final position error could achieve 1.5% of the voyage distance. This scheme can also be applied to other body frame velocity aided SINS alignments.

This paper proposes a low cost and small size attitude and heading reference system based on MEMS inertial sensors. A dual-axis rotation structure with a proper rotary scheme according to the design principles is applied in the system to compensate for the attitude and heading drift caused by the large gyroscope biases. An optimization algorithm is applied to compensate for the installation angle error between the body frame and the rotation table's frame. Simulations and experiments are carried out to evaluate the performance of the AHRS. The results show that the proper rotation could significantly reduce the attitude and heading drifts. Moreover, the new AHRS is not affected by magnetic interference. After the rotation, the attitude and heading are almost just oscillating in a range. The attitude error is about 3° and the heading error is less than 3° which are at least 5 times better than the non-rotation condition.

With the miniaturization of inertial instruments, sensors mounted inside are vulnerable to interference. In a complex thermal transmission environment, temperature drift is the main factor restricting the precision of high-performance inertial sensors. To solve this problem, a new method for compensating the time-related cold starting temperature drift of the inertial sensors is introduced in this paper. Based on the perspective that temperature drift can be regarded as the response curve of the sensor system to temperature and temperature gradient, temperature compensation models of first-order, second-order, and higher-order are proposed. Meanwhile, the particle swarm optimization algorithm is used to solve the model parameters. Under various practical circumstances, the method can be used to flexibly compensate the temperature drift and reduce the standard deviation of the output signal by about four times. Compared to other models or algorithms, the simulation and experimental results indicate that the proposed model is superior in adaptability, stability, and reliability.