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microRNAs (miRNAs), a subclass of noncoding short RNAs, direct cells fate decisions that are important for cell proliferation and cell lineage decisions. Adipogenic differentiation contributes greatly to the development of white adipose tissue, involving of highly organized regulation by miRNAs. In the present study, we screened and identified 78 differently expressed miRNAs of porcine BMSCs during adipogenic differentiation. Of which, the role of miR-29c in regulating the proliferation and adipogenic differentiation was proved and detailed. Specifically, over-expression miR-29c inhibits the proliferation and adipogenic differentiation of BMSCs, which were reversed upon miR-29c inhibitor. Interference of IGF1 inhibits the proliferation and adipogenic differentiation of BMSCs. Mechanistically, miR-29c regulates the proliferation and adipogenic differentiation of BMSCs by targeting IGF1 and further regulating the MAPK pathway and the PI3K-AKT-mTOR pathway, respectively. In conclusion, we highlight the important role of miR-29c in regulating proliferation and adipogenic differentiation of BMSCs.

ABSTRACT: Unlike other poultry, parent pigeons produce “pigeon milk” in their crops to nurture their squabs, which is mainly controlled by prolactin (PRL). Exception for PRL, the pituitary gland may also release various other peptide and protein hormones. However, whether these hormones change during pigeon crop lactation and their potential physiological functions remain unclear. Here, to identify potential peptide or protein hormone genes that regulate crop lactation, we conducted transcriptome analysis of pigeon pituitary glands at 3 different breeding stages (the ceased stage—nonincubation and non-nurturing stage, the 11th d of the incubation, and the 1st d of the nurturing stage) using RNA sequencing (RNA-Seq). Our analysis identified a total of 15,191 mRNAs and screened out 297 differentially expressed genes (DEG), including PRL, VIP, etc. The expression abundance of PRL mRNA on the 1st d of the nurturing stage was respectively 4.93 and 3.62 folds higher when compared to the ceased stage and the 11th d of the incubation stage. Additionally, the expression abundance of VIP is higher in the 1st d of the nurturing stage than in the ceased stage. Protein–protein interaction (PPI) network and Molecular Complex Detection (MCODE) analysis identified several vital DEGs (e.g., GHRHR, VIP, etc.), being closely linked with hormone and enriched in neuropeptide signaling pathway and response to the hormone. Expression pattern analysis revealed that these DEGs exhibited 4 distinct expression patterns (profile 10, 16, 18, 19). Genes in profile 10 and 19 presented a trend with the highest expression level on 1st d of the nurturing stage, and functional enrichment analysis indicated that these genes are involved in neuropeptide hormone activity, receptor-ligand activity, and the extracellular matrix, etc. Taken together, being consistent with PRL, some genes encoding peptide and protein hormones (e.g., VIP) presented differentially expressed in different breeding stages. It suggests that these hormones may be involved in regulation of the crop lactation process or corresponding behavior in domestic pigeons. The results of this study help to gain new insights into the role of pituitary gland in regulating pigeon lactation.

Abstract The direct and selective coupling of benzenes with aliphatic hydrocarbons is a promising strategy for C(sp2)-C(sp3) bond formation using readily available starting materials, yet it remains a significant challenge. In this study, we have developed a simplified photochemical system that incorporates catalytic amounts of iron(III) halides as multifunctional reagents and air as a green oxidant to address this synthetic problem. Under mild conditions, the reaction between a strong C(sp2)-H bond and a robust C(sp3)-H bond has been achieved, affording a broad range of cross-coupling products with high yields and commendable chemo-, site-selectivity. The iron halide acts as a multifunctional reagent that responds to visible light, initiates C-centered radicals, induces single-electron oxidation to carbocations, and participates in a subsequent Friedel-Crafts-type process. The gradual release of radical species and carbocation intermediates appears to be critical for achieving desirable reactivity and selectivity. This eco-friendly, cost-efficient approach offers access to various building blocks from abundant hydrocarbon feedstocks, and demonstrates the potential of iron halides in sustainable synthesis.

