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Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Journal of Bionic Engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The Center for Robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency

Deformation Characteristics of Hydrate-Bearing Sediments

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Journal of Ocean University of China 2024年第1期23卷 149-156页

作者： DONG Lin LI Yanlong zhang Yajuan HU Gaowei LIAO Hualin CHEN Qiang WU Nengyou Key Laboratory of Gas Hydrate Ministry of Natural ResourcesQingdao Institute of Marine GeologyQingdao 266237China Laboratory for Marine Mineral Resources Laoshan LaboratoryQingdao 266237China College of Oceanography Hohai UniversityNanjing 210098China College of Petroleum Engineering China University of Petroleum(East China)Qingdao 266555China

The safe and efficient development of natural gas hydrate requires a deep understanding of the deformation behaviors of *** this study,a series of triaxial shearing tests are carried out to investigate the deformation properties of hydrate-bearing *** of volumetric and lateral strains versus hydrate saturation are analyzed *** indicate that the sediments with high hydrate saturation show dilative behaviors,which lead to strain-softening characteristics during *** volumetric strain curves have a tendency to transform gradually from dilatation to compression with the increase in effective confining *** easy prediction model is proposed to describe the relationship between volumetric and axial *** model coefficientβis the key dominating factor for the shape of volumetric strain curves and can be determined by the hydrate saturation and stress ***,a modified model is established for the calculation of lateral *** corresponding determination method is provided for the easy estimation of model coefficients for medium sand sediments containing *** study provides a theoretical and experimental reference for deformation estimation in natural gas hydrate development.

关键词： gas hydrate deformation characteristics volumetric strain lateral strain prediction model

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Effect of aflibercept combined with triamcinolone acetonide on aqueous humor growth factor and inflammatory mediators in diabetic macular edema

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International Journal of Ophthalmology(English edition) 2024年第2期17卷 297-303页

作者： De-Shuang Li Hong-Xia Liao Jing-Lin zhang Bo Qin Shenzhen Aier Eye Hospital Aier Eye HospitalJinan UniversityShenzhen 518031Guangdong ProvinceChina Guangzhou Aier Eye Hospital Jinan UniversityGuangzhou 510040Guangdong ProvinceChina

AIM:To investigate the efficacy of aflibercept combined with sub-tenon injection of triamcinolone acetonide(TA)in treating diabetic macular edema(DME)and to examine changes in growth factors and inflammatory mediator levels in aqueous humor after ***:Totally 67 DME patients(67 eyes)and 30 cataract patients(32 eyes)were enrolled as the DME group and the control group,*** DME group was divided into the aflibercept group(34 cases)and the aflibercept combined with TA group(combined group,33 cases).The aqueous humor of both groups was collected during the study *** aqueous levels of vascular endothelial growth factor(VEGF),monocyte chemoattractant protein-1(MCP-1),interleukin-6(IL-6),interleukin-8(IL-8),and interleukin-1β(IL-1β)were detected using a microsphere suspension array technology(Luminex 200TM).Aqueous cytokines,best-corrected visual acuity(BCVA),central macular thickness(CMT),and complications before and after treatment were compared between the aflibercept group and combined ***:The concentrations of VEGF,MCP-1,IL-6,and IL-8 in the aqueous humor were significantly higher in the DME group than those of the control group(all P0.05).CONCLUSION:The cytokines VEGF,MCP-1,IL-6,and IL-8 in the aqueous humor of DME patients are significantly *** and aflibercept combined with TA have good efficacy in DME patients,can effectively reduce CMT,improve the patient’s vision,and have high *** combined with TA can quickly downregulate the aqueous humor cytokines and help to relieve macular edema ***,the long-term eff

关键词： diabetic macular edema aqueous humor cytokines aflibercept triamcinolone acetonide

Dominant negative effect as a novel mechanism of SPAST gene mutation in a large family with hereditary spastic paraplegia

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Genes & Diseases 2024年第5期11卷 74-77页

作者： Ke Deng Haibo Ruan Feifei Yu Zhenle Pei Congjian Xu Shuo zhang Shanghai Ji Ai Genetics&IVF Institute Obstetrics and Gynecology Hospital of Fudan UniversityShanghai 200000China Shanghai Key Laboratory of Female Reproductive Endocrine Related Diseases Shanghai 200000China The First People’s Hospital of Wenling WenlingZhejiang 317500China Rushan Hospital of Traditional Chinese Medicine RushanShandong 264599China Department of Obstetrics and Gynecology Fudan UniversityShanghai 200000China.

