To address the problem of multi-missile cooperative interception against maneuvering targets at a prespecified impact time and desired Line-of-Sight(LOS)angles in ThreeDimensional(3D)space,this paper proposes a 3D lea...To address the problem of multi-missile cooperative interception against maneuvering targets at a prespecified impact time and desired Line-of-Sight(LOS)angles in ThreeDimensional(3D)space,this paper proposes a 3D leader-following cooperative interception guidance law.First,in the LOS direction of the leader,an impact time-controlled guidance law is derived based on the fixed-time stability theory,which enables the leader to complete the interception task at a prespecified impact time.Next,in the LOS direction of the followers,by introducing a time consensus tracking error function,a fixed-time consensus tracking guidance law is investigated to guarantee the consensus tracking convergence of the time-to-go.Then,in the direction normal to the LOS,by combining the designed global integral sliding mode surface and the second-order Sliding Mode Control(SMC)theory,an innovative 3D LOS-angle-constrained interception guidance law is developed,which eliminates the reaching phase in the traditional sliding mode guidance laws and effectively saves energy consumption.Moreover,it effectively suppresses the chattering phenomenon while avoiding the singularity issue,and compensates for unknown interference caused by target maneuvering online,making it convenient for practical engineering applications.Finally,theoretical proof analysis and multiple sets of numerical simulation results verify the effectiveness,superiority,and robustness of the investigated guidance law.展开更多
Positional information plays a crucial role in embryonic pattern formation,yet its role in tooth development remains unexplored.In this study,we investigated the regional specification of lingual and buccal dental mes...Positional information plays a crucial role in embryonic pattern formation,yet its role in tooth development remains unexplored.In this study,we investigated the regional specification of lingual and buccal dental mesenchyme during tooth development.Tooth germs at the cap stage were dissected from mouse mandibles,and their lingual and buccal mesenchymal regions were separated for bulk RNA sequencing.Gene ontology analysis revealed that odontogenesis,pattern specification,and proliferation-related genes were enriched in the lingual mesenchyme,whereas stem cell development,mesenchymal differentiation,neural crest differentiation,and regeneration-related genes were predominant in the buccal mesenchyme.Reaggregation experiments using Wnt1^(cre ERT/+);R26R^(td T/+)and WT mouse models demonstrated that lingual mesenchyme contributes to tooth formation,while buccal mesenchyme primarily supports surrounding tissues.Furthermore,only the lingual part of tooth germs exhibited odontogenic potential when cultured in vitro and transplanted under the kidney capsule.Bulk RNA transcriptomic analysis further validated the regional specification of the lingual and buccal mesenchyme.These findings provide novel insights into the molecular basis of positional information in tooth development and pattern formation.展开更多
Background The prognostic significance of the affected hemisphere in haemorrhagic stroke remains uncertain.We aimed to determine the relationship between the affected hemisphere(right or left)and differences in non-mo...Background The prognostic significance of the affected hemisphere in haemorrhagic stroke remains uncertain.We aimed to determine the relationship between the affected hemisphere(right or left)and differences in non-motor outcomes,including mood and pain,in patients with acute,supratentorial intracerebral haemorrhage(ICH).These non-motor outcomes are often overlooked in studies following ICH but impact patient recovery and well-being.Methods A secondary prespecified analysis of the Minimally Invasive Surgery with Thrombolysis in Intracerebral Hemorrhage Evacuation(MISTIE)Ⅲ study-a randomised,international,multicentre,placebo-controlled trial of participants with spontaneous,non-traumatic,supratentorial ICH of 30 mL or more that evaluated minimally invasive surgery with thrombolysis compared with standard medical care.Outcomes included EQ-5D three-level version(EQ-5D 3L,composite and individual non-motor components)and modified Rankin scale(mRS)scores at days 30,180 and 365 post-ICH.Results A total of 493 participants were eligible for analysis at day 30 following ICH.In multivariable analyses,patients with right hemispheric ICH were more likely to report problems with pain and discomfort at days 30(β=0.257(95%CI 0.131,0.383)),180(β=0.213(95%CI 0.090,0.336))and 365(β=0.209(95%CI 0.090,0.328))post-ICH.Patients with right hemispheric ICH were also more likely to report problems with anxiety and depression at days 30(β=0.160(95%CI 0.030,0.291))and 180(β=0.171(95%CI 0.049,0.293))following ICH.There were no differences in mRS scores between patients with left or right-sided haemorrhages.Conclusions Right hemispheric lesions were associated with increased reports of mood-related symptoms(depression,anxiety)and pain in patients with acute ICH over time.展开更多
