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Abstract To investigate the fluorescein angiography (FA) findings and compare the extent of retinal vascularization in retinopathy of prematurity (ROP), recovered after intravitreal ranibizumab (IVR) monotherapy and those regressed spontaneously. Infants with a history of ROP who underwent FA between April 2018 and November 2021 were retrospectively included. The patients were divided into two groups based on whether they had received IVR (IVR group) or had ROP that regressed spontaneously without treatment (untreated group). The differences between the two groups in zone II ROP were also compared, to equalize the subgroups as much as possible in terms of disease severity. FA findings were recorded. The extent of vascularization was measured by the ratio of the distance from the center of the disk to the border of the vascularized zone (DB) and the distance from the center of the disk to the center of the fovea (DF). The width of the persistent avascular retina (PAR) was counted by disc diameters (DD). One hundred and ten eyes of 55 infants were included in the IVR group and 76 eyes of 38 babies in the untreated group. The ratio of abnormal shape of vessels was significantly higher in the IVR group than in the untreated group (50.9% vs. 35.5%; P = 0.038), while the linear choroidal filling pattern, tortuosity of vessels over the posterior pole, dye leakage, anomalous branching of vessels, circumferential vessels, arteriovenous shunt, abnormal capillary bed, and macular abnormalities were similarly. There was a smaller temporal DB/DF ratio (4.48 vs. 4.63; P = 0.003) and greater PAR (2.63 vs. 1.76; P

Rope-driven robots are increasingly used to safely and efficiently clean complex glass curtain walls. However, continuous global cleaning is difficult for most robots because of their poor performance in overcoming obstacles and adapting to curved surfaces, and an inconvenient winch calibration on complex surfaces further burdens such work. This paper presents a 3-DOF rope-driven robot and a winch self-calibration method for efficient cleaning. The robot, by integrating a 5-rope parallel configuration, a self-adaptive cleaning body, and a self-compensating driving winch, is designed to perform continuous, compliant, and accurate spatial motion on curved walls with obstacles. By deducing the kinematic model, the constraint relationship related to orderly arranged winch positions, maneuverable body positions, and accessible rope lengths is established during the robot tracking 3D trajectory. Combining the established relationship, a series of regulations are formulated for easily acquiring body positions and rope lengths, and then a self-calibration method is proposed by accurately calculating winch positions without using professional instruments. Experimental results show that the robot can perform global and precise movement on complex glass surfaces. Applying the proposed method, the maximum winch calibration error is 6.6 mm, and the maximum body tracking error is controlled within 9.6 mm.

Due to boron’s metalloid properties, aromatic boron reagents are prevalent synthetic intermediates. The direct borylation of aryl C-H bonds for producing aromatic boron compounds offers an appealing, one-step solution. Despite significant advances in this field, achieving regioselective aryl C-H bond borylation using simple and readily available starting materials still remains a challenge. In this work, we attempted to enhance the reactivity of the electron-donor-acceptor (EDA) complex by selecting different bases to replace the organic base (NEt3) used in our previous research. To our delight, when using NH4HCO3 as the base, we have achieved a mild visible-light-mediated aromatic C-H bond borylation reaction with exceptional regioselectivity (rr > 40:1 to single isomers). Compared with our previous borylation methodologies, this protocol provides a more efficient and broader scope for aryl C-H bond borylation through the use of N-Bromosuccinimide. The protocol’s good functional-group tolerance and excellent regioselectivity enable the functionalization of a variety of biologically relevant compounds and novel cascade transformations. Mechanistic experiments and theoretical calculations conducted in this study have indicated that, for certain arenes, the aryl C-H bond borylation might proceed through a new reaction mechanism, which involves the formation of a novel transient EDA complex.

At present, numerous wall-climbing robots have been developed, and applied in ship manufacturing for weld detection to ensure safe navigation. Limited by rigid mechanical structure and complex detection, mostly existing robots are hardly to complete weld detection by using fluorescent magnetic particles. Based on permanent magnet adsorption, a wheeled wall-climbing robot is developed to realize the stable adsorption and flexible movement on ship wall. A detection mechanism is designed using a series and parallel flexible adaptation structure to keep cross yokes and detection area close for effective detection. A unified mechanical model is established by analyzing the angle between robot attitude and gravity, to solve safe adsorption and flexible movement for different detection conditions. Integrated the multisensor information and collaboration between control component, an automatic detection control workflow conforms to the standard process is proposed. Experiments show that the robot can move on curvature wall flexibly and stably, complete the weld detection with the standard process, and clearly display the shape and depth of the small defects (groove depth ≥ 30 μm) in standard specimen.

