In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a lar...In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a large workpiece is described as the MRSs with cooperation and antagonism interaction.By the signed graph theory,it is further transformed into a bipartite consensus control problem,where all followers are uniformly degenerated into the general nonlinear systems based on the lateral error model.To augment the flexibility of control protocol and improve control performance,a higher-dimensional full form dynamic linearization(FFDL)technique is committed to the MRSs.The control input criterion function consists of the data model based on FFDL and the bipartite consensus error based on the signed graph theory,and the proposed control protocol is given by optimizing this criterion function.In this way,this scheme has a higher degree of freedom and better adaptive adjustment capability while not excessively increasing the control method complexity,and it can also be compatible with other forms of dynamic linearization techniques in MRSs.Further,three matrix norm lemmas are introduced to deal with the challenges of stability analysis caused by higher matrix dimensions and more robots.Finally,the effectiveness of the proposed method is verified by numerical simulations.展开更多
An efficient method using multiwalled carbon nanotubes(MWCNTs)as dispersive solid-phase extraction sorbent was established for determining chlorantraniliprole residues in fresh tea leaves,which are known to be a troub...An efficient method using multiwalled carbon nanotubes(MWCNTs)as dispersive solid-phase extraction sorbent was established for determining chlorantraniliprole residues in fresh tea leaves,which are known to be a troublesome matrix containing abundant pigments,via gas chromatography with an electron capture detector.Acetonitrile was used as the extraction solvent,with sodium chloride enhancing the analyte partition in the organic phase.The optimal mixture of MWCNTs and primary secondary amine(PSA)was based on the distribution of the target analyte recovery and on the clean-up efficiency;while matrix-matched calibration was recommended to combat the matrix effect.Mean recoveries of 95.2%–108.8%were obtained with intraday and interday precisions of less than 7.9%and 10.3%,respectively.Good linearity was observed for concentrations of 0.02–1.0 mg/kg with a correlation coefficient of 0.9984.The limits of detection and quantification were 0.005 mg/kg and 0.02 mg/kg,respectively.The method was employed to investigate the dissipation dynamics of chlorantraniliprole in fresh tea leaves with real field samples.Consequently,the dissipation rates of chlorantraniliprole in fresh tea leaves followed pseudo-first-order kinetics with a half-life of 1.9 d,and the average chlorantraniliprole residue content was below 0.02 mg/kg with a harvest withholding period of 14 d.展开更多
Autologous submandibular gland（SMG） transplantation has been proved to ameliorate the discomforts in patients with severe keratoconjunctivitis sicca. The transplanted glands underwent a hypofunctional period and the...Autologous submandibular gland（SMG） transplantation has been proved to ameliorate the discomforts in patients with severe keratoconjunctivitis sicca. The transplanted glands underwent a hypofunctional period and then restored secretion spontaneously.This study aims to investigate whether autonomic nerves reinnervate the grafts and contribute to the functional recovery, and further determine the origin of these nerves. Parts of the transplanted SMGs were collected from the epiphora patients, and a rabbit SMG transplantation model was established to fulfill the serial observation on the transplanted glands with time. The results showed that autonomic nerves distributed in the transplanted SMGs and parasympathetic ganglionic cells were observed in the stroma of the glands. Low-dense and unevenly distributed cholinergic axons, severe acinar atrophy and fibrosis were visible in the patients＇ glands 4–6 months post-transplantation, whereas the cholinergic axon density and acinar area were increased with time. The acinar area or the secretory flow rate of the transplanted glands was statistically correlated with the cholinergic axon density in the rabbit model, respectively. Meanwhile, large cholinergic nerve trunks were found to locate in the temporal fascia lower to the gland, and sympathetic plexus concomitant with the arteries was observed both in the adjacent fascia and in the stroma of the glands. In summary, the transplanted SMGs are reinnervated by autonomic nerves and the cholinergic nerves play a role in the morphological and functional restoration of the glands. Moreover, these autonomic nerves might originate from the auriculotemporal nerve and the sympathetic plexus around the supplying arteries.展开更多
