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Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA and a dual bending SPA. By constraining the deformation of the elastomeric chamber, the SPAs realize their prescribed motions, and the deformations subjected to pressures are characterized with numerical models. Experiments are performed for verification, and the results show good agreement. The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors. Control schemes are presented, and crawling tests are performed. The speeds predicted by the numerical models agree well with the speeds in the experiments. [ABSTRACT FROM AUTHOR]

Mid-wavelength infrared HgCdTe avalanche photodiodes (APDs) are becoming increasingly significant in research and practical applications for the high linear gain, low excess noise and high quantum efficiency. However, the performance of HgCdTe APDs is largely limited by the voltage dependence of dark current. It has been well known that the tunneling current is the main component of the dark current of the p-i-n diode. However, the current contribution of different physical mechanism still needs to be indicated in different reverse voltages. In this paper, we mainly study the mechanism of the relationship between dark current and reverse voltage of mid-wavelength infrared Hg 1 - x Cd x Te (x = 0.3) mesa p-i-n avalanche diode. Several physical models are used for the dark current numerical simulation. The results show that for detection of Hg 1 - x Cd x Te mesa p-i-n detector under low temperature, dark current is mainly caused by tunneling current. With the reverse voltage increasing, the main component of dark current turns from trap-assisted tunneling current to direct band-to-band tunneling. The transition voltage is positively related to the energy level difference between trap energy level and conduction band. The results may provide a guideline to improve the performance of the mid-wavelength infrared APD detector by ranking the importance of different structural parameters. [ABSTRACT FROM AUTHOR]

Improving the functionality of soft continuum manipulators to expand their application space has always been an important development direction for soft robotics. It remains very challenging to calculate the deformations of soft materials and predict the basic structure of soft fingers under complex objective functions and constraints. This work develops a cable-driven soft robotic gripper with multi-input and multi-output using topology optimization considering geometric nonlinearity, which not only performs adaptive grasping but also enables finer manipulations such as rotating or panning the target. A scheme that can describe adaptive grasping behavior is proposed, which converts the contact between the clamping surface and the object into a boundary condition to circumvent complex contact nonlinearities. An additive hyperelasticity technique is used to overcome numerical instabilities, and the finite element analysis is performed in ANSYS. Numerical simulations and experimental results are performed to demonstrate the effectiveness of the optimization algorithm and to illustrate the application potential of the proposed gripper. [ABSTRACT FROM AUTHOR]

Dielectric elastomer actuators (DEAs) have attracted much interest over the past decades due to the inherent flexibility, large strain, high efficiency, high energy density, and fast response of the material, which are known as one of the most promising candidates for artificial muscle. In this paper, we first introduce the actuation principle and electromechanical modeling approaches of dielectric elastomers (DEs). Then, the performance of different DEs material and existing compliant electrodes that are widely utilized for DEAs are presented. We also highlight the compatibility of DEs, which is suitable for a variety of actuator designs and applications. Lastly, we summarize the challenges and future development in terms of electromechanical modeling, improvement of materials including compliant electrodes and dielectric elastomer, designs and applications of novel dielectric elastomer actuators. [ABSTRACT FROM AUTHOR]

