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The role of the gut microbiota in host physiology has been previously elucidated for some marine organisms, but little information is available on their metabolic activity involved in transformation of environmental pollutants. This study assessed the metabolic profiles of the gut microbial cultures from grouper (Epinephelus coioides), green mussel (Perna viridis) and giant tiger prawn (Penaeus monodon) and investigated their transformation mechanisms to typical plastic additives. Community-level physiological profiling analysis confirmed the utilization profiles of the microbial cultures including carbon sources of carbohydrates, amines, carboxylic acids, phenolic compounds, polymers and amino acids, and the plastic additives of organophosphate flame retardants, tetrabromobisphenol A derivates and bisphenols. Using in vitro incubation, triphenyl phosphate (TPHP) was found to be rapidly metabolized into diphenyl phosphate by the gut microbiota as a representative ester-containing plastic additive, whereas the transformation of BPA (a representative phenol) was relatively slower. Interestingly, all three kinds of microbial cultures efficiently transformed the hepatic metabolite of BPA (BPA-G) back to BPA, thereby increasing its bioavailability in the body. The specific enzyme analysis confirmed the ability of the gut microbiota to perform the metabolic reactions. The results of 16S rRNA sequencing and network analysis revealed that the genera Escherichia-Shigella, Citrobacter, and Anaerospora were functional microbes, and their collaboration with fermentative microbes played pivotal roles in the transformation of the plastic additives. The structure-specific transformations by the gut microbiota and their distinct bioavailability deserve more attention in the future.

Exosomes, as a class of small extracellular vesicles closely related to the biological behavior of various types of tumors, are currently attracting research attention in cancer diagnosis and treatment. Regarding cancer diagnosis, the stability of their membrane structure and their wide distribution in body fluids render exosomes promising biomarkers. It is expected that exosome-based liquid biopsy will become an important tool for tumor diagnosis in the future. For cancer treatment, exosomes, as the “golden communicators” between cells, can be designed to deliver different drugs, aiming to achieve low-toxicity and low-immunogenicity targeted delivery. Signaling pathways related to exosome contents can also be used for safer and more effective immunotherapy against tumors. Exosomes are derived from a wide range of sources, and exhibit different biological characteristics as well as clinical application advantages in different cancer therapies. In this review, we analyzed the main sources of exosomes that have great potential and broad prospects in cancer diagnosis and therapy. Moreover, we compared their therapeutic advantages, providing new ideas for the clinical application of exosomes.

In order to address the challenges of global path planning in complex and dynamic environments, where avoiding dynamic obstacles is difficult, and local paths are prone to getting stuck in local optima, this paper proposes an enhanced hybrid path planning approach based on improvements to the $\text{A}^{\ast} $ algorithm and the Artificial Potential Field (APF) algorithm. Firstly, addressing the issues of redundant path nodes and non-smooth paths generated by the $\text{A}^{\ast} $ algorithm, we introduce enhancements such as weighted heuristic function, removal of redundant path nodes, and the incorporation of a cubic quasi-uniform B-spline curve to improve search speed and generate smoother paths. Secondly, addressing the problems of unreachable target points and susceptibility to local optima associated with the APF algorithm, two key strategies are employed. On one hand, the repulsive potential field function is modified by incorporating the m-th power of the relative distance from the robot to the target point to ensure reachability. On the other hand, the CSA-APF (Constrained Simulated Annealing with Augmented Potential Field) algorithm is introduced. This algorithm combines the APF algorithm with Simulated Annealing (SA), incorporating constraints on angles and safety distances to escape local optima and generate globally optimal points. Finally, the proposed methods are compared through simulation experiments in different scenarios. The experimental results demonstrate that the proposed approach effectively achieves path planning in complex dynamic environments.

Abstract Background Some clinicians used levothyroxine (LT4) treatment for mild subclinical hypothyroidism (SCH) pregnant women (2.5

Objective The most common site of metastasis in patients with colon cancer is the liver. This study aimed to identify patients with colon cancer at high risk of developing liver metastasis and to explore their prognosis. Methods The clinical characteristics, treatment methods and survival outcomes of patients diagnosed with colon cancer from 2010 to 2015 were identified from the Surveillance, Epidemiology and End Results (SEER) database. Patients were divided into two groups according to the presence of liver metastasis, and multivariate logistic and Cox regression models were used to identify risk and prognostic factors. Results A total of 60,018 patients with colon cancer were selected from the SEER database. The incidence of liver metastasis was 9.2%. African American ethnicity, poor differentiation, higher tumor stage, higher lymph node ratio, and lung metastases were common factors associated with both liver metastasis risk and prognosis. Conclusions Metastasectomy might improve survival among patients with colon cancer with resectable liver metastasis lesions and no other organ involvement.

