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The three-dimensional trajectory tracking of AUV is an important basis for it to complete its task. Due to many uncertain disturbances such as wind, wave and current on the sea, it is easy to cause problems such as slow convergence speed of the controller and saturation of the controller output in the three-dimensional trajectory tracking control of AUV. And the dynamic uncertainty of AUV's own model will have a great negative impact on AUV's trajectory tracking control. In order to solve the problem of slow convergence speed of the above controller, the finite time control method is introduced into the designed position controller. In order to solve the problem of AUV controller output saturation, an auxiliary dynamic system is designed to compensate the system control output saturation. In order to solve the uncertainty of AUV model, a reduced order extended observer is designed in the dynamic controller. It can observe the motion parameters of AUV at any time, and compensate the uncertainty of model uncertainty and external environment disturbance in real time. The control method in this paper is simulated in a three-dimensional model. The experimental results show that the convergence speed, control accuracy, robustness and tracking effect of AUV are higher than those of common trajectory tracker. The algorithm is loaded into the "sea exploration Ⅱ" AUV and verified by experiments in Suzhou lake. The effect of AUV navigation basically meets the task requirements, in which the mean value of pitch angle and heading angle error is less than 8 degrees and the mean value of depth error is less than 0.1M. The trajectory tracker can better meet the trajectory tracking control needs of the AUV.

ObjectiveThis meta-analysis was to investigate the effects of neoadjuvant chemohormonal therapy (NCHT) on patients with prostate cancer (PCa) before radical prostatectomy (RP) and attempt to provide meaningful evidence.MethodsA systematic search was performed using the PubMed, Web of Science, and Cochrane Library databases in February 2022 based on the Preferred Reporting Items for Systematic Reviews and Meta-Analyses guidelines. The relevant studies were critically screened and we extracted the data of demography, postoperative pathology, and survival to calculate the pooled effect sizes. Subgroup analyses and sensitivity analyses were used to explore the source of heterogeneity.ResultsSix identified studies involving 1717 subjects were included according to the selection criteria. There was no significant difference between NCHT plus RP and RP alone groups regarding lymph node involvement (risk ratio [RR]=1.03, 95% confidence interval [CI]: 0.57-1.87, P=0.92). However, NCHT prior to RP significantly decreased the rates of positive surgical margin (PSM, RR=0.35, 95% CI: 0.22-0.55, PConclusionsCompared to the RP alone group, patients with NCHT plus RP showed significant improvements in PSM, SVI, pathological downstaging, BRFS, and OS, whereas further multicenter randomized controlled trials are needed to consolidate this concept.

Lithium metal anode is regarded as the ultimate choice for next-generation energy storage systems, due to the lowest negative electrochemical potential and super high theoretical specific capacity. However, the growth of lithium dendrite during the cycling process is still one of the most critical bottlenecks for its application. In this work, a slurry-like hybrid electrolyte is proposed towards the application for lithium metal anode, which is composed of a liquid electrolyte part and a nanometric silane-Al2O3 particle part. The hybrid electrolyte shows high ionic conductivity (3.89 × 10−3 S cm−1 at 25 °C) and lithium-ion transference number (0.88). Especially, the resistance of hybrid electrolyte decreases compared to that of liquid electrolyte, while the viscosity of hybrid electrolyte increases. It is demonstrated that the hybrid electrolyte can effectively suppress the growth of lithium dendrite. Stable cycling of Li/Li cells at a current density up to 1 mA cm−2 is possible. The hybrid electrolyte helps to uniform the lithium ion flux inside the battery and partly comes from the formation of a rigid and highly conductive hybrid interfacial layer on the surface of lithium metal. This work not only provides a fresh way to stabilize lithium metal anode but also sheds light on further research for electrolyte optimization and design of lithium metal battery system.

Purpose Long non-coding RNAs (lncRNAs) are involved in the development of various tumors including prostate cancer. The purpose of this study was to explore the function of a natural antisense RNA, IDH1-AS1, exerting potential carcinogenic effects in prostate cancer through a novel molecular mechanism. Materials and methods GEPIA and CCLE databases were searched to identify alterations in the expression of IDH1-AS1, which were then verified by RT-qPCR in 20 pairs of matched tumor and normal tissue samples. Subsequently, CCK-8, EdU, and transwell assays were conducted to investigate the carcinogenic effect of IDH1-AS1. RT-qPCR, Western blot, and isocitrate dehydrogenase 1 (IDH1) enzyme activity assays were used to explore the functional relationship between IDH1-AS1 and its sense gene IDH1. Results IDH1-AS1 expression was found to be significantly increased in prostate cancer tissues and cell lines. IDH1-AS1 knockdown significantly inhibited the proliferation and migration of prostate cancer cells. Interestingly, RT-qPCR and Western blot analyses revealed that IDH1-AS1 did not significantly affect the expression of IDH1 mRNA or protein but was involved in the regulation of IDH1 enzyme activity in prostate cancer cells. Conclusion Our experiments revealed that the carcinogenic effects of IDH1-AS1 in prostate cancer may depend on a new molecular mechanism, which directly alters IDH1 enzyme activity. Our findings indicate that IDH1-AS1 is a novel candidate target for prostate cancer treatment.