ABSTRACT: Proteins are considered major effectors of sperm function. However, the proteins expressed in pigeon sperm have not been explored. Here, we collected semen from meat and racing pigeons using the electroejaculation method and identified proteins in pigeon sperm using the proteomics approach. A total of 1,641 proteins were identified in the sperm of domesticated pigeons. Of which, 1,541 proteins were reliably quantified, and gene ontology (GO) and associated bioinformatics analyses indicated that annotated proteins were linked to the oxidation-reduction process, integral component membrane, and protein binding, etc. Among quantified proteins, 1,515 and 1,507 proteins were respectively presented in White King pigeons and racing pigeons, and 1,481 proteins were shared between these 2 types of pigeons, including axonemal dynein, solute carrier, cilia- and flagella-associated protein, outer dense fiber protein, etc. Proteins in our constructed protein-protein interaction (PPI) network are involved in oxidative phosphorylation, sperm axoneme assembly, cilium-dependent cell motility, axonemal dynein complex assembly, flagellated sperm motility, etc. In conclusion, this study characterized the sperm proteome of pigeons and provided a foundation for the subsequent research screening markers for fertility evaluation of pigeons.

ObjectiveRecent clinical studies have demonstrated that advanced age and low initial Glasgow Coma Scale (GCS) score were independent predictors of gastrointestinal bleeding (GIB) in patients with primary intracerebral hemorrhage (ICH). However, used singly, age and GCS score have their respective shortcomings in predicting the occurrence of GIB. This study aimed to investigate the association between the age-to-initial GCS score ratio (AGR) and the risk of GIB following ICH.MethodsWe conducted a single-center, retrospective observational study of consecutive patients presenting with spontaneous primary ICH at our hospital from January 2017 through January 2021. Patients who fulfilled the inclusion and exclusion criteria were categorized into GIB and non-GIB groups. Univariate and multivariate logistic regression analyses were implemented to identify the independent risk factors for the occurrence of GIB, and a multicollinearity test was performed. Furthermore, one-to-one matching was conducted to balance important patient characteristics by the groups' propensity score matching (PSM) analysis.ResultsA total of 786 consecutive patients fulfilled the inclusion/exclusion criteria for the study, and 64 (8.14%) patients experienced GIB after primary ICH. Univariate analysis revealed that patients with GIB were significantly older [64.0 (55.0–71.75) years vs. 57.0 (51.0–66.0) years, p = 0.001] and had a higher AGR [7.32 (5.24–8.96) vs. 5.40 (4.31–7.11), p < 0.001] and a lower initial GCS score [9.0 (7.0–11.0) vs. 11.0 (8.0–13.0), p < 0.001]. The multicollinearity test revealed that no multicollinearity was observed in the multivariable models. Multivariate analysis showed that the AGR was a significant independent predictor of GIB [odds ratio (OR) 1.155, 95% confidence interval (CI) 1.041–1.281, p = 0.007], as well as prior anticoagulation or antiplatelet therapy (OR 0.388, 95% CI 0.160–0.940, p = 0.036) and MV used >24 h (OR 0.462, 95% CI 0.252–0.848, p = 0.013). Receiver operating curve (ROC) analysis illustrated that the optimal cutoff value for the AGR as a predictor for GIB in patients with primary ICH was 6.759 [the area under the curve (AUC) was 0.713 with a corresponding sensitivity of 60.94% and specificity of 70.5%, 95% CI 0.680–0.745, p < 0.001]. After 1:1 PSM, the matched GIB group had significantly higher AGR levels compared with the matched non-GIB group [7.47(5.38–9.32) vs. 5.24(4.24–6.40), p

An intriguing Brønsted acid-catalyzed 1,6-hydrophosphination of in situ generated propargylic para-quinone methides (p-QMs) and aza-para-quinone methides (aza-p-QMs) with H-phosphorus oxides via dehydration/1,6-addition under ultrasonic irradiation is described. This methodology provides a rapid and green approach for the construction of diarylmethyl phosphorus oxides bearing phosphorus-substituted quaternary carbon centers in high yields (up to 98% yield) within merely 5 ​min. This environmentally benign protocol represents a unique example of 1,6-conjugate additions of propargylic p-QMs and aza-p-QMs for site-selective C–P bond formation in an operationally simple and atom-economical manner. The use of readily available Brønsted acid catalyst, operationally simplicity, high yields, and high atom economy make this protocol very facile, practical, easily scaled-up and environmentally friendly.

