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BackgroundSentinel lymph node metastasis (SLNM) is a critical factor in the prognosis and treatment planning for breast cancer (BC), as it indicates the potential spread of cancer to other parts of the body. The accurate prediction and diagnosis of SLNM are essential for improving clinical outcomes and guiding treatment decisions.ObjectiveThis study aimed to construct a Lasso regression model by integrating multimodal ultrasound (US) techniques, including US, shear wave elastography (SWE), and contrast-enhanced ultrasound (CEUS), to improve the predictive accuracy of sentinel lymph node metastasis in breast cancer and provide more precise guidance for clinical treatment.ResultsA total of 253 eligible samples were screened, of which 148 were group benign and 105 were group malignant. There were statistically significant differences (p < 0.05) between group malignant patients in terms of age, palpable mass, body mass index, distance to nipple, maximum diameter, blood flow, microcalcification, 2D border, 2D morphology, and 2D uniformity and group benign. The Lasso regression model was useful in the diagnosis of benign and malignant nodules with an AUC of 0.966 and in diagnosing SLNM with an AUC of 0.832.ConclusionIn this study, we successfully constructed and validated a Lasso regression model based on the multimodal ultrasound technique for predicting whether SLNM occurs in BCs, showing high diagnostic accuracy.

Abstract Advancing a metal‐free room temperature phosphorescent (RTP) material that exhibits multicolor emission, remarkable RTP lifetime, and high quantum yield still faces the challenge of achieving intersystem crossing between singly and triplet excited states, as well as the rapid decay of triplet excited states due to nonradiative losses. In this study, a novel strategy is proposed to address these limitations by incorporating o‐phenylenediamine, which generates multiple luminescent centers, and long‐chain polyacrylic acid to synthesize carbonized polymer dots (CPDs). These CPDs are then embedded in a rigid B2O3 matrix, effectively limiting nonradiative losses through the synergistic effects of polymer cross‐linking and the rigid matrix. The resulting CPD‐based materials exhibit remarkable ultralong phosphorescence in shades of blue and lime green, with a visible lifetime of up to 49 s and a high phosphorescence quantum yield. Simultaneously, this study demonstrates the practical applicability of these excellent material properties in anti‐counterfeiting and information encryption.

AbstractBackground Mesenchymal stem cells (MSCs) are the hotspots of cellular therapy due to their low immunogenicity, potent immunoregulation, and unique renoprotection. The present study aimed to investigate the effects of periosteum-derived MSCs (PMSCs) in ischemia–reperfusion (IR)-mediated renal fibrosis.Methods Using cell proliferation assay, flow cytometry, immunofluorescence, and histologic analysis, the differences in cell characteristics, immunoregulation, and renoprotection of PMSCs were compared to the bone marrow-derived MSCs (BMSCs), the most frequently studied stem cells in cellular therapy. In addition, the mechanism of PMSC renoprotection was investigated by 5′ end of the RNA transcript sequencing (SMART-seq) and mTOR knockout mice.Results The proliferation and differentiation capabilities of PMSCs were stronger than those of BMSCs. Compared with BMSCs, the PMSCs exerted a better effect on alleviating renal fibrosis. Meanwhile, the PMSCs more effectively promote Treg differentiation. Treg exhaustion experiment indicated that Tregs exerted an important effect on inhibiting renal inflammation and acted as a critical mediator in PMSC renoprotection. Additionally, SMART-seq results implied that the PMSCs promoted Treg differentiation, possibly via the mTOR pathway. In vivo and in vitro experiments showed that PMSC inhibited mTOR phosphorylation of Treg. After mTOR knockout, the PMSCs failed to promote Treg differentiation.Conclusions Compared with BMSCs, the PMSCs exerted stronger immunoregulation and renoprotection that was mainly attributed to PMSC promotion for Treg differentiation by inhibiting the mTOR pathway.

m6A modification has been reported to play roles in many developmental and pathological processes, but its role in AKI remains poorly understood. Here, the authors show the role and the mechanism of the m6A demethylase, ALKBH5 on IRI induced AKI.