To achieve multiple obstacle avoidance tasks consisting of zero-space obstacle avoidance and terminal obstacle avoidance with self-avoidance permission, we propose an algorithm for multiple obstacle avoidance tasks for dual-arm robots. First, we design a self-obstacle avoidance gradient optimization function to implement the self-obstacle avoidance task between the two arms of dual-arm robots by using the pseudo-distance as the basis for the collision judgment. Second, the terminal obstacle avoidance task for dual-arm robots is implemented by applying an adaptive terminal obstacle avoidance velocity. Third, a zero-space obstacle avoidance task for dual-arm robots is realized using an adaptive virtual repulsion force. Finally, a dual-arm robot consisting of two 6-DOF Jaco2 manipulators is simulated in a Matlab environment to verify the obstacle avoidance algorithm of dual-arm robots. The simulation results show that the algorithm proposed in this paper can complete the multi-obstacle avoidance tasks of terminal obstacle avoidance and zero-space obstacle avoidance simultaneously with the premise of realizing the self-obstacle avoidance of dual-arm robots, and has a minor terminal trajectory error, which proves that the algorithm is in the feasibility of completing terminal obstacle avoidance and zero-space obstacle avoidance with the premise of realizing dual-arm robots self-obstacle avoidance.

The traditional A* algorithm has several problems in practical applications, such as many path turning points, redundant nodes, and long running time. it is sometimes impossible to plan the theoretical optimal route. To solve the above problem, this paper presents an optimized A* algorithm, the adaptive adjustment step algorithm and the three-time Bezier curve are used to solve the problems of many turning points, large turning angles, and long running time in the search path. Moreover, aiming at the path planning problem of mobile robots facing dynamic obstacle interference in complex environments, an algorithm that integrates the improved A* algorithm with the dynamic window method is proposed, which not only solves the shortcomings of the A* algorithm in which the dynamic obstacles cannot be avoided, but also prevents the mobile robot from falling into local optimization. The results show that the fusion algorithm of the improved A* algorithm and the dynamic window method with the traditional A* algorithm reduces the number of turns by 50% and the path length by 3.62% compared with the original algorithm. In the same environment, compared with the traditional algorithm, the hybrid algorithm in this paper reduces the average time consumption by 10.27%, the number of path inflection points by 57.14%, and the accuracy is higher than 33.33%, which is more effective in complex dynamic environments.

An obstacle avoidance algorithm was suggested in this study to handle the redundant manipulator’s end trajectory planning problem, with the accuracy of the end trajectory guaranteed to be within the projected error. To accomplish this goal, the calculation method of vector pseudo distance is used instead of the traditional Euclidean distance to express the minimum proximity between the robot arm and the obstacle. This method can express the constraint conditions between the obstacle and the robot arm more clearly and improve the obstacle avoidance efficiency. The virtual repulsion force is generated to make the end of the manipulator far away from the obstacle through the relationship between the velocity vector and the angle vector of the end motion, and the end recovers to the desired trajectory quickly and stably after avoiding the obstacle through the adjustment of the tangent velocity function. The error adjustment coefficient is intended to communicate back the actual trajectory of the end obstacle avoidance to the tracking function in real time, and to adaptively change the velocity and acceleration of the end-executor to reduce the end trajectory tracking error. The simulation results show that when an envelope body obstacle appears unexpectedly on the end executor’s expected mission locus, if the expected distance between the end-effector r and the obstacle is greater than or equal to 0.02m, the end of the actuator can avoid the obstacle and return to the expected track quickly and smoothly.

Background: With the increasing popularity of traditional Chinese medicine (TCM) by the global community, how to teach basic knowledge of TCM to international students and improve the teaching quality are important issues for teachers of TCM. The present study was to analyze the perceptions from both students and teachers on how to improve TCM learning internationally. Methods: A cross-sectional national survey was conducted at 23 universities/colleges across China. A structured, self-reported on-line questionnaire was administered to 34 Chinese teachers who taught TCM course in English and to 1016 international undergraduates who were enrolled in the TCM course in China between 2017 and 2021. Results: Thirty-three (97.1%) teachers and 900 (88.6%) undergraduates agreed Chinese culture should be fully integrated into TCM courses. All teachers and 944 (92.9%) undergraduates thought that TCM had important significance in the clinical practice. All teachers and 995 (97.9%) undergraduates agreed that modern research of TCM is valuable. Thirty-three (97.1%) teachers and 959 (94.4%) undergraduates thought comparing traditional medicine in different countries with TCM can help the students better understand TCM. Thirty-two (94.1%) teachers and 962 (94.7%) undergraduates agreed on the use of practical teaching method with case reports. From the perceptions of the undergraduates, the top three beneficial learning styles were practice (34.3%), teacher's lectures (32.5%), case studies (10.4%). The first choice of learning mode was attending to face-to-face teaching (82.3%). The top three interesting contents were acupuncture (75.5%), Chinese herbal medicine (63.8%), and massage (55.0%). Conclusion: To improve TCM learning among international undergraduates majoring in conventional medicine, integration of Chinese culture into TCM course, comparison of traditional medicine in different countries with TCM, application of the teaching method with case reports, and emphasization of clinical practice as well as modern research on TCM should be fully considered.