The paper presents a wall-climbing robot featuring self-compliance for variable curvature façades. The high payload and maneuverability make it highly potential in heavy-duty operation of industrial applications. The robot consists of two traction modules and one link module. Each traction module is equipped with magnetic adhesion and crawler traction submodules. The two traction modules are connected by the link module with 4 degrees of freedom (DoF) of passive compliance. Variable curvature façade self-compliance is achieved by the passive compliant link module, which results in the attitude change decoupling of the two traction modules. The attitude can be adjusted under the effect of magnetic adhesion force to comply with the curvature variations. High payloads are achieved by the large contact area between the crawler and the surface. Omni-directional high maneuverability is enabled by the speed difference between the motors of two traction modules. The robot can maneuver in any direction on the surface with a minimum radius of 1 m and carry 36 kg payload on vertical surfaces.

At present, a large number of magnetic wall-climbing robots are applied to various magnetically conductive metal facades for detection and anti-corrosion work. Limited by the wall-climbing mechanism and adsorption device, most wall-climbing robots can only climb on smooth walls, and it is difficult to adapt to complex walls. Therefore, by studying the multi-media magnetic circuit conduction mechanism, a permanent magnetic adsorption wheel with a magnet array arrangement was designed in this study and applied to a hinge-type wall-climbing robot. By analyzing the influence of structural parameters on the adsorption performance and optimization design, a magnetic wheel structure with a symmetric structure that can meet a variety of adsorption requirements was obtained. To analyze the mechanical characteristics of the wall-climbing robot under complex facade conditions, we researched the adsorption performance of the designed magnetic wheel in different wall structures. Finally, the adhesion force of the magnetic wheel was verified through experimental measurements, and it was found that the hinged wall-climbing robot could adapt to different structural features and complete wall-transition and obstacle-crossing movements.

Rope-driven robots are increasingly being applied for the efficiently cleaning of glass curtain walls. However, increasingly complex wall surfaces and the various shapes of obstacles may block the robot and reduce coverage. In this study, three-DOF rope-driven cleaning robots and a full-coverage path-planning algorithm were developed to achieve global operation. The robot adopts a five-rope parallel configuration, and four winches are mounted on the wall and one on the ground to produce 3D motion performance. We used a grid method to build the wall model to mark obstacles, and then we decomposed it according to the wall curvature to better access cleaning subareas. To further increase the cleaning coverage rate, a full-coverage path-planning algorithm based on an improved priority heuristic was designed, which does not ignore the inset area of U-shaped obstacles. By introducing two sets of priority criteria to judge the forward direction, the robot can switch directions to cover a whole area when encountering U-shaped obstacles. Furthermore, by planning a return route requiring the least amount of time when entering a dead zone, an escape strategy was developed to prevent the robot from being unable to choose a direction. The experimental results show that the robot, after applying the proposed path-planning algorithm, could complete the global cleaning of complex glass walls with various obstacles.

To reveal the influence of pit units on the friction and wear performance of multi-rollers-sliding-rolling tribo-pairs (MRSRTs), the tribological behavior of pits textured MRSRTs with 18 rollers under periodic varied load and dry wear were researched. The texture parameters include: diameter of pits (DAOP, 200, 250, and 300 μm), depth of pits (DPOP, 10, 20, and 30 μm). The wear losses and worn surfaces of samples were obtained. The influence mechanism of pits on the tribological performance of MRSRT was also discussed. The results show that: The average coefficients of friction (COFs) of pits textured MRSRTs are all lower than that of smooth one under periodic varied load and dry wear. Their mass losses are almost all higher than that of smooth MRSRT. The influence of DPOP on the tribological properties of textured MRSRTs is significant and continuous compared with that of DAOP. The depth-diameter ratio is an important factor for the wear losses. In this work, when the DAOP is 200 μm and the DPOP is 30 μm, that is, the depth-diameter ratio is 0.15, compared with the smooth sample, the mass loss of MRSRT is reduced by about 13%, and its average COF is reduced by 30.5%. This work can provide a valuable reference for the surface design and optimization of rolling element bearings.