Abstract Background Ischemia–reperfusion injury (IRI) is an inevitable process in renal transplantation that significantly increases the risk of delayed graft function, acute rejection, and even graft loss. Formyl peptide receptor 2 (FPR2) is an important receptor in multiple septic and aseptic injuries, but its functions in kidney IRI are still unclear. This study was designed to reveal the pathological role of FPR2 in kidney IRI and its functional mechanisms. Methods To explore the mechanism of FPR2 in kidney IRI, the model rats were sacrificed after IRI surgery. Immunofluorescence, enzyme-linked immunosorbent assays, and western blotting were used to detect differences in the expression of FPR2 and its ligands between the IRI and control groups. WRW4 (WRWWWW-NH2), a specific antagonist of FPR2, was administered to kidney IRI rats. Kidney function and pathological damage were detected to assess kidney injury and recovery. Flow cytometry was used to quantitatively compare neutrophil infiltration among the experimental groups. Mitochondrial formyl peptides (mtFPs) were synthesized and administered to primary rat neutrophils together with the specific FPR family antagonist WRW4 to verify our hypothesis in vitro. Western blotting and cell function assays were used to examine the functions and signaling pathways that FPR2 mediates in neutrophils. Results FPR2 was activated mainly by mtFPs during the acute phase of IRI, mediating neutrophil migration and reactive oxygen species production in the rat kidney through the ERK1/2 pathway. FPR2 blockade in the early phase protected rat kidneys from IRI. Conclusions mtFPs activated FPR2 during the acute phase of IRI and mediated rat kidney injury by activating the migration and reactive oxygen species generation of neutrophils through the ERK1/2 pathway.

Abstract Renal fibrosis is a common pathological feature and outcome of almost all chronic kidney diseases, and it is characterized by metabolic reprogramming toward aerobic glycolysis. Mesenchymal stem cell-derived exosomes (MSC-Exos) have been proposed as a promising therapeutic approach for renal fibrosis. In this study, we investigated the effect of MSC-Exos on glycolysis and the underlying mechanisms. We demonstrated that MSC-Exos significantly ameliorated unilateral ureter obstruction (UUO)-induced renal fibrosis by inhibiting glycolysis in tubular epithelial cells (TECs). miRNA sequencing showed that miR-21a-5p was highly enriched in MSC-Exos. Mechanistically, miR-21a-5p repressed the expression of phosphofructokinase muscle isoform (PFKM), a rate-limiting enzyme of glycolysis, thereby attenuating glycolysis in TECs. Additionally, knockdown of miR-21a-5p abolished the renoprotective effect of MSC-Exos. These findings revealed a novel role for MSC-Exos in the suppression of glycolysis, providing a new insight into the treatment of renal fibrosis.

Acetaminophen (N-acetyl-p-aminophenol, APAP) is a common antipyretic agent and analgesic. An overdose of APAP can result in acute liver injury (ALI). Oxidative stress and inflammation are central to liver injury. N-acetylcysteine (NAC), a precursor of glutathione, is used commonly in clinical settings. However, the window of NAC treatment is limited, and more efficacious alternatives must be found. Endogenous cytokines such as fibroblast growth factor (FGF) 21 can improve mitochondrial function while decreasing intracellular oxidative stress and inflammatory responses, thereby exhibiting antioxidant-like effects. In this study, self-assembled nanoparticles comprising chitosan and heparin (CH) were developed to deliver FGF21 (CH-FGF21) to achieve the sustained release of FGF21 and optimize the in vivo distribution of FGF21. CH-FGF21 attenuated the oxidative damage and intracellular inflammation caused by APAP to hepatocytes effectively. In a murine model of APAP-induced hepatotoxicity, CH-FGF21 could alleviate ALI progression and promote the recovery of liver function. These findings demonstrated that a simple assembly of CH nanoparticles carrying FGF21 could be applied for the treatment of liver diseases.

