Objective:To investigate the mechanism by which moxibustion regulates the expression of inflammatory cytokines in ulcerative colitis(UC)rats through the P2X7 receptor(P2X7R)/nuclear factor-kappa B(NF-κB)pathway.Metho...Objective:To investigate the mechanism by which moxibustion regulates the expression of inflammatory cytokines in ulcerative colitis(UC)rats through the P2X7 receptor(P2X7R)/nuclear factor-kappa B(NF-κB)pathway.Methods:UC was induced using dextran sulfate sodium(DSS)in both wild-type(WT)and P2X7R knockout(KO)mice.General health conditions,pathological changes,and periodic acid-Schiff(PAS)staining of the colonic tissues were analyzed.Immunohistochemistry was used to detect NF-κB p65 protein expression in colonic tissues.Male Sprague-Dawley(SD)rats were randomly assigned to four groups:normal,model,normal+herb-partitioned moxibustion,and model+herb-partitioned moxibustion.UC was induced in rats by cyclic DSS administration.Rats in the herb-partitioned moxibustion group received moxibustion at the bilateral Tianshu(ST25)and Qihai(RN6)acupoints.The effects of herb-partitioned moxibustion were evaluated regarding general health conditions and histopathological alterations in colon tissue.The protein expression of P2X7R and NF-κB p65 in colonic tissues was determined by immunohistochemistry,whereas interleukin(IL)-10 mRNA levels were quantified using real-time quantitative polymerase chain reaction(RT-qPCR).Furthermore,enzyme-linked immunosorbent assay(ELISA)was used to measure serum concentrations of tumor necrosis factor-alpha(TNF-α)and IL-6.Results:Colonic epithelial damage and inflammatory cell infiltration were significantly reduced in P2X7R KO mice compared to WT mice,along with reduced expression of NF-κB p65 protein in colonic tissues(P<0.05).Moxibustion improves histopathological damage,goblet cell number,and intestinal mucus secretion in rats with UC.Compared to the normal group,the model group exhibited increased histopathological scores,serum TNF-α,and IL-6 levels,as well as elevated P2X7R and NF-κB p65 protein expression in colonic tissues(P<0.05).In comparison to the model group,the model+herb-partitioned moxibustion group demonstrated significantly lower histopathological scores,reduced serum TNF-αand IL-6 levels,and decreased P2X7R and NF-κB p65 protein expression(P<0.05).Conclusions:Moxibustion at“Tianshu”and“Qihai”acupoints may inhibit the levels of IL-6 and TNF-αinflammatory factors and reduce inflammation in the UC colonic mucosa by regulating the P2X7R/NF-κB p65 pathway in UC colonic tissues.展开更多
基于单树随机树搜索算法(Single directional rapidly-exploring random tree,single-RRT)和双树随机树搜索算法(Bi-directional rapidly-exploring random tree,bi-RRT),对7R机械臂的避障达点运动规划展开系统研究。基于single-RRT算...基于单树随机树搜索算法(Single directional rapidly-exploring random tree,single-RRT)和双树随机树搜索算法(Bi-directional rapidly-exploring random tree,bi-RRT),对7R机械臂的避障达点运动规划展开系统研究。基于single-RRT算法进行避障达点运动的数值仿真和实物样机试验。提出一种新的bi-RRT算法,结合末端姿态调整和关节自运动来生成目标树。并利用7R机械臂的解析逆解,生成目标位形。传统的bi-RRT算法只给定了一个目标位形,而新算法中目标点树根是由一群目标位形组成。在给定的障碍物环境中,机器人自动选择某一合适的位形作为目标节点来引导搜索树最有效地生长。通过数值仿真,验证该方法的优越性。利用Matlab和C++的混合编程和OpenGL开发了7R机械臂避障达点运动规划仿真软件。利用该软件,对基于bi-RRT的7R机械臂避障达点运动规划进行虚拟样机的试验研究。展开更多
One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three ...One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.展开更多