Colorectal carcinoma (CRC) is one of the most common cancers, and is associated with a poor clinical outcome. The key genes and potential prognostic markers in colorectal carcinoma remain to be identified and explored for clinical application. DNA expression/methylation profiles were downloaded from the Gene Expression Omnibus (GEO) database to identify differentially expressed/methylated genes (DEGs and DEMs). A total of 255 genes and 372 genes were identified as being up-regulated and down-regulated, respectively, in GSE113513, GSE81558, and GSE89076. There were a total of 3350 hypermethylated genes and 443 hypomethylated genes identified in GSE48684. Twenty genes were found to be hypermethylated as well as down-regulated, and a functional enrichment analysis revealed that these genes were mainly involved in cancer-related pathways. Among these 20 genes, GPM6A, HAND2 and C2orf40 were related to poor outcomes in cancer patients based on a survival analysis. Concurrent decreases of GPM6A, HAND2 and C2orf40 protein expression were observed in highly-differentiated colorectal carcinoma tissues, and higher expression levels were found in undifferentiated or minimally-differentiated colorectal carcinoma tissues. In conclusion, 20 genes were found to be downregulated and hypermethylated in CRC, among which GPM6A, HAND2 and C2orf40 were explored for their potential prognostic value.

Microplastic pollution has become an increasingly important environmental issue worldwide in recent years because of its ubiquitous presence in different environmental media and its potential to affect the health of organisms and ecosystems. Aquaculture contributes significantly to the world's food production and nutritional supply, especially in developing countries. Widespread occurrence of microplastics in aquaculture systems has raised great concern regarding aquaculture production and food safety issues of aquaculture products. China is a world leader in aquaculture production, with freshwater aquaculture accounting for 59.1% of total aquaculture production of the world in 2020. Therefore, this review mainly focuses on recent research progress related to microplastic pollution in freshwater aquaculture systems in China. Results from the literature show that microplastics are present in freshwater aquaculture systems at abundances comparable to natural waterbodies in China. Microplastics can be ingested and remain in the body of aquaculture products. Exposure to microplastics can adversely affect the health of aquatic organisms and aquatic ecosystem functions. However, risks of microplastics in real world environment remain uncertain. Consumption of freshwater aquaculture products is not a major pathway for human exposure to microplastics. To provide scientific guidance for governmental decision-making and pollution control, future work should focus on progress in toxicological methodology and understanding the impacts of microplastics at community and ecosystem levels.

Plastic equipment such as fishing nets and foam buoys has been widely used in aquaculture. This kind of equipment would gradually decompose while being subject to the long-term effects of physical, chemical, and biological degradation processes, leading to the release of large amounts of microplastics (MPs) into the local marine environment and the generation of aquaculture-derived MPs (AD-MPs). The rapid growth of aquaculture has resulted in an explosion of AD-MPs with various environmental consequences. The accumulation of MPs in aquatic products was found closely related to the abundance of environmental MPs, suggesting the importance of determining whether AD-MPs increase the risk of MP ingestion by aquatic products and thus endanger aquatic food safety. In this short communication, the ecological and health risks of AD-MPs were discussed and perspectives were proposed for future studies.

Abstract Background Traditional Chinese medicine (TCM) has gained increasing acceptance and popularity by the global community. The current study aimed to investigate self-reported evaluations of learning TCM and opinions about TCM courses among undergraduate international students majoring in conventional medicine at a university in China. Methods A cross-sectional survey was conducted at the Zhejiang University School of Medicine. A self-reported questionnaire was administered to international undergraduates who were enrolled in the TCM course during the 2018 and 2019 academic years (n = 157). The course employed a student-centered, multiform learning model. Demographic data and self-reported evaluations of TCM learning background and TCM learning course were obtained to conduct the analysis. Results A total of 133 students responded to the questionnaire. Among the respondents, 21.0% had some TCM-related knowledge, and 51.1% were interested in learning TCM before the course. Ninety-six students (85.7%) were from Asia. Students from Thailand showed significantly more interest in learning TCM than did students from other Asian countries (p = 0.025). After the course, 77.2% of students agreed that the course had brought about many benefits, 86.4% were satisfied with the course content, and 77.3% were satisfied with the teaching method. Students expressed their willingness to further learn acupuncture and to obtain more skilled practice through more visualized learning methods. Conclusions The majority of the international students we surveyed agreed that the TCM course improved their interest in and understanding of TCM. It is thus suggested that TCM education should be directed toward students’ learning barriers and needs.