Abstract Background Urinary retention (UR) is a common urinary system disease can be caused by urinary tract obstruction with numerous reasons, however, the role of urine microbes in these disorders is still poorly understood. The aim of this study was to identify the urine microbial features of two common types of obstructive UR, caused by urinary stones or urinary tract tumors, with comparison to healthy controls. Methods Urine samples were collected from a cohort of 32 individuals with stone UR, 25 subjects with tumor UR and 25 healthy controls. The urine microbiome of all samples was analyzed using high-throughput 16S rRNA (16S ribosomal RNA) gene sequencing. Results We observed dramatically increased urine microbial richness and diversity in both obstructive UR groups compared to healthy controls. Despite different origins of UR, bacteria such as Pseudomonas, Acinetobacter and Sphingomonas were enriched, while Lactobacillus, Streptococcus, Gardnerella, Prevotella and Atopobium were decreased in both UR groups in comparison with healthy controls, exhibited an approximate urine microbial community and functional characteristics of two types of obstructive UR. Furthermore, disease classifiers were constructed using specific enriched genera in UR, which can distinguish stone UR or tumor UR patients from healthy controls with an accuracy of 92.29% and 97.96%, respectively. Conclusion We presented comprehensive microbial landscapes of two common types of obstructive urinary retention and demonstrated that urine microbial features of these patients are significantly different from that of healthy people. The urine microbial signatures would shed light on the pathogenesis of these types of urinary retention and might be used as potential classification tools in the future.

Cholestasis is caused by intrahepatic retention of excessive toxic bile acids and ultimately results in hepatic failure. Da-Chai-Hu-Tang (DCHT) has been used in China to treat liver and gallbladder diseases for over 1800 years. Here, we demonstrated that DCHT treatment prevented acute intrahepatic cholestasis with liver injury in response to α-naphthylisothiocyanate (ANIT) not to bile duct ligation (BDL) induced-extrahepatic cholestasis. ANIT (80 mg/kg) increased serum levels of alanine aminotransferase (ALT), aspartate aminotransferase (AST), direct bilirubin (DBiL), total bilirubin (TBiL), and total bile acids (TBA) which was attenuated by DCHT treatment in a dose-dependent manner. DCHT treatment at high dose of 1.875 g/kg restored bile acid homeostasis, as evidenced by the recovery of the transcription of genes implicated in bile acid biosynthesis, uptake and efflux. DCHT treatment (1.875 g/kg) reversed ANIT-evoked disordered glutathione homeostasis (as determined by GSH/GSSG ratio) and increased in the mRNA levels for Il6, Il1b and Tnfa associated with liver inflammation. Using network pharmacology-based approaches, we identified 22 putative targets involved in DCHT treatment for intrahepatic cholestasis not extrahepatic cholestasis. In addition, as evidenced by dual-luciferase reporter assays, compounds from DCHT with high affinity of PPARα increased luciferase levels from a PPARα-driven reporter. PPARα agonist fenofibrate was able to mimic the cytoprotective effect of DCHT on intrahepatic cholestasis, which was abolished by the PPARα antagonist GW6471. KEGG enrichment and western blot analyses showed that signaling axes of JNK/IL-6/NF-κB/STAT3 related to PPARα might be the principal pathway DCHT affects intrahepatic cholestasis. Taken together, the present study provides compelling evidence that DCHT is a promising formula against acute intrahepatic cholestasis with hepatotoxicity which works via PPARα activation.

Abstract The emergence of edge computing provides a new solution to big data processing in the Internet of Things (IoT) environment. By combining edge computing with deep neural network, it can make better use of the advantages of multi-layer architecture of the network. However, the current task offloading and scheduling frameworks for edge computing are not well applicable to neural network training tasks. In this paper, we propose a task model offloading algorithm by considering how to optimally deploy neural network model into the edge nodes. An adaptive task scheduling algorithm is also designed to adaptively optimize the task assignment by using the improved ant colony algorithm. Based on them, a collaborative cloud-edge computing framework is proposed, which can be used in the distributed neural network. Moreover, this framework sets up some mechanisms so that the cloud can collaborate with edge computing in the work. The simulation results show that the framework can reduce time delay and energy consumption, and improve task accuracy.