The positioning accuracy of a robot directly affects the quality of its operations. In this study, a calibration method is proposed based on combining a model with least-squares support vector regression (LSSVR) to improve robot positioning accuracy. First, a geometric error model of the robot is established. Second, singular value decomposition (SVD) and physical model analysis method are employed to process the coupling parameters in the error model to improve the accuracy and efficiency of identification. Third, as nongeometric errors hinder the construction of an accurate and complete mathematical model and affect the residual positioning errors of the robot, LSSVR is used to compensate for the residual positioning errors caused by nongeometric errors. The proposed method thus improves the accuracy and robustness of finite sample estimation. Finally, an experiment is performed on an IRB1410 robot with a parallelogram mechanism. The maximum/mean positioning errors of the robot decrease from 2.0348/1.0978 mm to 0.1659/0.0733 mm, and the effectiveness of the proposed method is verified. The proposed method has higher prediction accuracy and stability for small samples than other methods.

This paper proposes a novel wheel−leg hybrid robot that can be applied on both flat and rugged terrains, it utilizes two passive transformable symmetrical wheels that combine the stability of the circular wheel and the obstacle climbing ability of the legged wheel. To minimize the number of actuators, the transformation process of the wheel is designed to be triggered passively when in contact with the obstacles. A new triggering mechanism is employed to eliminate the adverse effect of the robot’s weight on the transformation torque. The parameters of the wheel are optimized to maximize the climbing ability in low-friction conditions. The robot’s body length and angular velocity are also tuned based on the dynamic model during the obstacle climbing process. The simulation experiment results show that the robot can switch modes stably on terrain with a friction coefficient as low as 0.2, and can climb over an obstacle 3.9 times as tall as its wheel radius.

In recent years, many wall-climbing robots have been developed in the field of petrochemical storage tank maintenance. However, it is difficult for most of them to be widely used due to common problems such as poor adsorption capacity, poor adaptation to elevation, and low trajectory tracking accuracy. In order to solve the problem of the robot not being able to achieve high-precision operation on curved surfaces, a new wall-climbing robot system is designed. Based on the magnetic wheel adsorption method, a passive adaptive motion mechanism that can adapt to walls with different curvatures is proposed. In order to improve the trajectory tracking accuracy of the wall-climbing robot, the kinematic model of the wall-climbing robot is simplified, a velocity compensation controller is designed, and the stability of the controller is proved by introducing the Lyapunov equation. Through experiments, the controller designed in this paper is compared with the conventional controller to verify the effectiveness and superiority of the controller. The experimental results show that the robot can move safely and stably on curved surfaces, with improved tracking accuracy and reduced trajectory deviation caused by response time lag, and meets the maintenance operation requirements of wall-climbing robots.

To prolong the serve life of roller element bearings (REB) and improve the reliability of mechanical system, the tribological behavior of the “washers-cage-rollers” system of grooves textured thrust cylindrical roller bearings (TCRB, 81107TN) under dry wear was researched. The pattern parameters include: width of grooves (WOG, 50, 100, and 150 μm), depth of grooves (DPOG, 7, 11, and 15 μm), as well as groove deflection angle (GDA, 0°, 45°, 90°, and 135°). The influence mechanism of grooves on the tribological properties of REBs is discussed. The results show that: As the GDA is 45°, the coefficient of friction (COF) and mass loss of bearing is the lowest among four angles. The average COFs of grooves textured bearings are much higher than that of smooth one, and their mass losses are all lower than that of smooth bearing. The influence of pattern parameters on the surface stresses of grooves textured bearings is weak. In this work, when the WOG is 50 μm and the DPOG is 7 μm, the wear loss of grooves textured bearing is the lowest, reduced by up to 75.6%. This work can provide a valuable reference for the raceway design and optimization of REBs.