Hereditary spastic paraplegia(HSP)is a group of disorders with genetic heterogeneity,lower-extremity weakness,and spasticity are the most common signs and *** is the most frequently disease-causing *** is a microtubule-severing enzyme encoded by SPAST that cleaves long microtubules into short fragments by interacting with other proteins or *** spastic paraplegia type 4(SPG4),which is autosomal dominant,is the clinical subtype associated with SPAST ***4 accounts for up to one-third of all HSP cases and usually presents with isolated lower extremity spasticity,with or without bladder or sensory dysfunction.1 The main cause of SPG4 is believed to be spastin haploinsufficiency,which results from mutations in the SPAST gene.

关键词： bladder insufficiency clinical

Ferroptosis regulating lipid peroxidation metabolism in the occurrence and development of gastric cancer

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World Journal of Gastrointestinal Oncology 2024年第6期16卷 2781-2792页

作者： Lan-Mei Wang Wei-Wei zhang Ying-Yang Qiu Fang Wang Department of Clinical Laboratory Anqiu People's HospitalWeifang 262123Shandong ProvinceChina Department of Gastroenterology Feicheng People's HospitalTai’an 271600Shandong ProvinceChina Yong Loo Lin School of Medicine National University of Singapore119077Singapore Department of Gastroenterology Central Hospital Affiliated to Shandong First Medical UniversityJinan 250013Shandong ProvinceChina

BACKGROUND Gastric cancer is one of the most common malignant tumors in the world,and its occurrence and development involve complex biological *** death,as a new cell death mode,has attracted wide attention in recent ***,the regulatory mechanism of iron death in gastric cancer and its effect on lipid peroxidation metabolism remain *** To explore the role of iron death in the development of gastric cancer,reveal its relationship with lipid peroxidation,and provide a new theoretical basis for revealing the molecular mechanism of the occurrence and development of gastric *** The process of iron death in gastric cancer cells was simulated by cell culture model,and the occurrence of iron death was detected by fluorescence microscopy and flow *** changes of gene expression related to iron death and lipid peroxidation metabolism were analyzed by high-throughput sequencing *** addition,a mouse model of gastric cancer was established,and the role of iron death in vivo was studied by histology and immunohistochemistry,and the level of lipid peroxidation was *** methods comprehensively and deeply reveal the regulatory mechanism of iron death on lipid peroxidation metabolism in the occurrence and development of gastric *** Iron death was significantly activated in gastric cancer cells,and at the same time,associated lipid peroxidation levels increased *** high-throughput sequencing analysis,it was found that iron death regulated the expression of several genes related to lipid *** vivo experiments demonstrated that increased iron death in gastric cancer mice was accompanied by a significant increase in lipid *** This study confirmed the important role of iron death in regulating lipid peroxidation metabolism in the occurrence and development of gastric *** activation of iron death significantly increased lipid peroxidation levels,revealing it

关键词： Ferroptosis Lipid peroxidation Gastric cancer Lipid metabolism Systematic review

QL1706 (anti-PD-1 IgG4/CTLA-4 antibody) plus chemotherapy with or without bevacizumab in advanced non-small cell lung cancer: a multi-cohort, phase II study

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Signal Transduction and Targeted Therapy 2024年第2期9卷 797-806页

作者： Yan Huang Yunpeng Yang Yuanyuan Zhao Hongyun Zhao Ningning Zhou Yaxiong zhang Likun Chen Ting Zhou Gang Chen Ting Wu Lu Lu Shilin Xue Xiaoyan Kang Li zhang Wenfeng Fang Department of Medical Oncology Sun Yat-sen University Cancer CenterState Key Laboratory of Oncology in South ChinaCollaborative Innovation Center for Cancer MedicineNo.651 Dongfeng East RoadGuangzhouGuangdong 510060China Department of Medicine Qilu Pharmaceutical Co.Ltd.JinanChina