In this article, a 3D top-loaded low profile sleeve antenna for unmanned aerial vehicle (UAV) applications is proposed. By loading a 3D disc cone structure on the top of a sleeve antenna, the overall height of the antenna can be significantly reduced compared with the height of a traditional quarter-wavelength monopole antenna. In addition, adding shorted columns between the top plate of the disc cone and the ground can generate a new resonant point at lower frequency, so that the frequency bandwidth can be effectively extended. Finally, in order to further achieve the miniaturization of the antenna, an annular slot ring structure was etched on the upper surface of the top plate. Under the conditions of S11

Background: Accumulating evidence indicates that mesenchymal stem cells (MSCs) are precursors of myofibroblasts, which play a vital role in renal fibrosis. The close interaction between MSCs and other immune cells regulates the development of multiple fibrosis-related diseases. However, the effect of myeloid-derived suppressor cells (MDSCs) on MSCs remains unexplored. Here, we investigated the effect of MDSCs on the myofibroblastic differentiation of MSCs.Methods: MSCs were induced to undergo myofibroblastic differentiation with transforming growth factor beta 1 (TGF-β1). M-MDSCs and G-MDSCs were sorted by flow cytometry. Supernatants derived from MDSCs were administered to cultured bone marrow MSCs (BM-MSCs) undergoing TGF-β1-induced myofibroblastic differentiation. Myofibroblastic differentiation was evaluated by immunostaining. The expression of fibrosis-related genes was determined by quantitative PCR and western blot analysis. In vitro, M-MDSC supernatant or M-MDSC supernatant with interleukin (IL)-15 mAbs was administered following unilateral renal ischemia-reperfusion injury (IRI) to observe the myofibroblast differentiation of renal resident MSCs (RRMSCs) in a murine model.Results: Myofibroblastic differentiation of MSCs was hindered when the cells were treated with MDSC-derived supernatants, especially that from M-MDSCs. The inhibitory effect of M-MDSC supernatant on the myofibroblastic differentiation of MSCs was partially mediated by IL-15-Ras-Erk1/2-Smad2/3 signaling. Treatment with M-MDSC supernatant ameliorated renal fibrosis and myofibroblastic differentiation in RRMSCs through IL-15. Additionally, M-MDSC supernatant increased M-MDSC infiltration in the kidney in a mouse IRI model. M-MDSC supernatant downregulated the adhesion and migration marker CD44 on the cell membrane of MSCs via IL-15.Conclusion: M-MDSC-derived supernatant inhibited the TGF-β1-induced myofibroblastic differentiation of MSCs through IL-15. Our findings shed new light on the effect of MDSCs on myofibroblastic differentiation and adhesion of MSCs, which might provide a new perspective in the development of treatment strategies for renal fibrosis.

Objective To perform a prospective study to determine the risk factors associated with perirenal haematoma development after percutaneous renal biopsy (PRB). Methods This multivariate prospective study collected demographic and clinical data from all consecutive adult patients that underwent real-time ultrasound-guided PRB of native kidneys. All biopsies were performed by two well-trained ultrasound physicians using 16G biopsy needles. Routine renal ultrasounds were performed within 12–24 h after biopsies in order to observe post-biopsy perirenal haematoma formation. Patients were stratified based on the occurrence of post-biopsy haematoma development. Results This prospective study enrolled 218 patients and stratified them into a haematoma group ( n = 126) and a non-haematoma group ( n = 92). Binary logistic regression analysis identified female patients (odds ratio [OR] 1.990; 95% confidence interval [CI] 1.125, 3.521), patients with a body mass index (BMI) ≥28 kg/m 2 (OR 2.660; 95% CI 1.097, 6.449) and patients with immediate post-biopsy active bleeding (IPAB) (OR 2.572; 95% CI 1.422, 4.655) as being more likely to have perirenal haematoma after real-time ultrasound guided PRB of native kidneys. Conclusion Female sex, a BMI ≥28 kg/m 2 and IPAB were risk factors for perirenal haematoma after real-time ultrasound-guided PRB of native kidneys.

