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Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height. Previous studies have used 3D radars for ego-motion estimation. But few methods leveraged the rich data of imaging radars, and they usually omitted the mapping aspect, thus leading to inferior odometry accuracy. This paper presents a real-time imaging radar inertial odometry and mapping method, iRIOM, based on the submap concept. To deal with moving objects and multipath reflections, we use the graduated non-convexity method to robustly and efficiently estimate ego-velocity from a single scan. To measure the agreement between sparse non-repetitive radar scan points and submap points, the distribution-to-multi-distribution distance for matches is adopted. The ego-velocity, scan-to-submap matches are fused with the 6D inertial data by an iterative extended Kalman filter to get the platform's 3D position and orientation. A loop closure module is also developed to curb the odometry module's drift. To our knowledge, iRIOM based on the two modules is the first 4D radar inertial SLAM system. On our and third-party data, we show iRIOM's favorable odometry accuracy and mapping consistency against the FastLIO-SLAM and the EKFRIO. Also, the ablation study reveal the benefit of inertial data versus the constant velocity model, and scan-to-submap matching versus scan-to-scan matching., Comment: 8 pages, 8 figures, 4 tables, the proofread version will appear on RA-L soon

Radiotherapy has become an increasingly widespread modality for treating hepatocellular cancer (HCC); however, the development of radioresistance significantly limits its effectiveness and invariably leads to tumor recurrence. Cancer stem cell (CSC) theory offers a potential explanation for tumor relapse and radioresistance, but the underlying mechanism remains unknown. Herein we investigate the role of miRNA in molecular regulation of stemness and radioresistance in HCC. Two HCC radiation-resistant cell lines (Huh7-RR and SMMC-7721-RR) were established by selecting the radioresistant subpopulation from HCC cells via clonogenic survival assays. MiRNA Sequencing was used to identify potential radiosensitivity involved miRNA in HCC-RR cells. Xenograft tumor mouse model was established for in vivo study. CSC properties were assessed using sphere formation assay and side population (SP) cells analysis. We found that miR-34a-5p was significantly downregulated in HCC-RR cells. Overexpression of miR-34a-5p counteracts CSC properties and enhances radiosensitivity in HCC. Mechanistic investigation revealed that c-MYC is the direct target of miR-34a-5p. Overexpression of miR-34a-5p reversed c-MYC-induced radioresistance. Moreover, we found that the specific molecular mechanism was that c-MYC activated CHK1 and CHK2, which are two key DNA damage checkpoint kinases, and facilitated the DNA damage response to radiation. Repression of the miR-34a-5p-c-MYC-CHK1/CHK2 axis contributes to the acquisition of radioresistance in HCC cells. In summary, the miR-34a-5p-c-MYC-CHK1/CHK2 axis counteracts cancer stem cell-like properties and enhances radiosensitivity in hepatocellular cancer through repression of the DNA damage response.

Electric vehicle (EV) has been applied as the main transportation tool recently. However, EVs still require a long charging time and, thus, inevitably cause charging congestion. The traditional plug-in charging mode is limited by fixed location and peak hours. Therefore, a flexible vehicle-to-vehicle (V2V) charging mode is considered in this article. Here, parking lots (PLs) widely dispersed in cities are reused as a common place for V2V charging. EVs are divided into EVs as energy consumers and EVs as energy providers to form as vehicle-to-vehicle charging pairs (V2V-Pairs). In this article, we propose a V2V charging management scheme, which includes a distance-based V2V-Pair matching algorithm and a PL-selection scheme. As the occupation status at PLs is difficult to predict, to achieve high PL utilization and evenly PL selection, V2V charging reservation is introduced. Meanwhile, since EV drivers usually park at PLs within a limited duration, our proposed V2V charging scheme introduces the parking duration to optimize V2V charging under a temporal constraint. We simulate this V2V charging scheme under the Helsinki city scenario. The results prove that our proposed V2V charging scheme achieves great charging efficiency (minimized charging waiting time and maximized fully charging times).

