Peripheral nerve defect repair is a complex process that involves multiple cell types;perineurial cells play a pivotal role.Hair follicle neural crest stem cells promote perineurial cell proliferation and migration vi...Peripheral nerve defect repair is a complex process that involves multiple cell types;perineurial cells play a pivotal role.Hair follicle neural crest stem cells promote perineurial cell proliferation and migration via paracrine signaling;however,their clinical applications are limited by potential risks such as tumorigenesis and xenogeneic immune rejection,which are similar to the risks associated with other stem cell transplantations.The present study therefore focuses on small extracellular vesicles derived from hair follicle neural crest stem cells,which preserve the bioactive properties of the parent cells while avoiding the transplantation-associated risks.In vitro,small extracellular vesicles derived from hair follicle neural crest stem cells significantly enhanced the proliferation,migration,tube formation,and barrier function of perineurial cells,and subsequently upregulated the expression of tight junction proteins.Furthermore,in a rat model of sciatic nerve defects bridged with silicon tubes,treatment with small extracellular vesicles derived from hair follicle neural crest stem cells resulted in higher tight junction protein expression in perineurial cells,thus facilitating neural tissue regeneration.At 10 weeks post-surgery,rats treated with small extracellular vesicles derived from hair follicle neural crest stem cells exhibited improved nerve function recovery and reduced muscle atrophy.Transcriptomic and micro RNA analyses revealed that small extracellular vesicles derived from hair follicle neural crest stem cells deliver mi R-21-5p,which inhibits mothers against decapentaplegic homolog 7 expression,thereby activating the transforming growth factor-β/mothers against decapentaplegic homolog signaling pathway and upregulating hyaluronan synthase 2 expression,and further enhancing tight junction protein expression.Together,our findings indicate that small extracellular vesicles derived from hair follicle neural crest stem cells promote the proliferation,migration,and tight junction protein formation of perineurial cells.These results provide new insights into peripheral nerve regeneration from the perspective of perineurial cells,and present a novel approach for the clinical treatment of peripheral nerve defects.展开更多
BACKGROUND Far lateral lumbar disc herniation(FLLDH)is a special type of lumbar disc herniation with high rate of missed diagnosis.Selective nerve root block(SNRB)has special advantages in identifying the responsible ...BACKGROUND Far lateral lumbar disc herniation(FLLDH)is a special type of lumbar disc herniation with high rate of missed diagnosis.Selective nerve root block(SNRB)has special advantages in identifying the responsible nerve root.Percutaneous transforaminal endoscopic discectomy(PTED)is a minimally invasive and effective method to treat FLLDH.However,no report has investigated PTED combined with SNRB to treat FLLDH.AIM To explore the diagnosis and treatment process,surgical technique and clinical efficacy of PTED combined with SNRB to treat FLLDH.METHODS This is a multicenter center,retrospective,observational study.Between January 2020 and January 2022,32 patients were initially diagnosed with FLLDH.All the patients were identified using SNRB to determine the responsible segment and involved nerve roots.Because of poor symptomatic control following SNRB,2 patients were excluded.30 patients diagnosed with FFLDH underwent PTED.The clinical characteristics,operative and postoperative outcomes,complication and subsequent follow-up were collected.RESULTS 30 patients who underwent SNRB combined with PTED were followed up.The average visual analogue scale(VAS)-leg score,VAS-back score,Oswestry disability index(ODI)score at the Follow-up(1 day,1 month,3 months and last follow-up)were significantly different compared per-operation.According to the modified Macnab efficacy evaluation standard,the satisfaction degree at the last follow-up was excellent(28,93.33%),good(1,3.33%),medium(1,3.33%)and poor(0,0%).CONCLUSION SNRB provides an effective method for the definite diagnosis of FLDH and responsible nerve roots.Combination therapy offers several advantages including minimal invasiveness,precision,effectiveness,safety and low recurrence rates.展开更多
mRNA is a highly promising approach for disease prevention,yet its further application is currently limited by the low efficiency of delivery.Lipid nanoparticles(LNPs)are the mainstream delivery vehicles at present,an...mRNA is a highly promising approach for disease prevention,yet its further application is currently limited by the low efficiency of delivery.Lipid nanoparticles(LNPs)are the mainstream delivery vehicles at present,and ionizable lipids,as a key component,have a particularly significant impact on delivery efficiency.To improve the efficiency of delivery,a library of ionizable lipids with tetra-branched hydrophobic tails was designed and synthesized by the Michael addition reaction.From this library,the lipid 10A was selected for the highest delivery efficiency.Further formulation screening yielded LNPs with excellent performance,which showed good efficacy in tumor prevention experiments.At the same time,the structure-activity relationship between the ionizable lipid structure and the delivery efficiency was elucidated.It was that the tetra-branched hydrophobic tails,as compared with the di-branched hydrophobic tails enhanced the stability of LNPs,provided uniformity of particle size and improved the efficiency of endocytosis and lysosomal escape,resulting in higher delivery efficiency.Meanwhile,tetra-branched lipids with hydroxyl groups in the head group performed even better.This research provides a theoretical basis and foundation for guiding the development of the next generation of ionizable lipids,and the developed 10A LNP also shows broad prospects for clinical translation.展开更多
Chemodynamic therapy(CDT),using Fenton agents to generate highly cytotoxic•OH from H_(2)O_(2)has been demonstrated as a powerful anticancer method.However,the insufficient endogenous H_(2)O_(2)in tumor cells greatly l...Chemodynamic therapy(CDT),using Fenton agents to generate highly cytotoxic•OH from H_(2)O_(2)has been demonstrated as a powerful anticancer method.However,the insufficient endogenous H_(2)O_(2)in tumor cells greatly limited its therapeutic effect.Herein,we prepared a pH-responsiveβ-lapachone-loaded ironpolyphenol nanocomplex(LIPN)through a one-pot method.β-Lapachone in LIPN selectively enhanced H_(2)O_(2)concentration in tumor cells,and ferrous ions cascadely generated abundant cytotoxic•OH.Therefore,LIPN with cascade amplification of reactive oxygen species(ROS)showed high chemodynamic cytotoxicity in tumor cells,efficiently improving the expression of damage-associated molecular patterns(DAMPs),and exerting strong immunogenic cell death(ICD).As a result,LIPN exhibited efficient tumor inhibition ability in 4T1 subcutaneous tumor model in vivo with great biocompatibility.Additionally,the infiltration of cytotoxic CD8^(+)T lymphocytes and inhibition of regulatory CD4^(+)FoxP3^(+)T lymphocytes in tumors demonstrated the activation of immunosuppressive tumor microenvironment by LIPN-induced ICD.Therefore,this work provided a new approach to enhance ICD of chemodynamic therapy through selective cascade amplification of ROS in cancer cells.展开更多