Objective The Antiplatelet versus R-tPA for Acute Mild Ischaemic Stroke trial has demonstrated the non-inferiority of dual antiplatelet therapy(DAPT)to alteplase in minor non-disabling stroke.This prespecified seconda...Objective The Antiplatelet versus R-tPA for Acute Mild Ischaemic Stroke trial has demonstrated the non-inferiority of dual antiplatelet therapy(DAPT)to alteplase in minor non-disabling stroke.This prespecified secondary analysis aimed to investigate whether the treatment effects were similar across stroke territories.Methods Participants were divided according to stroke territory,which were subdivided into DAPT and alteplase.An excellent functional outcome at 90 days defined as modified Rankin Scale scoring 0–1 was primary outcome.National Institutes of Health Stroke Scale(NIHSS)score change and early neurological improvement measured by a 2-point decline in NIHSS score at 24 hours were secondary outcomes.Symptomatic intracerebral haemorrhage(sICH)and bleeding events were safety outcomes.Primary analyses adjusted unbalanced baseline characteristics between treatments by multivariate logistic regression.Results A total of 719 patients were included:566 in anterior circulation stroke(ACS)and 153 in posterior circulation stroke(PCS).Primary outcome was 94.1%in DAPT and 91.7%in alteplase among ACS patients(adjusted risk difference(RD)and 95%CI,1.5%(−1.5%to 4.6%),p=0.32),while 91.2%in DAPT and 91.8%in alteplase among PCS patients(adjusted RD and 95%CI,−2.1%(−8.5%to 4.4%),p=0.53).Compared with alteplase,DAPT was associated with lower risk of sICH(p=0.03)and bleeding events(p<0.001)in ACS,but only lower risk of bleeding events(p=0.007)in PCS.Additionally,among ACS patients,the alteplase was superior to DAPT in terms of decrease in NIHSS score at 24 hours compared with admission(adjusted geometric mean ratio and 95%CI,−0.09(−0.16 to−0.03),p=0.005)and early neurological improvement(adjusted RD and 95%CI,−7.2%(−11.6%to−2.7%),p=0.001).Conclusion Among ischaemic stroke with minor non-disabling symptoms,DAPT was similar with intravenous alteplase regarding long-term functional outcome and better safety regardless of ACS or PCS.The potential benefit of intravenous alteplase regarding early neurological improvement in patients with ACS warrants further investigation.Trial registration number NCT03661411.展开更多
文摘To address the problem of multi-missile cooperative interception against maneuvering targets at a prespecified impact time and desired Line-of-Sight(LOS)angles in ThreeDimensional(3D)space,this paper proposes a 3D leader-following cooperative interception guidance law.First,in the LOS direction of the leader,an impact time-controlled guidance law is derived based on the fixed-time stability theory,which enables the leader to complete the interception task at a prespecified impact time.Next,in the LOS direction of the followers,by introducing a time consensus tracking error function,a fixed-time consensus tracking guidance law is investigated to guarantee the consensus tracking convergence of the time-to-go.Then,in the direction normal to the LOS,by combining the designed global integral sliding mode surface and the second-order Sliding Mode Control(SMC)theory,an innovative 3D LOS-angle-constrained interception guidance law is developed,which eliminates the reaching phase in the traditional sliding mode guidance laws and effectively saves energy consumption.Moreover,it effectively suppresses the chattering phenomenon while avoiding the singularity issue,and compensates for unknown interference caused by target maneuvering online,making it convenient for practical engineering applications.Finally,theoretical proof analysis and multiple sets of numerical simulation results verify the effectiveness,superiority,and robustness of the investigated guidance law.
基金The National Research Foundation of Korea(NRF)Grant funded by the Korea Government(MSIP)(RS-2024-00459728,RS-2025-00553972)supported this work。
文摘Positional information plays a crucial role in embryonic pattern formation,yet its role in tooth development remains unexplored.In this study,we investigated the regional specification of lingual and buccal dental mesenchyme during tooth development.Tooth germs at the cap stage were dissected from mouse mandibles,and their lingual and buccal mesenchymal regions were separated for bulk RNA sequencing.Gene ontology analysis revealed that odontogenesis,pattern specification,and proliferation-related genes were enriched in the lingual mesenchyme,whereas stem cell development,mesenchymal differentiation,neural crest differentiation,and regeneration-related genes were predominant in the buccal mesenchyme.Reaggregation experiments using Wnt1^(cre ERT/+);R26R^(td T/+)and WT mouse models demonstrated that lingual mesenchyme contributes to tooth formation,while buccal mesenchyme primarily supports surrounding tissues.Furthermore,only the lingual part of tooth germs exhibited odontogenic potential when cultured in vitro and transplanted under the kidney capsule.Bulk RNA transcriptomic analysis further validated the regional specification of the lingual and buccal mesenchyme.These findings provide novel insights into the molecular basis of positional information in tooth development and pattern formation.