First-line chemoimmunotherapy(with or without bevacizumab)has improved outcomes in advanced non-small cell lung cancer(NSCLC).Here,this open-label,multi-cohort phase II study(NCT05329025)was done to investigate the safety and efficacy of QL1706(a single bifunctional MabPair product against PD-1 and CTLA-4)and chemotherapy with or without bevacizumab in this *** were enrolled into five different cohorts based on genotype(cohorts 1-4,epidermal growth factor receptor[EGFR]wild-type;cohort 5,EGFR-mutant and progressed on EGFR-tyrosine kinase inhibitors[TKIs]).Between June 11,2021 and December 29,2021,91 patients were *** frequent treatment-related adverse events(TRAEs)included decreased appetite(60[65.9%]),anemia(60[65.9%]),infusion-related reactions(48[52.7%]),and pruritus(44[48.4%]).Grade≥3 TRAEs occurred in 30(33.0%)***-seven(45%)patients with wild-type EGFR achieved partial response(PR)(objective response rate[ORR]=45%)and had a median progression-free survival(mPFS)of 6.8 months(95%CI:5.2-9.7).For 31 patients harboring mutated EGFR,17(54.8%)achieved PR(ORR=54.8%),with an mPFS of 8.5 months(95%CI:5.72-not evaluable).Overall,QL1706 plus chemotherapy,regardless of having bevacizumab,was generally tolerable and had promising antitumor activity for EGFR wild-type advanced NSCLC in first-line ***,QL1706 plus chemotherapy and bevacizumab showed favorable antitumor activity for patients who had EGFR mutated NSCLC but failed in TKI therapy,demonstrating a potential for treating this population.

关键词： bevacizumab chemotherapy phase

Tissue adhesive,ROS scavenging and injectable PRP-based‘plasticine’for promoting cartilage repair

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Regenerative Biomaterials 2024年第1期3卷 94-107页

作者： Shiao Li Dawei Niu Haowei Fang Yancheng Chen Jinyan Li Kunxi zhang Jingbo Yin Peiliang Fu Department of Orthopedics Shanghai Changzheng HospitalNaval Medical UniversityShanghai 200003P.R.China Department of Polymer Materials School of Materials Science and EngineeringShanghai UniversityShanghai 200444P.R.China

Platelet-rich plasma(PRP)that has various growth factors has been used clinically in cartilage ***,the short residence time and release time at the injury site limit its therapeutic *** present study fabricated a granular hydrogel that was assembled from gelatin microspheres and tannic acid through their abundant hydrogen *** microspheres with the gelatin concentration of 10wt%and the diameter distribution of 1-10 lm were used to assemble by tannic acid to form the granular hydrogel,which exhibited elasticity under low shear strain,but flowability under higher shear *** viscosity decreased with the increase in shear ***,the granular hydrogel exhibited self-healing feature during rheology ***,granular hydrogel carrying PRP not only exhibited well-performed injectability but also performed like a‘plasticine’that possessed good *** granular hydrogel showed tissue adhesion ability and reactive oxygen species scavenging *** hydrogel carrying PRP transplanted to full-thickness articular cartilage defects could integrate well with native cartilage,resulting in newly formed cartilage articular fully filled in defects and well-integrated with the native cartilage and subchondral *** unique features of the present granular hydrogel,including injectability,plasticity,porous structure,tissue adhesion and reactive oxygen species scavenging provided an ideal PRP carrier toward cartilage tissue engineering.

