Wheeled-legged robots integrate the mobility efficiency of wheeled platforms with the terrain adaptability of legged robots,making them ideal for complex,unstructured environments.However,balancing high payload capaci...Wheeled-legged robots integrate the mobility efficiency of wheeled platforms with the terrain adaptability of legged robots,making them ideal for complex,unstructured environments.However,balancing high payload capacity with agile multimodal locomotion remains a major challenge.This paper presents a field study conducted in the high-altitude region of Golmud,Qinghai,with elevations ranging from 2800 m to 4000 m.We evaluate three wheeled-legged robot platforms of different scales on diverse terrains including Gobi,desert,grassland,and wetlands.Our experiments demonstrate the robot's robust locomotion performance across multimodal tasks such as obstacle crossing,slope climbing,and terrain classification.Moreover,we validate the performance of autonomous perception systems,including real-time localization and 3D mapping,under harsh plateau conditions.The results provide valuable insights into the deployment of wheeled-legged robots in extreme natural environments and lay a solid foundation for future applications in inspection,rescue,and transport missions in high-altitude regions.展开更多
Acute liver failure is a life-threatening clinical syndrome with a high mortality rate. Currently, the research on Astragaloside IV in liver diseases primarily focuses on liver cancer, and there is limited understandi...Acute liver failure is a life-threatening clinical syndrome with a high mortality rate. Currently, the research on Astragaloside IV in liver diseases primarily focuses on liver cancer, and there is limited understanding of its mechanism in acute liver failure’s innate immunity. Therefore, this study aims to investigate the potential protective effect of Astragaloside IV on acute liver failure and its impact on innate immune cells. The study employed D-GalN/LPS-induced acute liver failure mouse models and employed various techniques such as a range of molecular and analytical techniques. The experimental results demonstrated that treatment with Astragaloside IV significantly reduced the inflammatory response, alleviated liver injury, and improved the survival rate of mice with acute liver failure induced by D-GalN/LPS. Further investigations revealed that AS-IV played a beneficial role by regulating the proportion of CD11b<sup>+</sup>Ly6C<sup>hi</sup> monocytes and the secretion of inflammatory cytokines and anti-inflammatory metabolites. These findings suggest that the pharmacological mechanism of AS-IV may involve targeted regulation of CD11b<sup>+</sup>Ly6C<sup>hi</sup> monocytes in both peripheral blood and liver. The implications of this study’s results are twofold. Firstly, they provide a basis for the clinical application of AS-IV in treating liver failure, offering potential therapeutic benefits. Secondly, they serve as a reference for further development of safer and more effective modified compounds.展开更多
目的:探讨新生儿先天性肾脏和泌尿道畸形(congenital anomalies of the kidney and urinary tract,CAKUT)的发病情况,评价出生后早期行泌尿系超声筛查的价值。方法:对2016年1月至2018年12月于清华大学附属北京清华长庚医院出生和就诊的...目的:探讨新生儿先天性肾脏和泌尿道畸形(congenital anomalies of the kidney and urinary tract,CAKUT)的发病情况,评价出生后早期行泌尿系超声筛查的价值。方法:对2016年1月至2018年12月于清华大学附属北京清华长庚医院出生和就诊的新生儿行泌尿系超声筛查并随访,同时对母孕产期资料进行分析,筛选与CAKUT发病相关的危险因素。结果:(1)本次筛查的2655例新生儿中,CAKUT阳性82例(男60例,女22例),阳性率为3.1%(82/2655),其中肾积水66例,重复肾6例,多发性肾囊肿2例,肾囊性发育不良2例,髓质海绵肾1例,小肾脏3例,孤立肾1例,马蹄肾1例。(2)66例肾积水患儿中有4例失访;8例目前随访尚不足6个月,肾积水无明显变化,继续随访观察中;54例完成随访1年,1年内恢复正常32例,减轻3例,加重7例,无变化12例,其中1例因反复泌感、肾功能下降接受手术治疗。(3)CAKUT高危因素以孕晚期胎儿泌尿系超声异常最多,胎儿泌尿系超声异常的高危新生儿有44例,生后筛查发现CAKUT病例35例,发生率为79.5%(35/44)。(4)本次筛查的2655例新生儿中,有2611例新生儿产前泌尿系超声检查是正常的,这些产前泌尿系超声检查正常的新生儿中,有47例出生后泌尿系B超筛查符合CAKUT诊断,发生率为1.8%(47/2611)。结论:新生儿最常见的CAKUT为肾积水,多数预后良好,但应定期随访;对新生儿尤其是母孕期胎儿泌尿系超声异常的高危新生儿行泌尿系统超声筛查,对于早期发现CAKUT有重要的临床意义。展开更多
基金supported in part by the National Key R&D Program of china(2022YFB4701500 and 2024YFB4708705)in part by the National Natural Science Foundation of China(52475021,52305024 and 52205012)+2 种基金in part by the Natural Science Foundation of jiangsu Province,China(BK20230928)in part by the China Postdoctoral Science Foundation,China(2023M731690)in part by the Fundamental Research Funds for the Central Universities,China(30923011029).
