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For space robots, it is difficult to track continuous time-varying manifolds on SE(3) by using traditional closed-loop control strategies, which are designed to track the position and the attitude separately. Therefore, the dynamics model should be rebuilt, and the corresponding control strategy should be redesigned. Firstly, the dynamics equations for a space robot in the joint space and workspace are established separately in the framework of Lie group SE(3) and screw theory based on the Lagrange principle. Secondly, based on the proposed feedback form, a PD (proportional derivative) control law of output force on the end-effector is designed, and a closed-loop continuous tracking control strategy is proposed using the force Jacobian matrix and the kinematic model. The simulation results show that the control scheme has good performance when the system state changes gently. Furthermore, a robust sliding mode tracking control scheme is designed. The simulation results show that the proposed robust control law has better accuracy than the PD control law because the system state changes wildly. Finally, a robust fuzzy sliding mode tracking control scheme is designed to deal with the chattering phenomenon. The simulation results show that the proposed robust fuzzy control law can eliminate the chattering well and decrease the joint control torque significantly. The robustness of the proposed robust fuzzy control law is also verified by numerical simulation. [ABSTRACT FROM AUTHOR]

Right ventricular (RV) failure determines the prognosis in pulmonary arterial hypertension (PAH), but the underlying mechanism is still unclear. Growing evidence has shown that microRNAs participate in RV remodeling. This study is undertaken to explore the role of miR-335-5p in regulating RV remodeling induced by PAH. Two PAH models were used in the study, including the monocrotaline rat model and hypoxia/su5416 mouse model. miRNA sequencing and RT-qPCR validation identified that miR-335-5p was elevated in the RV of PAH rats. In vitro, miR-335-5p expression was increased after angiotensin II treatment, and miR-335-5p inhibition relieved angiotensin II-induced cardiomyocyte hypertrophy. The luciferase reporter assay showed that calumenin was a target gene for miR-335-5p. Pretreatment with miR-335-5p inhibitors could rescue calumenin downregulation induced by angiotensin II in H9C2 cells. Moreover, intracellular Ca2+ concentration and apoptosis were increased after angiotensin II treatment, and miR-335-5p inhibition decreased intracellular Ca2+ accumulation and apoptosis. Finally, in vivo miR-335-5p downregulation (antagomir miR-335-5p) attenuated RV remodeling and rescued calumenin downregulation under conditions of hypoxia/su5416 exposure. Our work highlights the role of miR-335-5p and calumenin in RV remodeling and may lead to the development of novel therapeutic strategies for right heart failure. [ABSTRACT FROM AUTHOR]

The CKLF-like MARVEL transmembrane domain containing 6 (CMTM6) plays an extremely important role of the programed death receptor ligand-1 (PD-L1) protein. Our study is aimed at investigating the expression of CMTM6 and PD-L1 proteins in triple-negative breast cancer and their correlation with the clinical pathological data of patients. We selected 89 cases of triple-negative breast cancer and 62 cases of normal breast tissue specimens. Immunohistochemical methods were used to detect the expression levels of CMTM6 and PD-L1 and to carefully study differences in their expression. The expression of CMTM6 and PD-L1 in TNBC was higher than that in normal breast tissue, and the expression of the two was positively correlated (p < 0.05). In TNBC, CMTM6 expression is positively correlated with tumor size, lymph node metastasis, Ki67 proliferation index, and TNM stage (p < 0.05). PD-L1 expression is positively correlated with tumor size, lymph node metastasis, Ki67 proliferation index, TNM stage, and vascular infiltration (p < 0.05). Kaplan-Meier analysis showed that the positive expression of CMTM6 and PD-L1 had no correlation with the survival rate of patients (p > 0.05). According to KM-plotter, we found that a higher CMTM6 expression was positively related with relapse-free survival rate of patients (p < 0.05). A higher PD-L1 expression was positively correlated with relapse-free, overall, and distant metastasis survival rate of patients (p < 0.05). In timer database, we found a positive correlation between the expression of CMTM6 and PD-L1 in triple-negative breast cancer. Both CMTM6 and PD-L1 are highly expressed in TNBC, and their expressions are positively related. In the future, the two gene might become targets for the treatment of TNBC, providing a basis of clinical treatment of TNBC. [ABSTRACT FROM AUTHOR]