Background: Immune checkpoint blockers (ICBs) are increasingly being used to treat patients with advanced hepatocellular carcinoma (HCC), but only a third of these patients are sensitive to ICBs. Emerging evidence suggests that ferroptosis could be a novel target for antitumor treatment, and combined treatment with ferroptosis inducers might enhance sensitivity to immunotherapy. However, there is a lack of information on the crosstalk between ferroptosis-related lncRNAs and anti-tumor immunity. Therefore, we aim to explore prognostic value of ferroptosis-related lncRNAs and clarify potential role in ICBs of HCC.Methods: We obtained mRNA and lncRNA expression data from two independent cohorts (TCGA and GEO database). Univariate Cox, the least absolute shrinkage and selection operator (Lasso) algorithm and multivariate Cox analysis were used to construct a lncRNA signature, which was evaluated using the area under the receiver operating characteristic curve (AUC) and Kaplan–Meier curves. Tumor-infiltrating cell (TIC) profiling and the tumor immune dysfunction and exclusion (TIDE) algorithm were used to validate the signature model and immunotherapy. Finally, we adopted RT-PCR assay to evaluate the differential expression of lncRNAs in HCC tissues in our hospital.Results: The ferroptosis-related lncRNA signature included five lncRNAs, most of which were positively correlated with clinical stage and grade. The signature could stratify patients into two risk groups, with the high-risk group associated with a shorter overall survival (OS, p < 0.05) in TCGA-LIHC and GSE76427. Besides, the AUCs of the 1-, 3-, and 5-years OS were 0.772, 0.707, and 0.666, respectively. Gene set enrichment analysis (GESA) of lncRNAs revealed enrichment of oncogenic and immune-related pathways. The TIC profiling indicated a close correlation between the signature and immune cells. Furthermore, the high-risk group had a better response to immunotherapy than low-risk group. RT-PCR demonstrated these five lncRNAs were upregulated in cancerous tissue than normal tissues.Conclusions: The ferroptosis-related lncRNA signature could accurately predict the OS of HCC patients and may serve as an independent clinical factor for patients’ outcomes. Ferroptosis-related lncRNAs may remodel the tumor microenvironment (TME) and affect the anti-cancer ability of ICBs, and therefore, could potentially act as an indicator for the response to immunotherapy in HCC.

In this research, we propose a novel wheel-legged mobile robot to address the problems of insufficient obstacle-crossing performance and poor motion flexibility of mobile robots in non-structural environments. Firstly, we designed the transformable wheel mechanism and tail adaptive mechanism. Secondly, the kinematic model of the robot is established and solved by analyzing the whole motion and wheel-legged switching motion for the operation requirements under different road conditions. By synthesizing the constraint relationships among the modules and analyzing the robot’s obstacle-crossing abilities, we systematically established the mechanical model of the robot when it encounters obstacles. Thirdly, we studied the stability of the robot based on the stable cone method in the case of slope and unilateral transformation wheel deployment and achieved the tipping condition in the critical state. Finally, we used ADAMS software to simulate and analyze the driving process of the robot in various types of terrain and obstacles in order to verify that it has superior performance through obstacles and motion flexibility. The analysis shows that the robot can passively adapt to various complex and variable obstacle-filled terrains with obstacle heights which are much higher than its center of gravity range. The results of the study can provide a reference for the structural optimization and the obstacle-crossing performance improvement of mobile robots.

Purpose: The aim of this study is to explore the clinical features of spontaneous regression of retinopathy of prematurity (ROP) in China, including fundus appearance, time course, and affecting factors.Methods: Data of pediatric patients in whom ROP spontaneously regressed without treatment were collected, including general demographics, medical history, zones and stages of ROP, and changes of fundus appearance. The fundus manifestations of spontaneous regression in ROP were systematically summarized. Meanwhile, the time course of spontaneous regression in ROP was further analyzed, including the onset time, completion time, and duration of regression, which were all compared across different ROP zones and stages. The associated factors were analyzed by survival analysis for their correlation with delayed regression for the first time.Results: Two hundred thirty-seven eyes of 237 pediatric patients were included. The fundus manifestations of regression differed across stages. Lesions gradually subsided, and the retinal vessels gradually vascularized completely. However, despite ROP regression, some abnormalities remained. We observed avascular retina in the temporal periphery (19.0%), increased vascular branching (6.8%), retinal pigmentary changes (6.8%), and smaller angle between the upper and lower temporal retinal vessel trunks (3.0%). Acute ROP started to regress at a median 40 weeks of postmenstrual age (PMA) and completely regressed by median 49.0 weeks of PMA. The median duration for regression was 8.5 weeks. The zone II ROP and stage 3 ROP had a later time for onset and completion of regression, and longer duration. Anemia and retinal hemorrhage (RH) were identified as independent risk factors for delayed regression by survival analysis.Conclusions: During spontaneous regression, the fundus appearance is diverse, and the retinal vessels gradually vascularized completely. The time course of regression differs depending on the ROP zone and stage. Anemia and RH are independent risk factors for delayed regression. Further research of the natural course of the regression of ROP is needed to help design effective screening and follow-up plans.