The bursa of Fabricius (BF) is the critical humoral immune organ to birds, playing an essential role in B lymphocyte differentiation. However, unlike other poultries, surgical removal of pigeon BF did not limit humoral immune responsiveness. To investigate the expression profiles and the potential role of mRNA and long non-coding RNA (LncRNA) in squab BFs, transcriptome analysis was performed by RNA-Sequencing (RNA-Seq) over three developmental stages (1-day, 13 and 26 days old). We identified 13,072 mRNAs and 19,129 lncRNAs, of which 2,752 mRNAs and 1,515 lncRNAs were differential expressed (DE) in pigeon BFs over three developmental stages. Cluster analysis presented different expression patterns in DE mRNAs and lncRNAs. Functional enrichment analysis revealed that DE lncRNAs and mRNAs with distinct expression patterns might play crucial roles in the immune system process and tissue morphogenesis. In particular, some DE genes and lncRNAs with higher expression levels in 13D or 26D are related to lymphocyte activation and differentiation, adaptive immune response, positive regulation of immune response, leukocyte migration, etc. Protein-protein interaction (PPI) network and Molecular Complex Detection (MCODE) analysis sreened six significant modules containing 37 genes from immune-related DE gene cluster, which is closely linked in B cell activation, lymphocyte differentiation, B cell receptor signaling pathway, etc. Our study characterizes mRNA and lncRNA transcriptomic variability in pigeon BFs over different developmental stages and enhances understanding of the mechanisms underlying physiological functions of pigeon BF.

Abstract Background Enhancing autophagy after traumatic brain injury (TBI) may decrease the expression of neuronal apoptosis-related molecules. Autophagy-mediated neuronal survival is regulated by the sirtuin family of proteins (SIRT). Omega-3 polyunsaturated fatty acids (ω-3 PUFA) are known to have antioxidative and anti-inflammatory effects. We previously demonstrated that ω-3 PUFA supplementation attenuated neuronal apoptosis by modulating the neuroinflammatory response through SIRT1-mediated deacetylation of the HMGB1/NF-κB pathway, leading to neuroprotective effects following experimental traumatic brain injury (TBI). However, no studies have elucidated if the neuroprotective effects of ω-3 PUFAs against TBI-induced neuronal apoptosis are modulated by SIRT1-mediated deacetylation of the autophagy pathway. Methods The Feeney DM TBI model was adopted to induce TBI rats. Modified neurological severity scores, the rotarod test, brain water content, and Nissl staining were employed to determine the neuroprotective effects of ω-3 PUFA supplementation. Immunofluorescent staining and western blot analysis were used to detect Beclin-1 nuclear translocation and autophagy pathway activation. The impact of SIRT1 deacetylase activity on Beclin-1 acetylation and the interaction between cytoplasmic Beclin-1 and Bcl-2 were assessed to evaluate the neuroprotective effects of ω-3 PUFAs and to determine if these effects were dependent on SIRT1-mediated deacetylation of the autophagy pathway in order to gain further insight into the mechanisms underlying the development of neuroprotection after TBI. Results ω-3 PUFA supplementation protected neurons against TBI-induced neuronal apoptosis via enhancement of the autophagy pathway. We also found that treatment with ω-3 PUFA significantly increased the NAD+/NADH ratio and SIRT1 activity following TBI. In addition, ω-3 PUFA supplementation increased Beclin-1 deacetylation and its nuclear export and induced direct interactions between cytoplasmic Beclin-1 and Bcl-2 by increasing SIRT1 activity following TBI. These events led to the inhibition of neuronal apoptosis and to neuroprotective effects through enhancing autophagy after TBI, possibly due to elevated SIRT1. Conclusions ω-3 PUFA supplementation attenuated TBI-induced neuronal apoptosis by inducing the autophagy pathway through the upregulation of SIRT1-mediated deacetylation of Beclin-1.

