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Phosphorus (P) is essential for living plants, and P deficiency is one of the key factors limiting the yield in rapeseed production worldwide. As the most important organ for plants, root morphology traits (RMTs) play a key role in P absorption. To investigate the genetic variability of RMT under low P availability, we dissected the genetic structure of RMTs by genome-wide association studies (GWAS), linkage mapping and candidate gene association studies (CGAS). A total of 52 suggestive loci were associated with RMTs under P stress conditions in 405 oilseed rape accessions. The purple acid phosphatase gene BnPAP17 was found to control the lateral root number (LRN) and root dry weight (RDW) under low P stress. The expression of BnPAP17 was increased in shoot tissue in P-efficient cultivars compared to root tissue and P-inefficient cultivars in response to low P stress. Moreover, the haplotype of BnPAP17Hap3 was detected for the selective breeding of P efficiency in oilseed rape. Over-expression of the BnPAP17Hap3 could promote the shoot and root growth with enhanced tolerance to low P stress and organic phosphorus (Po) utilization in oilseed rape. Collectively, these findings increase our understanding of the mechanisms underlying BnPAP17-mediated low P stress tolerance in oilseed rape.

Background The high metastasis rate is one of the main reasons for the poor prognosis of patients with hepatocellular carcinoma (HCC). Coagulation factor Xa (FXa) and its receptor proteinase-activated receptor-2 (PAR-2) proven to promote tumor metastasis in other forms of cancer. Here, we explore the role and mechanism of FXa in the regulation of resistance of anoikis and immune escape of HCC.Methods In vitro and in vivo experiments were conducted to explore the role of FXa in HCC metastasis and its potential mechanism. The effects of FXa inhibitor rivaroxaban on HCC immunotherapy were evaluated using intrahepatic metastasis animal models and clinical trial (No. ChiCTR20000040540). We investigated the potential of FXa inhibition as a treatment for HCC.Results FXa was highly expressed in HCC and promoted metastasis by activating PAR-2. Mechanistically, FXa-activated PAR-2 endows HCC cells with the ability of anoikis resistance to survive in the circulating blood by inhibiting the extrinsic apoptosis pathway. Furthermore, suspension stimulation-induced phosphorylation of STAT2, which promotes programmed death-ligand 1 (PD-L1) transcription and inhibits the antitumor effects of immune cells by inhibiting the infiltration of CD8+T cells in tumors and the levels of secreted cytokines. In vivo inhibition of FXa with rivaroxaban reduced HCC metastasis by decreasing PD-L1 expression and exhausting tumor-infiltrating lymphocytes. Notably, the combination of rivaroxaban and anti-programmed death-1 monoclonal antibody (anti-PD-1) programmed Death-1 monoclonal antibody (anti-PD-1) induced synergistic antitumor effects in animal models. Most importantly, rivaroxaban improved the objective response rate of patients with HCC to immune checkpoint inhibitors and prolonged overall survival time.Conclusions FXa-activated PAR-2 promotes anoikis resistance and immune escape in HCC, suggesting the potential for combining coagulation inhibitors and PD-1/PD-L1 immune checkpoint blockade to enhance the therapeutic efficacy of HCC.

Bladder cancer (BC) has a high incidence and is prone to recurrence. In most instances, the low 5-year survival rate of advanced BC patients results from postoperative recurrence and drug resistance. Long noncoding RNAs (lncRNAs) can participate in numerous biological functions by regulating the expression of genes to affect tumorigenesis. Our previous work had demonstrated that a novel lncRNA, LINC02321, was associated with BC prognosis. In this study, A high expression of LINC02321 was found in BC tissues, which was associated with poor prognosis in patients. LINC02321 promoted both proliferation and G1-G0 progression in BC cells, while also inhibited sensitivity to cisplatin. Mechanistically, LINC02321 can bind to RUVBL2 and regulate the expression levels of RUVBL2 protein by affecting its half-life. RUVBL2 is involved in the DNA damage response. The potential of DNA damage repair pathways to exert chemosensitization has been demonstrated in vivo. The rescue experiment demonstrated that RUVBL2 overexpression can markedly abolish the decreased cell proliferation and the increased sensitivity of BC cells to cisplatin caused by LINC02321 knockdown. The results indicate that LINC02321 functions as an oncogene in BC, and may serve as a novel potential target for controlling BC progression and addressing cisplatin resistance in BC therapy.