Spontaneous pneumorrhachis with pneumomediastinum, scrotal emphysema, and extensive subcutaneous emphysema caused by acute pneumonia are rarely observed in clinical practice.Herein, we report a case of a 12-year-old boy with spontaneous pneumorrhachis with pneumomediastinum, scrotal emphysema, and extensive subcutaneous emphysema caused by a severe cough due to mycoplasma pneumonia. This patient neither received invasive or noninvasive ventilator treatment nor surgical treatment before the onset of the disease. After treatment, the patient recovered smoothly and was discharged from the hospital.We reviewed all cases of spontaneous pneumorrhachis in children and adolescents between 1988 and 2022 in the PubMed database. Twenty-seven cases met our inclusion criteria, and the data on demographic information, triggers, comorbidities, symptoms, imaging findings, treatment, and prognosis were extracted and analyzed.Although spontaneous pneumorrhachis is a rare condition, it has been reported in children. Computed tomography scanning is the gold standard for its detection. Spontaneous pneumorrhachis is typically a benign disease. This condition usually does not require any special treatment and should be monitored as common types of air leaks, such as pneumothorax and pneumomediastinum.

Unlike conventional methods of pests control, introducing in an appropriate mathematical model can contribute a batter performance on pests control with higher efficiency while lest damage to ecosystem. To fill the research gap on plant root pest control, we propose a plant root pest management model with state pulse feedback control. Firstly, the stability of the equilibrium point of the model (1.3) is analyzed by using the linear approximate equation, given that the only positive equilibrium point of model (1.3) is globally asymptotically stable. Moreover, the existence and uniqueness of order 1 periodic solutions of model (1.3) are discussed in detail according to the geometric theory of semi-continuous dynamical systems, successor functions method and the qualitative theory of differential equations. Finally, with further analysis in different methods, the asymptotic stability of the order 1 periodic solution of model (1.3) is obtained by using Similar Poincare Criterion or interval set theorem. The results show that this model can effectively control the number of pests below the economic level of damage.

Discoloration events in drinking water distribution systems (DWDSs) caused by iron particles have occurred worldwide, and boiling has been applied in drinking water treatment households globally, but the effects of boiling on iron particles are not clear. Here, the effect of boiling on different kinds of iron particles (including loose deposits from the DWDS and their main components FeOOH, Fe2O3, and Fe3O4) was studied. At 10 mg/L, the turbidity values before/after boiling of Fe2O3, Fe3O4, and FeOOH were 134.00/121.00, 25.07/21.22, and 120.40/114.20 NTU, respectively. All the particles had a lower degree of crystallinity after boiling. After boiling, the number of particles in loose deposits increased and the particle size decreased, while iron oxides were on the contrary. Among the three iron oxides, the existence of Fe3O4 and Fe2O3 had different effects on disinfection by-products (DBPs) formation. The activity of microorganisms was the highest under particle concentration of 0.1 mg/L than other concentrations for all the particles, but the total microbiological risks were still very low after boiling. Thus, the boiling treatment would increase the turbidity and risks of the particles. As the particle concentration under low concentration is hard to find, this risk is also hard to find.

The inertial navigation system (INS) has been widely used to provide self-contained and continuous motion estimation in intelligent transportation systems. Recently, the emergence of chip-level inertial sensors has expanded the relevant applications from positioning, navigation, and mobile mapping to location-based services, unmanned systems, and transportation big data. Meanwhile, benefit from the emergence of big data and the improvement of algorithms and computing power, machine learning (ML) has become a consensus tool that has been successfully applied in various fields. This article reviews the research on using ML technology to enhance inertial sensing from various aspects, including sensor design and selection, calibration and error modeling, navigation and motion-sensing algorithms, multi-sensor information fusion, system evaluation, and practical application. It summarizes the state of the art, advantages, and challenges on each aspect, and points out future research directions.