Abstract Background Microglial polarization and the subsequent neuroinflammatory response are contributing factors for traumatic brain injury (TBI)-induced secondary injury. High mobile group box 1 (HMGB1) mediates the activation of the NF-κB pathway, and it is considered to be pivotal in the late neuroinflammatory response. Activation of the HMGB1/NF-κB pathway is closely related to HMGB1 acetylation, which is regulated by the sirtuin (SIRT) family of proteins. Omega-3 polyunsaturated fatty acids (ω-3 PUFA) are known to have antioxidative and anti-inflammatory effects. We previously demonstrated that ω-3 PUFA inhibited TBI-induced microglial activation and the subsequent neuroinflammatory response by regulating the HMGB1/NF-κB signaling pathway. However, no studies have elucidated if ω-3 PUFA affects the HMGB1/NF-κB pathway in a HMGB1 deacetylation of dependent SIRT1 manner, thus regulating microglial polarization and the subsequent neuroinflammatory response. Methods The Feeney DM TBI model was adopted to induce brain injury in rats. Modified neurological severity scores, rotarod test, brain water content, and Nissl staining were employed to determine the neuroprotective effects of ω-3 PUFA supplementation. Assessment of microglia polarization and pro-inflammatory markers, such as tumor necrosis factor (TNF)-α, interleukin (IL)-1β, IL-6, and HMGB1, were used to evaluate the neuroinflammatory responses and the anti-inflammatory effects of ω-3 PUFA supplementation. Immunofluorescent staining and western blot analysis were used to detect HMGB1 nuclear translocation, secretion, and HMGB1/NF-κB signaling pathway activation to evaluate the effects of ω-3 PUFA supplementation. The impact of SIRT1 deacetylase activity on HMGB1 acetylation and the interaction between HMGB1 and SIRT1 were assessed to evaluate anti-inflammation effects of ω-3 PUFAs, and also, whether these effects were dependent on a SIRT1-HMGB1/NF-κB axis to gain further insight into the mechanisms underlying the development of the neuroinflammatory response after TBI. Results The results of our study showed that ω-3 PUFA supplementation promoted a shift from the M1 microglial phenotype to the M2 microglial phenotype and inhibited microglial activation, thus reducing TBI-induced inflammatory factors. In addition, ω-3 PUFA-mediated downregulation of HMGB1 acetylation and its extracellular secretion was found to be likely due to increased SIRT1 activity. We also found that treatment with ω-3 PUFA inhibited HMGB1 acetylation and induced direct interactions between SIRT1 and HMGB1 by elevating SIRT1 activity following TBI. These events lead to inhibition of HMGB1 nucleocytoplasmic translocation/extracellular secretion and alleviated HMGB1-mediated activation of the NF-κB pathway following TBI-induced microglial activation, thus inhibiting the subsequent inflammatory response. Conclusions The results of this study suggest that ω-3 PUFA supplementation attenuates the inflammatory response by modulating microglial polarization through SIRT1-mediated deacetylation of the HMGB1/NF-κB pathway, leading to neuroprotective effects following experimental traumatic brain injury.

Vehicle routing problem with time windows (VRPTW) contains two crucial objectives: minimizing the number of vehicles and minimizing the total travel distance. However, most algorithms focus on the number of vehicles, while the travel distance should be considered as the primary objective in some practical situations, especially in the modern logistics. Research has shown that designing a systematic framework to combine multiple algorithms with different characteristics will significantly improve the overall performance of the hybrid algorithm. This paper proposes an evolutionary scatter search particle swarm optimization algorithm (ESS-PSO) to solve the VRPTW with the objective of minimizing the total travel distance. In ESS, a genetic algorithm and a new “route+/-” evolutionary operator are introduced in scatter search template. In addition, we proposed a discrete PSO that sets the route-segment as the velocity of particles and in which the velocity and position updating rules are designed based on the concept of “ruin and recreate.”These two algorithms work in a cascade learning architecture, in which PSO learns from the exemplary solutions in the reference set maintained by ESS. The search direction of the algorithm is adjusted by analyzing the relationship between the number of vehicles and the total travel distance in real time. We designed a new solution representation called “auxiliary code”based on customer allocation to maintain the diversity of the reference set. Experiments with the Solomon benchmark show that ESS-PSO is effective and efficient, and it achieves very competitive results, especially in the datasets of the category “2.”

In this paper a high capacitance ratio and low actuation voltage RF MEMS switch is designed and fabricated for Ka band RF front-ends application. The metal-insulator-metal (MIM) capacitors is employed on a signal line to improve the capacitance ratio, which will not degrade the switch reliability. To reduce the actuation voltage, a low spring constant bending folding beam and bilateral drop-down electrodes are designed in the MEMS switch. The paper analyzes the switch pull-in model and deduces the elastic coefficient calculation equation, which is consistent with the simulation results. The measured results indicated that, for the proposed MEMS switch with a gap of 2 μm, the insertion loss is better than −0.5 dB and the isolation is more than −20 dB from 25 to 35 GHz with an actuation voltage of 15.8 V. From the fitted results, the up-state capacitance is 6.5 fF, down-state capacitance is 4.3 pF, and capacitance ratios is 162. Compared with traditional MEMS capacitive switches with dielectric material Si3N4, the proposed MEMS switch exhibits high on/off capacitance ratios of 162 and low actuation voltage.

