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Robotic manipulators play a pivotal role in modern intelligent manufacturing and unmanned production systems, often tasked with executing specific paths accurately. However, the input of the robotic manipulators is trajectory which is a path with time information. The resulting core technology is trajectory planning methods which are broadly classified into two categories: maximum velocity curve (MVC) methods and multiphase direct collocation (MPDC) methods. This paper concentrates on addressing challenges associated with the latter methods. In MPDC methods, the solving efficiency and accuracy are greatly influenced by the number of discretization nodes. When dealing with systems with complex dynamics, such as robotic manipulators, striking a balance between solving time and path discretization errors becomes crucial. We use a mesh refinement (MR) algorithm to find a suitable number of nodes under the premise of ensuring the path discretization error. So, the actual device can effectively implement the planned solutions. Nonetheless, the conventional application of the MR algorithm requires solving the original problem in each iteration; these processes are extremely time-consuming and may fail to solve when dealing with a complex dynamic system. As a result, we propose a sequential optimal trajectory planning scheme to solve the problem efficiently by dividing the original optimal control (OC) problem into two stages: path planning (PP) and trajectory planning (TP). In the PP stage, we employ a DC method based on arc length and an MR algorithm to identify key nodes along the specified path. This aims to minimize the approximation error introduced during discretization. In the TP stage, the identified key nodes serve as boundary conditions for an MPDC method based on time. This facilitates the generation of an optimal trajectory that maximizes motion performance, considering constant velocity in Cartesian space and dynamic constraints while keeping the path discretization error. Simulation and experiment are conducted with a six-axis robotic manipulator, ROCR6, and show significant potential for a wide range of applications in robotics.

Excessive extracellular matrix (ECM) deposition is a defining feature of cardiac fibrosis. Most notably, it is characterized by a significant change in the concentration and volume fraction of collagen I, a disproportionate deposition of collagen subtypes, and a disturbed ECM network arrangement, which directly affect the systolic and diastolic functions of the heart. Immune cells that reside within or infiltrate the myocardium, including macrophages, play important roles in fibroblast activation and consequent ECM remodeling. Through both direct and indirect connections to fibroblasts, monocyte-derived macrophages and resident cardiac macrophages play complex, bidirectional, regulatory roles in cardiac fibrosis. In this review, we discuss emerging interactions between fibroblasts and macrophages in physiology and pathologic conditions, providing insights for future research aimed at targeting macrophages to combat cardiac fibrosis.

We introduced a terminal alkyne into the core structure of dolutegravir, resulting in the synthesis of 34 novel dolutegravir-1,2,3-triazole compounds through click chemistry. These compounds exhibited remarkable inhibitory activities against two hepatocellular carcinoma cell lines, Huh7 and HepG2. Notably, compounds 5e and 5p demonstrated exceptional efficacy, particularly against Huh7 cells, with IC50 values of 2.64 and 5.42 μM. Additionally, both compounds induced apoptosis in Huh7 cells, suppressed tumor cell clone formation, and elevated reactive oxygen species (ROS) levels, further promoting tumor cell apoptosis. Furthermore, compounds 5e and 5p activated the LC3 signaling pathway, inducing autophagy, and triggered the γ-H2AX signaling pathway, resulting in DNA damage in tumor cells. Compound 5e exhibited low toxicity, highlighting its potential as a promising anti-tumor drug.

It is important to elaborate on versatile strategies for achieving the perfect nonreciprocal reflection amplification, which is the key technology of high-quality nonreciprocal photonic devices. In this work, we ingeniously design a coherent four-level N-type atomic system to harness the nonreciprocal light amplification, in which the uniform distribution of atoms is driven by two strong coupling fields and a weak probe field. In our regime, the strength of the two control fields is designed with linear variation along the x direction to destroy the spatial symmetry of the probe susceptibility, leading to the nonreciprocity of the reflection. In particular, the closed-loop transitions to amplify the probe field are due to the combined effect of the control fields and spontaneous emissions. The numerical simulation indicates that the perfect nonreciprocal reflection amplification can be realized and modulated by the appropriate settings of the control fields and the detuning, Δc. Our results will open a new route toward harnessing nonreciprocity, which can provide more convenience and possibilities in experimental realization.