As the aging process is springing up around the whole world, the problem of sit-to-stand (STS) for the elderly has become the focal point of older people themselves, their families, and society. The key challenge in solving this problem is developing and applying the technology of auxiliary robots for standing up and auxiliary stands. The research is not only to find the appropriate fundamentals from a healthcare perspective in the center of gravity movement (COM) curve of the elderly during STS but also to meet the psychological needs of the elderly during STS in a comfortable, pleasant, and safe way. To obtain the skeleton tracking technology used in this study, we used the Vicon optical motion capture system and automatic moving target indicator (AMTI) 3-D force measuring table to obtain a COM curve of the elderly during STS. The stationary process, speed, and sitting posture analysis during STS were combined in this paper to seek a solution to the psychological needs of the elderly. The analysis is conducted with the integration of medicine, engineering, art, and science into this research. Finally, a movement curve and related dynamic parameters that can truly reflect the STS of the elderly are obtained, and the discussion is provided. The research result can provide theoretical and technical support for the later development of auxiliary robots for standing up and auxiliary stands technology products, so that the elderly can STS comfortably, happily, and safely with the assistance of human–robot interaction.

To solve the inter-symbol interference (ISI) and background noise challenges of molecular communication via diffusion (MCvD),four ISI-resistant signal-features were deployed,and a reliable non-coherent signal detection algorithm,which was insensitive to different types of molecular channel impulse response (CIR),was proposed.Also,an adaptive decision threshold and theoretical bound of bit error rate (BER) were deduced.Simulation results demonstrate a lower BER of the proposed non-coherent scheme compared to the state-of-the-art schemes in the same order of computational complexity,therefore suggesting its potential applications for future nano-scale MC.

Abstract Background To assess the association between plasma retinol-binding protein 4 (RBP4) levels both in the first trimester and second trimester and risk of gestational diabetes mellitus (GDM). Methods Plasma RBP4 levels and insulin were measured among 135 GDM cases and 135 controls nested within the Peking University Birth Cohort in Tongzhou. Multivariable linear regression analysis was conducted to assess the influence of RBP4 levels on insulin resistance. Conditional logistic regression models were used to compute the odds ratio (OR) and 95% confidence interval (CI) between RBP4 levels and risk of GDM. Results The GDM cases had significantly higher levels of RBP4 in the first trimester than controls (medians: 18.0 μg/L vs 14.4 μg/L; P

Traditional route planning methods usually plan the “fastest” or “lowest cost” travel route for users with the goal of finding the shortest path or the lowest cost, but this method cannot meet the needs of tourism users for personalized and multifunctional travel routes. Given this phenomenon, this paper proposes a personalized route planning model based on urgency. First, the model uses the visitor’s historical tourism data and public road network data to extract their preferences, POI (point of interest) relationships, edge scenic values and other information. Then, the planned route function is determined according to the urgency value, which provides users with travel routes that accommodate their interest preferences and urgency. Finally, the improved genetic algorithm based on gene replacement and gene splicing operators is used to carry out numerical experiments on the Xi’an and Wuhan road network datasets. The experimental results show that the proposed algorithm is not only capable of planning routes with different functions for diverse users but also performs personalized route planning according to their preferences.

ObjectiveThe extensive use of rare earth elements (REEs) in many technologies was found to have effects on human health, but the association between early pregnancy exposure to REEs and gestational diabetes mellitus (GDM) is still unknown.MethodsThis nested case-control study involved 200 pregnant women with GDM and 200 healthy pregnant women from the Peking University Birth Cohort in Tongzhou. We examined the serum concentrations of 14 REEs during early pregnancy and analyzed their associations with the risk of GDM.ResultsWhen the elements were considered individually in the logistic regression model, no significant associations were found between REEs and GDM, after adjusting for confounding variables (P > 0.05). In weighted quantile sum (WQS) regression, each quartile decrease in the mixture index for REEs resulted in a 1.67-fold (95% CI: 1.12-2.49) increased risk of GDM. Neodymium (Nd), Praseodymium (Pr), and Lanthanum (La) were the most important contributors in the mixture.ConclusionThe study findings indicated that early pregnancy exposure to lower levels of REE mixture was associated with an increased risk of GDM, and Nd, Pr, and La exhibited the strongest effects in the mixture.

The Mask R-CNN-based object detection method is typically very time-consuming and laborious since it involves obtaining the required target object masks during training. Therefore, in order to automatically generate the image mask, we propose a GrabCut-based automated mask generation method for object detection. The proposed method consists of two stages. The first stage is based on GrabCut’s interactive image segmentation method to generate the mask. The second stage is based on the object detection network of Mask R-CNN, which uses the mask from the previous stage together with the original input image and the associated label information for training. The Mask R-CNN model then automatically detects the relevant objects during testing. During experimentation with three objects from the Berkeley Instance Recognition Dataset, this method achieved a mean of average precision (mAP) value of over 95% for segmentation. The proposed method is simple and highly efficient in obtaining the mask of a segmented target object.