Lithium metal is considered to be the most promising anode material due to its high theoretical capacity, low density and low electrochemical potential. However, continuous lithium dendrite growth results in low coulombic efficiency, capacity decay and safety hazard, which hinder the practical application of lithium metal anode. In this work, a functional polydopamine (PDA) layer inspired by nature is introduced to the surface of Cu foil, which is used as a current collector for lithium metal anode here. During depositing of lithium, lithium ions will firstly react with the hydroxyl groups of PDA layer, yielding uniformly distributed lithium complexing carbonyl groups which can work as nucleation sites and is favorable for uniform and stable deposition of lithium metal on the current collector, thus effectively suppress dendrite formation and growth. As a result, lithium metal batteries with PDA modified current collectors exhibit high coulombic efficiency of above 97% for 100 cycles at 0.5 mA cm-2 and the Li/Li symmetric cells show more than 800 h stable repeated lithium plating and stripping. The LiFePO4/Li batteries with the modified current collectors show extended cycle life (more than 150 cycles). This work provides a novel way to address the problems of lithium metal anode.

Organic phosphates have been widely used as fire-retardant additives/co-solvents to improve the Li-ion electrolyte safety. However, these solvents show poor compatibility with low potential electrodes and cannot work efficiently as sole solvent at low salt concentration. The utilization of high concentration electrolytes was shown to improve the interfacial properties by altering the solvation structure but the drawbacks are low ionic conductivity, high viscosity, and elevated costs. Herein, a dual-salt phosphate-based electrolyte consisting of medium concentration lithium nitrate (LiNO3) and lithium bis(trifluoromethanesulfonyl)imide (LiTFSI) salts in triethyl phosphate (TEP) is analyzed and found to address the above issues. Benefiting from the strong affinity between NO3− and Li+, the use of LiNO3 is found to perturb the solvation structure, with mixed anion (NO3− and TFSI−) pairing with Li+. The detailed environment of Li+ in dual-salt phosphate-based electrolyte is probed through nuclear magnetic resonance and Raman analysis, corroborated by theoretical calculations. The dual-salt formulation is found to lead to the formation of a LiF–Li3N-LiNxOy-rich solid-electrolyte interphase on Li metal surface. The results and analyses not only allow the assembly of LiNi0·5Co0·2Mn0·3O2||Li cells with significantly improved cycling and low-temperature performances but also shine a light on taming strong polarity phosphate electrolytes with fine solvation interplay.

Interstitial cystitis (IC) is a clinical syndrome characterized by frequency, urgency, and bladder pain or pelvic pain; however, the underlying pathophysiological mechanisms and diagnostic markers are unknown. In this study, microbiome and metabolome analysis were used to explain the urine signatures of IC patients. Urine samples from 20 IC patients and 22 control groups were analyzed by using 16S rRNA sequence and liquid chromatography coupled with mass spectrometry. Four opportunistic pathogen genera, including Serratia, Brevibacterium, Porphyromonas, and Citrobacter, were significantly upregulated in IC group. The altered metabolite signatures of the metabolome may be related to sphingosine metabolism, amino acid metabolism, and fatty acid biosynthesis. Meanwhile, the associations were observed between different metabolites and microbiomes of IC. The present study suggests that the combined signatures of IC in urine microbiome and metabolome may become its prospective diagnostic markers.

Antimony (Sb) has been regarded as one of the most promising anode materials for both lithium-ion batteries (LIBs) and sodium-ion batteries (SIBs) and attracted much attention in recent years. Alleviating the volumetric effect of Sb during charge and discharge processes is the key point to promote Sb-based anodes to practical applications. Carbon dioxide (CO2) activation is applied to improve the rate performance of the Sb/C nanohybrid anodes caused by the limited diffusion of Li/Na ions in excessive carbon components. Based on the reaction between CO2 and carbon, CO2 activation can not only reduce the excess carbon content of the Sb/C nanohybrid but also create abundant mesopores inside the carbon matrix, leading to enhanced rate performance. Additionally, CO2 activation is also a fast and facile method, which is perfectly suitable for the fabrication system we proposed. As a result, after CO2 activation, the average capacity of the Sb/C nanohybrid LIB anode is increased by about 18 times (from 9 mA h g−1 to 160 mA h g−1) at a current density of 3300 mA g−1. Moreover, the application of the CO2-activated Sb/C nanohybrid as a SIB anode is also demonstrated, showing good electrochemical performance.