Background Ischemia/reperfusion injury （IRI） is an inflammatory response that occurs when tissue is reperfused following a prolonged period of ischemia. Several studies have indicated that C-reactive protein （CRP）...Background Ischemia/reperfusion injury （IRI） is an inflammatory response that occurs when tissue is reperfused following a prolonged period of ischemia. Several studies have indicated that C-reactive protein （CRP） might play an important role in inducing IRI. However, the effects of CRP on myocardial IRI and the underlying mechanisms have not been fully elucidated. This study aimed to investigate the association between CRP and myocardial IRI and the underlying mechanisms. Methods We simulated ischemia/reperfusion using oxygen-glucose deprivation/ reoxygenation （OGD/R） in neonatal Sprague-Dawley rat cardiomyocytes; reperfusion injury was induced by three hours of hypoxia with glucose and serum deprivation followed by one hour of reperfusion. Cell viability was tested with MTS assays, and cardiomyocyte damage was evaluated by lactate dehydrogenase （LDH） leakage. Mitochondrial membrane potential was measured using tetramethylrhodamine ethyl ester （TMRE） and mitochondrial permeability transition pore （mPTP） opening was measured using calcein/AM; both TMRE and caocein/AM were visualized with laser scanning confocal microscopy. In addition, we studied the signaling pathways underlying CRP-mediated ischemia/reperfusion injury via Western blot analysis. Results Compared with the simple OGD/R group, after intervention with 10 pg/mL CRP, cell viability decreased markedly （82.36 % ± 6.18% vs. 64.84% ± 4.06%, P = 0.0007）, and the LDH leakage significantly increased （145.3 U/L ± 16.06 U/L vs. 208.2 U/L ± 19.23 U/L, P = 0.0122）. CRP also activated mPTP opening and reduced mitochondrial membrane potential during myocardial ischemia/reperfusion. Pretreatment with 1 pM atorvastatin （Ator） before CRP intervention protected cardiomyocytes from IRI. Mitochondrial KATP channel opener diazoxide and mPTP inhibitor cyclosporin A also offset the effects of CRP in this process. The level of phosphorylated extracellular-signal-regulated kinase （ERK） 1/2 was significantly higher after pre-treatment with CRP compared with the OGD/R group （170.4% ± 3.00% v.v. 93.53% ± 1.94%, P 〈 0.0001）. Western blot analysis revealed that Akt expression was markedly activated （184.2% ± 6.96% vs. 122.7% ± 5.30%, P = 0.0003） and ERK 1/2 phosphorylation significantly reduced after co-treatment with Ator and CRP compared with the level after CRP pretreatment alone. Conclusions Our results suggested that CRP directly aggravates myocardial IRI in myocardial cells and that this effect is primarily mediated by inhibiting mitochondrial ATP- sensitive potassium （mitoKATp） channels and promoting mPTP opening. Ator counteracts these effects and can reduce CRP-induced IRI. One of the mechanisms of CRP-induced IRI may be related to the sustained activation of the ERK signaling pathway.展开更多
Hydraulic fracturing is a key technology for the development of unconventional hydrocarbon resources.The proppant placement morphology determines the fracture conductivity,thus affecting the reservoir stimulation effe...Hydraulic fracturing is a key technology for the development of unconventional hydrocarbon resources.The proppant placement morphology determines the fracture conductivity,thus affecting the reservoir stimulation effect.In this paper,the proppant migration and placement within complex fractures was studied by considering the fracture wall roughness through computational fluid mechanics-discrete element method(CFD-DEM)in numerical simulation,which is a key approach to study the proppant migration and placement.The results show that the proppant placement non-uniformity,proppant migration capacity,and proppant volume filled in the far-end and the secondary branched fracture are enhanced within the rough fracture compared with those within smooth fractures.The proppant migration capacity is increased within the fracture at low inclination angles(<60°)and low approach angles(<90°),and the proppant placement area is larger in the inclined fracture than that in the vertical fracture.The rise of injection rate and fracturing fluid viscosity causes more proppants migrate to far-end or secondary fractures,resulting in a non-proppant area within the near-wellbore fracture.An increase by 1.3 times in the injection rate and 3 times in the fracturing fluid viscosity leads to a decrease by 26.6%and 27%,respectively,in the proppant placement area within the near-wellbore fracture.The staged injection with small size proppants followed by large size proppants increases the proppant placement area in the primary fracture by 13%-26%,and that with large size proppants followed by small size proppants increases the proppant placement area by 19%-25%,which is due to that the latter method facilitates filling of the secondary branched fracture.The injection location mainly affects the proppant filling degree within the near-wellbore fractures.Compared with the upper injection,the middle and lower injection is not beneficial to filling of proppants within the near-wellbore fracture.展开更多
Navigation and positioning is an important and challenging problem in many control engineering applications.It provides feedback information to design controllers for systems.In this paper,a bibliographical review on ...Navigation and positioning is an important and challenging problem in many control engineering applications.It provides feedback information to design controllers for systems.In this paper,a bibliographical review on factor graph based navigation and positioning is presented.More specifically,the sensor modeling,the factor graph optimization methods,and the topology factor based cooperative localization are reviewed.The navigation and positioning methods via factor graph are considered and classified.Focuses in the current research of factor graph based navigation and positioning are also discussed with emphasis on its practical application.The limitations of the existing methods,some solutions for future techniques,and recommendations are finally given.展开更多
AIM:To assess the inter-device consistency of corneal curvature and central corneal thickness between Pentacam and a swept-source Fourier-domain anterior segment optical coherence tomography(AS-OCT)in ectopia lentis p...AIM:To assess the inter-device consistency of corneal curvature and central corneal thickness between Pentacam and a swept-source Fourier-domain anterior segment optical coherence tomography(AS-OCT)in ectopia lentis patients.METHODS:Totally 72 eyes of ectopia lentis patients were recruited.Central corneal thickness(CCT),corneal curvature values and corneal astigmatism were obtained from both the Pentacam and AS-OCT(CASIA2).Repeatability was evaluated for both devices.The coef ficient of repeatability(COR)and the relative COR was calculated.Bland-Altman plots were conducted to evaluate the interdevice agreement of measurement.Orthogonal linear regression was used to examine any proportional bias.RESULTS:The mean difference of CCT,steep anterior corneal cur vature(anterior K_S),flat anterior corneal curvature(anterior K_f),anterior corneal astigmatism(ACA),steep posterior corneal cur vature(posterior K_S),flat posterior corneal cur vature(posterior K_f),posterior corneal astigmatism(PCA),steep true net power(TNP K_S),flat true net power(TNP K_f)and total corneal astigmatism(TCA)between Pentacam and CASIA2 were 7.03±9.70μm,-0.19±0.41 D,-0.27±0.35 D,0.04±0.47 D,-0.17±0.23 D,-0.11±0.11 D,-0.02±1.02 D-0.41±0.43 D,-0.52±0.46 D,and-0.15±0.96 D,respectively.For measurement of TNP K_f with the Pentacam and CASIA2,a mean difference of 0.52 D and COR of 0.90 with P=0.02 was detected.There was no significant difference in CCT(P=0.393),anterior K_f(P=0.107),anteriorKs(P=0.414),ACA(P=0.131),posterior K_f(P=0.286),posterior Ks(P=0.418),PCA(P=0.105),TNP Ks(P=0.054),and TCA(P=0.977)between Pentacam and CASIA2.CONCLUSION:Our study reveals good agreement of CCT,corneal curvature and corneal astigmatism measured by CASIA2 and Pentacam in ectopia lentis patients.However,there was significant difference for CCT and corneal curvature values obtained by the two devices.展开更多