Brominated flame retardants (BFRs) such as tetrabromobisphenol A (TBBPA) and hexabromocyclododecanes (HBCDs) are of ecological concern due to their ubiquitous presence and adverse effects. There is a paucity of data on environmental fate of such compounds in mangrove wetlands, which are unique ecosystems in coastal intertidal areas and act as natural sinks for many pollutants. In this study, mangrove plants and sediments were collected from an urban nature reserve in South China to investigate bioaccumulation and translocation of TBBPA and HBCDs. The mean (range) concentrations of TBBPA and ΣHBCD in roots, stems and leaves were 67 (

Mangrove wetlands are under increasing pollution pressure from human activities due to rapid industrialization and urbanization of coastal regions. Many pollutants such as heavy metals may be accumulated via food chains to hazardous levels which will thus bring potential health issues to humans. In the present study, three species of crabs (Sesarma dehaani, Sesarma plicata, Macrophthalmus japonicus) and associated sediments from three mangrove habitats with different vegetation were collected from the mangrove wetlands in Qi'ao Island, South China to investigate the levels, bioaccumulation and dietary exposure of heavy metals including copper (Cu), zinc (Zn), manganese (Mn), cadmium (Cd) and chromium (Cr). Metal concentrations in sediment samples were 65–91, 212–247, 506–1256, 0.6–1.3, and 8.8–14 mg/kg dry weight for Cu, Zn, Mn, Cd and Cr, respectively. The spatial heterogeneity of these metals in mangrove sediments was observed with a descendant order of metal concentrations as Mn > Zn > Cu > Cr > Cd at each site. Species-specific and tissue-specific accumulation of metals was also found in mangrove crabs, both in the degree of accumulation of particulate metals and the tissues in which they were most abundant. All biota-sediment accumulation factors (BSAF) values >1 for Cd in each crab species suggested that the native mangrove crabs tended to be good tools for the monitoring of Cd pollution in mangrove forests. Results of the estimated daily intake (EDI) and target hazard quotient (THQ) suggested that consumption of the mangrove crabs in Qi'ao Island might subject local residents to potential health risks as far as the metals are concerned. Keywords: Heavy metal, Sediment, Crab, Mangrove wetland, Qi'ao Island

Aiming at the impact and disturbance of dual-arm robots in the process of coordinated transportation, a dual-arm cooperative trajectory optimization control based on time-varying constrained output state is proposed. According to the constraint relationship of the end-effector trajectory of the dual-arm coordinated transportation, the joint space trajectory mathematical model of the dual-arm coordinated transportation was established by using the master-slave construction method. Based on the time impact optimization index of joint trajectory, a multiobjective nonlinear equation is established. Using random probability distribution to extract the interpolation features of nonuniform quintic B-spline trajectory, the feature optimization target is selected, and the Newton numerical algorithm is used for iterative optimization. At the same time, it is combined with an elite retention genetic algorithm to further optimize the target. Based on the disturbance and tracking problem, a PD control method based on time-varying constrained output state is proposed, and the control law is designed. Its convergence is verified by establishing the Lyapunov function equation and asymmetric term. The trajectory optimization results show that the proposed trajectory optimization method can increase the individual diversity and enhance the individual local optimization, thus avoiding the premature impact of the elite retention genetic algorithm. Finally, the proposed control method is simulated on the platform of Gazebo; compared with the traditional PD control method, the results show that the proposed control algorithm has high robustness, and the rationality of the coordinated trajectory control method is verified by the double-arm handling experiment.

Objective. The study is aimed at examining the effects of fatty acid-binding protein 4 (FABP4) on insulin resistance and gestational diabetes mellitus (GDM). Methods. Based on a prospective birth cohort in Beijing, China, we conducted a nested case-control study and analyzed 135 GDM case-control pairs matched by age and the gestational week when they took the oral glucose tolerance test. We performed linear regression to analyze the association of plasma FABP4 concentrations with insulin resistance. We used logistic regression to estimate odds ratios (ORs) of FABP4 for GDM, controlling for potential confounders, including dietary intake and physical activity. Results. Plasma FABP4 levels in the first and second trimesters were positively associated with fasting insulin and homeostasis model assessment for insulin resistance (HOMA-IR) in the second trimester (both P