Abstract Background Patients are recommended not to drive for at least the first 24 h after endoscopy with propofol sedation. However, the evidence underlying these recommendations is scarce. We hypothesized that after endoscopic procedures performed under propofol sedation, the subject’s driving ability was restored in less than 24 h. Methods We prospectively enrolled thirty patients between 20 and 70 years possessing a legitimate driver’s license scheduled for endoscopy at our hospital. The sample chosen was a convenience sample. Gastroscopy or colonoscopy was performed with propofol sedation. Before and after endoscopy, the investigator drove the subjects to the laboratory to assess their driving skills using a driving simulation system, which employs 3 driving scenarios designed by professional transportation researchers. The blood propofol concentration was estimated before endoscopy, and 2 and 4 h after endoscopy. The primary outcome was the time required for subjects to recover their driving ability after propofol sedation. The secondary outcome was the blood propofol concentration before and after endoscopic procedures under propofol anesthesia. Results Thirty volunteers participated in the study and 18 of them completed all the interventions. In the low-risk S-curve scene, the mean acceleration, lane deviation, and number of deviations from the path at baseline (0.016 cm/s2, 42.50 cm, and 0.83, respectively) were significantly less than that at post-2 h (0.029 cm/s2, P = 0.001; 53.80 cm, P = 0.014; 2.06, P = 0.022). In the moderate-(overtaking) and high-risk (emergency collision avoidance) scenes, the tested parameters at baseline and post-2 h were statistically comparable. In the low-, moderate-, and high-risk scenes the tested parameters at baseline and post-4 h were statistically comparable. The total range of propofol was 120-280 mg.The mean blood concentration of propofol at post-2 h was 0.81 ± 0.40 µg/mL, and at post-4 h was below the limit of detection. Conclusion After endoscopy performed under propofol sedation, subjects’ driving abilities were completely restored at 4 h when tested on a simulator.

Abstract This study examined the physiological effects of replacing some of the casein with either a plant based, animal or combination of protein sources in a high-fat diet fed to golden Syrian hamsters. Cooked kidney beans (BN) and beef (Bf) patties drained of fat were fed at 25 and 50% of diet. A combination of BN and Bf (BNBf) was also fed at 25 and 50%. Saturated fat content of the 25% Bf (Bf25) and 50% Bf (Bf50) increased 57 and 215% compared to Control. The Bf diets also increased caloric density compared to the Control. Likewise, the 50% Bn (Bn50) diet had 60% less saturated fat and lower caloric density than the Control. Despite these differences there were no differences in body weight gain or adipose weight between BN of Bf diets and Control. The BN50 diet reduced liver weight and increased caloric intake. The BN diets reduced total plasma cholesterol (TC). The BF diets also reduced TC but the results were not significant. The BN25, BN50 and BNBF50 diets also reduced low density lipoprotein (LDL) cholesterol. The BN and BF50 diets reduced liver fat. The BN diets decreased fecal fat excretion while the BF diets increased excretion. This suggests that increased fat excretion might offset the higher total fat and saturated fat of the BF diets to reduce adverse effects on body weight, adipose weight, and cholesterol. The high-fat content of the base (Control) diet may have muted the effects of the diet treatments. Graphical Abstract

Objectives: This study aimed to investigate the microbiological characteristics, antimicrobial resistance profiles, antibiotic choice, and outcomes of Nocardia infection in various centers over a 7-year period (from 2015 to 2021). Methods: We retrospectively analyzed the medical records of all hospitalized patients diagnosed with Nocardia between 2015 and 2021. The isolates were identified to the species level through the sequencing of 16S ribosomal RNA or secA1 or ropB genes. The susceptibility profiles were determined using the broth microdilution method. Results: Of the 130 nocardiosis cases, 99 (76.2%) were established as pulmonary infection, of which the most common underlying disease was chronic lung disease (40.4%, 40/99), including bronchiectasis, chronic obstructive pulmonary disease, and chronic bronchitis. Among 130 isolates, 12 species were identified, with the most common species being Nocardia cyriacigeorgica (37.7%) and Nocardia farcinica (20.8%). All Nocardia strains were susceptible to linezolid and amikacin, and the susceptibility rate of trimethoprim-sulfamethoxazole (TMP-SMX) was 97.7%. Of the 130 patients, 86 (66.2%) received TMP-SMX monotherapy or multidrug regimen. Furthermore, 92.3% patients who were treated achieved clinical improvement. Conclusion: TMP-SMX was the treatment of choice for nocardiosis, and other combination drugs with TMP-SMX therapy yielded even better results.

