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A Data-Driven Real-Time Trajectory Planning and Control Methodology for UGVs Using LSTMRDNN

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1292-1294页

作者： Kaiyuan Chen Runqi Chai Runda zhang Zhida Xing yuanqing Xia Guoping Liu Vanke School of Public Health Institute for Healthy ChinaTsinghua UniversityBeijing 100084 School of Automation Beijing Institute of TechnologyBeijing 100081 Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,This letter presents a novel data-driven trajectory planning and control scheme for the unmanned ground vehicles(UGVs).A recent work[1]has demonstrated the effectiveness of approximating the optimal state ... 详细信息

关键词： LSTM UGV neural

Anti-PD-L1 antibody enhances curative effect of cryoablation via antibody-dependent cell-mediated cytotoxicity mediating PD-L1^(high)CD11b^(+)cells elimination in hepatocellular carcinoma

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Acta Pharmaceutica Sinica B 2023年第2期13卷 632-647页

作者： Jizhou Tan Ting Liu Wenzhe Fan Jialiang Wei Bowen Zhu Yafang Liu Lingwei Liu Xiaokai zhang Songling Chen Haibiao Lin yuanqing zhang Jiaping Li Department of Interventional Oncology the First Affiliated HospitalSun Yat-sen UniversityGuangzhou 510080China Department of Stomatology the First Affiliated HospitalSun Yat-sen UniversityGuangzhou 510080China Department of Laboratory Medicine the Second Affiliated Hospital of Guangzhou University of Chinese MedicineGuangdong Provincial Hospital of TraditionalChinese MedicineGuangzhou 510120China Second Clinical Medical College Guangzhou University of Chinese MedicineGuangzhou 510006China School of Pharmaceutical Sciences Sun Yat-sen UniversityGuangzhou 510006China

Cryoablation(CRA)and microwave ablation(MWA)are two main local treatments for hepatocellular carcinoma(HCC).However,which one is more curative and suitable for combining with immunotherapy is still ***,CRA induced higher tumoral PD-L1 expression and more T cells infiltration,but less PD-L1^(high)CD11b^(+)myeloid cells infiltration than MWA in ***,CRA had better curative effect than MWA for anti-PD-L1 combination therapy in mouse ***,anti-PD-L1 antibody facilitated infiltration of CD8^(+)T cells by enhancing the secretion of CXCL9 from cDC1 cells after CRA *** the other hand,anti-PD-L1 antibody promoted the infiltration of NK cells to eliminate PD-L1^(high)CD11b^(+)myeloid cells by antibody-dependent cell-mediated cytotoxicity(ADCC)effect after CRA *** aspects relieved the immunosuppressive microenvironment after CRA ***,the wild-type PD-L1 Avelumab(Bavencio),compared to the mutant PD-L1 atezolizumab(Tecentriq),was better at inducing the ADCC effect to target PD-L1^(high)CD11b^(+)myeloid ***,our study uncovered the novel insights that CRA showed superior curative effect than MWA in combining with anti-PD-L1 antibody by strengthening CTL/NK cell immune responses,which provided a strong rationale for combining CRA and PD-L1 blockade in the clinical treatment for HCC.

关键词： Hepatocellular carcinoma Immunotherapy Cryoablation Microwave ablation CXCL9 NK cells Antibody-dependent cell-mediated cytotoxicity Immunosuppressive microenvironment

Tetrahedral DNA nanostructures synergize with MnO_(2) to enhance antitumor immunity via promoting STING activation and M1 polarization

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Acta Pharmaceutica Sinica B 2022年第5期12卷 2494-2505页

作者： Siping Liang Jiaying Li Zhengyu Zou Miao Mao Siqi Ming Fan Lin Ziyan zhang Can Cao Jinyu Zhou yuanqing zhang Jiaping Li Minhao Wu Zhongshan School of Medicine Sun Yat-sen UniversityGuangzhou 510080China Department of Laboratory Medicine Guangdong Second Provincial General HospitalGuangzhou 510317China Guangdong Key Laboratory of Chiral Molecule and Drug Discovery School of Pharmaceutical SciencesSun Yat-sen UniversityGuangzhou 510006China Department of Interventional Oncology The First Afﬁliated HospitalSun Yat-sen UniversityGuangzhou 510080China

Stimulator of interferon genes(STING) is a cytosolic DNA sensor which is regarded as a potential target for antitumor immunotherapy. However, clinical trials of STING agonists display limited anti-tumor effects and dose-dependent side-effects like inflammatory damage and cell toxicity. Here,we showed that tetrahedral DNA nanostructures(TDNs) actively enter macrophages to promote STING activation and M1 polarization in a size-dependent manner, and synergized with Mn^(2+) to enhance the expressions of IFN-β and iNOS, as well as the co-stimulatory molecules for antigen presentation. Moreover, to reduce the cytotoxicity of Mn^(2+),we constructed a TDN-MnO_(2) complex and found that it displayed a much higher efficacy than TDN plus Mn^(2+) to initiate macrophage activation and anti-tumor response both in vitro and in vivo. Together, our studies explored a novel immune activation effect of TDN in cancer therapy and its synergistic therapeutic outcomes with MnO_(2).These findings provide new therapeutic opportunities for cancer therapy.