Peroxidase plays an important role in living systems;however,its storage difficulty and easy inactivation have limited its applications in complex environments.To address these problems,herein,we proposed a method to ...Peroxidase plays an important role in living systems;however,its storage difficulty and easy inactivation have limited its applications in complex environments.To address these problems,herein,we proposed a method to synthesize peroxidase mimics by amination,carbonization,and Fe^(3+)-doping of industrial alkali lignin.The Fe^(3+)-doped lignin-based peroxidase mimic(Fe-LPM),with active centers of coordination between Fe^(3+)and N atoms,showed higher tolerance to pH value and temperature than natural peroxidase.Using Fe-LPM,10-100 mmol/L of H_(2)O_(2) and glucose could be colorimetrically detected with the lowest detection limits of 80μmol/L and 1.5 mmol/L and visual detection limits of 1.0 mmol/L and 10 mmol/L,respectively.The Fe-LPM maintained peroxidase-like activity after 10 cycles and could even be used for H_(2)O_(2) detection in practical samples.This work not only provides a new approach to synthesize peroxidase mimics using biomass materials but also promotes the high-value utilization of lignin.展开更多
Functional human hepatocytes are one of the most significant tools for studying drug absorption, distribution, metabolism and excretion/toxicity （ADME/Tox）, especially for applications in preclinical drug developme...Functional human hepatocytes are one of the most significant tools for studying drug absorption, distribution, metabolism and excretion/toxicity （ADME/Tox）, especially for applications in preclinical drug development （Sahi et al., 2010; Godoy et al., 2013）. They provide the closest in vitro model to the human liver and the only model that mimics the drug metabolic profiles found in vivo. However, these cells lose their metabolic function rapidly and dramatically during the in vitro culture process, which largely hinders their wider application in drug development （Sahi et al., 2010; Godoy et al., 2013）. To overcome this obstacle, it is important to regulate the activities of key genes which are responsible for the detoxification metabolic function of human hepatocytes.展开更多
Stem/progenitor cells are important for salivary gland development, homeostasis maintenance, and regeneration following injury.Keratin-14^(+)(K14^(+)) cells have been recognized as bona fide salivary gland stem/progen...Stem/progenitor cells are important for salivary gland development, homeostasis maintenance, and regeneration following injury.Keratin-14^(+)(K14^(+)) cells have been recognized as bona fide salivary gland stem/progenitor cells. However, K14 is also expressed in terminally differentiated myoepithelial cells;therefore, more accurate molecular markers for identifying salivary stem/progenitor cells are required. The intraflagellar transport(IFT) protein IFT140 is a core component of the IFT system that functions in signaling transduction through the primary cilia. It is reportedly expressed in mesenchymal stem cells and plays a role in bone formation. In this study, we demonstrated that IFT140 was intensively expressed in K14^(+)stem/progenitor cells during the developmental period and early regeneration stage following ligation-induced injuries in murine submandibular glands. In addition, we demonstrated that IFT140^(+)/K14^(+)could self-renew and differentiate into granular duct cells at the developmental stage in vivo. The conditional deletion of Ift140 from K14^(+)cells caused abnormal epithelial structure and function during salivary gland development and inhibited regeneration. IFT140 partly coordinated the function of K14^(+)stem/progenitor cells by modulating ciliary membrane trafficking. Our investigation identified a combined marker, IFT140^(+)/K14^(+), for salivary gland stem/progenitor cells and elucidated the essential role of IFT140 and cilia in regulating salivary stem/progenitor cell differentiation and gland regeneration.展开更多