To improve comfort, a nonlinear suspension system is proposed on the basis of the nonlinear vibration isolation theory and the installation space of the cab suspension system for trucks. This system is suitable for all-floating cabs. For easy matching and design, the static and stability characteristics of the suspension system were analyzed, respectively, and the boundary condition for the stability of the system was given. Moreover, the cab simulation model was established, and the dynamic simulation was conducted. The stability analysis shows that the smaller the vibration excitation of the cab system, the higher its stability is. The dynamic simulation results show that the acceleration of the cab with the nonlinear suspension system is effectively suppressed; the dynamic deflection of the suspension is kept within a certain range, and the design space of the suspension stroke can be effectively utilized. Compared with the traditional linear suspension system, the nonlinear suspension system has better vibration isolation characteristics and can effectively improve ride comfort.

Cellular communication systems support mobile phones positioning function for Enhanced-911 (E-911) location requirements, but the positioning accuracy is poor. The fifth-generation (5G) cellular communication system can use indoor distribution systems to provide accurate multiple time-difference-of-arrival (TDOA) and single time-of-arrival (TOA) measurements, which could significantly improve the indoor positioning ability. Unlike iterative localization algorithms for TDOA or TOA, the existing closed-form algorithms, such as the Chan-Ho algorithm, do not have convergence problems, but can only estimate position based on one kind of measurement. This paper proposes a closed-form localization algorithm for multiple TDOAs and single TOA measurements. The proposed algorithm estimates the final position result using three-step weighted least squares (WLSs). The first WLS provides an initial position for the last two steps. Then the algorithm uses two WLSs to estimate position based on heteroscedastic TDOA and TOA measurements. In addition, the geometric dilution of precision (GDOP) of the proposed hybrid TDOA and TOA positioning has been derived. The analysis of GDOP shows that the proposed hybrid positioning has lower GDOP than TDOA-only positioning, which means the proposed hybrid positioning has a higher accuracy limitation than TDOA-only positioning. The simulation shows that the proposed localization algorithm could have better performance than closed-form TDOA-only positioning methods, and the positioning accuracy could approximate Cramer-Rao lower bound (CRLB) when the TDOA measurement errors are small.

To provide a theoretical guidance for the vibration isolation design, the vibration responses characteristics for the convalescent-wheelchair robot with DA (dynamic absorber) undergoing the random road were revealed. Firstly, the vibration model of the convalescent-wheelchair system with DA was created. The frequency response functions of the road excitation velocity to the convalescent acceleration, the wheelchair body acceleration, and the tire dynamic deflection were deduced. Then, the numerical calculation method of the PSD (power spectral density) and the RMS (root mean square) responses were proposed. Thirdly, the vibration isolation performances of the wheelchair robot with DA and without DA were compared. Finally, the sensitivity analysis of the vibration responses to the mass ratios, the damping ratios, and the natural frequencies was carried out to reveal the effects of the parameters on the vibration responses. The results show that the DA can partly suppress the vibration of the convalescent and the wheelchair body, especially in the resonance area of the wheelchair body. However, the DA cannot successfully improve the tire contact behavior.

A simplified analytical model with transformation coefficients of X-type seat system with an integrated spring damper for control strategies development is proposed on the basis of a kinetodynamic model. Firstly, based on a commercial seat of trucks, the relationship between the suspension support force and the spring force was created by using virtual work principle. The analytical formulae of the equivalent stiffness Ke and the stiffness transformation coefficient ρk were deduced. Based on the principle of conservation of energy, the analytical formulae of the equivalent damping coefficient Ce and the damping transformation coefficient ρc were deduced. Then, the motion equation of the simplified model was created. Secondly, the nonlinear dynamic equation of a complex seat model including the kinematic characteristics was established. Thirdly, the road test was conducted using a heavy truck to collect the seat vibration signals. Finally, the simplified model was validated by the tested data and compared with the complex model. The results show that the accuracy of the simplified model is acceptable. Moreover, the influence laws of kinematic parameters on ρk and ρc were revealed. The proposed simplified model provides an accurate and efficient tool for designing controllable seat suspension system that minimizes a necessary tuning process.

