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Additional file 2: Supplementary Table 1. Primers used in this study.

Additional file 1: Supplementary Figure S1. Effects of high concentrations of Baicalin on cultured KGN and primary granulosa cells in vitro. After 24 h in the starvation culture, different concentrations of Baicalin (0, 100, 150, and 200 ��M) were added. The processing start time was set to 0 h, and then observations and photography were performed after 48, 72, and 96 h. The left picture shows the KGN granulosa cell line (A), and the right picture shows the primary granulosa cells (B). The control group in this figure is the same as the control group in Fig. 1. Scale bar = 50 ��m.

Ovarian aging refers to the gradual decline of ovarian function with increasing physiological age, manifested as decreased ovarian reserve, elevated aging-related markers, and reduced oocyte quality. With a declining female fertility and a growing aging population, it is urgent to delay ovarian aging to maintain fertility and improve the life quality of women. Theaflavin 3, 3′-digallate (TF3) is a naturally bioactive polyphenol compound extracted from black tea, and its antioxidant properties play an important role in maintaining human health and delaying aging; however, the effects of TF3 on female reproduction and ovarian function are not yet clear. Here, we show that TF3 can preserve primordial follicle pool, partially restore the estrous cycle, and increase the offspring number of aged mice. Meanwhile, TF3 gavage increased the number of oocytes retrieved, decreased the level of reactive oxygen species, increased the level of glutathione, and decreased the abnormal rate of oocyte spindle after ovulation induction. Moreover, TF3 inhibited human granulosa cell apoptosis and improved their antioxidative stress ability. High-throughput sequencing and small-molecule-targeted pharmacological prediction show that TF3 affects multiple pathways and gene expression levels, mainly involved in reproductive and developmental processes. It may also affect cellular function by targeting mTOR to regulate the autophagic pathway, thereby delaying the process of ovarian aging. This study shows that TF3 can be used as a potential dietary supplement to protect ovary function from aging and thereby improving the life quality of advanced-age women.

Gait planning is an effective approach aiming at the difficulty in locomotion control of a multi-degree-of-freedom snake-like robot. In this article, a gait-generating method is presented with regard to the issue of its locomotion control in the process of winding–crossing variable-diameter cylindrical obstacles involving a P-R-joint scale-driven snake-like robot. The proposed method solves the problem of trajectory discontinuity of variable-diameter helix lines through linear fitting in the process of the obstacle crossing of the robot. The collision/interference between the robot and the obstacle is avoided by adding an extended helix segment to the front and rear ends of the obstacle. For direct linear fitting of the locomotion trajectory curve that will lead to velocity discontinuity, B-spline curves are used for smooth transition on generating the trajectory curve. A simulation experiment analysis is performed to demonstrate that the proposed gait-generating method can enable the snake-like robot to cross variable-diameter cylindrical obstacles.

In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing, a control method is proposed for line grasping based on hand-eye visual servo. On the basis of the transmission line’s geometrical characteristics and the camera’s imaging principle, a line recognition and extraction method based on structure constraint is designed. The line’s intercept and inclination are defined in an imaging space to represent the robot’s change of pose and a law governing the pose decoupling servo control is developed. Under the integrated consideration of the influence of light intensity and background change, noise (from the camera itself and electromagnetic field) as well as the robot’s kinetic inertia on the robot’s imaging quality in the course of motion and the grasping control precision, a servo controller for grasping the line of the robot’s off-line arm is designed with the method of fuzzy control. An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line, where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing. The robot’s autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise, reliable and efficient manner, thus the need of actual operation can be satisfied.

In this paper, the methods of a snake-like robot climbing on high voltage transmission lines are presented. The three typical locomotion modes of a snake-like robot, that is, rectilinear locomotion with a Zshaped clamping mechanism, obstacle navigation locomotion with a head part clamping mechanism and winding obstacle navigation locomotion, are discussed. The motion mechanism of the snake-like robot's head part clamping obstacle navigation is studied and the kinematics model coupled with the robot and the line environment under this mode is introduced. The position tracking algorithm and the improved algorithm of robot's clamping obstacle navigation are also proposed. Finally, the simulation experiment verifies that the improved position tracking algorithm can improve the robot's motion performance and is feasible in the robot's clamping obstacle navigation.

This paper investigated the multi-axis synchronous control in a typical CNC system. The necessity of utilizing field bus is identified. In addition, the effect of jitter and skew on CNC system is analysed. A novel set-up scheme for network CNC system and corresponding EtherCNC protocol are proposed. The network topology and frame structure and the principle are introduced in detail. The hardware precision time protocol realization method is proposed. The effect of jitter on position precision controlling was validated with the experimental characterization of the proposed scheme.

A kind of flux linkage identification method for Permanent magnet synchronous servo motor (PMSM) based on model reference adaptive recognition system method (MARS) is proposed in this paper. And the flux linkage fluctuation compensation method is introduced to minimize the influences of flux linkage fluctuations. These methods can improve the motor control performance such as low speed stability, high speed stationarity and position accuracy. The simulation and experiment confirmed that identifications method can estimate the real flux linkage value, and also they also can improve position control precision of PMSM.

Based on the further study of high-voltage transmission line deicing environment, this paper proposed a wheel milling deicing device and a compound deicing robot that can have double wheel milling and compressing wheel rolling simultaneously; implemented deicing experiment and obstacle negotiation simulation analysis on the transmission and robot mechanic system; proposed an obstacle negotiation navigation control method based on electro-magnetic sensors, and finally implemented deicing experiment and obstacle negotiation experiment on deicing robot prototypes. The experiment demonstrates the feasibility of electromagnetic navigation technology in leading robot in obstacle negotiation, and also shows that it's possible to use compound deicing method of milling and compressing wheel rolling.