Objective·To analyze the effects of maternal high-fat diet on placental phenotype, and investigate the role of placental microenvironment in the intergenerational transmission.Methods·The 3-week-old C57BL/6J female mice were fed with either the high-fat diet (HFD group) or the control diet (CD group) for 5 weeks before mating and throughout gestation. Placentas and fetal liver tissues were collected from maternal mice after 20 d of gestation. The effects of maternal HFD on the placental inflammation and placental structure were investigated by hematoxylin-eosin staining (H-E staining), immunohistochemistry, Western blotting and RT-PCR. The lipid deposition levels in fetal livers were also detected. Body weight changes, fasting blood glucose and glucose tolerance levels of the 3-week-old weaned mice were also detected.Results·The body weight of female mice in the HFD group increased significantly, and the liver triacylglycerol (TAG) and total cholesterol (TC) levels were higher than those in the CD group (all P0.05). Compared to the CD group, the body weight, fasting blood glucose level and the area under the glucose tolerance curve of the 3-week-old weaned mice of the HFD group were increased significantly (all P

Abstract Background Cholesterol plays a vital role in multiple physiological processes. Cellular uptake of cholesterol is mediated primarily through endocytosis of low-density lipoprotein (LDL) receptor. New modifiers of this process remain to be characterized. Particularly, the role of fasting- and CREB-H-induced (FACI) protein in cholesterol homeostasis merits further investigation. Methods Interactome profiling by proximity labeling and affinity purification − mass spectrometry was performed. Total internal reflection fluorescence microscopy and confocal immunofluorescence microscopy were used to analyze protein co-localization and interaction. Mutational analysis was carried out to define the domain and residues required for FACI localization and function. Endocytosis was traced by fluorescent cargos. LDL uptake in cultured cells and diet-induced hypercholesterolemia in mice were assessed. Results FACI interacted with proteins critically involved in clathrin-mediated endocytosis, vesicle trafficking, and membrane cytoskeleton. FACI localized to clathrin-coated pits (CCP) on plasma membranes. FACI contains a conserved DxxxLI motif, which mediates its binding with the adaptor protein 2 (AP2) complex. Disruption of this motif of FACI abolished its CCP localization but didn’t affect its association with plasma membrane. Cholesterol was found to facilitate FACI transport from plasma membrane to endocytic recycling compartment in a clathrin- and cytoskeleton-dependent manner. LDL endocytosis was enhanced in FACI-overexpressed AML12 cells but impaired in FACI-depleted HeLa cells. In vivo study indicated that hepatic FACI overexpression alleviated diet-induced hypercholesterolemia in mice. Conclusions FACI facilitates LDL endocytosis through its interaction with the AP2 complex.

The observation data procession of target about traditional naval gun is based on installation site,dues to factors such as swing and deformation datum change will cause observation data error and affect firing accuracy,this paper analyzes the naval gun firing accutacy caused by the state of platform and naval gun enchmark assumptions, new methods of data processing is put forward, the mathematical model for calculating the arameters of observation target is established, which provides a new way to process the observation data.

ABSTRACTAlcohol dependence (AD) is a worldwide epidemic of psychiatric disorders. Gut microbiota dysbiosis may be involved in the development of AD. Recently, the number of studies on the relationship between gut microbiota and alcohol is increasing. However, most previous studies were focused on rodent models and gut microbiota, and the data about the alteration of the gut fungi in AD patients were scarce. Convincing evidence of the gut microbiota’s role in the development of AD is lacking. Here, we investigated the characteristics of gut microbiota (bacterial) and mycobiota (fungal) dysbioses in AD patients and assessed the role of the gut microbiome on the behaviors of rats by fecal microbiota transfer, trying to illuminate the possible microbiota mechanism in AD development. We found that AD patients developed gut microbiota dysbiosis, displayed by the fact that the bacterial genus of Ruminococcaceae significantly decreased and that of Lachnospiraceae increased and the fungal genus of Saccharomyces and Kurtzmaniella obviously increased and that of Candida decreased. Alcohol consumption disturbs the gut equilibrium between bacteria and fungi. The fungal-to-bacterial species ratio was significantly decreased, and the bacterial-fungal trans-kingdom interactions were reduced. By transplanting the gut microbiota from AD patients to rats, we confirmed that the microbiota from AD patients induced the behavioral alterations associated with alcohol dependence in rats, including increased anxiety- and depression-like behaviors, reduced exploratory and recognition memory, and higher alcohol preference. Meanwhile, the microbiota from the AD patient donor upregulated the expression levels of cholecystokinin receptors in the frontal lobe, hippocampus, and cortex in rats, which might be involved in the development of alcohol dependence. Our results demonstrate that AD patients developed gut bacterial and fungal microbiota dysbioses and the gut microbiota may be involved in the development of alcohol addiction by regulating the endogenous cholecystokinin and related receptors’ expression. Our data open new avenues for adjuvant treating AD patients via administrating the intestinal microbiota.IMPORTANCEIntestinal microbiome dysbiosis is associated with psychiatric disease through the “microbiota-gut-brain” axis. Here, we revealed that there was obvious intestinal microbiome (including bacterial and fungal) dysbiosis in alcohol-dependent patients. Alcohol consumption seriously disturbs the gut equilibrium between bacteria and fungi, reduces the interactions among bacterial-fungal trans-kingdom, and increases intestinal permeability. Gut microbiota should be considered as a whole to study the development of alcohol dependence. The gut microbiome of alcohol-dependent patients increased the anxiety- and depression-like behavior in rats. The gut microbiota dysbiosis may promote the development of alcohol dependence by regulating the endogenous cholecystokinin (CCK) and related receptors. Hence, regulating the balance of gut microbiota and the endogenous CCK may be a potential strategy for reducing the risk of relapse in alcohol addiction patients.