To accelerate the practicality of electromagnetic railguns, it is necessary to use a combination of three-dimensional numerical simulation and experiments to study the mechanism of bore damage. In this paper, a three-dimensional numerical model of the augmented railgun with four parallel unconventional rails is introduced to simulate the internal ballistic process and realize the multi-physics field coupling calculation of the rail gun, and a test experiment of a medium-caliber electromagnetic launcher powered by pulse formation network (PFN) is carried out. Various test methods such as spectrometer, fiber grating and high-speed camera are used to test several parameters such as muzzle initial velocity, transient magnetic field strength and stress-strain of rail. Combining the simulation results and experimental data, the damage condition of the contact surface is analyzed.

The foundation of robot autonomous movement is to quickly grasp the position and surroundings of the robot, which SLAM technology provides important support for. Due to the complex and dynamic environments, single-sensor SLAM methods often have the problem of degeneracy. In this paper, a multi-sensor fusion SLAM method based on the LVI-SAM framework was proposed. First of all, the state-of-the-art feature detection algorithm SuperPoint is used to extract the feature points from a visual-inertial system, enhancing the detection ability of feature points in complex scenarios. In addition, to improve the performance of loop-closure detection in complex scenarios, scan context is used to optimize the loop-closure detection. Ultimately, the experiment results show that the RMSE of the trajectory under the 05 sequence from the KITTI dataset and the Street07 sequence from the M2DGR dataset are reduced by 12% and 11%, respectively, compared to LVI-SAM. In simulated complex environments of animal farms, the error of this method at the starting and ending points of the trajectory is less than that of LVI-SAM, as well. All these experimental comparison results prove that the method proposed in this paper can achieve higher precision and robustness performance in localization and mapping within complex environments of animal farms.

Metastatic colon cancer remains an incurable disease, and it is difficult for existing treatments to achieve the desired clinical outcome, especially for colon cancer patients who have received first-line treatment. Although immune checkpoint inhibitors (ICIs) have demonstrated durable clinical efficacy in a variety of solid tumors, their response requires an inflammatory tumor microenvironment. However, microsatellite-stable (MSS) colon cancer, which accounts for the majority of colorectal cancers, is a cold tumor that does not respond well to ICIs. Combination regimens open the door to the utility of ICIs in cold tumors. Although combination therapies have shown their advantage even for MSS colon cancer, it remains unclear whether combination therapies show their advantage in patients with pretreated metastatic colon cancer. We report a patient who has achieved complete remission and good tolerance with sintilimab plus bevacizumab and platinum-based chemotherapy after postoperative recurrence. The patient had KRAS mutation and MSS-type colon cancer, and his PD-1+CD8+ and CD3−CD19−CD14+CD16−HLA-DR were both positive. He has achieved a progression-free survival of 43 months and is still being followed up at our center. The above results suggest that this therapeutic regimen is a promising treatment modality for the management of pretreated, MSS-type and KRAS-mutated metastatic colorectal cancer although its application to the general public still needs to be validated in clinical trials.

Abstract With the advance of smart material science, robotics is evolving from rigid robots to soft robots. Compared to rigid robots, soft robots can safely interact with the environment, easily navigate in unstructured fields, and be minimized to operate in narrow spaces, owning to the new actuation and sensing technologies developed by the smart materials. In the review, different actuation and sensing technologies based on different smart materials are analyzed and summarized. According to the driving or feedback signals, actuators are categorized into electrically responsive actuators, thermally responsive actuators, magnetically responsive actuators, and photoresponsive actuators; sensors are categorized into resistive sensors, capacitive sensors, magnetic sensors, and optical waveguide sensors. After introducing the principle and several robotic prototypes of some typical materials in each category of the actuators and sensors. The advantages and disadvantages of the actuators and sensors are compared based on the categories, and their potential applications in robotics are also presented.