Long non-coding RNAs (lncRNAs) have been reported to be involved in many important biological processes including proliferation, apoptosis, differentiation, and survival. Recently, nuclear paraspeckle assembly transcript 1 (NEAT1), a novel lncRNA, serves as a crucial regulator in tumors. However, the biological role of NEAT1 in liver fibrosis is largely unknown. In this study, the role of NEAT1 was explored in primary mouse hepatic stellate cells (HSCs) and carbon tetrachloride (CCl)-induced mouse liver fibrosis models. We found that NEAT1 expression was significantly increased in CCl-induced mice and activated HSCs. Loss of NEAT1 suppressed liver fibrosis in vivo and in vitro. Conversely, NEAT1 overexpression accelerated HSC activation, including increased cell proliferation and collagen expression. Further studies indicated that the microRNA-122 (miR-122)-Kruppel-like factor 6 (KLF6) axis was involved in the effects of NEAT1 on HSC activation. The effects of NEAT1 on HSC activation were almost blocked down by miR-122 mimics or KLF6 knockdown. Interestingly, both NEAT1 and KLF6 are targets of miR-122. In addition, miR-122 led to a significant reduction in NEAT1 level while NEAT1 overexpression resulted in the suppression of miR-122 expression. Pull-down assay confirmed a direct interaction between miR-122 and NEAT1. NEAT1 contributes to HSC activation via the miR-122-KLF6 axis. In human fibrotic liver samples, increased NEAT1 levels positively correlated with liver fibrosis markers. In conclusion, we disclose a novel NEAT1-miR-122-KLF6 signaling cascade and its implication in liver fibrosis. Key messages: [ABSTRACT FROM AUTHOR]

Background: Previously, we reported that microRNA-181b (miR-181b) activates hepatic stellate cells partly through the phosphatase and tensin homolog deleted on chromosome 10 (PTEN)/Akt pathway. Aims: The main objective of this study was to ascertain whether serum miR-181b expression is correlated with that of liver hepatitis B virus (HBV) DNA and disease progression in chronic hepatitis B (CHB) patients. Methods: Serum miR-181b and liver HBV DNA levels were quantified in 64 CHB patients with real-time PCR. Liver fibrosis and necroinflammation were graded according to the Ishak scoring system. Results: Serum miR-181b levels were evaluated in the CHB group, compared with healthy controls. Expression in patients with HBsAg (+) was higher than that in patients with HBsAg (−). Notably, serum miR-181b and liver HBV DNA levels were significantly correlated ( P < 0.05). Serum miR-181 levels were higher in patients with serum HBV DNA > 10 IU/ml ( P = 0.017), histologic activity index (HAI) >8 ( P = 0.001) and fibrosis score >4 ( P < 0.0001). Liver HBV DNA levels were higher in patients with abnormal alanine aminotransferase (ALT) values ( P = 0.004), serum HBV DNA levels > 10 IU/ml ( P = 0.034) and fibrosis score >4 ( P = 0.006). Using multivariate logistic regression analysis, serum miR-181b was identified as an independent predictor of disease progression (OR 4.172, 95 % CI 1.838-9.473, P = 0.009 for HAI >8; OR 5.387, 95 % CI 2.067-14.036, P = 0.001 for fibrosis score >4). Conclusions: Serum miR-181b is correlated with liver and serum HBV DNA levels as well as disease progression in CHB. [ABSTRACT FROM AUTHOR]

Activation of hepatic stellate cells (HSCs) is an essential event in the initiation and progression of liver fibrosis. MicroRNAs have been shown to play a pivotal role in regulating HSC functions such as cell proliferation, differentiation, and apoptosis. Recently, miR-181b has been reported to promote HSCs proliferation by targeting p27. But whether alpha-smooth muscle actin (α-SMA) or collagens could be promoted by miR-181b in activated HSCs is still not clear. Therefore, the understanding of the role of miR-181b in liver fibrosis remains limited. Our results showed that miR-181b expression was increased much higher than miR-181a expression in vitro in transforming growth factor-β1-induced HSC activation as well as in vivo in carbon tetrachloride-induced rat liver fibrosis. Of note, overexpression of miR-181b significantly increased the expressions level of α-SMA and type I collagen, and further promoted HSCs proliferation. Furthermore, phosphatase and tensin homologs deleted on chromosome 10 (PTEN), a negative regulator of PI3K/Akt pathway, were confirmed as a direct target of miR-181b. We demonstrated that miR-181b could suppress PTEN expression and increase Akt phosphorylation in HSCs. Interestingly, the effects of miR-181b on the activation of HSCs were blocked down by Akt inhibitor LY294002. Our results revealed a profibrotic role of miR-181b in HSC activation and demonstrated that miR-181b could activate HSCs, at least in part, via PTEN/Akt pathway. [ABSTRACT FROM AUTHOR]