Current studies on microplastic pollution mainly focus on marine systems. However, few studies have investigated microplastics in an urban lake. This research intends to use an urban lake (Songshan Lake) as an example to explore the pollution characteristics of microplastics and use the principal component as well as the heat map analysis to discuss the relationships between different shapes of microplastics. According to this study, the average abundance of microplastics in the surface water and surface sediments of Songshan Lake were, respectively, 2.29 ± 0.98 items/m3 and 244 ± 121 items/kg; thin films were the major microplastics in both media; transparent this type of color has the most microplastic content. The particle size of microplastics was mainly 0.18–0.6 mm (43.3%) in surface water and 1–2 mm (48.3%) in surface sediments. The composition included five polymers: polyethylene (PE), polypropylene (PP), polypropylene–polyethylene copolymer (PP–PE copolymer), polystyrene (PS), and polyvinyl chloride (PVC), among which PE (47%) and PP (36%) were the main components. Principal component analysis (PCA) showed that there was a positive correlation among the four shapes of microplastics: films, fragments, foams, and fibers. The heat map analysis showed that the same category of shape distribution features may be similar for each sampling site.

Background: Although studies have examined the association between residential greenness and birth weight, there is no evidence regarding the association between residential greenness and fetal growth in utero. We aimed to investigate the associations of residential greenness with both fetal growth in utero and birth weight. Methods: A birth cohort (2014–2017) with 18,665 singleton pregnancies was established in Tongzhou Maternal and Child hospital of Beijing, China. Residential greenness was matched with maternal residential address and estimated from remote satellite data using normalized difference vegetation index with 200 m and 500 m buffers (NDVI-200 and NDVI-500). Fetal parameters including estimated fetal weight (EFW), abdominal circumference (AC), head circumference (HC) and femur length (FL) were assessed by ultrasound measurements during pregnancy. Fetal parameters were standardized as gestational-age- and gender-adjusted Z-score and undergrowth was defined as Z-score

ObjectiveTo examine the effects of dynamic change in fetuin-A levels before the diagnosis of gestational diabetes mellitus (GDM) on insulin resistance and GDM.Research design and methodsA total of 135 women with GDM and 135 normal glucose tolerance (NGT) women with matched age (±2 years old) and gestational age at taking the oral glucose tolerance test (OGTT) were included in this nested case–control study. Fasting venous blood samples were collected at the prenatal visit of the first trimester and during OGTT of the second trimester. Plasma concentration of fetuin-A and insulin was determined.ResultsThe plasma fetuin-A concentration in women with GDM was significantly higher than NGT controls in both the first trimester (medians: 403.0 pg/mL vs 273.4 pg/mL; p

A novel variable stiffness soft robotic hand (SRH) consists of three pieces of layer jamming structure (LJS) is proposed. The mechanism is driven by the motor-based tendon along the surface of the pieces that connect to individual gas channel. Each LJS is optimised by adhering a thin layer of hot melt adhesive and overlapping the spring steel sheet as inner layer material. It can be switched between rigid and compliant independently. The structures of variable stiffness and tendon-driven lead to various deformation poses. Then the control system of SRH and the performance analysis of the LJS are introduced. Finally, the experiments are implemented to prove the superiority of the proposed LJS and the demonstrations show that the designed robotic hand has multiple configurations to successfully grasp various objects.

BackgroundFamilial adenomatous polyposis (FAP) is an autosomal dominant disorder characterized primarily by the development of numerous adenomatous polyps in the colon and a high risk for colorectal cancer. FAP is caused by germline mutations of the adenomatous polyposis coli (APC) gene. The proband in this family was a 39-year-old female patient with the pathologic diagnosis of adenomatous polyps, and then a five-generation kindred with FAP was characterized in the following years. This article identified an APC mutation, and demonstrated the practical use of APC-linked STR markers, which could be used to reduce misdiagnosis of prenatal diagnosis or preimplantation genetic diagnosis resulted from contamination or allele drop-out.MethodsNext-generation sequencing (NGS) was used to identify the possible APC mutations in an affected individual from a family with autosomal dominant colon cancer. Targeted sequencing then used to identify additional related individuals with the mutation. Three short tandem repeat (STR) loci, D5S299, D5S134, and D5S346, were used for PCR-based microsatellite analysis of the APC gene in the extended family.ResultsWe identified an APC: p.W553X mutation. The STR haplotype at the APC locus, A1B4C1, was shared by all clinically affected individuals with the APC: p.W553X mutation. In addition, the APC: p.D1822V variant was observed in 40% affected individuals and in two unaffected individuals.ConclusionWe described a protein truncation mutation, APC: p.W553X; demonstrated the value of APC-linked STR markers (D5S299, D5S134, and D5S346) haplotypes; and suggested the potential role of these haplotypes in detecting loss of heterozygosity of the APC gene.