ObjectiveAlthough photodynamic therapy (PDT) has been proven effective in various tumors, it has not been widely used as a routine treatment for colorectal cancer (CRC), and the characteristics of changes in the tumor microenvironment (TME) after PDT have not been fully elucidated. This study evaluated the efficacy of PDT in patients with advanced CRC and the changes in systemic and local immune function after PDT.MethodsPatients with stage III-IV CRC diagnosed in our hospital from November 2020 to July 2021 were retrospectively analyzed to compare the survival outcomes among each group. Subsequently, short-term efficacy, systemic and local immune function changes, and adverse reactions were assessed in CRC patients treated with PDT.ResultsA total of 52 CRC patients were enrolled in this retrospective study from November 2020 to July 2021, and the follow-up period ended in March 2022. The overall survival (OS) of the PDT group was significantly longer than that of the non-PDT group (p=0.006). The objective response rate (ORR) and disease control rate two months after PDT were 44.4% and 88.9%, respectively. Differentiation degree (p=0.020) and necrosis (p=0.039) are two crucial factors affecting the short-term efficacy of PDT. The systemic immune function of stage III patients after PDT decreased, whereas that of stage IV patients increased. Local infiltration of various immune cells such as CD3+ T cells, CD4+ T cells, CD8+ T cells, CD20+ B cells and macrophages in the tumor tissue were significantly increased. No severe adverse reactions associated with PDT were observed.ConclusionPDT is effective for CRC without significant side effects according to the available data. It alters the TME by recruiting immune cells into tumor tissues.

Abstract Background Chorioamnionitis is associated with various neonatal short- and long-term morbidities. The effect of chorioamnionitis on premature children’s outcomes remains controversial. The aim of this study is to investigate the relationship between histological chorioamnionitis (HCA) and physiological development, wheezing, and atopic diseases in preterm children. Methods Singleton, preterm children (

Verticillium dahliae is a widely distributed soilborne pathogen that causes vascular wilt in more than 200 plant species. Defoliating and nondefoliating symptoms caused by the disease that result in either the loss or retention of leaves in infected plants, respectively, in hosts such as cotton, olive, and okra, divide the causal agent into defoliating and nondefoliating pathotypes. Our goal in this current work was to generate genome resources for the defoliating strain XJ592 and the nondefoliating strain XJ511 of V. dahliae isolated from cotton in China.

In this paper, the tracking control problem is investigated for time-varying nonlinear mechanical systems with and without frictions. A reduced-order dynamic and a traditional time-invariant Lyapunov design method is utilized for the case without frictions. Based on the traditional results, a new class of time-varying Lyapunov functions is provided for the case with time-varying frictions. It is shown that the tracking errors of the closed-loop system will converge to the neighborhood of the origin, which is determined by the feedback parameters. Numerical examples are presented for illustration.

Background: Ephrin A3 (EFNA3), like most genes in the ephrin family, plays a central role in embryonic development and can be dysregulated in a variety of tumors. However, the relationship between EFNA3 and gastric cancer (GC) prognosis and tumor-infiltrating lymphocytes remains unclear.Methods: Tumor Immune Estimation Resource (TIMER) and Gene Expression Profiling Interactive Analysis 2 (GEPIA2) were used to analyze the expression of EFNA3. Kaplan-Meier plots and GEPIA2 were used to evaluate the relationship between EFNA3 expression and GC prognosis. Univariable survival and multivariate Cox analyses were used to compare various clinical characteristics with survival. LinkedOmics database was used for gene set enrichment analysis (GSEA). TIMER database and CIBERSORT algorithm were used to examine the relationship between EFNA3 expression and immune infiltration in GC and to explore cumulative survival in GC. The relationship between EFNA3 and immune checkpoints was examined using cBioPortal genomics analysis. Finally, EFNA3 expression in GC cells and tissues was assayed using quantitative real-time polymerase chain reaction.Results: EFNA3 expression differs in a variety of cancers, and EFNA3 expression was higher in GC tissue than normal gastric tissue. GC patients with high expression of EFNA3 had worse overall survival, disease-free survival, and first progression. Multivariate analysis identified EFNA3 as an independent prognostic factor for GC. GSEA identified ribosome, cell cycle, ribosome biogenesis in eukaryotes, and aminoacyl-tRNA biosynthesis pathways as differentially enriched in patients with high EFNA3 expression. B cells, CD8+ T cells, CD4+ T cells, macrophages, neutrophils, and dendritic cells were significantly negatively correlated with a variety of immune markers. EFNA3 participates in changes in GC immune checkpoint markers in a collinear manner. EFNA3 expression in HGC-27, AGS, MKN45, and NCI-N87 was cell lines higher than that in GES-1, and patients with high expression of EFNA3 had a worse prognosis.Conclusion: EFNA3 can be used as a prognostic and immune infiltration and checkpoint marker in GC patients.