To assist emergency management planning and prevention in case of hazardous chemical release into the atmosphere, especially in densely built-up regions with large populations, a multi-scale urban atmospheric dispersion model was established. Three numerical dispersion experiments, at horizontal resolutions of 10 m, 50 m and 3000 m, were performed to estimate the adverse effects of toxic chemical release in densely built-up areas. The multi-scale atmospheric dispersion model is composed of the Weather Forecasting and Research (WRF) model, the Open Source Field Operation and Manipulation software package, and a Lagrangian dispersion model. Quantification of the adverse health effects of these chemical release events are given by referring to the U.S. Environmental Protection Agency's Acute Exposure Guideline Levels. The wind fields of the urban-scale case, with 3 km horizontal resolution, were simulated by the Beijing Rapid Update Cycle system, which were utilized by the WRF model. The sub-domain-scale cases took advantage of the computational fluid dynamics method to explicitly consider the effects of buildings. It was found that the multi-scale atmospheric dispersion model is capable of simulating the flow pattern and concentration distribution on different scales, ranging from several meters to kilometers, and can therefore be used to improve the planning of prevention and response programs. [ABSTRACT FROM AUTHOR]

Observations collected in the Badan Jaran desert hinterland and edge during 19-23 August 2009 and in the Jinta Oasis during 12-16 June 2005 are used to assess three methods for calculating the heat storage of the 5-20-cm soil layer. The methods evaluated include the harmonic method, the conduction-convection method, and the temperature integral method. Soil heat storage calculated using the harmonic method provides the closest match with measured values. The conduction-convection method underestimates nighttime soil heat storage. The temperature integral method best captures fluctuations in soil heat storage on sub-diurnal timescales, but overestimates the amplitude and peak values of the diurnal cycle. The relative performance of each method varies with the underlying land surface. The land surface energy balance is evaluated using observations of soil heat flux at 5-cm depth and estimates of ground heat flux adjusted to account for soil heat storage. The energy balance closure rate increases and energy balance is improved when the ground heat flux is adjusted to account for soil heat storage. The results achieved using the harmonic and temperature integral methods are superior to those achieved using the conduction-convection method. [ABSTRACT FROM AUTHOR]

This paper presents a numerical model that simulates the wind fields, turbulence fields, and dispersion of gaseous substances in urban areas on building to city block scales. A Computational Fluid Dynamics (CFD) approach using the steady-state, Reynolds-Averaged Navier-Stokes (RANS) equations with the standard k-ɛ turbulence model within control volumes of non-uniform cuboid shapes has been employed. Dispersion field is computed by solving an unsteady transport equation of passive scalar. Another approach based on Gaussian plume model is used to correct the turbulent Schmidt number of tracer, in order to improve the dispersion simulation. The experimental data from a wind tunnel under neutral conditions are used to validate the numerical results of velocity, turbulence, and dispersion fields. The numerical results show a reasonable agreement with the wind tunnel data. The deviation of concentration between the simulation with corrected turbulent Schmidt number and the wind tunnel experiments may arise from 1) imperfect point sources, 2) heterogeneous turbulent diffusivity, and 3) the constant turbulent Schmidt assumption used in the model. [ABSTRACT FROM AUTHOR]