The seepage of pore fluids in subsurface rocks under a pressure gradient can alter the stress state of the strata and induce magnetic variation through the piezomagnetic effect.This is a possible reason for the genera...The seepage of pore fluids in subsurface rocks under a pressure gradient can alter the stress state of the strata and induce magnetic variation through the piezomagnetic effect.This is a possible reason for the generation of geomagnetic field anomaly.Previous studies on the piezomagnetic effect mainly focused on the steady magnetic field changes caused by static stress,while the dynamic piezomagnetic response associated with fluid seepage processes has not been adequately studied.In this paper,we employ the finite element method to simulate the dynamic piezomagnetic response during gas injection and extraction processes,and investigate the characteristics of the piezomagnetic field.First,using a homogeneous model,we simulate the piezomagnetic response during the short-term rapid gas injection and the long-term continuous gas injection and extraction,respectively.Second,we investigate the effects of initial intensity and declination of the magnetization in local surface regions on the distribution of the surface magnetic field.Finally,we simulate the variations in the surface magnetic field induced by piezomagnetic effects during the gas injection and extraction processes in the Hutubi underground gas storage.The results indicate that:(1) For short-term rapid gas injection,the magnetic field reaches its peak at the end of the injection and subsequently decays gradually over time.The peak amplitude of the magnetic field depends on the rock permeability,while the peak time is nearly unaffected by the permeability.In contrast,for long-term continuous gas injection and extraction,the magnetic field reaches its peak several days after the injection rate attains its maximum,followed by a gradual decay.In this case,both the peak amplitude and peak time are controlled by the permeability.(2) The total intensity of the surface magnetic field is jointly regulated by the initial intensity and declination of the magnetization of the rocks,whereas the polarity distribution is primarily determined by the magnetization direction.(3) In the Hutubi area,the simulated surface magnetic field intensity exhibits an initial increase followed by a decrease during the injection-extraction process,which shows good consistency with the magnetic field changes observed during the injection period.The results of the present study provide a theoretical basis for future applications of geomagnetic anomalies in the inversion of the subsurface fluid migration,and also offer valuable insights into the mechanisms of the geomagnetic anomalies observed prior to earthquakes.展开更多
Autophagy is a catabolic process which is involved in the development of many diseases including diabetes mellitus and its complications. Hyposalivation is a common complication of diabetes mellitus, whereas its mecha...Autophagy is a catabolic process which is involved in the development of many diseases including diabetes mellitus and its complications. Hyposalivation is a common complication of diabetes mellitus, whereas its mechanism remains unclear. Here, we observed that the stimulated salivary flow rate of SMG was significantly decreased in db/db mice, a diabetic mice model. The expressions of aquaporin 5(AQP5), a water channel protein, were decreased, whereas the m RNA level of AQP5 was increased in SMGs of both diabetic patients and mice. Under transmission electron microcope, more autophagosomes were detected in diabetic SMGs. Expressions of autophagy related proteins LC3 II, Beclin-1 and ATG5 were increased, meanwhile autophagy substrate p62 was decreased in SMGs of diabetic patients and mice, indicating that autophagy was activated in diabetic SMG.Double immunofluorescence staining showed that the colocalization of AQP5 and LC3 was increased in SMGs of diabetic mice.In cultured SMG-C6 cells, high glucose(HG), but not high osmotic pressure, reduced AQP5 protein expression and induced autophagy. Moreover, inhibition of autophagy by 3-methyladenin, an autophagy inhibitor, or by autophagy-related gene 5 siRNA, decreased HG-induced AQP5 reduction in SMG-C6 cells. Additionally, the expression of p-p85, p-Akt and p-mTOR were decreased in HG-treated SMG-C6 cells. Pretreatment with 740 Y-P, a PI3 K agonist, significantly suppressed HG-induced autophagy and AQP5 degradation. Taken together, these results indicate that autophagy plays a crucial role in AQP5 degradation in diabetic SMG via PI3 K/Akt/mTOR signaling pathway, which contributes to the dysfunction of diabetic SMG. Our study provides a novel mechanism of diabetic hyposalivation.展开更多
基金supported in part by the National Natural Science Foundation of China(62473142,62203161)Special Funding Support for the Construction of Innovative Provinces in Hunan Province(2021GK1010)+1 种基金Guangdong Basic and Applied Basic Research Foundation(2024A1515011579),Project of State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle(72275007).
