Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfor...Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.展开更多
Protein biosynthesis by the ribosome is a fundamental biological process in living systems.Recent studies suggest that ribosomal subunits also play essential roles in cell growth and differentiation beyond their roles...Protein biosynthesis by the ribosome is a fundamental biological process in living systems.Recent studies suggest that ribosomal subunits also play essential roles in cell growth and differentiation beyond their roles in protein translation.The ribosomal subunit RPS6 has been studied for more than 50 years in various organisms,but little is known about its specific roles in certain signaling pathways.In this study,we focused on the functions of Arabidopsis RPS6A in auxin-related root growth and development.The rps6a mutant presented a series of auxin-deficient phenotypes,such as shortened primary roots,reduced lateral root numbers,and defective vasculatures.Treatment of the rps6a mutant with various concentrations of auxin and its analogs did not restore the root defect phenotypes,suggesting a defect in the auxin signaling pathway.Further cell biological and global transcriptome analyses revealed that auxin signaling was weakened in the rps6a mutant and that there was a reduced abundance of PIN-FORMED(PIN)auxin transporters.Our work provides insights into the role of the protein biosynthesis pathway involved in auxin signaling.展开更多
Osteoclast-development patterns and their alterations across Ankylosing Spondylitis(AS)conditions are mysterious,making AS treatment difficult.Our study aims to clarify osteoclast-precursor(OCP)development patterns fr...Osteoclast-development patterns and their alterations across Ankylosing Spondylitis(AS)conditions are mysterious,making AS treatment difficult.Our study aims to clarify osteoclast-precursor(OCP)development patterns from monocytes and their variations under AS conditions.We performed single-cell transcriptomics in peripheral blood mononuclear cells(PBMCs)from healthy donors and AS patients in the early,aggravated and remission stages.After monocytic reclustering,OCP-development patterns and the alterations upon AS onset and different outcomes were revealed based on single-cell trajectory.The trajectories revealed two monocyte states with strong OCP features,and AS pathogenesis was characterized by their reduction.Ribosome synthesis was considered the essential function for the development towards OCP-featured states,and this function and its representative molecule,RPS17,showed a decreasing trend with AS onset and outcomes.Histology assessment showed that RPS17underexpression participated in AS inflammatory osteogenesis and ankylosing destruction.Conditional knockout of RPS17ameliorated ovariectomy-induced bone loss and enhanced osteoclastogenesis,and RPS17 overexpression improved the phenotype of AS-like mice.Importantly,local injection of RPS17-overexpressed monocytic OCPs markedly ameliorated the joint alterations of AS-like mice without promoting bone loss;this was associated with enhanced osteoclastogenesis adjacent to the articular surface and T-cell-suppressive property in monocytic OCPs.Overall,the evolution of monocytes towards OCP-lineage fate mainly depends on ribosome synthesis,and OCP-development disorder participates in AS lesions due to a reduction in RPS17-dependent ribosome synthesis.Notably,RPS17-overexpressed monocytic OCPs have translational potential in preventing and treating AS peripheral lesions.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.52275033)National Natural Science Youth Foundation of China(Grant No.52205033)Hebei Provincial Natural Science Foundation of China(Grant No.E2021203019)。
文摘Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.
基金supported by the National Natural Science Foundation of China(32321001)the Forestry Bureau of Anhui Province(AHLYJBGS-2024-01)+3 种基金the Center for Advanced Interdisciplinary Science and Biomedicine of IHM,the Division of Life Sciences and Medicine,the University of Science and Technology of China(QYPY20220012)the USTC Research Funds of the Double First-Class Initiative(YD9100002016)start-up funding from the University of Science and Technology of China and the Chinese Academy of Sciences(GG9100007007,KY9100000026,KY9100000051,KJ2070000079)the Fundamental Research Funds for the Central Universities(WK9100000021)。
文摘Protein biosynthesis by the ribosome is a fundamental biological process in living systems.Recent studies suggest that ribosomal subunits also play essential roles in cell growth and differentiation beyond their roles in protein translation.The ribosomal subunit RPS6 has been studied for more than 50 years in various organisms,but little is known about its specific roles in certain signaling pathways.In this study,we focused on the functions of Arabidopsis RPS6A in auxin-related root growth and development.The rps6a mutant presented a series of auxin-deficient phenotypes,such as shortened primary roots,reduced lateral root numbers,and defective vasculatures.Treatment of the rps6a mutant with various concentrations of auxin and its analogs did not restore the root defect phenotypes,suggesting a defect in the auxin signaling pathway.Further cell biological and global transcriptome analyses revealed that auxin signaling was weakened in the rps6a mutant and that there was a reduced abundance of PIN-FORMED(PIN)auxin transporters.Our work provides insights into the role of the protein biosynthesis pathway involved in auxin signaling.
基金supported by National Natural Science Foundation of China(82472473,81991510,81991511 and 81820108020)Major Scientific Research Project of Health in Fujian Province(20212D01003)+3 种基金Fujian Province Joint Fund Project for Science and Technology Innovation(2021Y9023,2023Y9601)China Postdoctoral Science Foundation(2022M710702)Fujian Provincial Natural Science Foundation Projects(2023J01177,2023J011209,2023J01172)Fujian Provincial Health Technology Project(2023GGA004)。
文摘Osteoclast-development patterns and their alterations across Ankylosing Spondylitis(AS)conditions are mysterious,making AS treatment difficult.Our study aims to clarify osteoclast-precursor(OCP)development patterns from monocytes and their variations under AS conditions.We performed single-cell transcriptomics in peripheral blood mononuclear cells(PBMCs)from healthy donors and AS patients in the early,aggravated and remission stages.After monocytic reclustering,OCP-development patterns and the alterations upon AS onset and different outcomes were revealed based on single-cell trajectory.The trajectories revealed two monocyte states with strong OCP features,and AS pathogenesis was characterized by their reduction.Ribosome synthesis was considered the essential function for the development towards OCP-featured states,and this function and its representative molecule,RPS17,showed a decreasing trend with AS onset and outcomes.Histology assessment showed that RPS17underexpression participated in AS inflammatory osteogenesis and ankylosing destruction.Conditional knockout of RPS17ameliorated ovariectomy-induced bone loss and enhanced osteoclastogenesis,and RPS17 overexpression improved the phenotype of AS-like mice.Importantly,local injection of RPS17-overexpressed monocytic OCPs markedly ameliorated the joint alterations of AS-like mice without promoting bone loss;this was associated with enhanced osteoclastogenesis adjacent to the articular surface and T-cell-suppressive property in monocytic OCPs.Overall,the evolution of monocytes towards OCP-lineage fate mainly depends on ribosome synthesis,and OCP-development disorder participates in AS lesions due to a reduction in RPS17-dependent ribosome synthesis.Notably,RPS17-overexpressed monocytic OCPs have translational potential in preventing and treating AS peripheral lesions.