AIM: To evaluate the safety, efficacy and management of double balloon enteroscopy (DBE) carried out in those aged individuals with suspicious small intestine diseases. METHODS: DBE is a wonderful invention of the pas...AIM: To evaluate the safety, efficacy and management of double balloon enteroscopy (DBE) carried out in those aged individuals with suspicious small intestine diseases. METHODS: DBE is a wonderful invention of the past decade and is widely used as an examination tool for the gastrointestinal tract. From January 2003 to July 2011, data from patients who were ≥ 65 years old and underwent DBE examination in the Nanfang Hospital were included in a retrospective analysis.RESULTS: Fifty-nine individuals were found and subsequently analyzed. The mean age was 69.63 ± 3.89 years (range 65-84), 34 were males. Indications for DBE were melena/hematochezia (36 cases), abdominal pain (15 cases), diarrhea (3 cases), stool change (1 case), weight loss (1 case), vomiting (2 cases), and debilitation (1 case). The average duration of symptoms was 33.34 ± 64.24 mo. Twenty-seven patients suffered from age-related diseases. Severe complications were not found during and after DBE. Comparison between systolic and diastolic blood pressure before and after DBE was statistically significant (mean ± SD, P < 0.01, P < 0.05, respectively). Small bowel pathologies were found by DBE in 35 patients, definite diagnoses were made in 31 cases, and detection rate and diagnostic yield for DBE were 68.6% and 60.8%, respectively. CONCLUSION: DBE is a safe and effective method for gastrointestinal examination in the aged population. Aging alone is not a risk factor for elderly patients with suspicious gastrointestinal diseases and thorough preparation prior to the DBE procedure should be made for individuals with multiple diseases especially cardiopulmonary disorders.展开更多
Aqueous Zn-ion batteries(AZIBs)are the potential options for the next-generation energy storage scenarios due to the cost effectiveness and intrinsic safety.Nevertheless,the industrial application of AZIBs is still im...Aqueous Zn-ion batteries(AZIBs)are the potential options for the next-generation energy storage scenarios due to the cost effectiveness and intrinsic safety.Nevertheless,the industrial application of AZIBs is still impeded by a series of parasitic reactions and dendrites at zinc anodes.In this study,taurine(TAU)is used in electrolyte to simultaneously optimize the coordination condition of the ZnSO4electrolyte and interfacial chemistry at the anode.TAU can preferentially adsorb with the zinc metal and induce an in situ stable and protective interface on the anode,which would avoid the connection between H_(2)O and the zinc metal and promote the even deposition of Zn^(2+).The resulting Zn//Zn batteries achieve more than 3000 hours long cyclic lifespan under 1 mA cm^(-2)and an impressive cumulative capacity at 5 mA cm^(-2).Moreover,Zn//Cu batteries can realize a reversible plating/stripping process over 2,400cycles,with a desirable coulombic efficiency of 99.75%(1 mA cm^(-2)).Additionally,the additive endows Zn//NH_(4)V_(4)O_(10)batteries with more stable cyclic performance and ultrafast rate capability.These capabilities can promote the industrial application of AZIBs.展开更多
Baicalin is a flavonoid compound extracted from Scutellaria baicalensis root.Recent evidence indicates that baicalin is neuroprotective in models of ischemic stroke.Here,we investigate the neuroprotective effect of ba...Baicalin is a flavonoid compound extracted from Scutellaria baicalensis root.Recent evidence indicates that baicalin is neuroprotective in models of ischemic stroke.Here,we investigate the neuroprotective effect of baicalin in a neonatal rat model of hypoxic-ischemic encephalopathy.Seven-day-old pups underwent left common carotid artery ligation followed by hypoxia（8% oxygen at 37°C） for 2 hours,before being injected with baicalin（120 mg/kg intraperitoneally） and examined 24 hours later.Baicalin effectively reduced cerebral infarct volume and neuronal loss,inhibited apoptosis,and upregulated the expression of p-Akt and glutamate transporter 1.Intracerebroventricular injection of the phosphoinositide 3-kinase/protein kinase B（PI3 K/Akt） inhibitor LY294002 30 minutes before injury blocked the effect of baicalin on p-Akt and glutamate transporter 1,and weakened the associated neuroprotective effect.Our findings provide the first evidence,to our knowledge that baicalin can protect neonatal rat brains against hypoxic-ischemic injury by upregulating glutamate transporter 1 via the PI3 K/Akt signaling pathway.展开更多
The design and synthesis of a phenoxazine-based metal-organic tetrahedro n(Zn4L4) as biomimetic lectin for selectively recognition of glucosamine(GlcN) was reported.Different from the free phenoxazinebased ligand(L),Z...The design and synthesis of a phenoxazine-based metal-organic tetrahedro n(Zn4L4) as biomimetic lectin for selectively recognition of glucosamine(GlcN) was reported.Different from the free phenoxazinebased ligand(L),Zn4L4 displayed the highest fluorescent intensity enhancement efficiency toward GlcN over other related natural mono-and disaccharides.Fluorescence titration demonstrated a 1:1 stoichiometric host-vip complex was formed with an association constant about 4.03 × 104 L/mol.1H NMR spectroscopic studies confirmed this selectivity resulted from the multiple hydrogen bonding interactions formed between GlcN and Zn4L4.The present results suggested that rational arrangement of recognition sites in the confined space of metal-organic cage is crucial for the selectivity toward target vips.展开更多
BACKGROUND At present,many studies have reported the risk factors for postoperative intracranial reinfection,including age,sex,time to surgery,duration of postoperative catheterization,emergency procedures,type of dis...BACKGROUND At present,many studies have reported the risk factors for postoperative intracranial reinfection,including age,sex,time to surgery,duration of postoperative catheterization,emergency procedures,type of disease and cerebrospinal fluid leakage,but the academic community has not reached a unified conclusion.AIM To find factors influencing the surveillance of re-emerging intracranial infections in elective neurosurgical patients.METHODS Ninety-four patients who underwent elective craniotomy from January 1,2015 to December 31,2022 in the Department of Neurosurgery,First Hospital of Jilin University,were included in this study.Of those,45 patients were enrolled in the infection group,and 49 were enrolled in the control group.The clinical data of the patients were collected and divided into three categories,including preoperative baseline conditions,intraoperative characteristics and postoperative infection prevention.The data were analyzed using SPSS 26.0 software.RESULTS There were 23 males and 22 females in the infection group with a mean age of 52.8±15.1 years and 17 males and 32 females in the control group with a mean age of 48.9±15.2 years.The univariate analysis showed that the infection group had higher systolic blood pressures and postoperative temperatures,fewer patients who underwent a supratentorial craniotomy,more patients with a history of hypertension and higher initial postoperative white blood cell counts than the control group,with statistically significant differences(P<0.05).The multifactorial logistic regression analysis showed that a history of hypertension and a high postoperative body temperature were independent risk factors for postoperative infection in neurosurgical patients.CONCLUSION The results obtained in this study indicated that a history of hypertension and a high postoperative body temperature were independent risk factors for postoperative neurological symptoms.展开更多