文摘In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a large workpiece is described as the MRSs with cooperation and antagonism interaction.By the signed graph theory,it is further transformed into a bipartite consensus control problem,where all followers are uniformly degenerated into the general nonlinear systems based on the lateral error model.To augment the flexibility of control protocol and improve control performance,a higher-dimensional full form dynamic linearization(FFDL)technique is committed to the MRSs.The control input criterion function consists of the data model based on FFDL and the bipartite consensus error based on the signed graph theory,and the proposed control protocol is given by optimizing this criterion function.In this way,this scheme has a higher degree of freedom and better adaptive adjustment capability while not excessively increasing the control method complexity,and it can also be compatible with other forms of dynamic linearization techniques in MRSs.Further,three matrix norm lemmas are introduced to deal with the challenges of stability analysis caused by higher matrix dimensions and more robots.Finally,the effectiveness of the proposed method is verified by numerical simulations.
基金Science and Technology Project of Suzhou(Grant Nos.:SNG201622 and SNG201644)。
文摘An efficient method using multiwalled carbon nanotubes(MWCNTs)as dispersive solid-phase extraction sorbent was established for determining chlorantraniliprole residues in fresh tea leaves,which are known to be a troublesome matrix containing abundant pigments,via gas chromatography with an electron capture detector.Acetonitrile was used as the extraction solvent,with sodium chloride enhancing the analyte partition in the organic phase.The optimal mixture of MWCNTs and primary secondary amine(PSA)was based on the distribution of the target analyte recovery and on the clean-up efficiency;while matrix-matched calibration was recommended to combat the matrix effect.Mean recoveries of 95.2%–108.8%were obtained with intraday and interday precisions of less than 7.9%and 10.3%,respectively.Good linearity was observed for concentrations of 0.02–1.0 mg/kg with a correlation coefficient of 0.9984.The limits of detection and quantification were 0.005 mg/kg and 0.02 mg/kg,respectively.The method was employed to investigate the dissipation dynamics of chlorantraniliprole in fresh tea leaves with real field samples.Consequently,the dissipation rates of chlorantraniliprole in fresh tea leaves followed pseudo-first-order kinetics with a half-life of 1.9 d,and the average chlorantraniliprole residue content was below 0.02 mg/kg with a harvest withholding period of 14 d.
基金supported by grants from the National Natural Science Foundation of China(No.81671005 and 81470756)
文摘Autologous submandibular gland（SMG） transplantation has been proved to ameliorate the discomforts in patients with severe keratoconjunctivitis sicca. The transplanted glands underwent a hypofunctional period and then restored secretion spontaneously.This study aims to investigate whether autonomic nerves reinnervate the grafts and contribute to the functional recovery, and further determine the origin of these nerves. Parts of the transplanted SMGs were collected from the epiphora patients, and a rabbit SMG transplantation model was established to fulfill the serial observation on the transplanted glands with time. The results showed that autonomic nerves distributed in the transplanted SMGs and parasympathetic ganglionic cells were observed in the stroma of the glands. Low-dense and unevenly distributed cholinergic axons, severe acinar atrophy and fibrosis were visible in the patients＇ glands 4–6 months post-transplantation, whereas the cholinergic axon density and acinar area were increased with time. The acinar area or the secretory flow rate of the transplanted glands was statistically correlated with the cholinergic axon density in the rabbit model, respectively. Meanwhile, large cholinergic nerve trunks were found to locate in the temporal fascia lower to the gland, and sympathetic plexus concomitant with the arteries was observed both in the adjacent fascia and in the stroma of the glands. In summary, the transplanted SMGs are reinnervated by autonomic nerves and the cholinergic nerves play a role in the morphological and functional restoration of the glands. Moreover, these autonomic nerves might originate from the auriculotemporal nerve and the sympathetic plexus around the supplying arteries.
