Terrestrial plant resources are becoming increasingly scarce; moreover, the development of science and technology has facilitated the exploration of marine ecosystems. We isolated and identified six novel (1–6) and six (7–12) known secondary metabolites of Alternaria sp MCCC 3A00467 by chromatographic and spectroscopic techniques and investigated their antitumor activities in human myeloma (U266), liver cancer (HepG2), and lung cancer (A549) cells by the MTT assay. Among these compounds, the new compounds 2, 3 and 4 exhibited excellent anticancer activities with IC₅₀ values of 21.98, 24.99 and 14.78 μg/mL, respectively. These compounds obtained from a marine source have the potential to be developed into novel anticancer drugs.

We propose a multi-sensor fusion localization framework for autonomous heavy-duty trucks suitable for mining scenarios, which enables high-precision, real-time trajectory generation and map construction. The motion estimated through pre-integration of the Inertial Measurement Unit (IMU) can eliminate distortions in the point cloud and provide an initial guess for LiDAR odometry optimization. The point cloud information obtained from LiDAR can assist in recovering depth information from image features extracted by the monocular camera. To ensure real-time performance, we introduce an iKD-Tree to organize the point cloud data. To address issues arising from bumpy road segments and long-distance driving in practical mining scenarios, we can incorporate a large number of relative and absolute measurements from different sources, such as GPS information and AprilTag-assisted localization data, including loop closure as factors in the system. The proposed method has been extensively evaluated on public datasets and self-collected datasets from mining sites.Our implementation is available at https://github.com/wangyicxy/iLM-slam.