Objective. Few studies have examined whether maternal 25(OH)D deficiency and gestational diabetes mellitus (GDM) jointly affect fetal growth. We aimed to examine the separate and combined effects of maternal 25(OH)D deficiency and GDM on trajectories of fetal growth. Methods. We established a birth cohort (2016-2017) with 10,913 singleton pregnancies in Tongzhou Maternal and Child Health Hospital of Beijing, China. Maternal 25(OH)D deficiency (serum 25OHD concentration0.05). Conclusion. Maternal 25(OH)D deficiency and GDM may jointly increase the risk of excessive fetal growth. Interventions for pregnancies with GDM may be more beneficial for those with 25(OH)D deficiency than those without regarding risk of excessive fetal growth, if confirmed in a large sample.

To meet the high-accuracy position/force control requirements of dual-arm robots for handling a target object, a control algorithm for dual-arm robots based on the modified sliding mode impedance controller MSMIC(tanh) is proposed. First, the combinative kinematics equation of the dual-arm robots and the unified dynamics model combining the manipulated object is established. Second, according to the impedance control motion model for the object, the desired joint angular accelerations of the manipulators are obtained, and the sliding mode controller based on the hyperbolic tangent function as the switch function is introduced to design the coordinated control strategy for dual-arm robots. The stability and convergence of the designed controller are proved according to the Lyapunov function theory. Finally, the operation tasks of the coordinated transport the target object for dual-arm robots are carried out in the simulated experiment environment. Simulation results show that the proposed control scheme can stably output the required internal force and achieve a high-precision trajectory tracking effect while reducing the periodic torque and joint chattering amplitude generated in the conventional sliding mode control algorithm.

Loop Closure Detection (LCD) is an important technique to improve the accuracy of Simultaneous Localization and Mapping (SLAM). In this paper, we propose an LCD algorithm based on binary classification for feature matching between similar images with deep learning, which greatly improves the accuracy of LCD algorithm. Meanwhile, a novel lightweight convolutional neural network (CNN) is proposed and applied to the target detection task of key frames. On this basis, the key frames are binary classified according to their labels. Finally, similar frames are input into the improved lightweight feature matching network based on Transformer to judge whether the current position is loop closure. The experimental results show that, compared with the traditional method, LFM-LCD has higher accuracy and recall rate in the LCD task of indoor SLAM while ensuring the number of parameters and calculation amount. The research in this paper provides a new direction for LCD of robotic SLAM, which will be further improved with the development of deep learning.

In this article, the attitude control problem of a new-designed aerial trees-pruning robot is addressed. During the tree cutting process, the aerial trees-pruning robot will be disturbed by unknown external disturbances. At the same time, the model uncertainties will also affect the attitude controller. To overcome the above problems, an attitude controller is designed with a nonsingular fast terminal sliding mode method. First, the extended state observer is designed to estimate the modeling uncertainties and unknown disturbances. Then, the extended state observer-based nonsingular fast terminal sliding mode controller can make the tracking error of the attitude converge to zero in a finite time. Finally, a control allocation matrix switching strategy is proposed to solve the problem of the change of the aerial robot model in the cutting process. The final simulation and experimental results show that the extended state observer-based nonsingular fast terminal sliding mode controller designed in this article has good attitude control performance and can effectively overcome the modeling uncertainties and unknown disturbances. The attitude controller and control allocation matrix switching strategy ensure that the attitude angles of the aerial robot can quickly track the reference signals.

Long noncoding RNAs (lncRNAs) are a class of functional non-coding transcripts that are longer than 200 nt and regulate gene expression via diverse mechanisms in eukaryotes. In fact, they have emerged as critical epigenetic and transcriptional regulators of autophagy in mammals in response to various stressors. Autophagy not only plays a crucial role in maintaining cellular homeostasis, but it is also essential to immunity, targets intracellular pathogens for degradation, modulates inflammation, and participates in adaptive immune responses. However, the expression profile of lncRNA and its role in regulating autophagy in macrophages have been poorly defined. Here, we used transcriptomic and bioinformatics to analysis LncRNA expression profile during autophagy and functional studies to evaluate the function of the metastasis-associated lung adenocarcinoma transcript-1 (Malat1) lncRNA in macrophages. A total of 1112 putative lncRNAs (240 novel lncRNAs) were identified, including 831 large intergenic, 129 intronic, and 152 anti-sense lncRNA, of which 59 differentially expressed transcripts exhibited a greater than 1.5-fold change under different conditions. The interaction of Malat1 lncRNA with microRNA (mir)-23-3p and lysosomal-associated membrane protein 1 (Lamp1) was found, Malat1 releases inhibition of Lamp1 expression in macrophages through competitive adsorption of mir-23-3p. The results of this study provide a better understanding of lncRNA function in macrophages and a basis for further investigation into the roles and mechanisms of ncRNA in immunology, particularly the functions of Malat1 and mir-23-3p in the pathogenesis of macrophages.