关键词： Tetrahedral DNA nanostructure Manganese MnO_(2) STING M1 polarization Antigen presentation Anti-tumor immunity Cancer therapy

Cloning and Expression Analysis of vasa During the Reproductive Cycle of Korean Rockfish, Sebastes schlegeli

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Journal of Ocean University of China 2013年第1期12卷 115-124页

作者： MU Weijie WEN Haishen HE Feng LI Jifang LIU Miao MA Ruiqin zhang yuanqing HU Jian QI Baoxia Fisheries College Ocean University of China College of Animal Science and Technology Inner Mongolia Nationality University

Vasa, which is a conserved member of the DEAD-box protein family, plays an indispensable role in primordial germ cell proliferation. However, the expression ofvasa gene during the reproductive cycle in ovoviviparous fish has not been documented. In this study, the full-length sequence of vasa was obtained from the ovary of Korean rockfish （Sebastes schlegeli） using reverse transcription-PCR and rapid amplification of cDNA ends. The Vasa with a mature protein of 650 amino acids showed greatest homology （84%） with giant gourami （Osphronemus gorarny） and Pacific bluefin tuna （Thunnus orientalis）. The expression of vasa mRNA in Korean rockfish was detected in gonads only, suggesting its specific role in gonadal development. In addition, seasonal changes in the vasa expression levels were examined in gonads by quantitative real-time PCR. The vasa transcript levels in adult testis were found higher during spermatogenesis than during spermiation. The vasa transcript levels remained relatively high at the early ovary stage but declined during ovary maturation in adult female fish. These results suggest that the vasa gene play an important role in spermatogenesis and early oogenesis during the reproductive cycle of Korean rockfish.

关键词： Korean rockfish vasa gene molecular cloning gene expression

Dynamic analysis of mainstream area and vegetation coverage degree of Songhua River based on RS and GIS techniques

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Global Geology 2012年第1期15卷 66-73页

作者： CHANG Cheng zhang yuanqing ZHU Cong College of Geo-Exploration Science and Technology Jilin University Changchun 130026 China

Based on remote sensing technique,using 1990's Landsat TM data and 2000's Landsat ETM data,the authors conducts the comparative study of mainstream area of Songhua River by means of human-computer inter-action *** results show that the area of Songhua River mainstream was 738 102 km 2 in 1990,and was 810.451 km 2 in *** 1990 to 2000,the increased area of river mainstream is up to 72.349 km2 due to soil erosion and water ***,the dynamic changes of surrounding vegetation cover are also *** is estimated that the trend of surrounding soil erosion and water loss of Songhua River mainstream becomes worse in Jilin Province.

关键词： water loss and soil erosion vegetation cover RS GIS Songhua River mainstream

基于两样本孟德尔随机化研究血脂水平和子宫内膜异位症之间的关系

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成都医学院学报 2024年第3期19卷 424-427页

作者：李永红何家楠许俊晖张圆青郑群何跃东四川大学华西第二医院妇产科 610041 成都市温江区人民医院妇产科 611130 成都医学院临床医学院 610500

目的采用两样本孟德尔随机化研究,探索血脂水平和子宫内膜异位症之间的因果关系。方法利用大样本全基因组关联研究(GWAS)汇总数据,选择与各类血脂水平密切相关的遗传位点为工具变量,采用逆方差加权法进行两样本孟德尔随机化分析,以OR... 详细信息

目的采用两样本孟德尔随机化研究,探索血脂水平和子宫内膜异位症之间的因果关系。方法利用大样本全基因组关联研究(GWAS)汇总数据,选择与各类血脂水平密切相关的遗传位点为工具变量,采用逆方差加权法进行两样本孟德尔随机化分析,以OR值评价各类血脂水平与子宫内膜异位症间的因果关系。结果除了极小极低密度脂蛋白(VLDL)胆固醇外,其余与VLDL有关的血脂水平升高会增加子宫内膜异位症的发病风险(OR>1)。高密度脂蛋白(HDL)中与胆固醇有关的血脂类型、小低密度脂蛋白(LDL)中总胆固醇水平升高可减少子宫内膜异位症的发病风险(OR1)。结论多种类型的血脂水平会影响子宫内膜异位症的发生,HDL中与胆固醇或甘油三酯相关的血脂水平可作筛查子宫内膜异位症的生物指标。

关键词：孟德尔随机化研究子宫内膜异位症血脂水平因果关系

Detection of selection signatures in Jinnan cattle using the integrated haplotype score

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Detection of selection signatures in Jinnan cattle using the...