Major salivary gland ultrasonography (SGUS) is increasingly being recognized as having critical roles in differentiating primary Sjögren’s syndrome (pSS) from other connective tissue disorders. Contrast-enhanced ultrasonography (CEUS) has been reported to evaluate microvascularity of lesions in different tissues with objective angiographic index, eliminating the observer-dependent defect of ultrasonography. However, there are few relevant studies concentrating on the application of CEUS in the diagnosis and assessment for pSS, and their clinical utility prospect remains uncertain. In this study, a total of 227 eligible patients were enrolled, including 161 pSS and 66 non-pSS patients with comprehensive ultrasonographic evaluation of the parotid and submandibular glands, including grayscale ultrasonography, color Doppler sonography (CDS), and CEUS. Compared with non-pSS, pSS patients had significantly higher grayscale ultrasound (US) scores and CDS blood grades in the parotid gland and significantly higher grayscale US and CEUS scores in the submandibular glands. Diagnostic model combining ultrasonographic signatures, anti-SSA/Ro60, and keratoconjunctivitis sicca (KCS) tests showed a remarkable discrimination [mean area under the curve (AUC)0.963 in submandibular glands and 0.934 in parotid glands] for pSS, and the nomogram provided excellent prediction accuracy and good calibration in individualized prediction of pSS. A combination of multiple ultrasonographical examinations of the major salivary glands (SGs) is a promising technique that may be used as a practical alternative to minor SG biopsy in the detection of pSS.

Objective: To investigate the effect and protective mechanism of mesenchymal stem cell subpopulations on acute kidney injury by establishing a mouse model of renal ischemia-reperfusion injury.Methods: Male C57BL/6 mice were randomly divided into five groups, namely, sham-operation group and those treated with normal saline, untreated mesenchymal stem cells, mesenchymal stem cells treated with lipopolysaccharide (LPS, pro-inflammatory phenotype) and mesenchymal stem cells treated with polyinosinic-polycytidylic acid (poly[I:C], anti-inflammatory phenotype) respectively. The renal function, histopathological damage, circulating inflammation levels and antioxidant capacity of mice were evaluated. The PI3 kinase p85 (PI3K) inhibitor was added into the conventional mesenchymal stem cell cultures in vitro to observe its effects on the secretion of anti-inflammatory cytokines.Results: Mesenchymal stem cells treated with poly(I:C) (anti-inflammatory phenotype) could effectively reduce serum creatinine and blood urea nitrogen, attenuate histopathological damage and apoptosis level, decrease the level of circulating pro-inflammatory cytokines and increase the level of circulating anti-inflammatory cytokines, enhance peroxidase activity and reduce malondialdehyde content at each time point. After the addition of the PI3K inhibitor, the mRNA expression and protein secretion of indoleamine 2,3-dioxygenase 1 and heme oxygenase 1 of various mesenchymal stem cells were significantly reduced, and that of mesenchymal stem cells treated with poly(I:C) (anti-inflammatory phenotype) was more obvious.Conclusions: Polyriboinosinic-polyribocytidylic acid (poly[I:C]), a synthetic double-stranded RNA, whose pretreatment induces mesenchymal stem cells to differentiate into the anti-inflammatory phenotype. Anti-inflammatory mesenchymal stem cells induced by poly(I:C) can better protect renal function, alleviate tissue damage, reduce circulating inflammation levels and enhance antioxidant capacity, and achieve stronger anti-inflammatory effects through the TLR3/PI3K pathway.