The reaction thermodynamics for synthesizing the“312”and“413”o-MAX phases using the powder met-allurgy are investigated using a linear programing optimization algorithm based on the high-throughput first principle...The reaction thermodynamics for synthesizing the“312”and“413”o-MAX phases using the powder met-allurgy are investigated using a linear programing optimization algorithm based on the high-throughput first principles phonon calculations.The validity and reliability of the current methodology are verified by correctly predicting the impurities in four experimentally known o-MAX systems including Cr-Ti-Al-C,Cr-V-Al-C,Mo-Sc-Al-C and Mo-Ti-Al-C.The formability of each investigated o-MAX phase is evaluated by means of formation enthalpy and formation Gibbs free energy in a temperature range from 0 K to 1700 K.It is revealed that the thermodynamic stability of the“413”o-MAX structure is no better than that of the“312”phase.The formability of“413”o-MAX is also reduced at high sintering temperature,compared to that of“312”phase.The optimal synthetic routes are predicted for all thermodynamically stable“312”and“413”o-MAX phases.It is found that most o-MAX phases considered could be prepared as the single phase using the non-conventional synthetic routes from the aspect of reaction thermodynamics.Few of them including Cr_(2)TaAlC_(2),Nb_(2)HfAlC_(2),Nb_(2)TaAlC_(2),Nb_(2)Hf_(2)AlC_(3),Nb_(2)Ta_(2)AlC_(3),Mo_(2)V_(2)AlC_(3)and Mo_(2)Ta_(2)AlC_(3)are predicted to be either destabilized at high temperature or overwhelmed by the most competing side reaction.展开更多
Layered composite oxide materials with O3/P2 biphasic crystallographic structure typically demonstrate a combination of high capacities of the O3 phase and high operation voltages of the P2 phase.However,their practic...Layered composite oxide materials with O3/P2 biphasic crystallographic structure typically demonstrate a combination of high capacities of the O3 phase and high operation voltages of the P2 phase.However,their practical applications are seriously obstructed by difficulties in thermodynamic phase regulation,complicated electrochemical phase transition,and unsatisfactory cycling life.Herein,we propose an efficient structural evolution strategy from biphase to monophase of Na_(0.766+x)Li_(x)Ni_(0.33-x)Mn_(0.5)Fe_(0.1)Ti_(0.07)O_(2) through Li+substitution.The role of Li+substitution not only simplifies the unfavorable phase transition by altering the local coordination of transition metal(TM)cations but also stabilizes the cathode–electrolyte interphase to prevent the degradation of TM cations during battery cycling.As a result,the thermodynamically robust O_(3)-Na_(0.826)Li_(0.06)Ni_(0.27)Mn_(0.5)Fe_(0.1)Ti_(0.07)O_(2) cathode delivers a high capacity of 139.4 mAh g^(-1) at 0.1 C and shows prolonged cycling life at high rates,with capacity retention of 81.6%at 5 C over 500 cycles.This work establishes a solid relationship between the thermodynamic structure evolution and electrochemistry of layered cathode materials,contributing to the development of long-life sodium-ion batteries.展开更多
This paper investigates the homing control problem of a flexible aerial delivery system with external wind,at-mospheric turbulence,and aerodynamic uncertainties.An accurate homing control strategy is presented,consist...This paper investigates the homing control problem of a flexible aerial delivery system with external wind,at-mospheric turbulence,and aerodynamic uncertainties.An accurate homing control strategy is presented,consisting of a trajectory generation algorithm and a lateral tracking controller.A high-altitude trajectory generation is de-veloped with system characteristics explicitly considered to generate the desired trajectory for the aerial delivery control system design.It significantly compensates for the altitude deviation of the existing multiphase theory based trajectory generation methodologies.A novel adaptive vector field control law is then designed to accomplish the lateral tracking maneuvers.The key feature of the proposed method is that the complete lateral closed-loop control,including position and heading angle loops,is achieved in the presence of disturbances and dynamic uncertainties.The homing control with high landing accuracy is therefore achieved.Simulation and hardware-in-loop testing results are finally presented to validate the proposed method’s effectiveness compared to a conventional homing control scheme.展开更多
基金supported by the National Natural Science Foundation of China,No.81571211(to FL)the Natural Science Foundation of Shanghai,No.22ZR1476800(to CH)。
文摘Peripheral nerve defect repair is a complex process that involves multiple cell types;perineurial cells play a pivotal role.Hair follicle neural crest stem cells promote perineurial cell proliferation and migration via paracrine signaling;however,their clinical applications are limited by potential risks such as tumorigenesis and xenogeneic immune rejection,which are similar to the risks associated with other stem cell transplantations.The present study therefore focuses on small extracellular vesicles derived from hair follicle neural crest stem cells,which preserve the bioactive properties of the parent cells while avoiding the transplantation-associated risks.In vitro,small extracellular vesicles derived from hair follicle neural crest stem cells significantly enhanced the proliferation,migration,tube formation,and barrier function of perineurial cells,and subsequently upregulated the expression of tight junction proteins.Furthermore,in a rat model of sciatic nerve defects bridged with silicon tubes,treatment with small extracellular vesicles derived from hair follicle neural crest stem cells resulted in higher tight junction protein expression in perineurial cells,thus facilitating neural tissue regeneration.At 10 weeks post-surgery,rats treated with small extracellular vesicles derived from hair follicle neural crest stem cells exhibited improved nerve function recovery and reduced muscle atrophy.Transcriptomic and micro RNA analyses revealed that small extracellular vesicles derived from hair follicle neural crest stem cells deliver mi R-21-5p,which inhibits mothers against decapentaplegic homolog 7 expression,thereby activating the transforming growth factor-β/mothers against decapentaplegic homolog signaling pathway and upregulating hyaluronan synthase 2 expression,and further enhancing tight junction protein expression.Together,our findings indicate that small extracellular vesicles derived from hair follicle neural crest stem cells promote the proliferation,migration,and tight junction protein formation of perineurial cells.These results provide new insights into peripheral nerve regeneration from the perspective of perineurial cells,and present a novel approach for the clinical treatment of peripheral nerve defects.