Early intervention of gestational diabetes mellitus (GDM) is effective in reducing pregnancy disorders. Fetal growth, measured by routine ultrasound scan a few weeks earlier before GDM diagnosis, might be useful to identify women at high risk of GDM. In the study, generalized estimating equations were applied to examine the associations between ultrasonic indicators of abnormal fetal growth at 22–24 weeks and the risk of subsequent GDM diagnosis. Of 44,179 deliveries, 8324 (18.8%) were diagnosed with GDM between 24 and 28 weeks. At 22–24 weeks, fetal head circumference (HC) < 10th, fetal femur length (FL) < 10th, and estimated fetal weight (EFW) < 10th percentile were associated with 13% to 17% increased risks of maternal GDM diagnosis. Small fetal size appeared to be especially predictive of GDM among women who were parous. Fetal growth in the highest decile of abdominal circumference (AC), HC, FL and EFW was not associated with risk of subsequent GDM. The observed mean difference in fetal size across gestation by GDM was small; there was less than 1 mm difference for AC, HC, and FL, and less than 5 g for EFW before 24 weeks. Despite similar mean fetal growth among women who were and were not later diagnosed with GDM, mothers with fetuses in the lowest decile of HC, FL and EFW at 22–24 weeks tended to have higher risk of GDM.

Roller linear guides are key components in machine tool. The accuracy and efficiency of a machine toll are determined by the stiffness and friction torque of roller guide. This study proposes an improved design method for roller guide. The influences of the rollers profile on stiffness, stress distribution of roller linear guide are analyzed using finite element simulation. In this work, the design of the roller, slider, and the overall structure is modified. Moreover, experimental investigations on noise and sliding friction of roller linear guide are compared to validate the proposed design method. It seems that the proposed design can improve the dynamical performance of the roller linear guide.

Noise-induced hearing loss (NIHL) is the second-most frequent form of sensorineural hearing loss. When exposed to the same noise, some workers develop NIHL while others do not, suggesting that NIHL may be associated with genetic factors. To explore the relationship between single nucleotide polymorphisms (SNPs) in heat shock protein 70 (HSP70) genes (HSPA1A, HSPA1B and HSPA1L) and susceptibility to NIHL in Han Chinese workers exposed to noise, a case-control association study was carried out with 286 hearing loss cases and 286 matched with gender, age, type of work, and exposure time, drawn from a population of 3790 noise-exposed workers. Four SNPs were selected and genotyped. Subsequently, the effects of the alleles and genotypes of the three HSP70 genes (HSPA1A, HSPA1B and HSPA1L) on NIHL were analyzed by using a conditional logistic regression. A generalized multiple dimensionality reduction (GMDR) was applied to further detect an interaction between the four SNPs. Compared with the combined genotypes CC/TC, carriers of the TT genotype of rs2763979 appeared to show greater susceptibility to NIHL (P = 0.042, adjusted OR = 1.731, 95% CI 1.021-2.935). A significant interaction between rs2763979 and CNE was found (P = 0.029), and a significant association was found between TT of s2763979 and NIHL (P = 0.024, adjusted OR = 5.694, 95%CI 1.256-25.817) in the 96 dB (A)≤CNE

Surface sediment samples were collected from 19 sites throughout Daya Bay, China to study the concentrations, spatial distributions, potential ecological risk, and possible sources of heavy, including metals copper (Cu), zinc (Zn), arsenic (As), cadmium (Cd), nickel (Ni), lead (Pb), mercury (Hg), and chromium (Cr). The mean concentrations of the eight heavy metals were 24, 109, 6.5, 0.09, 35.3, 26.8, 0.07, and 109 µg g−1, respectively. The concentrations of most heavy metals were within range of those recorded in previous years. The spatial distribution pattern of most heavy metals were similar, with lowest values recorded along the southeast coast and the open sea area; the highest values were recorded in the northern Daya Bay, especially the northwest. Cu, Zn, As, Cd, Pb, and Hg were classified as Class I, and Ni and Cr were classified as Class II according to the Sediment Quality Guidelines (SQGs) of China. The potential ecological risk (Eif) indices of Cu, Zn, As, Pb, Ni, and Cr specify that these metals pose low risk to the ecosystem of the Bay, whereas Cd and Hg pose a very high risk in some sites. The geoaccumulation indices (Igeo) of Cu, Zn, As, Ni, and Cr specify weak or no pollution in Daya Bay, whereas those of Pb, Cd, and Hg in some sites indicate moderate or even high pollution. Spatial distribution, carbon/nitrogen analysis, Pearson correlation, and principal components analysis indicated that Cu, Zn, As, Pb, Ni, Cr, total organic carbon (TOC), and total nitrogen (TN) originated from the same sources. Ballast water or sewage from the cargo ships that park at the harbors or anchor in the Bay were the important sources for Cu, Zn, As, Pb, Ni, Cr, TOC, and TN. Other anthropogenic sources, such as agricultural runoff and aquaculture, might also be responsible, whereas Hg and Cd originated from other point sources.