The airflow and dispersion of a pollutant in a complex urban area of Beijing, China, were numerically examined by coupling a Computational Fluid Dynamics (CFD) model with a mesoscale weather model. The models used were Open Source Field Operation and Manipulation (OpenFOAM) software package and Weather Research and Forecasting (WRF) model. OpenFOAM was firstly validated against wind-tunnel experiment data. Then, the WRF model was integrated for 42 h starting from 0800 LST 08 September 2009, and the coupled model was used to compute the flow fields at 1000 LST and 1400 LST 09 September 2009. During the WRF-simulated period, a high pressure system was dominant over the Beijing area. The WRF-simulated local circulations were characterized by mountain valley winds, which matched well with observations. Results from the coupled model simulation demonstrated that the airflows around actual buildings were quite different from the ambient wind on the boundary provided by the WRF model, and the pollutant dispersion pattern was complicated under the influence of buildings. A higher concentration level of the pollutant near the surface was found in both the step-down and step-up notches, but the reason for this higher level in each configurations was different: in the former, it was caused by weaker vertical flow, while in the latter it was caused by a downward-shifted vortex. Overall, the results of this study suggest that the coupled WRF-OpenFOAM model is an important tool that can be used for studying and predicting urban flow and dispersions in densely built-up areas. [ABSTRACT FROM AUTHOR]

Background Defective learning/memory ability is a feature of MHE. However, the exact pathophysiological mechanisms leading to the impairment of learning/memory ability in MHE remain not clearly understood. Methods MHE rat modeling by intraperitoneal injection of TAA was successfully established using a Morris water maze, BAEP, and EEG tests. COMT inhibitor, a protein involved in the accumulation of dopamine (DA), was found to be up-regulated in cirrhotic livers in MHE by 2-DE/MS. Results The levels of DA in cirrhotic livers, serums and hippocampuses in the MHE group were more significantly increased than in the control group. In the hippocampuses of MHE rats, NMDA-induced formation of cGMP was reduced by 40 % as determined by in vivo brain microdialysis. Activation of sGC by NO was reduced by 38 %. The expression of NMDAR1, CaM, nNOS and sGC in the hippocampus in the MHE group were more significantly decreased than in controls. Chronic exposure of cultured hippocampus neurons to DA (50 μM) reduced by 53 % the NMDA-induced formation of cGMP. Activation of sGC by NO in these neurons was reduced by 44 %. Down-regulated NMDAR1, CaM, nNOS and sGC were also detected in neurons treated with dopamine, in contrast with the controls. Conclusions This study suggests that when the glutamate-NO-cGMP pathway in the hippocampus is inhibited by the elevation of DA from cirrhotic livers, this in turn may lead to the impairment of learning and memory ability of MHE. [ABSTRACT FROM AUTHOR]

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Objectives: This study aims to determine whether six polymorphisms of the genes involved in drug metabolism are associated with susceptibility to the development and progression of aristolochic acid nephropathy (AAN). Methods: In the study, 91 aristolochic acid nephropathy (AAN) cases and 152 healthy controls of Chinese Han population were examined. Six common polymorphisms of genes, including multidrug resistance gene 1 (MDR1), cytochrome P450 (CYP1A1), NAD(P)H quinone oxidoreductase 1 (NQO1), glutathione S-transferase (GST) T1 and M1, were determined. Associations between their genotypes with AAN risk were calculated using an unconditional logistic regression model. Results: Among the six candidate polymorphisms, only the distribution frequency of GSTT1 null genotype was significantly higher among AAN cases compared with controls ( P = 0.041, 62.6% vs. 48.7%) and was associated with a 1.7-fold increased risk (OR = 1.728, 95%CI: 1.013-2.948, P = 0.045) of developing AAN, after adjustment for age and gender. The stratified analysis further showed that the GSTT1 null genotype was dominant in slow progressive AAN patients (OR = 2.497, 95%CI: 1.028-6.064, P = 0.043). The GSTM1 genotypes were not shown to influence the development of AAN. Conclusion: This study supports the hypothesis that polymorphisms related to drug metabolism such as GSTT1 may be an important factor influencing the development of AAN in the Chinese Han population exposed to AA. [ABSTRACT FROM AUTHOR]

