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Preeclampsia (PE) is the main factor threatening the life of primipara. Defective migration and invasion of trophoblast cells was one of the causes of PE. Circ_0111277 had been reported to be related to the development of PE, but the mechanism of its effect on trophoblast cells needed further study.The expression of circ_0111277, microRNA-188-3p (miR-188-3p) and grainyhead-like 2 (GRHL2) mRNA were detected by quantitative real-time polymerase chain reaction (qRT-PCR). Cell Counting Kit-8 (CCK-8) assay, 5-Ethynyl-20-deoxyuridine (EdU) and colony formation assay were used to examine cell proliferation ability. Tube formation and transwell assay were performed to assess the angiogenesis and metastasis ability of cells. Western blot was applied to measure the levels of epithelial-mesenchymal transition (EMT)-related proteins (E-cadherin and Vimentin) and GRHL2 protein. The relationship between miR-188-3p and circ_0111277 or GRHL2 was verified by the dual luciferase reporter experiment.Circ_0111277 and GRHL2 were elevated, and miR-188-3p was declined in PE patients. Overexpression of circ_0111277 could inhibit the proliferation, angiogenesis, migration, invasion and EMT of trophoblast cells (HTR-8/Svneo). Circ_0111277 was the molecular sponge of miR-188-3p. MiR-188-3p up-regulation could reduce the inhibition of HTR-8/Svneo cell growth caused by overexpression of circ_0111277. GRHL2 was a target gene of miR-188-3p, and GRHL2 silencing relieved the adverse effects of miR-188-3p inhibitors on HTR-8/Svneo. In general, circ_0111277 up-regulated GRHL2 expression through sponge miR-188-3p.Highly expressed circ_0111277 up-regulated the expression of GRHL2 through sponge miR-188-3p, thereby inhibiting trophoblast cells function, which suggested a new molecular mechanism for the pathogenesis of PE.

Owing to advantages of large workspace and flexible movement, wheeled mobile robots are widely applied in industry. With vision module for environment perception, visual servoing of wheeled mobile robots has been one of the hottest research topics in robotic fields. Due to different demands for various applications and specific properties of the system, many challenges are faced for designing visual servoing control strategies. In this paper, development of visual servoing for mobile robots is elaborated in visual and control modules, respectively. The vision module along with various uncertainties are analyzed, which provides feedback signals for the servo controller, thus associating the image space with the motion space for further control. Moreover, motion controllers are devised under various constraints for different objectives, such as pose regulation and trajectory tracking. Research trends are discussed to show further focus of visual servoing of mobile robots.

Recently, functional studies have demonstrated that legumain (LGMN) cleaves both amyloid β-protein precursor and tau, promoting senile plaques and formation of neurofibrillary tangles, which may play a crucial role in the pathogenesis of Alzheimer's disease (AD). However, the genetic role of LGMN in AD has not been clearly elucidated. Here, we used Sanger sequencing to investigate the single independent (single-variant association test) and cumulative (gene-based association test) effects of variants in the LGMN gene as potential susceptibility factors for AD, in a cohort comprising 676 AD cases and 365 elderly controls from the Han population of South China. In single-variant association analysis, none of the common variants in LGMN were statistically significant. In gene-based analysis, the LGMN gene also showed no association with AD. The results of our replication study in the Alzheimer's Disease Neuroimaging Initiative cohort also showed no association between LGMN and AD. These findings suggest that the LGMN gene may not be a critical factor for AD development.

Alzheimer's disease (AD) is the most common senile neurodegenerative disease characterized by progressive cognitive dysfunction, psychological and behavioral abnormalities, and impaired ability of activities of daily living. A family with a total of 3 patients were admitted to the Department of Neurology of Xiangya Hospital, Central South University in 2018. The proband showed memory decline as the presenting symptoms, and subsequently showed psychological and behavioral abnormalities, personality changes, seizures, and motor retardation. Definite diagnosis of early-onset familial AD (EOFAD) with missense mutation of presenilin 2 (PSEN2) (c.715AG p.M239V) was established by whole exome sequencing (WES) technology. We reported the mutation in Chinese Han population for the first time, which expanded the mutation spectrum ofPSEN2 gene and aid to enrich the characterization of clinical phenotype in EOFAD associated to PSEN2 mutations. Patients with early onset age and complex clinical manifestations of AD can be diagnosed with the help of genetic testing to avoid misdiagnosis.阿尔茨海默病(Alzheimer’s disease，AD)是一种以进行性认知功能障碍、精神行为异常和日常生活能力下降为特征的最常见的老年神经系统变性病。中南大学湘雅医院神经内科2018年收治一个AD家系，该家系共有3例患者。先证者疾病初期表现为记忆力下降，后逐渐出现精神行为异常、性格改变、癫痫发作及运动迟缓。通过全外显子组测序(whole exome sequencing，WES)技术，该家系被诊断为携带早老素2(presenilin 2，PSEN2)基因错义突变(c.715AG p.M239V)的早发家族性阿尔茨海默病(early-onset familial Alzheimer’s disease，EOFAD)。该突变在中国汉族人群中为首次报道，扩大了PSEN2基因突变谱，丰富了与PSEN2突变相关的AD的临床表型特征。在临床工作中遇到发病年龄小、临床表型复杂的AD表现的患者时，可借助基因检测技术明确诊断，以免误诊。.

Due to the double-pendulum phenomenon in practical applications of the quadrotor transportation systems, most existing control methods based on simplified single-pendulums are no longer applicable. To achieve simultaneous quadrotor positioning control and swing elimination for the hook and the payload, an accurate system model is of great significance. Specifically, the dynamic equation of the plant is obtained by Lagrange’s modeling method. The main characteristics of the system is then analyzed based on the derived model. Numerical simulations for the two control schemes are presented to reveal the characteristics of the unmanned quadrotor transportation systems.

Quadrotor transportation systems are capable of transferring necessary relief supplies in emergency tasks. In practice, the nonnegligible hook and the payload’s scale make the system exhibits double-pendulum swing dynamics, which bring great challenges to controller design and stability analysis. To realize rapid swing suppression and efficient quadrotor positioning, a nonlinear controller is designed. Specifically, a composite signal is constructed. The closed-loop asymptotic stability analysis and simulation results are provided to verify the effectiveness of the control scheme.

In this paper, a general visual servoing structure for mobile robots is proposed to handle the situation that the target scene gets out of the camera view. Most existing visual servoing strategies are based on the assumption that images always share common feature points with the desired one during the servoing procedure, which actually cannot be guaranteed by the controller. To avoid such problems, simultaneous localization and mapping (SLAM) is introduced to visual servoing system, which contains the front-end for estimating the current pose and the back-end for optimizing the desired pose of the mobile robot. Meanwhile, compared with the traditional servoing system with artificial feature points, the scale of robot poses can be fixed by the map in the proposed scheme, which makes it applicable in natural scene. In addition, all position-based visual servoing controllers are implementable in the proposed servoing architecture. The servoing structure has been implemented on a nonholonomic mobile robot and experimental results are exhibited to illustrate the effectiveness and feasibility of the proposed approach.