Aerial–aquatic robots have promising applications due to their ability to operate in air and water with different motion modes. However, challenges such as water/air transition and multimedia movement still limit their development. Inspired by the aerial–aquatic behavior of wild ducks, an aerial–aquatic robot with tunable tilting motors and a delta wing is introduced. The robot can perform multimode motion, including flying in air, swimming on the water surface, transitioning between air and water, and diving underwater. Besides, the buoyancy design enables the robot to float at the air–water interface without consuming energy. Herein, the performance of the robot, including vertical and horizontal cross‐media performance, power consumption, and endurance in various motion modes, is evaluated. The field experiments show that the proposed robot possesses multimode motion and high maneuverability. This study provides a new idea for the structural design of next‐generation practical aerial–aquatic robots.

Objectives To evaluate the performance of Systemic Lupus Erythematosus Risk Probability Index (SLERPI) in patients with SLE using a Chinese cohort.Methods The Chinese cohort included 352 patients with and 385 without SLE (control group). The clinical data of patients, including demographic data, clinical findings and serological profiles, were collected. Patients with an SLERPI score >7 were classified as SLE. The performance of the American College of Rheumatology (ACR)-1997, Systemic Lupus International Collaborating Clinics (SLICC)-2012 and European League Against Rheumatism (EULAR)/ACR-2019 criteria were used as references.Results Of these four classification criteria, SLERPI has the highest sensitivity (98.3% (95% CI 96.3% to 99.4%)), but lowest specificity (89.4% (95% CI 85.8% to 92.2%)). In the control group, patients eligible for the classification criteria for SLE were mainly those with primary Sjogren’s syndrome (pSS) and undifferentiated connective tissue disease (UCTD), which adversely affected the specificity of the classification criteria. Moreover, significantly more patients with pSS and UCTD met SLERPI than those who met other classification criteria. After excluding patients with pSS and UCTD from the control group, the specificity and accuracy of SLERPI improved to 94.3% (95% CI 91.0% to 96.6%) and 96.5% (95% CI 95.0% to 97.9%), respectively, and both outperformed the EULAR/ACR-2019 criteria. The time to SLERPI classification was the same as their clinical time to diagnosis in 261 patients, earlier than the clinical diagnosis in 23 patients and later than the clinical diagnosis in 9 patients. A total of 280 patients had the same time to SLERPI classification as EULAR/ACR-2019, 8 patients had earlier than EULAR/ACR-2019 and 1 patient had later than EULAR/ACR-2019.Conclusion SLERPI performed well in patients with SLE, particularly for the earlier diagnosis of SLE.

Polysaccharides are complex carbohydrates and are abundant in the marine environment. Microbes degrade and utilize them using Carbohydrate-active enzymes (CAZymes), which mediate polysaccharides into the marine carbon cycle. With the continued supply of polysaccharides from the marine environment, tidal flats are also abundant in polysaccharides, resulting in an abundance of marine polysaccharide degrading strains. In this study, three novel strains, designated as D37T, M208T, and SA7T, were isolated from the intertidal sediment samples located in Zhoushan, Zhejiang and Huludao, Liaoning, PR China. The phylogenetic trees using the 16S rRNA gene and genome sequences showed that the three novel strains belonged to the genus Maribacter. The highest 16S rRNA gene sequence similarities between the three novel strains and other strains of the genus Maribacter were 98.7%, 99.2%, and 98.8%, respectively, while the ANI, AAI, and dDDH values between the three strains and the other strains of the genus Maribacter were 70-86%, 67-91%, and 17-30%, respectively, supporting their affiliation as novel species. Combined with other phenotypic and genotypic characterization in this study, three novel species are proposed as Maribacter polysaccharolyticus sp. nov., Maribacter huludaoensis sp. nov., and Maribacter zhoushanensis sp. nov., respectively, for the three strains. Furthermore, we compared all available genomes of Maribacter representatives and found that Maribacter strains could be divided into two groups (A and B). The two groups are different in genome size and G + C content and gene densities of CAZyme, peptidase, and sulfatase. Group A possesses more CAZymes which are related to degrading laminarin, fucoidan, mannan, xylose, and xylan. This result suggests that the two groups may have different niche adaptation strategies. Our study contributes to a better understanding of the role of marine flavobacteria in biogeochemical cycles and niche specialization.