基金Supported by the National Key R&D Program of China,No.Key Special Project for Marine Environmental Security and Sustainable Development of Coral Reefs 2022-3.5the National Natural Science Foundation of China,No.82102605,82472458,and 82272533.
文摘BACKGROUND Far lateral lumbar disc herniation(FLLDH)is a special type of lumbar disc herniation with high rate of missed diagnosis.Selective nerve root block(SNRB)has special advantages in identifying the responsible nerve root.Percutaneous transforaminal endoscopic discectomy(PTED)is a minimally invasive and effective method to treat FLLDH.However,no report has investigated PTED combined with SNRB to treat FLLDH.AIM To explore the diagnosis and treatment process,surgical technique and clinical efficacy of PTED combined with SNRB to treat FLLDH.METHODS This is a multicenter center,retrospective,observational study.Between January 2020 and January 2022,32 patients were initially diagnosed with FLLDH.All the patients were identified using SNRB to determine the responsible segment and involved nerve roots.Because of poor symptomatic control following SNRB,2 patients were excluded.30 patients diagnosed with FFLDH underwent PTED.The clinical characteristics,operative and postoperative outcomes,complication and subsequent follow-up were collected.RESULTS 30 patients who underwent SNRB combined with PTED were followed up.The average visual analogue scale(VAS)-leg score,VAS-back score,Oswestry disability index(ODI)score at the Follow-up(1 day,1 month,3 months and last follow-up)were significantly different compared per-operation.According to the modified Macnab efficacy evaluation standard,the satisfaction degree at the last follow-up was excellent(28,93.33%),good(1,3.33%),medium(1,3.33%)and poor(0,0%).CONCLUSION SNRB provides an effective method for the definite diagnosis of FLDH and responsible nerve roots.Combination therapy offers several advantages including minimal invasiveness,precision,effectiveness,safety and low recurrence rates.
基金financially supported by the National Natural Science Foundation of China(No.T2293753)the National Key R&D Program of China(No.2021YFA1201200)the“Pioneer”and“Leading Goose”R&D Program of Zhejiang(No.022C03022)。
文摘mRNA is a highly promising approach for disease prevention,yet its further application is currently limited by the low efficiency of delivery.Lipid nanoparticles(LNPs)are the mainstream delivery vehicles at present,and ionizable lipids,as a key component,have a particularly significant impact on delivery efficiency.To improve the efficiency of delivery,a library of ionizable lipids with tetra-branched hydrophobic tails was designed and synthesized by the Michael addition reaction.From this library,the lipid 10A was selected for the highest delivery efficiency.Further formulation screening yielded LNPs with excellent performance,which showed good efficacy in tumor prevention experiments.At the same time,the structure-activity relationship between the ionizable lipid structure and the delivery efficiency was elucidated.It was that the tetra-branched hydrophobic tails,as compared with the di-branched hydrophobic tails enhanced the stability of LNPs,provided uniformity of particle size and improved the efficiency of endocytosis and lysosomal escape,resulting in higher delivery efficiency.Meanwhile,tetra-branched lipids with hydroxyl groups in the head group performed even better.This research provides a theoretical basis and foundation for guiding the development of the next generation of ionizable lipids,and the developed 10A LNP also shows broad prospects for clinical translation.
基金supported by the National Natural Science Foundation of China(Nos.T2293753,52203194)the National Key R&D Program of China(No.2021YFA1201200)+1 种基金the Natural Science Foundation of Zhejiang Province(No.LR18E030002)2023 Hangzhou West Lake Pearl Project Leading Innovative Youth Team Project.
文摘Chemodynamic therapy(CDT),using Fenton agents to generate highly cytotoxic•OH from H_(2)O_(2)has been demonstrated as a powerful anticancer method.However,the insufficient endogenous H_(2)O_(2)in tumor cells greatly limited its therapeutic effect.Herein,we prepared a pH-responsiveβ-lapachone-loaded ironpolyphenol nanocomplex(LIPN)through a one-pot method.β-Lapachone in LIPN selectively enhanced H_(2)O_(2)concentration in tumor cells,and ferrous ions cascadely generated abundant cytotoxic•OH.Therefore,LIPN with cascade amplification of reactive oxygen species(ROS)showed high chemodynamic cytotoxicity in tumor cells,efficiently improving the expression of damage-associated molecular patterns(DAMPs),and exerting strong immunogenic cell death(ICD).As a result,LIPN exhibited efficient tumor inhibition ability in 4T1 subcutaneous tumor model in vivo with great biocompatibility.Additionally,the infiltration of cytotoxic CD8^(+)T lymphocytes and inhibition of regulatory CD4^(+)FoxP3^(+)T lymphocytes in tumors demonstrated the activation of immunosuppressive tumor microenvironment by LIPN-induced ICD.Therefore,this work provided a new approach to enhance ICD of chemodynamic therapy through selective cascade amplification of ROS in cancer cells.