Abstract Background Oxidative stress (OS) is an essential factor in the pathogenesis of branch retinal vein occlusion (BRVO). Studies have demonstrated the role of hydrogen gas in the regulation of OS. This study was designed to evaluate the efficacy of hydrogen gas on the BRVO rat model. Methods Twenty-four BRVO rats were randomly divided into two groups: the hydrogen gas (H) group (42% H2, 21% O2, 37% N2) and the model (M) group (21% O2, 79% N2). Rats in the H group inhaled hydrogen gas for 8 h every day up to 30 d post-occlusion. Twelve age-matched healthy rats served as the control (C) group. Retinal function and morphology were detected at 1, 7, 14 and 30 d post-occlusion. Furthermore, the expression of vascular endothelial growth factor (VEGF-α) was detected by immunofluorescent staining. Results Full-field electroretinography (ffERG) revealed that the amplitude of the b-wave (dark-adaptation 3.0 response), the amplitude of the OPs2 wave and the light-adapted flicker response in the H group were all higher than those in the M group at 7 d post-occlusion (all p 0.05). Conclusions Our findings demonstrate that inhalation of hydrogen gas could alleviate retinal oedema, shorten reopen time and improve retinal function, and the potential mechanism might be related to a decrease in VEGF-α expression.

Abstract Corn-like, γ-Fe2O3@SiO2@TiO2 core/shell heterostructures were synthesized by a modified solvothermal reduction combined with a sol-gel method. SiO2 shells were first deposited on monodisperse Fe3O4 microspheres by a sol-gel method. Fe3O4@SiO2@TiO2 corn-like heterostructures were then obtained by sequential TiO2 coating, during which the magnetic dipolar interactions induced the anisotropic self-assembly process. After annealing at 350 °C, the crystalized TiO2 enhanced photocatalytic activity, while Fe3O4 was converted to γ-Fe2O3. The corn-like γ-Fe2O3@SiO2@TiO2 photocatalyst can be recycled and reused by magnet extraction. Despite the photocatalytic activity decreased with each cycle, it can be completely recovered by moderate heating at 200 °C.

Branch retinal vein occlusion (BRVO) is a common retinal vascular disorder leading to visual impairment. Currently, the general strategies for BRVO are symptomatic therapies. Cardiovascular aspects are essential risk factors for BRVO. The traditional Chinese medicine hexuemingmu (HXMM), consisting of tanshinol and baicalin, dilates the vasculature and accelerates microcirculation. Therefore, the aim of this study was to determine the efficacy and possible mechanism of HXMM in a BRVO rat model established by laser photocoagulation. Successful BRVO rat models were treated with different doses of HXMM. Fundus photography and fluorescein fundus angiography (FFA) of the animals were applied. The retinal layers were measured by optical coherence tomography (OCT). Full-field electroretinography (ffERG) was applied to evaluate the retinal function. The ear vein flow velocity was measured via a microcirculation detector. The expression of the vascular endothelial growth factor (VEGF-α) was measured via western blotting and immunofluorescent staining. Our study found that retinal edema predominantly occurred in the inner nuclear layer (INL) and outer nuclear layer (ONL). The retinal edema of the treated groups was significantly relieved in the early stage of BRVO as visualized via OCT detection and HE staining. The amplitudes of the b wave and oscillatory potentials (OPs) waves of ffERG in the treated groups were increased compared with those of the control group at several detection points (3, 5, 7, 10, 14, and 21 d postocclusion). The expression of VEGF-α was reduced in the treated groups at an early stage of BRVO. Furthermore, the ear vein flow velocity of the HXMM treatment groups was faster than that of the control group. Thus, our study indicates that the traditional Chinese medicine HXMM could ameliorate retinal edema and rescue the retinal structure and function in BRVO models through promoting occluded vein recanalization, improving microcirculation, and regulating the expression of VEGF-α.