Inflammatory Bowel Disease (IBD) is a chronic, relapsing inflammatory disorder of the gastrointestinal tract. Though the pathogenesis of IBD remains unclear, diet is increasingly recognized as a pivotal factor influencing its onset and progression. Fatty acids, essential components of dietary lipids, play diverse roles in IBD, ranging from anti-inflammatory and immune-regulatory functions to gut-microbiota modulation and barrier maintenance. Short-chain fatty acids (SCFAs), products of indigestible dietary fiber fermentation by gut microbiota, have strong anti-inflammatory properties and are seen as key protective factors against IBD. Among long-chain fatty acids, saturated fatty acids, trans fatty acids, and ω-6 polyunsaturated fatty acids exhibit pro-inflammatory effects, while oleic acid and ω-3 polyunsaturated fatty acids display anti-inflammatory actions. Lipid mediators derived from polyunsaturated fatty acids serve as bioactive molecules, influencing immune cell functions and offering both pro-inflammatory and anti-inflammatory benefits. Recent research has also highlighted the potential of medium- and very long-chain fatty acids in modulating inflammation, mucosal barriers, and gut microbiota in IBD. Given these insights, dietary intervention and supplementation with short-chain fatty acids are emerging as potential therapeutic strategies for IBD. This review elucidates the impact of various fatty acids and lipid mediators on IBD and delves into potential therapeutic avenues stemming from these compounds.

Summary: The left-right symmetry breaking of vertebrate embryos requires nodal flow. However, the molecular mechanisms that mediate the asymmetric gene expression regulation under nodal flow remain elusive. Here, we report that heat shock factor 1 (HSF1) is asymmetrically activated in the Kupffer’s vesicle of zebrafish embryos in the presence of nodal flow. Deficiency in HSF1 expression caused a significant situs inversus and disrupted gene expression asymmetry of nodal signaling proteins in zebrafish embryos. Further studies demonstrated that HSF1 is a mechanosensitive protein. The mechanical sensation ability of HSF1 is conserved in a variety of mechanical stimuli in different cell types. Moreover, cilia and Ca2+-Akt signaling axis are essential for the activation of HSF1 under mechanical stress in vitro and in vivo. Considering the conserved expression of HSF1 in organisms, these findings unveil a fundamental mechanism of gene expression regulation by mechanical clues during embryonic development and other physiological and pathological transformations.

Sr2FeCo0.2Ni0.2Mo0.6O6-δ (SFCNM) and Sr2FeNi0.4Mo0.6O6-δ (SFNM) were prepared as the hydrogen electrode materials for solid oxide cells (SOCs) and comparatively investigated by density function theory (DFT) and experiments to demonstrate the benefit of Co addition. The reduced SFCNM (R-SFCNM) and SFNM (R-SFNM) contain exsolved Fe–Co–Ni and Fe–Ni nanoparticles, respectively. DFT indicates that Fe–Co–Ni has optimized combination of the d-band center (descriptor of catalyst activity) and adsorption behavior for H2O, H2, H, and OH. The cell with SFCNM hydrogen electrode, La0.8Sr0.2Ga0.8Mg0.2O3-δ (LSGM) electrolyte, and La0.6Sr0.4Co0.2Fe0.8O3-δ (LSCF) oxygen electrode (Cell-SFCNM) demonstrates a higher performance than that with an SFNM hydrogen electrode (Cell-SFNM) at temperatures between 700 and 850 °C in both solid oxide fuel cell (SOFC, 3% H2O-97% H2/air) and solid oxide electrolysis cell (SOEC, 20% H2O-80% H2/air) modes. At 850 and 700 °C, the peak power density is 1.23 and 0.48 ​W·cm−2 in SOFC mode, while the current density is 1.25 and 0.37 ​A·cm−2 at 1.3 V in SOEC mode, respectively. The performance degradation rates at 750 °C are 0.17 ​mV·h−1 in SOFC and 0.15 ​mV·h−1 in SOEC modes within 150 ​h, which are improved by Co doping.