文摘Background Ischemia/reperfusion injury （IRI） is an inflammatory response that occurs when tissue is reperfused following a prolonged period of ischemia. Several studies have indicated that C-reactive protein （CRP） might play an important role in inducing IRI. However, the effects of CRP on myocardial IRI and the underlying mechanisms have not been fully elucidated. This study aimed to investigate the association between CRP and myocardial IRI and the underlying mechanisms. Methods We simulated ischemia/reperfusion using oxygen-glucose deprivation/ reoxygenation （OGD/R） in neonatal Sprague-Dawley rat cardiomyocytes; reperfusion injury was induced by three hours of hypoxia with glucose and serum deprivation followed by one hour of reperfusion. Cell viability was tested with MTS assays, and cardiomyocyte damage was evaluated by lactate dehydrogenase （LDH） leakage. Mitochondrial membrane potential was measured using tetramethylrhodamine ethyl ester （TMRE） and mitochondrial permeability transition pore （mPTP） opening was measured using calcein/AM; both TMRE and caocein/AM were visualized with laser scanning confocal microscopy. In addition, we studied the signaling pathways underlying CRP-mediated ischemia/reperfusion injury via Western blot analysis. Results Compared with the simple OGD/R group, after intervention with 10 pg/mL CRP, cell viability decreased markedly （82.36 % ± 6.18% vs. 64.84% ± 4.06%, P = 0.0007）, and the LDH leakage significantly increased （145.3 U/L ± 16.06 U/L vs. 208.2 U/L ± 19.23 U/L, P = 0.0122）. CRP also activated mPTP opening and reduced mitochondrial membrane potential during myocardial ischemia/reperfusion. Pretreatment with 1 pM atorvastatin （Ator） before CRP intervention protected cardiomyocytes from IRI. Mitochondrial KATP channel opener diazoxide and mPTP inhibitor cyclosporin A also offset the effects of CRP in this process. The level of phosphorylated extracellular-signal-regulated kinase （ERK） 1/2 was significantly higher after pre-treatment with CRP compared with the OGD/R group （170.4% ± 3.00% v.v. 93.53% ± 1.94%, P 〈 0.0001）. Western blot analysis revealed that Akt expression was markedly activated （184.2% ± 6.96% vs. 122.7% ± 5.30%, P = 0.0003） and ERK 1/2 phosphorylation significantly reduced after co-treatment with Ator and CRP compared with the level after CRP pretreatment alone. Conclusions Our results suggested that CRP directly aggravates myocardial IRI in myocardial cells and that this effect is primarily mediated by inhibiting mitochondrial ATP- sensitive potassium （mitoKATp） channels and promoting mPTP opening. Ator counteracts these effects and can reduce CRP-induced IRI. One of the mechanisms of CRP-induced IRI may be related to the sustained activation of the ERK signaling pathway.
基金financial support of the National Natural Science Foundation of China(Grant No.52074332)express their gratitude to project ZR2020YQ36 supported by Shandong Provincial Science Fund for Excellent Young Scholars。
文摘Hydraulic fracturing is a key technology for the development of unconventional hydrocarbon resources.The proppant placement morphology determines the fracture conductivity,thus affecting the reservoir stimulation effect.In this paper,the proppant migration and placement within complex fractures was studied by considering the fracture wall roughness through computational fluid mechanics-discrete element method(CFD-DEM)in numerical simulation,which is a key approach to study the proppant migration and placement.The results show that the proppant placement non-uniformity,proppant migration capacity,and proppant volume filled in the far-end and the secondary branched fracture are enhanced within the rough fracture compared with those within smooth fractures.The proppant migration capacity is increased within the fracture at low inclination angles(<60°)and low approach angles(<90°),and the proppant placement area is larger in the inclined fracture than that in the vertical fracture.The rise of injection rate and fracturing fluid viscosity causes more proppants migrate to far-end or secondary fractures,resulting in a non-proppant area within the near-wellbore fracture.An increase by 1.3 times in the injection rate and 3 times in the fracturing fluid viscosity leads to a decrease by 26.6%and 27%,respectively,in the proppant placement area within the near-wellbore fracture.The staged injection with small size proppants followed by large size proppants increases the proppant placement area in the primary fracture by 13%-26%,and that with large size proppants followed by small size proppants increases the proppant placement area by 19%-25%,which is due to that the latter method facilitates filling of the secondary branched fracture.The injection location mainly affects the proppant filling degree within the near-wellbore fractures.Compared with the upper injection,the middle and lower injection is not beneficial to filling of proppants within the near-wellbore fracture.
基金supported by the National Natural Science Foundation of China(No.61873207)the National Science and Technology Major Project,China(No.J2019-I-00210020)+2 种基金the Natural Science Basic Research Program of Shaanxi,China(No.2019JQ-344)the Science and Technology Program of Xi’an City,China(No.2019218314GXRC019CG020-GXYD19.3)the Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University,China。
文摘Navigation and positioning is an important and challenging problem in many control engineering applications.It provides feedback information to design controllers for systems.In this paper,a bibliographical review on factor graph based navigation and positioning is presented.More specifically,the sensor modeling,the factor graph optimization methods,and the topology factor based cooperative localization are reviewed.The navigation and positioning methods via factor graph are considered and classified.Focuses in the current research of factor graph based navigation and positioning are also discussed with emphasis on its practical application.The limitations of the existing methods,some solutions for future techniques,and recommendations are finally given.