Objective To assess whether noninvasive therapies were related with clearance of cervical infection of high-risk human papilloma virus (hr-HPV) and regression of mild abnormal cytology related with hr-HPV. Methods Until April 2023, we identified a total of 10424 women with cervical infection of hr-HPV and 1966 women with mild abnormal cytology related with hr-HPV from 44 studies meeting the inclusion criteria. Results After systematic retrieving literature, we identified 2317 citations, 44 randomized controlled studies were enrolled. Cumulative results suggested noninvasive therapies benefited women who had cervical infection of hr-HPV. Both the clearance of hr-HPV (OR: 3.83, I2 = 99%, p 2 = 63%, p 2 = 87% for clearance of hr-HPV and 63% for regression of cytology), sensitivity analysis was performed by excluding single study one by one, found the cumulative results were stable and dependable. Both the funnel plots for clearance of hr-HPV and regression of abnormal cytology were asymmetrical, significant publication bias might exist. Conclusion Noninvasive therapies benefited women who had cervical infection of hr-HPV with/without mild abnormal cytology related with hr-HPV. Both the clearance of hr-HPV and regression of abnormal cytology were significant higher than control group. More studies with less heterogeneity are needed urgently to draw a concrete conclusion.

Campylobacter species are zoonotic pathogens, as well as the prevalent cause of foodborne bacterial gastroenteritis. The spread of antimicrobial-resistant strains poses a serious threat to global public health and attracts attention worldwide, but information about clinical Campylobacter is relatively limited compared to isolates from food and animals. The current study illustrated the prevalence and antimicrobial resistance profiles of Campylobacter jejuni and Campylobacter coli isolates collected from a consecutive surveillance program between 2012 and 2019 in Shanghai, China, using antimicrobial susceptibility testing and whole-genome sequencing. Among the 891 Campylobacter strains (761 C. jejuni and 130 C. coli) isolates collected, high portions above 90% of resistance to ciprofloxacin, nalidixic acid, and tetracycline were observed for both C. jejuni and C. coli. The most common MDR profiles represented by C. jejuni and C. coli were combination of ciprofloxacin, tetracycline, florfenicol and nalidixic acid (5.39%), and azithromycin, ciprofloxacin, erythromycin, gentamicin, tetracycline, clindamycin, nalidixic acid (28.46%), respectively. The erythromycin resistance of C. coli (59.23%) is higher than C. jejuni (2.50%). A total of 76 erythromycin resistant isolates (16 C. jejuni and 60 C. coli) were sequenced using Illumina platform for determining the genotypes, antimicrobial resistance patterns and phylogeny analysis. Multilocus sequence typing (MLST) analysis showed a high genetic diversity with 47 sequence types (STs), including 4 novel alleles and 12 new STs. The most abundant clonal complexes (CCs) were CC-403 (31.25%) and CC-828 (88.33%) for C. jejuni and C. coli, respectively. Among the 76 erythromycin-resistant isolates, mutation A2075G in 23S rRNA and erm(B) gene were detected in 53.95 and 39.47%, respectively. The erm(B) gene was identified exclusively in 30 C. coli isolates. All these erm(B) positive isolates were multi-drug resistant. Furthermore, comparison of the erm(B)-carrying isolates of multiple sources worldwide demonstrated the possibility of zoonotic transmission of erm(B) in Campylobacter. These findings highlight the importance of continuous surveillance of erythromycin resistance dissemination in Campylobacter which may compromise the effectiveness of antimicrobial therapy.

In the low and mid-mountain ranges of Central Europe, such as the vast Bavarian Forest, slopes are dominated by quaternary stratified Periglacial Slope Deposits (PSD), often underlain by saprolite. Previous research already pointed out that both PSDs and saprolite significantly impact the slope water movement and storage. In this study, in addition to slope water movement and intermediate storage in PSDs and saprolite, we investigate the transition to the active floodplain and the stream itself. From a geomorphological and pedological point of view, another focus is on the role of saprolite and loess, far outside the classic loess distribution areas.The study area 20 km North of the City of Regensburg encompasses two catenae, each showing an upper slope planted with forest, a middle and toe slope covered with grassland, transitioning into a river floodplain that is also gras covered. The geomorphogenesis, soil genesis, and soil properties of these slopes are to be discussed as an essential basis for the work. Besides physicochemical analysis to characterize sediment and soil properties, also numerical dating techniques (OSL) are used. Furthermore, we use geophysical methods like ERT, SSR, and GPR to prospect the architecture of the shallow subsurface along the entire hillslope. Finally, we permanently instrumented each catena with, among other things, soil moisture probes and tensiometers. These are placed based on the position of particular sediment layers like PSDs, to highlight their differentiation and role in the slope water transport. The aim is to develop a model of the shallow subsurface, characterizing the pathways and temporary buffer of slope water under the given geomorphological conditions.