关键词： cartilage regeneration granular hydrogel gelatin tannic acid PRP

Efficacy of Tounongsan decoction(透脓散方)on pyogenic liver abscess:network pharmacology and clinical trial validation

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Journal of Traditional Chinese Medicine 2024年第1期44卷 145-155页

作者： zhang Qi CHEN Dexuan ZHU Guixiang zhang Shihu FENG Xiao MA Chaoqun zhang Yi Department of General Surgery Affiliated Hospital of Nanjing University of Chinese MedicineJiangsu Provincial Hospital of Traditional Chinese MedicineNanjing 210029China Zhuzhou Orthopaedic Hospital of Traditional Chinese Medicine Zhuzhou 412300China Department of General Surgery Jiangsu Province Hospital on Integration of Chinese and Western MedicineNanjing 210029China

OBJECTIVE:To elucidate the molecular mechanisms governing the effect of Tounongsan decoction(透脓散方,TNS)on the pyogenic liver ***:Based on oral bioavailability and druglikeness,the main active components of TNS were screened using the Traditional Chinese Medicine Systems Pharmacology *** Gene Card and Uni Prot databases were used to establish a database of pyogenic liver abscess *** interactive network map of drug-ingredients-target-disease was constructed using Cytoscape software(Version 3.7.2).A proteinprotein interaction network was constructed using the STRING database,and the related protein interaction relationships were *** process of gene ontology(GO)and Kyoto Encyclopedia of Genes and Genomes(KEGG)enrichment analyses were performed for the core ***,a clinical trial was performed to verify the reliability of the network ***:Forty active components of TNS decoction were obtained,and 61 potential targets and 11 proteins were *** involved in the treatment of pyogenic liver abscess include the phosphatidylinositide 3-kinases-protein kinase B(PI3K-AKT),advanced glycation end products-receptor for advanced glycation end products(AGE-RAGE),and tumor necrosis factor(TNF)signaling *** results of network pharmacology analysis combined with clinical trials validated that TNS decoction could alleviate the inflammatory response of pyogenic liver abscesses by decreasing interleukin 6(IL-6)***:TNS decoction has the characteristics of being multi-system,multi-component,and *** ingredients in TNS,such as quercetin,kaempferol,fisetin,andβ-sitosterol,have strong potential to be candidate drugs for treating pyogenic liver *** possible mechanism of TSN decoction includes regulating immune and inflammatory responses and reducing IL-6 production to control inflammatory development.

关键词： network pharmacology clinical trial liver abscess pyogenic Tounongsan decoction

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Suppressing a mitochondrial calcium uniporter activates the calcium signaling pathway and promotes cell elongation in cotton

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The Crop Journal 2024年第2期12卷 411-421页

作者： Yujia Duan Xiaoguang Shang Ruiping Tian Weixi Li Xiaohui Song Dayong zhang Wangzhen Guo State Key Laboratory of Crop Genetics&Germplasm Enhancement and Utilization Nanjing Agricultural UniversityNanjing 210095JiangsuChina Engineering Research Center of Ministry of Education for Cotton Germplasm Enhancement and Application Nanjing Agricultural UniversityNanjing 210095JiangsuChina

Mitochondrial calcium uniporter(MCU)is a conserved calcium ion(Ca^(2+))transporter in the mitochondrial inner membrane of eukaryotic *** MCU proteins regulate Ca^(2+)flow and modulate plant cell development remain largely ***,we identified the gene GhMCU4 encoding a MCU protein that negatively regulates plant development and fiber elongation in cotton(Gossypium hirsutum).GhMCU4expressed constitutively in various tissues with the higher transcripts in elongating fiber *** of GhMCU4 in cotton significantly elevated the plant height and root *** calcium signaling pathway was significantly activated and calcium sensor genes,including Ca^(2+)dependent modulator of interactor of constitutively active ROP(GhCMI1),calmodulin like protein(GhCML46),calciumdependent protein kinases(GhCPKs),calcineurin B-like protein(GhCBLs),and CBL-interacting protein kinases(GhCIPKs),were dramatically upregulated in GhMCU4-silenced *** processes were preferentially enriched,and genes related to regulation of transcription were upregulated in GhMCU4-silenced *** contents of Ca^(2+)and H_(2)O_(2)were significantly increased in roots and leaves of GhMCU4-silenced *** length and Ca^(2+)and H_(2)O_(2)contents in fibers were significantly increased in GhMCU4-silenced *** study indicated that GhMCU4 plays a negative role in regulating cell elongation in cotton,thus expanding understanding in the role of MCU proteins in plant growth and development.

关键词： Calcium signaling Hydrogen peroxide Metabolic processed Gossypium hirsutum

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