基金Supported by National Natural Science Foundation of China(No.81873673,No.81900841)the Fundamental Research Funds of the State Key Laboratory of Ophthalmology(No.30306020240020212)the Young Teachers Training Program of Sun Yat-sen University(No.20ykpy143)。
文摘AIM:To assess the inter-device consistency of corneal curvature and central corneal thickness between Pentacam and a swept-source Fourier-domain anterior segment optical coherence tomography(AS-OCT)in ectopia lentis patients.METHODS:Totally 72 eyes of ectopia lentis patients were recruited.Central corneal thickness(CCT),corneal curvature values and corneal astigmatism were obtained from both the Pentacam and AS-OCT(CASIA2).Repeatability was evaluated for both devices.The coef ficient of repeatability(COR)and the relative COR was calculated.Bland-Altman plots were conducted to evaluate the interdevice agreement of measurement.Orthogonal linear regression was used to examine any proportional bias.RESULTS:The mean difference of CCT,steep anterior corneal cur vature(anterior K_S),flat anterior corneal curvature(anterior K_f),anterior corneal astigmatism(ACA),steep posterior corneal cur vature(posterior K_S),flat posterior corneal cur vature(posterior K_f),posterior corneal astigmatism(PCA),steep true net power(TNP K_S),flat true net power(TNP K_f)and total corneal astigmatism(TCA)between Pentacam and CASIA2 were 7.03±9.70μm,-0.19±0.41 D,-0.27±0.35 D,0.04±0.47 D,-0.17±0.23 D,-0.11±0.11 D,-0.02±1.02 D-0.41±0.43 D,-0.52±0.46 D,and-0.15±0.96 D,respectively.For measurement of TNP K_f with the Pentacam and CASIA2,a mean difference of 0.52 D and COR of 0.90 with P=0.02 was detected.There was no significant difference in CCT(P=0.393),anterior K_f(P=0.107),anteriorKs(P=0.414),ACA(P=0.131),posterior K_f(P=0.286),posterior Ks(P=0.418),PCA(P=0.105),TNP Ks(P=0.054),and TCA(P=0.977)between Pentacam and CASIA2.CONCLUSION:Our study reveals good agreement of CCT,corneal curvature and corneal astigmatism measured by CASIA2 and Pentacam in ectopia lentis patients.However,there was significant difference for CCT and corneal curvature values obtained by the two devices.
文摘AIM: To evaluate the safety, efficacy and management of double balloon enteroscopy (DBE) carried out in those aged individuals with suspicious small intestine diseases. METHODS: DBE is a wonderful invention of the past decade and is widely used as an examination tool for the gastrointestinal tract. From January 2003 to July 2011, data from patients who were ≥ 65 years old and underwent DBE examination in the Nanfang Hospital were included in a retrospective analysis.RESULTS: Fifty-nine individuals were found and subsequently analyzed. The mean age was 69.63 ± 3.89 years (range 65-84), 34 were males. Indications for DBE were melena/hematochezia (36 cases), abdominal pain (15 cases), diarrhea (3 cases), stool change (1 case), weight loss (1 case), vomiting (2 cases), and debilitation (1 case). The average duration of symptoms was 33.34 ± 64.24 mo. Twenty-seven patients suffered from age-related diseases. Severe complications were not found during and after DBE. Comparison between systolic and diastolic blood pressure before and after DBE was statistically significant (mean ± SD, P < 0.01, P < 0.05, respectively). Small bowel pathologies were found by DBE in 35 patients, definite diagnoses were made in 31 cases, and detection rate and diagnostic yield for DBE were 68.6% and 60.8%, respectively. CONCLUSION: DBE is a safe and effective method for gastrointestinal examination in the aged population. Aging alone is not a risk factor for elderly patients with suspicious gastrointestinal diseases and thorough preparation prior to the DBE procedure should be made for individuals with multiple diseases especially cardiopulmonary disorders.
基金supported by the State Key Laboratorys of Electrical Insulation and Power Equipment(EIPE23308)the Young Talent Recruiting Plans of Xi’an Jiaotong University(DQ6J012)+2 种基金the Fundamental Research Funds for the Central Universities(xtr042021008,xzy022022049)the Natural Science Basic Research Plan in Shaanxi Province of China(2023-JC-QN-0587)the“Young Talent Support Plan”of Xi’an Jiaotong University。
文摘Aqueous Zn-ion batteries(AZIBs)are the potential options for the next-generation energy storage scenarios due to the cost effectiveness and intrinsic safety.Nevertheless,the industrial application of AZIBs is still impeded by a series of parasitic reactions and dendrites at zinc anodes.In this study,taurine(TAU)is used in electrolyte to simultaneously optimize the coordination condition of the ZnSO4electrolyte and interfacial chemistry at the anode.TAU can preferentially adsorb with the zinc metal and induce an in situ stable and protective interface on the anode,which would avoid the connection between H_(2)O and the zinc metal and promote the even deposition of Zn^(2+).The resulting Zn//Zn batteries achieve more than 3000 hours long cyclic lifespan under 1 mA cm^(-2)and an impressive cumulative capacity at 5 mA cm^(-2).Moreover,Zn//Cu batteries can realize a reversible plating/stripping process over 2,400cycles,with a desirable coulombic efficiency of 99.75%(1 mA cm^(-2)).Additionally,the additive endows Zn//NH_(4)V_(4)O_(10)batteries with more stable cyclic performance and ultrafast rate capability.These capabilities can promote the industrial application of AZIBs.
基金supported by the Chinese Medicine Research Foundation of Jiangxi Provincial Health Department of China,No.2013A040the Science and Technology Program of Jiangxi Provincial Health Department of China,No.20123023the Science and Technology Support Program of Jiangxi Province of China,No.2009BSB11209
文摘Baicalin is a flavonoid compound extracted from Scutellaria baicalensis root.Recent evidence indicates that baicalin is neuroprotective in models of ischemic stroke.Here,we investigate the neuroprotective effect of baicalin in a neonatal rat model of hypoxic-ischemic encephalopathy.Seven-day-old pups underwent left common carotid artery ligation followed by hypoxia（8% oxygen at 37°C） for 2 hours,before being injected with baicalin（120 mg/kg intraperitoneally） and examined 24 hours later.Baicalin effectively reduced cerebral infarct volume and neuronal loss,inhibited apoptosis,and upregulated the expression of p-Akt and glutamate transporter 1.Intracerebroventricular injection of the phosphoinositide 3-kinase/protein kinase B（PI3 K/Akt） inhibitor LY294002 30 minutes before injury blocked the effect of baicalin on p-Akt and glutamate transporter 1,and weakened the associated neuroprotective effect.Our findings provide the first evidence,to our knowledge that baicalin can protect neonatal rat brains against hypoxic-ischemic injury by upregulating glutamate transporter 1 via the PI3 K/Akt signaling pathway.