Aged hematopoietic stem cells (HSCs) exhibit compromised reconstitution capacity and differentiation-bias towards myeloid lineage. While, the molecular mechanism behind it remains not fully understood. In this study, we observed that the expression of pseudouridine (Ψ) synthase 10 is increased in aged hematopoietic stem and progenitor cells (HSPCs) and enforced PUS10 recapitulates the phenotype of aged HSCs, which is not achieved by its Ψ synthase activity. Consistently, we observed no difference of tRNA pseudouridylation profile between young and aged HSPCs. No significant alteration of hematopoietic homeostasis and HSC function is observed in young Pus10-/- mice, while aged Pus10-/-mice exhibit mild alteration of hematopoietic homeostasis and HSC function. Moreover, we observed that PUS10 is ubiquitinated by E3 ubiquitin ligase CRL4DCAF1 complex and the increase of PUS10 in aged HSPCs is due to aging-declined CRL4DCAF1-mediated ubiquitination degradation signaling. Taken together, this study for the first time evaluated the role of PUS10 in HSC aging and function, and provided novel insight for HSC rejuvenation and clinical application.

The pharynx is an endoderm innovation in deuterostome ancestors, the vertebrate descendent structure of which is a pharyngeal developmental organizer involving multi-germ layer and organ derivatives. However, the evolutionary origination of complicated pharynx organs in vertebrates is still largely unknown. Endostyle, a transitional pharyngeal organ exclusively in basal chordates provides an opportunity to reveal the origin of pharyngeal organs. Here, utilizing cutting-edged Stereo-seq and single-cell RNA-seq, we constructed the first spatially-resolved single-cell atlas in the endostyle of urochordate ascidianStyela clava, where the spatial location of Stereo-seq and high capture efficiency of single-cell RNA-seq complement each other and identified 23 highly differentiated cell types. We identified a previously overlooked hemolymphoid region (HLR), which harbors immune and blood cell clusters with enriched stemness capacities, illuminating a mixed rudiment and stem-cell niches for the blood and lymphoid system. More excitingly, we discovered a mechanical-sensitive hair cell candidate in zone 3 homologous to vertebrate acoustico-lateralis system, which was supported by the expression ofin situhybridization-verified inner ear-specific markers, includingPTPRQ,USH2A,WHRN, andADGRV1, ultracellular structure evidence and cross-species comparison. These results thoroughly renewed the comprehension of the basal-chordate pharynx and provides expressional evidence for multiplexed pharyngeal organ evolution.

Supplementary Table S1. Sanger validated variants. Supplementary Table S2. Mutations in HSTL driver genes. Supplementary Table S3. Other mutations identified by exome sequencing. Supplementary Table S4. Copy number of HSTL patients and cell lines. Supplementary Table S5. Clinical and pathological characteristics of HSTL patients. Supplementary Tables S6, S7. Comparison to HSTL clinical data in the literature. Supplementary Table S8. Mutational frequencies in other lymphomas. Supplementary Table S9. HSTL mutations in other lymphoma driver genes. Supplementary Table S10. Gene set enrichment analysis of DERL2 SETD2 shRNA.

Supplementary Table S1. The primers used for real-time PCR analysis Supplementary Table S2. ABPs obtained from Kyoto Encyclopedia of Genes and Genomes (KEGG) database

S1. The GEPIA website (based on TCGA data) revealed that 48 ABPs were significantly up-regulated in GC tissues. S2. H. pylori induces L-plastin expression in GC cells. S3. Direct contact is required for H. pylori induced L-plastin expression in GC cells. S4. The vacA was not involved in the induction of L-plastin. S5. Decreased expression of L-plastin in presence of U0126 during H. pylori infection. S6. L-plastin expression is increased in GC tissues.