Current large animal models that could closely resemble the typical features of cirrhotic portal hypertension in human have not been well established. Thus, we aimed to develop and describe a reliable and reproducible canine cirrhosis model of portal hypertension. A total of 30 mongrel dogs were randomly divided into four groups: 1 (control; n = 5), 2 (portal vein stenosis [PVS]; n = 5], 3 (thioacetamide [TAA]; n = 5), and 4 (PVS plus TAA; n = 15). After 4-months modeling period, liver and spleen CT perfusion, abdominal CT scans, portal hemodynamics, gastroscopy, hepatic function, blood routine, the bone marrow, liver, and spleen histology were studied. The animals in group 2 (PVS) developed extrahepatic portosystemic collateral circulation, particularly esophageal varices, without hepatic cirrhosis and portal hypertension. Animals from group 3 (TAA) presented mild cirrhosis and portal hypertension without significant symptoms of esophageal varices and hypersplenism. In contrast, animals from group 4 (PVS + TAA) showed well-developed micronodular and macronodular cirrhosis, associated with significant portal hypertension and hypersplenism. The combination of PVS and TAA represents a novel, reliable, and reproducible canine cirrhosis model of portal hypertension, which is associated with the typical characteristics of portal hypertension, including hypersplenism. [ABSTRACT FROM AUTHOR]

The γc cytokines play an important role in proliferation and survival of T cells. Blocking the γc signals can cause the activated donor-reactive T cells losing the ability to proliferate, and getting into apoptosis pathway, which contributes to induction of the peripheral tolerance. In this study, we induced the transplant tolerance through blocking the γc in combination with donor-specific transfusion (DST) in the cardiac transplantation. Following DST, on the day 2, 4 and 6, C57BL/6 recipients received anti-γc monoclonal antibodies (mAbs) injection, and those in control group were not given anti-γc mAbs. On the day 7, Balb/c cardiac allografts were transplanted. All recipients in experimental group accepted cardiac allografts over 30 days, and two of them accepted allografts without rejection until sacrifice on the 120 day. Animals only receiving DST rejected grafts within 5 days, and the mice receiving cardiac transplantation alone rejected grafts within 9 days. Our study showed that blockade of γc signaling combined with DST significantly prolonged allograft survival, which was probably associated with inhibition of antigen-specific T-cell proliferation and induction of apoptosis. [ABSTRACT FROM AUTHOR]

A stable and reliable infected necrotizing pancreatitis (INP) model in rats was established in order to study the pathophysiological mechanism and pathological development rule of INP and explore the new therapeutic methods for the diseases. Forty-six SD rats were randomly divided into 5 groups. The animals in group A received the injection of 5% sodium taurocholate into the pancreatic duct and those in group B underwent that of E. coli into the pancreatic duct. The rats in groups C, D and E were subjected to the injection of 5% sodium taurocholate in combination with different concentrations of E. coli (103, 104, 105/mL, respectively) into the pancreatic duct. The dose of injection was 0.1 mL/100 g and the velocity of injection was 0.2 mL/min in all the 5 groups. Eight h after the injection, the survival rate of animals was recorded and the surviving rats were killed to determine the serum content of amylase and perform pathological examination and germ cultivation of the pancreatic tissue. The results showed that acute necrotizing pancreatitis model was induced by injection of 5% sodium taurocholate into the pancreatic duct. The positive rate of germ cultivation in group A was 12.5%. The acute necrotizing pancreatitis model was not induced by injection of E. coli into the pancreatic duct and the positive rate of germ cultivation in group B was 0. The INP model was established in groups C to E. The positive rate of germ cultivation was 60%, 100% and 100% and 8-h survival rate 100%, 100% and 70% in groups C, D and E, respectively. It was concluded that a stable and reliable model of INP was established by injection of 5% sodium taurocholate in combination with 104/mL E. coli into the pancreatic duct with a dose of 0.1 mL/100 g and a velocity of 0.2 mL/min. The pathogenesis of INP might be that the hemorrhage and necrosis of pancreatic tissue induced by sodium taurocholate results in weakness of pancreatic tissue in fighting against the germs. Meanwhile, the necrotic pancreatic tissue provides a good proliferative environment for the germs. [ABSTRACT FROM AUTHOR]