Cervical carcinoma is one of the serious pernicious cancers that influence women's health. Invasion and metastasis are the chief reason of poor prognosis of cervical carcinoma. Hypoxia-inducible factor-1α (HIF-1α) is a significant regulatory factor of intracellular oxygen supersession, and its expression or increased activity is closely related to the arise and expansion of various human tumors. However, the relationship between HIF-1α (hypoxia-inducible factor 1) and Hippo pathway target gene Yes-related protein (YAP) and transcriptional coactivator (TAZ) in cervical carcinoma remains unclear. Here, we studied the clinical correlation of HIF-1α and YAP/TAZ expression in normal tissues, cervical intraepithelial neoplasia (CIN), and cervical squamous cell carcinoma (CSCC). In order to analyze the role of HIF-1α in CCSC in vitro, SiHa cells with high expression of HIF-1α and C33a cells with low expression of HIF-1α were screened by detection. After transfection with lentivirus, HIF-1α levels were downregulated in SiHa cells and upregulated in C33a Cells, respectively. Then, the expression of HIF-1α in transfected cervical cancer cells Siha and C33a was detected by qRT-PCR and Western blot, and the expression of YAP/TAZ was detected in cervical squamous cell carcinoma cells after HIF-1α expression was altered. To explore HIF-1α role in cell proliferation, invasion, and metastasis, we examined the changes of cell function in cervical cancer cells with HIF-1α overexpression and inhibition by MTT assay, wound healing assay, Transwell test, and other cell function tests. At the same time, HIF-1α overexpression and HIF-1α inhibition cervical cancer cells were transplanted into nude mice, and tumors were isolated from the nude mice, and tumor volume and weight were observed. In conclusion, HIF-1α significantly promotes the proliferation, invasion, and migration of cervical carcinoma cells by upregulating YAP/TAZ. In addition, YAP/TAZ, the target gene of Hippo pathway, plays an important role in CCSC cells, pointing out that HIF-1α is provided with treatment potential for the treatment of CCSC. [ABSTRACT FROM AUTHOR]

A calculation method of the bearing capacity of single squeezed branch pile is established based on the load transfer method. In the method, the hyperbolic model is used to describe the nonlinear load-displacement relationship of pile-soil interaction at the pile tip, the pile skin, and the squeezed branch, and the theoretical expression of six load transfer coefficients of squeezed branch pile is given. The correctness of the method is proved by a small-scale model test in homogeneous soil and a large-scale model test in stratified soil. The results show that the calculation based on the load transfer method is applicable to predict the ultimate load in engineering application. [ABSTRACT FROM AUTHOR]

Secreted protein, acidic and rich in cysteine (SPARC, also known as osteonectin), is a small molecule glycoprotein associated with cell secretions. The purpose of our research is to clarify the clinicopathological and prognostic significance of SPARC expression in breast cancer. In this study, we performed a meta-analysis and bioinformatics analysis using the PubMed, Web of Science, Wanfang Data, and CNKI databases. The meta-analysis showed that SPARC expression was elevated in breast cancer tissue, compared with normal tissue, while SPARC expression in tumor stromal cells was higher than that of tumor cells. The expression of SPARC was positively correlated with histological grade and TNM staging. The Kaplan-Meier plotter showed that low SPARC expression was negatively correlated with the overall, postprogression, and distant metastasis survival rates of patients. According to Oncomine database, SPARC expression was upregulated in breast cancer than normal tissues. In TCGA database, univariate analysis showed that lymph node metastasis, distant metastasis, and TNM staging were negatively correlated with patient prognosis in breast cancers. Cox multivariate analysis showed that age, lymph node metastasis, distant metastasis, and TNM staging were important factors affecting the survival time of breast cancer patients. SPARC expression can be employed as a good indicator of prognosis of breast cancer patients, which will provide new methods and ideas of preventive treatment. [ABSTRACT FROM AUTHOR]

Sports violence is a critical issue that has hindered China's sports development. Dual logic is currently the mainstream rule of law and industrial autonomy, although it has not produced satisfactory results. In this paper, we used expert interviews, text analysis, and case analysis to investigate the flaws in the current governance process and found that the dual logic of sports violence governance has problems of varying degrees. The low degree of legislative specialization, the hazy limit of judicial intervention, and disparate law enforcement are examples of the rule of law. The clash of rights and interests between the association and the state, the association's ineffectual control over the junior leagues, and the limited scope of governance are all examples of industry autonomy. Based on the issues mentioned above, this paper proposes dual logic strengthening measures and the notion of integrated governance. In particular, we should improve the rule of law thinking and construct a legal system for sports violence in China from legislation, justice and law enforcement, and law-abidingness to compensate for the current lack of law in sports violence. Second, we define the scope of the association's "postdecoupling era" powers and obligations, resolve conflicts through state involvement based on the rule of law, and remove governance hurdles. Finally, we thoroughly investigate three aspects of integrated governance between the rule of law and industry autonomy: respecting industry autonomy and providing specific implementation space for industry norms, not excluding the rule of law's intervention, and establishing an industry autonomy supervision mechanism. The rule of law and industry autonomy permeate each other and realize integration. [ABSTRACT FROM AUTHOR]