Recently, numerous wall-climbing robots have been developed for petrochemical tank maintenance. However, most of them are difficult to be widely applied due to common problems such as poor adsorption capacity, low facade adaptability, and low detection accuracy. In order to realize automatic precise detection, an innovative wall-climbing robot system was designed. Based on magnetic circuit optimization, a passive adaptive moving mechanism that can adapt to the walls of different curvatures was proposed. In order to improve detection accuracy and efficiency, a flexible detection mechanism combining with a hooke hinge that can realize passive vertical alignment was designed to meet the detection requirements. Through the analysis of mechanical models under different working conditions, a hierarchical control system was established to complete the wall thickness and film thickness detection. The results showed that the robot could move safely and stably on the facade, as well as complete automatic precise detection.

Weld detection is vital to the quality of ship construction and navigation safety, and numerous detection robots have been developed and widely applied. Focusing on the current bottleneck of robot safety, efficiency, and intelligent detection, this paper developed a wall-climbing robot that integrates multiple sensors and uses fluorescent magnetic powder for nondestructive testing. We designed a moving mechanism that can safely move on a curved surface and a serial-parallel hybrid flexible detection mechanism that incorporates a force sensor to solve the robot’s safe adsorption and a flexible detection of the curved surface to complete the flaw detection operation. We optimized the system structure and improved the overall performance of the robot by establishing a unified mechanical model for different operating conditions. Based on the collected sensor information, a multi-degree of freedom component collaborative flexible detection method with a standard detecting process was developed to complete efficient, high-quality detection. Results showed that the developed wall-climbing robot can move safely and steadily on the complex facade and can complete the flaw detection of wall welds.

Background and objective Recent studies indicated that non-small cell lung cancer (NSCLC) patients with mutant K-ras were resistant to epidermal growth factor receptor-tyrosine kinase inhibitors (EGFR-TKIs). The aim of this study is to explore the relationship between the mutation of K-ras gene and NSCLC in Guangxi by detecting the point mutations in codon 12, 13 and 61 of K-ras gene in NSCLC. Methods The point mutations in codon 12, 13 and 61 of K-ras gene were detected by single-strand conformation polymorphism (SSCP) analysis of polymerase chain reaction (PCR) products and DNA sequencing analysis in 105 cases of NSCLC tissues and 30 cases of adjacent normal tissues. Results No point mutation in codon 12, 13 and 61 of K-ras gene was found in 105 cases of NSCLC tissues and 30 cases of adjacent normal tissues. In this study, the mutation frequency of K-ras gene in NSCLC was 0 (0/105). Conclusion The high proportion of K-ras gene in wild-type indicates that patients with NSCLC in Guangxi could take more benefits from the therapy with EGFR-TKIs.

Continuous wetland restoration initiatives in China are increasing, due to the global degradation of wetland ecosystems. However, monitoring of the restoration situation remains incomplete. In this study, we investigated the effects of wetland restoration on the macroinvertebrate taxonomic structure and feeding functional groups (FFGs) in the Naolihe National Nature Reserve (NNNR). Macroinvertebrate taxonomic diversity can be used to monitor wetlands, and we hypothesized that FFGs serve the same function. We calculated the diversity index, performed a non-metric multidimensional analysis based on macroinvertebrate taxonomics and FFGs, and subsequently, performed a t-test on the results. The results showed that macroinvertebrate diversity and FFGs analyses were in general agreement with taxonomic diversity, indicating that the macroinvertebrate community in the wetland with five years of fallow land was resembled that of the natural wetland. In contrast, the macroinvertebrate community in the wetland with two years of fallow differed significantly from that in the natural wetland. Additionally, the results of the ecosystem attributes based on biomass and FFGs showed that restored wetlands exhibited lower habitat stability than natural wetlands. Nutrients (NH4+-N, NO3−-N, and total phosphorus) explained the changes in macroinvertebrate FFGs in the restored wetlands to a greater extent than in the natural wetlands. The results of this study highlight the importance of macroinvertebrate FFGs in wetland monitoring, which supports the use of macroinvertebrate FFGs in the NNNR to monitor wetland restoration.