文摘Background The prognostic significance of the affected hemisphere in haemorrhagic stroke remains uncertain.We aimed to determine the relationship between the affected hemisphere(right or left)and differences in non-motor outcomes,including mood and pain,in patients with acute,supratentorial intracerebral haemorrhage(ICH).These non-motor outcomes are often overlooked in studies following ICH but impact patient recovery and well-being.Methods A secondary prespecified analysis of the Minimally Invasive Surgery with Thrombolysis in Intracerebral Hemorrhage Evacuation(MISTIE)Ⅲ study-a randomised,international,multicentre,placebo-controlled trial of participants with spontaneous,non-traumatic,supratentorial ICH of 30 mL or more that evaluated minimally invasive surgery with thrombolysis compared with standard medical care.Outcomes included EQ-5D three-level version(EQ-5D 3L,composite and individual non-motor components)and modified Rankin scale(mRS)scores at days 30,180 and 365 post-ICH.Results A total of 493 participants were eligible for analysis at day 30 following ICH.In multivariable analyses,patients with right hemispheric ICH were more likely to report problems with pain and discomfort at days 30(β=0.257(95%CI 0.131,0.383)),180(β=0.213(95%CI 0.090,0.336))and 365(β=0.209(95%CI 0.090,0.328))post-ICH.Patients with right hemispheric ICH were also more likely to report problems with anxiety and depression at days 30(β=0.160(95%CI 0.030,0.291))and 180(β=0.171(95%CI 0.049,0.293))following ICH.There were no differences in mRS scores between patients with left or right-sided haemorrhages.Conclusions Right hemispheric lesions were associated with increased reports of mood-related symptoms(depression,anxiety)and pain in patients with acute ICH over time.
基金Science and Technology Project Plan of Liaoning Province(2023-MSLH-348,2022JH2/101500020)。
文摘Objective The Antiplatelet versus R-tPA for Acute Mild Ischaemic Stroke trial has demonstrated the non-inferiority of dual antiplatelet therapy(DAPT)to alteplase in minor non-disabling stroke.This prespecified secondary analysis aimed to investigate whether the treatment effects were similar across stroke territories.Methods Participants were divided according to stroke territory,which were subdivided into DAPT and alteplase.An excellent functional outcome at 90 days defined as modified Rankin Scale scoring 0–1 was primary outcome.National Institutes of Health Stroke Scale(NIHSS)score change and early neurological improvement measured by a 2-point decline in NIHSS score at 24 hours were secondary outcomes.Symptomatic intracerebral haemorrhage(sICH)and bleeding events were safety outcomes.Primary analyses adjusted unbalanced baseline characteristics between treatments by multivariate logistic regression.Results A total of 719 patients were included:566 in anterior circulation stroke(ACS)and 153 in posterior circulation stroke(PCS).Primary outcome was 94.1%in DAPT and 91.7%in alteplase among ACS patients(adjusted risk difference(RD)and 95%CI,1.5%(−1.5%to 4.6%),p=0.32),while 91.2%in DAPT and 91.8%in alteplase among PCS patients(adjusted RD and 95%CI,−2.1%(−8.5%to 4.4%),p=0.53).Compared with alteplase,DAPT was associated with lower risk of sICH(p=0.03)and bleeding events(p<0.001)in ACS,but only lower risk of bleeding events(p=0.007)in PCS.Additionally,among ACS patients,the alteplase was superior to DAPT in terms of decrease in NIHSS score at 24 hours compared with admission(adjusted geometric mean ratio and 95%CI,−0.09(−0.16 to−0.03),p=0.005)and early neurological improvement(adjusted RD and 95%CI,−7.2%(−11.6%to−2.7%),p=0.001).Conclusion Among ischaemic stroke with minor non-disabling symptoms,DAPT was similar with intravenous alteplase regarding long-term functional outcome and better safety regardless of ACS or PCS.The potential benefit of intravenous alteplase regarding early neurological improvement in patients with ACS warrants further investigation.Trial registration number NCT03661411.