For the complex structure of driver seat-cushion coupled system for metropolitan buses, there are still lack of convenient and reliable modelling methods for the system at present. To improve ride comfort, the coupled dynamic model is urgently needed to give insight into the dynamic properties of the coupled system. In this paper, for a standard commercially available seat fitted into metropolitan buses, the coupling between the seat and cushion, the nonlinear damping characteristics of the seat damper, and the elastic properties of the damper mounting bushings have been accounted for in a three degree-of-freedom driver seat-cushion coupled system model. Combing field measurements of the seat suspension excitation and cushion acceleration response, a specific flow of hybrid modelling of driver seat-cushion coupled system without the requirement of further bench tests was presented. The analogy between acceleration responses in the frequency domain and the time courses proves that the model can predict the dynamic characteristics of the coupled system with good accuracy for stationary random excitation. The model parameters were also validated by the corresponding bench test. The results show that the accuracy of the model parameters is sufficient and the hybrid modelling method is reliable, which provide a foundation for the optimal design of seat suspension and/or cushion to further improve ride comfort.

Both stiffness and damping parameters of cabin suspension have important influences on the dynamic performance of cabin system for heavy truck. To theoretically study ride comfort of cabin system, the stiffness and damping parameter values of cabin suspension are often required. At present, there is no convenient method unless by bench test to accurately obtain all the stiffness and damping parameters; however, the cost of bench test is relatively high and inconvenient. In this article, according to the real cabin system of a heavy truck, a 3 degree-of-freedom cabin system linear model was presented and its vibration equations were built. By the tested cabin suspension excitations and seat acceleration response, based on curve fitting method, a stiffness and damping parameter identification mathematical model was established. With a practical example of cabin system, the stiffness and damping parameters were identified and validated by bench test. The results show that the built model and the proposed method are workable and lay a good foundation for the theoretical analysis and/or optimal design of cabin suspension to improve ride comfort.

Disruption of blood-brain barrier (BBB) follows brain trauma or central nervous system (CNS) stress. However, the mechanisms leading to this process or the underlying neural plasticity are not clearly known. We hypothesized that ATP/P2X7R signaling regulates the integrity of BBB. Activation of P2X7 receptor (P2X7R) by ATP induces the release of interleukin-1β (IL-1β), which in turn enhances the activity of matrix metalloproteinase-9 (MMP-9). Degradation of tight junction proteins (TJPs) such as ZO-1 and occludin occurs, which finally contributes to disruption of BBB. A contact coculture system using human astrocytes and hCMEC/D3, an immortalized human brain endothelial cell line, was used to mimic BBB in vitro. Permeability was used to evaluate changes in the integrity of TJPs. ELISA, Western blot, and immunofluorescent staining procedures were used. Our data demonstrated that exposure to the photoreactive ATP analog, 3′-O-(4-benzoyl)benzoyl adenosine 5′-triphosphate (BzATP), induced a significant decrease in ZO-1 and occludin expression. Meanwhile, the decrease of ZO-1 and occludin was significantly attenuated by P2X7R inhibitors, as well as IL-1R and MMP antagonists. Further, the induction of IL-1β and MMP-9 was closely linked to ATP/P2X7R-associated BBB leakage. In conclusion, our study explored the mechanism of ATP/P2X7R signaling in the disruption of BBB following brain trauma/stress injury, especially focusing on the relationship with IL-1β and MMP-9.

The existing semi-active suspensions are very expensive and difficult to be popularized. Therefore, the search for the low-cost semi-active suspension has become a hotspot. To reduce the product cost of semi-active suspensions, this study proposed a new hydraulic semi-active suspension system based on road statistical properties and creates an identification method of road conditions. Firstly, the working process of the proposed semi-active suspension was given. Then, the formula for calculating the mean square value of the body acceleration under the running road condition was derived. Based on the formula, the road identification method was created. Finally, the road test was carried out using a test vehicle. The identified road PSD (power spectral density) values are all consistent with the real values. The test results show that the road identification method can effectively perceive the actual road grades. The identification interval with 20 s can meet the requirements of practical applications. The slight fluctuation of the running speed v has little effect on the identification results because of the statistical characteristics of road conditions.