In the past decade, cancer immunotherapy has achieved great success owing to the unravelling of unknown molecular forces in cancer immunity. However, it is critical that we address the limitations of current immunotherapy, including immune-related adverse events and drug resistance, and further enhance current immunotherapy. Lipids are reported to play important roles in modulating immune responses in cancer. Cancer cells use lipids to support their aggressive behaviour and allow immune evasion. Metabolic reprogramming of cancer cells destroys the equilibrium between lipid anabolism and catabolism, resulting in lipid accumulation within the tumour microenvironment (TME). Consequently, ubiquitous lipids, mainly fatty acids, within the TME can impact the function and phenotype of infiltrating immune cells. Determining the complex roles of lipids and their interactions with the TME will provide new insight for improving anti-tumour immune responses by targeting lipids. Herein, we present a review of recent literature that has demonstrated how lipid metabolism reprogramming occurs in cancer cells and influences cancer immunity. We also summarise the potential for lipid-based clinical translation to modify immune treatment.

Surgery is the mainstay of treatment for resectable gallbladder cancer. Near-infrared fluorescence (NIRF) imaging using ICG is an innovation in laparoscopic surgery, which can provide real-time navigation during the whole operation. In this article, we present a 56-year older woman with gallbladder cancer, in which we evaluated the applicability of NIRF imaging using ICG for tumor and biliary tree visualization during the operative procedure of gallbladder cancer. The tumor and biliary tree were clearly visualized by utilizing a green fluorescence dye. The patient was successfully operated radical resection of gallbladder cancer under fluorescence laparoscope, without any complications. According to this case, the utilization of ICG based NIRF imaging is feasible and beneficial in identifying tumors and the biliary tree during radical resection. It can assist in the achievement of a negative margin and lymphatic clearance around the biliary tree. However, further studies are needed to corroborate the results of this case.

In daily life, there are a variety of complex sound sources. It is important to effectively detect certain sounds in some situations. With the outbreak of COVID-19, it is necessary to distinguish the sound of coughing, to estimate suspected patients in the population. In this paper, we propose a method for cough recognition based on a Mel-spectrogram and a Convolutional Neural Network called the Cough Recognition Network (CRN), which can effectively distinguish cough sounds.

Apple scab caused by Venturia inaequalis is a serious disease of cultivated apple worldwide. In this study, we collected 132 V. inaequalis isolates from Shaanxi, Gansu, Xinjiang, and the U.K. and analyzed their genetic diversity by using 13 microsatellite markers. Cluster analysis based on population structure and genetic distances suggested high similarity among the four regions. Population differentiation values ranged from 0.044 to 0.155, indicating there is a high level of kinship among the four regions. All isolates could be divided into 5 lineages with a 0.76 similarity coefficient. Among the four regions, Shaanxi had only one lineage, Group II; Gansu had four lineages, Group I, Group II, Group IV, and Group V; Xinjiang had all five lineages, Group I, Group II, Group III, Group IV, and Group V; and the U.K. had three lineages, Group I, Group II and Group IV. High molecular variance was detected for populations in the four regions, with 91% of the variance occurring within the populations and 9% among the populations. Structure analysis there are three common ancestors of these four regions. The results of the present study shed light on the genetic diversity of V. inaequalis in Shaanxi, Gansu and Xinjiang, which will lead to the development of more effective management strategies and new resistant apple cultivars through molecular marker-assisted selection.

Modular robots have the advantage of self-assembling into a large and complex structure to travel through territories beyond an individual robot’s capacity. A swarm of mobile robots is combined through mechanical interconnection and joint actuation to achieve a linked or articular configuration. In this paper, to enhance the perception, actuation and docking capacity of modular robots, a parallel mechanism-based docking system and onboard visual perception system are proposed in the design of a novel compact self-assembling mobile modular robot (SMMRob). Each module is self-contained, with a sensing or joint function. The robot modules can dock with each other based on relative positioning, which employs the visual perception of passive markers or active infrared signals in different localizations. Performance experiments were conducted to evaluate the robot module. Docking experiments were performed, along with an analysis of the success and failure results. The self-assembly of snake-like and quadruped robots was achieved in response to different environments, including an obstacle, gap or stair, and experiments were performed on self-assembly into a snake-like structure.