Figure S1. NK cell and T cell numbers in the peripheral blood, non-tumor and tumor tissues of GC patients. Figure S2. Expression of activating and inhibitory receptors on NK cells in the peripheral blood, non-tumor and tumor tissues of GC patients. Figure S3. Expression of CD56 and CD16 on NK cells in the peripheral blood, non-tumor and tumor tissues of GC patients. Figure S4. The expression of HLA-DR on tissue-associated monocytes/macrophages in GC patients. Figure S5. The expression of CD48, PD-L1 and PD-L2 on tissue-associated monocytes/macrophages in GC patients. Figure S6. Co-expression of CD68 and TGF-beta1 in tumors of GC patients. Figure S7. Surface expression levels of TGF-beta1 on tumor-associated monocytes/macrophages in GC patients. Table S1. Clinical characteristics of 65 GC patients. Table S2. Fluorochrome-conjugated antibodies used in flow cytometry. Table S3. Univariate and multivariate analyses of factors associated with survival.

Supplementary Figure S1. Sanger sequencing chromatograms. Supplementary Figure S2. Cancer cell fraction for driver genes. Supplementary Figure S3. Ideogram with chromosome 7 alterations. Supplementary Figure S4. Examples of Exome Copy Number. Supplementary Figure S5. Exploratory Kaplan-Meier plots for clinical covariates. Supplementary Figure S6. Exploratory Kaplan-Meier plots for molecular covariates. Supplementary Figure S7. Sanger and exome sequencing validation of SETD2 biallelic mutation in one HSTL case. Supplementary Figure S8. SETD2 expression in mutant vs. wildtype cases. Supplementary Figure S9. Mutual exclusivity of STAT5B, PIK3CD, and STAT3 mutations.

Natural killer (NK) cells are a major component of the host antitumor immune response in human cancer. However, the nature, functional regulation, and clinical relevance of NK cells in gastric cancer remain largely unknown. In this study, we showed that the percentages of NK cells in tumors were significantly decreased, and low percentages of tumor-infiltrating NK cells were positively correlated with poor survival and disease progression. Although the expression of activating and inhibitory receptors on NK cells was shown to be not different between tumor and nontumor tissues, NK cells in tumors had impaired effector functions, characterized by decreased IFNγ, TNFα, and Ki-67 expression. We found that tumor-infiltrating monocytes/macrophages were physically close to NK cells, and their percentages negatively correlated with IFNγ+ and TNFα+ NK-cell percentages. Ex vivo study showed that isolated tumor-associated monocytes/macrophages could impair NK-cell expression of IFNγ, TNFα, and Ki-67. Blockade of TGFβ1 attenuated such monocytes/macrophages-mediated impairment of NK-cell function. Our data suggest that human NK-cell function was impaired by tumor-associated monocytes/macrophages, and that restoring NK-cell function may be an important therapeutic strategy to prevent tumor immune escape in gastric cancer. Cancer Immunol Res; 5(3); 248–56. ©2017 AACR.

Actin cytoskeleton dynamic rearrangement is required for tumor cell metastasis and is a key characteristic of Helicobacter pylori (H. pylori)-infected host cells. Actin cytoskeleton modulation is coordinated by multiple actin-binding proteins (ABP). Through Kyoto encyclopedia of gene and genomes database, GEPIA website, and real-time PCR data, we found that H. pylori infection significantly induced L-plastin, a key ABP, in gastric cancer cells. We further explored the regulation and function of L-plastin in H. pylori–associated gastric cancer and found that, mechanistically, H. pylori infection induced gastric cancer cells to express L-plastin via cagA-activated ERK signaling pathway to mediate SP1 binding to L-plastin promoter. Moreover, this increased L-plastin promoted gastric cancer cell proliferation and migration in vitro and facilitated the growth and metastasis of gastric cancer in vivo. Finally, we detected the expression pattern of L-plastin in gastric cancer tissues, and found that L-plastin was increased in gastric cancer tissues and that this increase of L-plastin positively correlated with cagA+ H. pylori infection status. Overall, our results elucidate a novel mechanism of L-plastin expression induced by H. pylori, and a new function of L-plastin–facilitated growth and metastasis of gastric cancer, and thereby implicating L-plastin as a potential therapeutic target against gastric cancer.Implications:Our results elucidate a novel mechanism of L-plastin expression induced by H. pylori in gastric cancer, and a new function of L-plastin–facilitated gastric cancer growth and metastasis, implicating L-plastin as a potential therapeutic target against gastric cancer.