Objective. To study the qualitative value of multislice spiral CT (MSCT) dynamic enhancement scanning for solitary nodules (SPN) of the chest. Methods. In this paper, 40 cases of chest nodules (including 25 cases of malignant nodules, 8 cases of inflammatory nodules, and 7 cases of benign nodules) were first scanned to determine the scope of nodules. At the two rates of 5 ml/s and 3 ml/s, CT dynamic enhancement scans were performed at the center of the nodule, and the CT values, peak enhancement (PH) and peak time (PT) before and after SPN enhancement, were recorded. It is mainly strengthened, with 80% (20/25) of net added value between 20 and 60 Hu, and 20% (5/25) >60 Hu or <20 Hu. The enhancement peak and peak time are (31.31 ± 10.62) Hu and 45 s, respectively. The time-density curve (T-DC) showed a slowly rising type; the inflammatory nodules were mainly severely strengthened, with a net increase of >40 Hu. The enhancement peak value is (49.25 ± 12.44) Hu, and the peak time is 80 s and 140 s. There is a characteristic of rising and falling and then rising in the curve. Conclusion. Multislice spiral CT dynamic enhancement scan reflects the dynamic characteristics of chest nodular blood flow, which can be used to noninvasively evaluate and diagnose SPN. [ABSTRACT FROM AUTHOR]

In amplitude modulation radio-based passive radar, the track-before-detect (TBD) procedures are performed to process long time observation data. This work mainly focuses on the tracking of the time-Doppler and time-azimuth traces of multiple target under real scenarios such as low signal-to-noise ratio, hybrid clutter, severe breaking points, and intersecting traces. A new original approach to deal with the TBD problem of this work is developed. Two types of linear equations according to the simplified radio wave propagation model are formulated, which is the key point of the proposed method. We make the theoretical analysis about how the linear equations can be used to track multiple target, and how multiple target's constant velocities and initial positions can be estimated, which is an additional parameter estimation capability of the proposed method. Both the simulated data and real experimental data are performed with the proposed method and some conventional TBD methods. Several comparisons of the results are given to verify the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

Machine learning enables machines to learn rules from a large amount of data input from the outside world through algorithms, so as to identify and judge. It is the main task of the government to further emphasize the importance of improving the housing security mechanism, expand the proportion of affordable housing, increase financial investment, improve the construction quality of affordable housing, and ensure fair distribution. It can be seen that the legal system of housing security is essentially a system to solve the social problems brought by housing marketization, and it is an important part of the whole national housing system. More and more attention has been paid to solving the housing difficulties of low- and middle-income people and establishing a housing security legal system suitable for China's national conditions and development stage. Aiming at the deep learning problem, a text matching algorithm suitable for the field of housing law and policy is proposed. Classifier based on matching algorithm is a promising classification technology. The research on the legal system of housing security is in the exploratory stage, involving various theoretical and practical research studies. Compare the improved depth learning algorithm with the general algorithm, so as to clearly understand the advantages and disadvantages of the improved depth learning algorithm and depth learning algorithm. This paper introduces the practical application of the deep learning model and fast learning algorithm in detail. Creatively put forward to transform it into an independent public law basis or into an independent savings system. [ABSTRACT FROM AUTHOR]

What is known and objective: Administration of corticosteroids to immune checkpoint inhibitors (ICI)–treated patients has raised concerns due to doubts about ICIs' efficacy under those conditions. Hence, we reviewed studies comparing overall and progression‐free survival (OS and PFS) outcomes in patients with non–small‐cell lung carcinoma (NSCLC) treated with ICI and either with or without corticosteroids for any reason. Methods: We searched the PubMed Central, Cochrane library, EMBASE and MEDLINE databases from inception until February 2021 for relevant publications. We used the Newcastle‐Ottawa scale to assess the quality of the identified studies. We used the published data to carry out a meta‐analysis with a random‐effects model and report pooled odds ratios (ORs) with 95% confidence intervals (CIs). Results: We included data from 14 studies with 5461 participants in the meta‐analysis. Most studies were retrospective in nature and of low quality, and most of them were conducted in the USA and in European countries. Nivolumab is the most common ICI used in the included studies followed by pembrolizumab. We found that patients using corticosteroids had reduced OSs (pooled HR, 1.82; 95% CI, 1.51–2.18) and PFSs (pooled HR, 1.69; 95% CI, 1.41–2.04) than the patients not using corticosteroids. We identified significant heterogeneity and publication bias for both the outcomes. However, the sensitivity analysis revealed that the estimates were robust to the individual study effects. What is new and conclusion: Our findings suggest that corticosteroids significantly reduce the OS and PFS of patients with NSCLC under ICI therapy. Hence, clinicians and oncologists should consider this information when prescribing corticosteroids for this target population. [ABSTRACT FROM AUTHOR]