基金The authors are grateful for the financial support by the
文摘Peroxidase plays an important role in living systems;however,its storage difficulty and easy inactivation have limited its applications in complex environments.To address these problems,herein,we proposed a method to synthesize peroxidase mimics by amination,carbonization,and Fe^(3+)-doping of industrial alkali lignin.The Fe^(3+)-doped lignin-based peroxidase mimic(Fe-LPM),with active centers of coordination between Fe^(3+)and N atoms,showed higher tolerance to pH value and temperature than natural peroxidase.Using Fe-LPM,10-100 mmol/L of H_(2)O_(2) and glucose could be colorimetrically detected with the lowest detection limits of 80μmol/L and 1.5 mmol/L and visual detection limits of 1.0 mmol/L and 10 mmol/L,respectively.The Fe-LPM maintained peroxidase-like activity after 10 cycles and could even be used for H_(2)O_(2) detection in practical samples.This work not only provides a new approach to synthesize peroxidase mimics using biomass materials but also promotes the high-value utilization of lignin.
基金supported by the International Science & Technology Cooperation Program of China (No. 2013DFG30680)the National Major Science and Technology Project for Infectious Diseases of China (No. 2012ZX10004503)
文摘Functional human hepatocytes are one of the most significant tools for studying drug absorption, distribution, metabolism and excretion/toxicity （ADME/Tox）, especially for applications in preclinical drug development （Sahi et al., 2010; Godoy et al., 2013）. They provide the closest in vitro model to the human liver and the only model that mimics the drug metabolic profiles found in vivo. However, these cells lose their metabolic function rapidly and dramatically during the in vitro culture process, which largely hinders their wider application in drug development （Sahi et al., 2010; Godoy et al., 2013）. To overcome this obstacle, it is important to regulate the activities of key genes which are responsible for the detoxification metabolic function of human hepatocytes.
基金supported by the grants from the National Natural Science Foundation of China(Nos.82101035,81822012,82061130222,81771043,92049201)the Natural Science Foundation of Shanghai Municipality(No.21ZR1469100)+1 种基金Shanghai Academic Leader of Science and Technology Innovation Action Plan(20XD1424000)the Shanghai Experimental Animal Research Project of Science and Technology Innovation Action Plan(8191101676,201409006400)。
文摘Stem/progenitor cells are important for salivary gland development, homeostasis maintenance, and regeneration following injury.Keratin-14^(+)(K14^(+)) cells have been recognized as bona fide salivary gland stem/progenitor cells. However, K14 is also expressed in terminally differentiated myoepithelial cells;therefore, more accurate molecular markers for identifying salivary stem/progenitor cells are required. The intraflagellar transport(IFT) protein IFT140 is a core component of the IFT system that functions in signaling transduction through the primary cilia. It is reportedly expressed in mesenchymal stem cells and plays a role in bone formation. In this study, we demonstrated that IFT140 was intensively expressed in K14^(+)stem/progenitor cells during the developmental period and early regeneration stage following ligation-induced injuries in murine submandibular glands. In addition, we demonstrated that IFT140^(+)/K14^(+)could self-renew and differentiate into granular duct cells at the developmental stage in vivo. The conditional deletion of Ift140 from K14^(+)cells caused abnormal epithelial structure and function during salivary gland development and inhibited regeneration. IFT140 partly coordinated the function of K14^(+)stem/progenitor cells by modulating ciliary membrane trafficking. Our investigation identified a combined marker, IFT140^(+)/K14^(+), for salivary gland stem/progenitor cells and elucidated the essential role of IFT140 and cilia in regulating salivary stem/progenitor cell differentiation and gland regeneration.