Antimony (Sb) has been regarded as one of the most promising anode materials for both lithium-ion batteries (LIBs) and sodium-ion batteries (SIBs) and attracted much attention in recent years. Alleviating the volumetric effect of Sb during charge and discharge processes is the key point to promote Sb-based anodes to practical applications. Carbon dioxide (CO

Objective To investigate the Corona Virus Disease 2019(COVID-19) clinical characteristics and mortality risk by pooling the open published data.Methods Studies relevant to COVID-19 published in Pubmed, China Wanfang database, ChinaXiv and medRxiv were systematic screened by using the text word of “COVID-19”, 2019-nCoV, “SARS-CoV-2”, “NCP”. The mortality and clinical characteristic of the COVID-19 cases such as male/female ratio, mechanical ventilation ratio and top clinical symptom rate of the COVID-19 cases were pooled.ResultsTen clinical studies relevant to COVID-19 were identified by electronic searching the related databases. The combined mortality was 0.03(95%CI: 0.01-0.04) for COVID-19 cases by random effect model. The pooled female ratio of the COVID-19 cases from 10 published data was 0.41(95%CI:0.37-0.46). The pooled invasive and non-invasive ventilation ratio were 0.03(95%CI:0.01-0.05) and 0.06(95%CI:0.02-0.09) respectively for patients with COVID-19 pneumonia. The pooled clinical symptom rate of fever, cough, headache and fatigue were 0.80(95%CI:0.60-1.01), 0.12(95%CI:0.08-0.17), 0.68(95%CI:0.57-0.73) and 0.51(95%CI:0.36-0.67) respectively under random effect model.Conclusion According to the present published data, male was more cline to susceptible to COVID-19 compared to female. The fever, cough and fatigue were the most common symptom of COVID-19 cases. About 10% of patients received invasive or noninvasive mechanical ventilation with the overall crude mortality of 3%.

Metallic lithium, with super high theoretical specific capacity, enjoys great potential as an anode for rechargeable batteries. However, safety issues caused by lithium dendrite growth as well as limited cycling life restrict its practical application. Herein we validate that the application of a new dual-salt electrolyte composed of Lithium difluorophosphate (LiPO2F2) and lithium bis(fluorosulfony)imide (LiFSI) in the same proportion enables the improved long-term cycling performance along with high coulombic efficiency for lithium metal batteries. With 1 M LiPO2F2 and 1 M LiFSI in 1,2-dimethoxyethane as the electrolyte, a Li/Cu cell can be cycled at 1 mA for more than 300 cycles with a deposited capacity of 1.0 mAh. It also displays that a homogeneous and dendrite free solid electrolyte interphase layer is generated on the Cu electrode, which can be ascribed to the favorable stability of LiPO2F2 and high ionic conductivity of LiFSI. These results deliver perceptions for the advancement of high-performance lithium metal anode.

One of the crucial challenge for developing high safety and high voltage lithium ion batteries is to find a reliable electrolyte system. In this work, we report a kind of hybrid electrolytes, which are used for high-voltage lithium ion batteries and are expected to be able to effectively enhance the battery safety. The hybrid electrolytes are obtained by incorporating silane-Al2O3 (Al2O3-ST) into liquid electrolyte, which combines the merits of both solid electrolyte and liquid electrolyte. The Al2O3-ST nanoparticles help to increase lithium-ion transference number and to enhance battery safety, while liquid electrolyte contributes to high ionic conductivity. The cycling stability and rate capacity of LiNi0.5Mn1.5O4/Li batteries are improved by using the hybrid electrolytes. Nail-penetration tests indicate that LiNi0.6Mn0.2Co0.2O2/graphite battery with hybrid electrolyte owns obviously enhanced safety than that using traditional liquid electrolyte. This work provides new insight on electrolyte design for high-safety high-voltage lithium ion batteries.

Supplemental Digital Content is available in the text, Introduction: Primary bladder mucosa-associated lymphoid tissue (MALT) lymphoma is a rare tumor. To date, the PubMed database contains only 39 English articles covering 63 cases of primary bladder MALT lymphoma. Herein, we report a case of this disease and review the current literature. Patient concerns: A 77-year-old woman presented with frequent urination, urinary urgency, and dysuria for 3 years. In the past 3 years, the patient's symptoms recurred and progressively worsened, and she was admitted to the hospital. Diagnosis: A histopathological examination revealed the bladder mass as a tumor with high proliferation of atypical B-lymphocytes. Immunohistochemistry showed positive results for CD20, PAX-5, Ki-67, BCL-2, and CD21 and negative results for CD10, MUM1, TDT, and cyclin D1. These data supported the diagnosis of primary bladder MALT lymphoma. Interventions: A transurethral resection of bladder tumor was performed to treat the disease. Outcomes: The patient was alive and healthy at the 15-month follow-up. Conclusion: Primary bladder MALT lymphoma is a rare disease and can be easily missed or misdiagnosed before achieving a histological confirmation. Surgery may be the best choice for both diagnosis and treatment.