Coal gangue is a kind of industrial waste in the coal mine preparation process. Compared to conventional manual or machine-based separation technology, vision-based methods and robotic grasping are superior in cost and maintenance. However, the existing methods may have a poor recognition accuracy problem in diverse environments since coals and gangues’ apparent features can be unreliable. This paper analyzes the current methods and proposes a vision-based coal and gangue recognition model LTC-Net for separation systems. The preprocessed full-scale images are divided into n × n local texture images since coals and gangues differ more on a smaller scale, enabling the model to overcome the influence of characteristics that tend to change with the environment. A VGG16-based model is trained to classify the local texture images through a voting classifier. Prediction is given by a threshold. Experiments based on multi-environment datasets show higher accuracy and stability of our method compared to existing methods. The effect of n and t is also discussed.

In this article, a design of honeycomb structure–based soft continuum manipulator is proposed to achieve higher structural strength while keeping compact layout, low material consumption, and thinner wall. At first, a pneumatic deformable cell is designed to simulate the beehive hexagon structure. Secondly, cell units are combined together in a parallel way to form the body module whose stiffness is increased. Thirdly, a gripper module is designed based on the combination of the cell units in one end. Fourthly, several body modules and a gripper module are serially linked to form a soft robot. Fifthly, the basic kinematics of the module is modeled and analyzed. Finally, a prototype made up of silicone rubber is developed for experiments. In the experiments, the soft robot managed to pick up a ball and an egg. The quantitative experiments show that the maximum bending angle was about 90°, and the maximum extending ratio approaches 1.7:1 for a three-module robot test. Reliability test shows a good behavior even though the robot lost its 50% cells. The results show that the new design idea, which is inspired by the cell in biology, is available to improve the reliability of soft robot as expected and enables the robot to move with good flexibility.

Countdown signal control is a relatively new control mode that can inform a driver in advance about the remaining time to pass through intersections or the time needed to wait for other drivers and pedestrians. At present, few countries apply vehicular countdown signals. However, in China, some cities have applied vehicular countdown signals for years, though it is unclear how and how much such signals influence driving psychologies and behaviors compared with non-countdown signal controls. The present work aims to clarify the impact of vehicular countdown signals on driving psychologies and behaviors on the cognitive level. A questionnaire survey with 32 questions about driving psychologies and behaviors was designed, and an online survey was conducted. A total of 1051 valid questionnaires were received. The survey data were analyzed, and the main results indicate that most of the surveyed drivers prefer countdown signal controls and think that such controls can improve not only traffic safety but also traffic operational efficiency. The surveyed drivers also think that countdown signal controls have an impact on driving psychologies and behaviors and the survey results have demonstrated that the driving behaviors of female drivers surveyed are not conservative under the clear conditions of green countdown signal control. Further studies and methods concerning the effects of countdown signals on driving psychologies and behaviors are discussed.

With the development of bionic engineering, research into bionic robots has become a popular topic. In this field, the design of robotic mechanisms to realize the locomotion of insects forms a significant research branch. The current paper presents a caterpillar robotic mechanism that is composed of our newly-developed self-assembly modular robots (Sambot). A trapezoidal wave locomotion gait is planned for the caterpillar mechanism and the kinematics equations are established and solved analytically for such locomotion. The variations of the kinematics quantities are illustrated and discussed. The variation of the jump of the angular acceleration indicates that it is better to apply the trapezoidal wave gait to low velocity situations. Finally, the obtained data of the kinematics quantities is used to perform the gait control locomotion experiment and the errors of the experimental data are analysed in depth.

Modular robot are said to construct a diversity of morphogenesis with self-assembling strategies. They bring about an adaptive entity to deal with complex tasks. By analyzing integration design in module, perception, and control in detail, a swarm modular robot is presented with self-assembly scenario. Then, these active docking robots use the distance measured by infrared sensors between itself and edge of assembled structural entity as input. We design the fuzzy sets and if-then rules according to the human reasoning in following process. Based on Mamdani-type inference, the fuzzy controller can yield two outputs. The outputs are, respectively, used as steering angle speed and linear speed. Due to the diversity of self-assembled structure by the swarm modular robots, we conduct a series of simulated experiments. The results demonstrate the effectiveness and efficiency of the proposed controller in swarm robots' edge-following process.