基金funded by the National Natural Science Foundation of China(82174501,82105012,82205293,82205262)Shanghai Municipal Natural Science Foundation(22ZR1458400)+2 种基金Shanghai Talent Development Fund Project(2021058)Shanghai University of Traditional Chinese Medicine Science and Technology Development Project(23KFL111)State Administration of Traditional Chinese Medicine high-level key discipline construction project(zyyzdxk-2023068)。
文摘Objective:To investigate the mechanism by which moxibustion regulates the expression of inflammatory cytokines in ulcerative colitis(UC)rats through the P2X7 receptor(P2X7R)/nuclear factor-kappa B(NF-κB)pathway.Methods:UC was induced using dextran sulfate sodium(DSS)in both wild-type(WT)and P2X7R knockout(KO)mice.General health conditions,pathological changes,and periodic acid-Schiff(PAS)staining of the colonic tissues were analyzed.Immunohistochemistry was used to detect NF-κB p65 protein expression in colonic tissues.Male Sprague-Dawley(SD)rats were randomly assigned to four groups:normal,model,normal+herb-partitioned moxibustion,and model+herb-partitioned moxibustion.UC was induced in rats by cyclic DSS administration.Rats in the herb-partitioned moxibustion group received moxibustion at the bilateral Tianshu(ST25)and Qihai(RN6)acupoints.The effects of herb-partitioned moxibustion were evaluated regarding general health conditions and histopathological alterations in colon tissue.The protein expression of P2X7R and NF-κB p65 in colonic tissues was determined by immunohistochemistry,whereas interleukin(IL)-10 mRNA levels were quantified using real-time quantitative polymerase chain reaction(RT-qPCR).Furthermore,enzyme-linked immunosorbent assay(ELISA)was used to measure serum concentrations of tumor necrosis factor-alpha(TNF-α)and IL-6.Results:Colonic epithelial damage and inflammatory cell infiltration were significantly reduced in P2X7R KO mice compared to WT mice,along with reduced expression of NF-κB p65 protein in colonic tissues(P<0.05).Moxibustion improves histopathological damage,goblet cell number,and intestinal mucus secretion in rats with UC.Compared to the normal group,the model group exhibited increased histopathological scores,serum TNF-α,and IL-6 levels,as well as elevated P2X7R and NF-κB p65 protein expression in colonic tissues(P<0.05).In comparison to the model group,the model+herb-partitioned moxibustion group demonstrated significantly lower histopathological scores,reduced serum TNF-αand IL-6 levels,and decreased P2X7R and NF-κB p65 protein expression(P<0.05).Conclusions:Moxibustion at“Tianshu”and“Qihai”acupoints may inhibit the levels of IL-6 and TNF-αinflammatory factors and reduce inflammation in the UC colonic mucosa by regulating the P2X7R/NF-κB p65 pathway in UC colonic tissues.
文摘基于单树随机树搜索算法(Single directional rapidly-exploring random tree,single-RRT)和双树随机树搜索算法(Bi-directional rapidly-exploring random tree,bi-RRT),对7R机械臂的避障达点运动规划展开系统研究。基于single-RRT算法进行避障达点运动的数值仿真和实物样机试验。提出一种新的bi-RRT算法,结合末端姿态调整和关节自运动来生成目标树。并利用7R机械臂的解析逆解,生成目标位形。传统的bi-RRT算法只给定了一个目标位形,而新算法中目标点树根是由一群目标位形组成。在给定的障碍物环境中,机器人自动选择某一合适的位形作为目标节点来引导搜索树最有效地生长。通过数值仿真,验证该方法的优越性。利用Matlab和C++的混合编程和OpenGL开发了7R机械臂避障达点运动规划仿真软件。利用该软件,对基于bi-RRT的7R机械臂避障达点运动规划进行虚拟样机的试验研究。
基金The National High Technology Research and Development Program of China(863Program)(No.2006AA040202)
文摘One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.