文摘Wheeled-legged robots integrate the mobility efficiency of wheeled platforms with the terrain adaptability of legged robots,making them ideal for complex,unstructured environments.However,balancing high payload capacity with agile multimodal locomotion remains a major challenge.This paper presents a field study conducted in the high-altitude region of Golmud,Qinghai,with elevations ranging from 2800 m to 4000 m.We evaluate three wheeled-legged robot platforms of different scales on diverse terrains including Gobi,desert,grassland,and wetlands.Our experiments demonstrate the robot's robust locomotion performance across multimodal tasks such as obstacle crossing,slope climbing,and terrain classification.Moreover,we validate the performance of autonomous perception systems,including real-time localization and 3D mapping,under harsh plateau conditions.The results provide valuable insights into the deployment of wheeled-legged robots in extreme natural environments and lay a solid foundation for future applications in inspection,rescue,and transport missions in high-altitude regions.
文摘Acute liver failure is a life-threatening clinical syndrome with a high mortality rate. Currently, the research on Astragaloside IV in liver diseases primarily focuses on liver cancer, and there is limited understanding of its mechanism in acute liver failure’s innate immunity. Therefore, this study aims to investigate the potential protective effect of Astragaloside IV on acute liver failure and its impact on innate immune cells. The study employed D-GalN/LPS-induced acute liver failure mouse models and employed various techniques such as a range of molecular and analytical techniques. The experimental results demonstrated that treatment with Astragaloside IV significantly reduced the inflammatory response, alleviated liver injury, and improved the survival rate of mice with acute liver failure induced by D-GalN/LPS. Further investigations revealed that AS-IV played a beneficial role by regulating the proportion of CD11b<sup>+</sup>Ly6C<sup>hi</sup> monocytes and the secretion of inflammatory cytokines and anti-inflammatory metabolites. These findings suggest that the pharmacological mechanism of AS-IV may involve targeted regulation of CD11b<sup>+</sup>Ly6C<sup>hi</sup> monocytes in both peripheral blood and liver. The implications of this study’s results are twofold. Firstly, they provide a basis for the clinical application of AS-IV in treating liver failure, offering potential therapeutic benefits. Secondly, they serve as a reference for further development of safer and more effective modified compounds.
文摘目的:探讨新生儿先天性肾脏和泌尿道畸形(congenital anomalies of the kidney and urinary tract,CAKUT)的发病情况,评价出生后早期行泌尿系超声筛查的价值。方法:对2016年1月至2018年12月于清华大学附属北京清华长庚医院出生和就诊的新生儿行泌尿系超声筛查并随访,同时对母孕产期资料进行分析,筛选与CAKUT发病相关的危险因素。结果:(1)本次筛查的2655例新生儿中,CAKUT阳性82例(男60例,女22例),阳性率为3.1%(82/2655),其中肾积水66例,重复肾6例,多发性肾囊肿2例,肾囊性发育不良2例,髓质海绵肾1例,小肾脏3例,孤立肾1例,马蹄肾1例。(2)66例肾积水患儿中有4例失访;8例目前随访尚不足6个月,肾积水无明显变化,继续随访观察中;54例完成随访1年,1年内恢复正常32例,减轻3例,加重7例,无变化12例,其中1例因反复泌感、肾功能下降接受手术治疗。(3)CAKUT高危因素以孕晚期胎儿泌尿系超声异常最多,胎儿泌尿系超声异常的高危新生儿有44例,生后筛查发现CAKUT病例35例,发生率为79.5%(35/44)。(4)本次筛查的2655例新生儿中,有2611例新生儿产前泌尿系超声检查是正常的,这些产前泌尿系超声检查正常的新生儿中,有47例出生后泌尿系B超筛查符合CAKUT诊断,发生率为1.8%(47/2611)。结论:新生儿最常见的CAKUT为肾积水,多数预后良好,但应定期随访;对新生儿尤其是母孕期胎儿泌尿系超声异常的高危新生儿行泌尿系统超声筛查,对于早期发现CAKUT有重要的临床意义。