Coal mining subsidence areas in north Shaanxi province in north China are commonly low-fertility drylands, and intercropping is a popular method locally of maximizing crop yields. Inoculation with dark septate endophytes (DSE) can increase the yields of conventional crops grown in monoculture, but the effects of DSE on the growth and yield of intercropped plants are unknown. Here, a field experiment was conducted in a coal mining subsidence area on the loess plateau in 2020 and 2021. The two crops were buckwheat and alfalfa, with four treatments for each crop: sole cropping control, sole cropping with DSE inoculation, intercropping control, and intercropping with DSE inoculation. The yields, land equivalent ratios, DSE colonization rates, and yield components of buckwheat and alfalfa were compared in the different treatments. Stepwise regression and path analysis was conducted to identify the factors that determined crop yields. Yields of intercropped buckwheat and alfalfa with DSE inoculation increased in two consecutive years compared with sole cropping control, with yields increasing in 2020 by 117 and 86%, respectively. In 2021, the yield of buckwheat in intercropping with DSE inoculation did not increase significantly, but the yield of alfalfa increased by 120% compared with the sole cropping control. Buckwheat-alfalfa intercropping has the advantage of increasing the yield. DSE inoculation significantly increased the yield of buckwheat-alfalfa intercropping in 2020, but there was no yield advantage in 2021. The yield components of buckwheat and alfalfa showed inconsistent differences among experimental treatments. Stepwise regression and path analysis shows that the DSE colonization rate played an important role in the yield, which was an increased in buckwheat and alfalfa in 2020 and 2021. DSE affected the buckwheat yield indirectly by increasing the grain weight per plant, plant phosphorus uptake, and plant nitrogen content. DSE indirectly affected alfalfa yields by increasing plant nitrogen uptake and plant height. DSE may therefore have some potential to increase yields in buckwheat-alfalfa intercropping systems in coal mining subsidence areas.

Analyzing the relationship between rural settlements and rural population change under different policy scenarios is key in the sustainable development of China’s urban and rural areas. We proposed a framework that comprised the mixed land use structure simulation (MCCA) model and the human–land coupling development model to assess the spatiotemporal dynamic changes in rural settlements and its’ coupling relationship with the rural population in the economically developed region of Deqing, Zhejiang Province. The results showed that rural settlements and urban land increased by 14.36 and 29.07 km2, respectively, over the last 20 years. The expansion of some rural settlements and urban land occurred at the cost of cropland occupation. Rural settlements showed an expansion trend from 2000 to 2020, increasing from 42.69 km2 in 2000 to 57.05 km2 in 2020. In 2035, under the natural development scenario, the cropland protection scenario, and the rural development scenario, rural settlements are projected to show an expansion trend and Wukang and Leidian are the key regions with rural settlement expansion. The distance to Hangzhou, nighttime light data, distance to rivers, and precipitation are important factors influencing the expansion of rural settlements. The coupling relationship between rural settlements and the rural population developed in a coordinated manner from 2000 to 2020. For 2035, under different scenarios, the coupling relationship between rural settlements and the rural population showed different trends. In the rural development scenario, the highest number of towns with coordinated development between rural settlements and the rural population is in Deqing, predominantly with Type I coupling. Overall, an important recommendation from this study is that the sustainable development of regional land use can be promoted by controlling the occupation of cropland for urban and rural construction, balancing rural settlement expansion and rural population growth, and formulating land use policies that are more suitable for rural development.

Sensors-based and radio frequency (RF)-based indoor localization technology is one of the keys in location-based services. The IEEE 802.11-2016 introduced the Wi-Fi fine timing measurement (FTM) protocol, which provides a new approach for Wi-Fi-based indoor localization. However, Wi-Fi signals are susceptible to complex indoor environments. To improve the positioning accuracy and stability, an enhanced particle filter (PF) with two different state update strategies, a new criterion for divergence monitoring and rapid re-initialization is proposed to integrate the advantages of pedestrian dead reckoning (PDR) and Wi-Fi FTM. In addition, an adaptive tilt compensation is proposed to improve real-time heading estimation of conventional PDR, and the Wi-Fi FTM outliers are detected by displacement estimation of the PDR. The experimental results show that the proposed PF has better localization performance than the single source positioning methods in a typical indoor scenario. The accuracy of final localization is within 1 m in 86.7% of the dynamic cases and the average calculation time is less than 0.5 s when the number of particles is 2000.