Mutations in Exons of the CYP17-Ⅱ Gene Affect Sex Steroid Concentration in Male Japanese Flounder(Paralichthys olivaceus)

第十三届（2018）中国牛业发展大会

作者： Bo Li yuanqing zhang Institute of Animal Husbandry and Veterinary Science Shanxi Academy of Agricultural Science

Background: Jinnan cattle, one of the five major breeds of Chinese yellow cattle, are the traditional draft and beef breed in southern Shanxi province, China. Our study aimed to search genes that will allow the selection of important economic traits through selection signature detection, which can help in discovering the action mechanism of positive selection in the variety breeding process of Jinnan cattle. Results: In total, 39,814 autosomal single nucleotide polymorphisms were detected in 48 individuals. The integrated haplotype score method found 19 significant genomic regions. Annotation of these regions of the genome identified selection signatures for 61 candidate genes, including 11 interesting genes annotated in significant regions that overlapped with data from both quantitative trait loci and genome-wide association studies, which were associated with meat traits in the cattle population. Gene Ontology analysis demonstrated that the selection signatures were positively related to the regulation of muscle cell proliferation. Conclusions: These results confirm the importance of Chinese Jinnan cattle as genetic resources for beef breeding and the need to preserve populations.

关键词： breeding integrated haplotype score Jinnan cattle selection signature

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Journal of Ocean University of China 2012年第1期11卷 99-104页

作者： MA Ruiqin HE Feng WEN Haishen LI Jifang SHI Bao SHI Dan LIU Miao MU Weijie zhang yuanqing HU Jian HAN Weiguo zhang Jianan WANG Qingqing YUAN Yuren LIU Qun Fisheries College Ocean University of ChinaQingdao 266003P.R.China

As a specific gene of fish,cytochrome P450c17-Ⅱ(CYP17-Ⅱ) gene plays a key role in the growth,development and reproduction level of *** this study,the single-stranded conformational polymorphism(SSCP) technique was used to characterize polymorphisms within the coding region of CYP17-Ⅱ gene in a population of 75 male Japanese flounder(Paralichthys olivaceus).Three single nucleotide polymorphisms(SNPs) were identified in CYP17-Ⅱ gene of Japanese *** were c.G594A(p.G188R),c.G939A and c.G1502A(p.G490D).SNP1(c.G594A),located in exon 4 of CYP17-Ⅱ gene,was significantly associated with gonadosomatic index(GSI).Individuals with genotype GG of SNP1 had significantly lower GSI(P < 0.05) than those with geno-type AA or ***2(c.G939A) located at the CpG island of CYP17-Ⅱ *** mutation changed the methylation of exon ***-viduals with genotype AA of SNP2 had significantly lower serum testosterone(T) level and hepatosomatic index(HSI) compared to those with genotype *** results suggested that SNP2 could influence the reproductive endocrine of male Japanese ***-ever,the SNP3(c.G1502A) located in exon 9 did not affect the four measured reproductive *** study showed that CYP17-Ⅱ gene could be a potentially useful candidate gene for the research of genetic breeding and physiological aspects of Japanese flounder.

关键词： CYP17-Ⅱ gene SNPs sex steroid Japanese flounder

Construction and characterization of a humanized SLCO1B1 rat model with its application in evaluating the uptake of different statins

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Acta Pharmaceutica Sinica B 2024年第4期14卷 1592-1604页

作者： Yuanjin zhang Junze Huang Shengbo Huang Jie Liu Luyao Deng Chenmeizi Liang yuanqing Guo Bingyi Yao Xin Wang Changning Maternity and Infant Health Hospital and School of Life Sciences Shanghai Key Laboratory of Regulatory BiologyEast China Normal UniversityShanghai 200241China

Organic anion-transporting polypeptides IB1(OATPIB1)plays a crucial role in the transport of ***,there are too few animal models related to OATPIB1,especially humanized animal *** this study,the human SLCOIB1 cDNA was inserted into the second exon of the rat Slcolb2 gene using CRISPR/Cas9 *** characteristics of statins were conducted in wild-type(WT),humanized OATPIB1(hOATPIB1),and OATPIB2 knockout(OATPIB2 KO)rats,*** results showed that human OATPIB1 was successfully expressed in rat liver and exhibited transport ***,the pharmacokinetic results revealed that OATPIB1 exhibited varying uptake levels of pivastatin,rosuvastatin,and fluvastatin,leading to different levels of exposure within the *** results were consistent with those obtained from in vitro experiments using overexpressed cell *** conclusion,we established a novel humanized SLCOIBI transgenic rat model to assess the role of human OATPIB1 in the uptake of different *** different uptake mediated by OATPIB1 may be an important reason for the different efficacy of *** hOATPIB1 rat is a promising model for improving the prediction of human drug transport.

关键词： CRISPR/Cas9 Drug transport Drug disposition Geneediting Humanized rat model OATP1B1 SLCO1B1 Statins