基金supported by the National Natural Science Foundation of China(Grant Nos.42174084&42361144794)the Open Fund of the State Key Laboratory of Geo Hazard Prevention and Geoenvironment Protection(Grant No.SKLGP2025K009)。
文摘The seepage of pore fluids in subsurface rocks under a pressure gradient can alter the stress state of the strata and induce magnetic variation through the piezomagnetic effect.This is a possible reason for the generation of geomagnetic field anomaly.Previous studies on the piezomagnetic effect mainly focused on the steady magnetic field changes caused by static stress,while the dynamic piezomagnetic response associated with fluid seepage processes has not been adequately studied.In this paper,we employ the finite element method to simulate the dynamic piezomagnetic response during gas injection and extraction processes,and investigate the characteristics of the piezomagnetic field.First,using a homogeneous model,we simulate the piezomagnetic response during the short-term rapid gas injection and the long-term continuous gas injection and extraction,respectively.Second,we investigate the effects of initial intensity and declination of the magnetization in local surface regions on the distribution of the surface magnetic field.Finally,we simulate the variations in the surface magnetic field induced by piezomagnetic effects during the gas injection and extraction processes in the Hutubi underground gas storage.The results indicate that:(1) For short-term rapid gas injection,the magnetic field reaches its peak at the end of the injection and subsequently decays gradually over time.The peak amplitude of the magnetic field depends on the rock permeability,while the peak time is nearly unaffected by the permeability.In contrast,for long-term continuous gas injection and extraction,the magnetic field reaches its peak several days after the injection rate attains its maximum,followed by a gradual decay.In this case,both the peak amplitude and peak time are controlled by the permeability.(2) The total intensity of the surface magnetic field is jointly regulated by the initial intensity and declination of the magnetization of the rocks,whereas the polarity distribution is primarily determined by the magnetization direction.(3) In the Hutubi area,the simulated surface magnetic field intensity exhibits an initial increase followed by a decrease during the injection-extraction process,which shows good consistency with the magnetic field changes observed during the injection period.The results of the present study provide a theoretical basis for future applications of geomagnetic anomalies in the inversion of the subsurface fluid migration,and also offer valuable insights into the mechanisms of the geomagnetic anomalies observed prior to earthquakes.
基金supported by National Natural Science Foundation of China (81570993, 81671005)Beijing Natural Science Foundation of China (7162100)
文摘Autophagy is a catabolic process which is involved in the development of many diseases including diabetes mellitus and its complications. Hyposalivation is a common complication of diabetes mellitus, whereas its mechanism remains unclear. Here, we observed that the stimulated salivary flow rate of SMG was significantly decreased in db/db mice, a diabetic mice model. The expressions of aquaporin 5(AQP5), a water channel protein, were decreased, whereas the m RNA level of AQP5 was increased in SMGs of both diabetic patients and mice. Under transmission electron microcope, more autophagosomes were detected in diabetic SMGs. Expressions of autophagy related proteins LC3 II, Beclin-1 and ATG5 were increased, meanwhile autophagy substrate p62 was decreased in SMGs of diabetic patients and mice, indicating that autophagy was activated in diabetic SMG.Double immunofluorescence staining showed that the colocalization of AQP5 and LC3 was increased in SMGs of diabetic mice.In cultured SMG-C6 cells, high glucose(HG), but not high osmotic pressure, reduced AQP5 protein expression and induced autophagy. Moreover, inhibition of autophagy by 3-methyladenin, an autophagy inhibitor, or by autophagy-related gene 5 siRNA, decreased HG-induced AQP5 reduction in SMG-C6 cells. Additionally, the expression of p-p85, p-Akt and p-mTOR were decreased in HG-treated SMG-C6 cells. Pretreatment with 740 Y-P, a PI3 K agonist, significantly suppressed HG-induced autophagy and AQP5 degradation. Taken together, these results indicate that autophagy plays a crucial role in AQP5 degradation in diabetic SMG via PI3 K/Akt/mTOR signaling pathway, which contributes to the dysfunction of diabetic SMG. Our study provides a novel mechanism of diabetic hyposalivation.