Background: The pathogenesis of the development of IgA nephropathy has not been clear up to now. At present, some studies revealed that the mTOR pathway may participate in IgA nephropathy; however, the mechanism has not been systematically studied. In this study, we established an IgAN rat model to investigate the protective effects of rapamycin as a new type of immunosuppressant, as well as its therapeutic mechanisms. Methods: After the establishment of IgA nephropathy model, rats were treated with different concentrations of rapamycin, and the protective effect of different concentrations of rapamycin on renal function of the rats was observed. The deposition of IgA was observed by immunofluorescence. The kidney expression of Akt and p70S6k proteins in mTOR pathway was examined using the western blot assay after rapamycin treatment. Results: Morphology and immunofluorescence confirmed that the rat model of IgA nephropathy was successfully established. In particular, the level of proteinuria decreased with the increase of the dose of rapamycin, as well as the deposition of IgA in glomeruli. Moreover, the western blot analysis indicated that the expression of p70S6K in the downstream of mTOR pathway decreased and the upstream protein AKT of the mTOR pathway was overexpressed in the rats model. Conclusion: We found that rapamycin has protective effects in the IgA nephropathy rat model in a dose-dependent manner. In addition, the result of western blot assay suggested that rapamycin may display its therapeutic effects through interfering the AKT-mTOR-p70S6K signaling pathway.

This paper proposes a novel reinforcement learning (RL)-based tracking control scheme with fixed-time prescribed performance for a reusable launch vehicle subject to parametric uncertainties, external disturbances, and input constraints. First, a fixed-time prescribed performance function is employed to restrain attitude tracking errors, and an equivalent unconstrained system is derived via an error transformation technique. Then, a hyperbolic tangent function is incorporated into the optimal performance index of the unconstrained system to tackle the input constraints. Subsequently, an actor-critic RL framework with super-twisting-like sliding mode control is constructed to establish a practical solution for the optimal control problem. Benefiting from the proposed scheme, the robustness of the RL-based controller against unknown dynamics is enhanced, and the control performance can be qualitatively prearranged by users. Theoretical analysis shows that the attitude tracking errors converge to a preset region within a preassigned fixed time, and the weight estimation errors of the actor-critic networks are uniformly ultimately bounded. Finally, comparative numerical simulation results are provided to illustrate the effectiveness and improved performance of the proposed control scheme.

The increase in T helper 17 cell (Th17)-mediated pro-inflammatory response and decrease in regulatory T cell (Treg)-mediated anti-inflammatory effect aggravate renal tubular epithelial cell (RTEC) injury. However, increasing evidence indicated that mesenchymal stem cell (MSC) possessed the ability to control the imbalance between Th17 and Treg. Given that Th17 and Treg are derived from a common CD4+ T cell precursor, we summarize the current knowledge of MSC-mediated inhibition of the mammalian target of rapamycin (mTOR), which is a master regulator of CD4+ T cell polarization. During CD4+ T cell differentiation, mTOR signaling mediates Th17 and Treg differentiation via hypoxia-inducible factor-1α (HIF-1α)-dependent metabolic regulation and signaling pathway, as well as mTOR-mediated phosphorylation of signal transducer and activator of transcription (STAT) 3 and 5. Through interfering with mTOR signaling, MSC restrains CD4+ T cell differentiation into Th17, but in turn promotes Treg generation. Thus, this review indicates that MSC-mediated Th17-to-Treg polarization is expected to act as new immunotherapy for kidney injury.

At present, artificial intelligence (AI) has made considerable progress in recognition of speech, face, and emotion. Potential application to robots could bring significant improvement on intelligent robotic systems. However, limited resource on robots cannot satisfy the large-scale computation and storage that the AI recognition requires. Cloud provides an efficient way for robots, where they off-load the computation too. Therefore, we present a cognition-based context-aware cloud computing framework, which is designed to help robot's sense environments including user's emotions. Based on the recognized context information, robots could optimize their responses and improve the user's experience on interaction. The framework contains a customizable context monitoring system on the mobile end to collect and process the data from the robot's sensors. Besides, it integrates various AI recognition services in the cloud to extract the context facts by analyzing and understanding the data. Once the context data is extracted, the results are pushed back to mobile end for making a better decision in the next interactions. In this paper, we demonstrate and evaluate the framework by a real case, an educational mobile app for English learning. The results show that the proposed framework could significantly improve the interaction and intelligence of mobile robots.