基金the National Natural Science Foundation of China (Nos.21701019 and 21861132004)Doctoral Scientific Research Launching Fund Project of Liaoning province (No.2019BS-050)。
文摘The design and synthesis of a phenoxazine-based metal-organic tetrahedro n(Zn4L4) as biomimetic lectin for selectively recognition of glucosamine(GlcN) was reported.Different from the free phenoxazinebased ligand(L),Zn4L4 displayed the highest fluorescent intensity enhancement efficiency toward GlcN over other related natural mono-and disaccharides.Fluorescence titration demonstrated a 1:1 stoichiometric host-vip complex was formed with an association constant about 4.03 × 104 L/mol.1H NMR spectroscopic studies confirmed this selectivity resulted from the multiple hydrogen bonding interactions formed between GlcN and Zn4L4.The present results suggested that rational arrangement of recognition sites in the confined space of metal-organic cage is crucial for the selectivity toward target vips.
文摘BACKGROUND At present,many studies have reported the risk factors for postoperative intracranial reinfection,including age,sex,time to surgery,duration of postoperative catheterization,emergency procedures,type of disease and cerebrospinal fluid leakage,but the academic community has not reached a unified conclusion.AIM To find factors influencing the surveillance of re-emerging intracranial infections in elective neurosurgical patients.METHODS Ninety-four patients who underwent elective craniotomy from January 1,2015 to December 31,2022 in the Department of Neurosurgery,First Hospital of Jilin University,were included in this study.Of those,45 patients were enrolled in the infection group,and 49 were enrolled in the control group.The clinical data of the patients were collected and divided into three categories,including preoperative baseline conditions,intraoperative characteristics and postoperative infection prevention.The data were analyzed using SPSS 26.0 software.RESULTS There were 23 males and 22 females in the infection group with a mean age of 52.8±15.1 years and 17 males and 32 females in the control group with a mean age of 48.9±15.2 years.The univariate analysis showed that the infection group had higher systolic blood pressures and postoperative temperatures,fewer patients who underwent a supratentorial craniotomy,more patients with a history of hypertension and higher initial postoperative white blood cell counts than the control group,with statistically significant differences(P<0.05).The multifactorial logistic regression analysis showed that a history of hypertension and a high postoperative body temperature were independent risk factors for postoperative infection in neurosurgical patients.CONCLUSION The results obtained in this study indicated that a history of hypertension and a high postoperative body temperature were independent risk factors for postoperative neurological symptoms.
基金supported by the National Natural Science Foundation of China(No.51807146)the Young Talent Support Plan of Xi’an Jiaotong University(No.DQ1J009).
文摘The reaction thermodynamics for synthesizing the“312”and“413”o-MAX phases using the powder met-allurgy are investigated using a linear programing optimization algorithm based on the high-throughput first principles phonon calculations.The validity and reliability of the current methodology are verified by correctly predicting the impurities in four experimentally known o-MAX systems including Cr-Ti-Al-C,Cr-V-Al-C,Mo-Sc-Al-C and Mo-Ti-Al-C.The formability of each investigated o-MAX phase is evaluated by means of formation enthalpy and formation Gibbs free energy in a temperature range from 0 K to 1700 K.It is revealed that the thermodynamic stability of the“413”o-MAX structure is no better than that of the“312”phase.The formability of“413”o-MAX is also reduced at high sintering temperature,compared to that of“312”phase.The optimal synthetic routes are predicted for all thermodynamically stable“312”and“413”o-MAX phases.It is found that most o-MAX phases considered could be prepared as the single phase using the non-conventional synthetic routes from the aspect of reaction thermodynamics.Few of them including Cr_(2)TaAlC_(2),Nb_(2)HfAlC_(2),Nb_(2)TaAlC_(2),Nb_(2)Hf_(2)AlC_(3),Nb_(2)Ta_(2)AlC_(3),Mo_(2)V_(2)AlC_(3)and Mo_(2)Ta_(2)AlC_(3)are predicted to be either destabilized at high temperature or overwhelmed by the most competing side reaction.
基金This work was supported by the National Natural Science Foundation of China(52102302,51807146,and 22179021)the Young Talent Support Plan of Xi'an Jiaotong University(Grant No.DQ6J011)+2 种基金Natural Science Foundation of Shaanxi Province(2023-JC-QN-0115)State Key Laboratory of Electrical Insulation and Power Equipment(EIPE23313)the Fundamental Research Funds for the Central Universities(xyz012023165).
文摘Layered composite oxide materials with O3/P2 biphasic crystallographic structure typically demonstrate a combination of high capacities of the O3 phase and high operation voltages of the P2 phase.However,their practical applications are seriously obstructed by difficulties in thermodynamic phase regulation,complicated electrochemical phase transition,and unsatisfactory cycling life.Herein,we propose an efficient structural evolution strategy from biphase to monophase of Na_(0.766+x)Li_(x)Ni_(0.33-x)Mn_(0.5)Fe_(0.1)Ti_(0.07)O_(2) through Li+substitution.The role of Li+substitution not only simplifies the unfavorable phase transition by altering the local coordination of transition metal(TM)cations but also stabilizes the cathode–electrolyte interphase to prevent the degradation of TM cations during battery cycling.As a result,the thermodynamically robust O_(3)-Na_(0.826)Li_(0.06)Ni_(0.27)Mn_(0.5)Fe_(0.1)Ti_(0.07)O_(2) cathode delivers a high capacity of 139.4 mAh g^(-1) at 0.1 C and shows prolonged cycling life at high rates,with capacity retention of 81.6%at 5 C over 500 cycles.This work establishes a solid relationship between the thermodynamic structure evolution and electrochemistry of layered cathode materials,contributing to the development of long-life sodium-ion batteries.
基金supported by the National Natural Science Foundation of China(No.61873207)the IndustryUniversity-Research Innovation Fund in Ministry of Education of China(No.2021ZYA03006)the Key R&D Plan of Shaanxi Province of China(No.2020SF-376)。
文摘This paper investigates the homing control problem of a flexible aerial delivery system with external wind,at-mospheric turbulence,and aerodynamic uncertainties.An accurate homing control strategy is presented,consisting of a trajectory generation algorithm and a lateral tracking controller.A high-altitude trajectory generation is de-veloped with system characteristics explicitly considered to generate the desired trajectory for the aerial delivery control system design.It significantly compensates for the altitude deviation of the existing multiphase theory based trajectory generation methodologies.A novel adaptive vector field control law is then designed to accomplish the lateral tracking maneuvers.The key feature of the proposed method is that the complete lateral closed-loop control,including position and heading angle loops,is achieved in the presence of disturbances and dynamic uncertainties.The homing control with high landing accuracy is therefore achieved.Simulation and hardware-in-loop testing results are finally presented to validate the proposed method’s effectiveness compared to a conventional homing control scheme.
