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A pseudohomogeneous carrier as an emerging term refers to subnanometric carbon-based vehicle with a high ability to interact with genetic materials to form stable carboplex and successfully transfer them into the cell which will result in inhibiting or expressing of therapeutic genes. Chitosan is a non-toxic polyaminosaccharide used as a precursor in the presence of citric acid to produce carbon quantum dots (CQDs), which decorated with arginine as a surface passivation agent with high amine density in hydrothermal methodology. The Arginine-CQDs are comprehensively characterized by Fourier-transform infrared spectroscopy (FT-IR), Ultraviolet–visible spectroscopy (UV–vis), Atomic force microscopy (AFM), field emission scanning electron microscope (FE-SEM), Energy-dispersive X-ray (EDX) mapping, fluorescence, High-resolution transmission electron microscopy (HR-TEM), zeta potential and X-ray powder diffraction (XRD). In this regard, for the first time, carboplex are formed by electrostatic conjugating of Arginine-CQDs with DNA to protect it from enzymatic degradation. Moreover, the carboplex, like the chitosan precursor, has not shown toxicity against AGS cell line. Interestingly, the Arginine-CQDs have exhibited an excellent ability to overcome cell barriers to deliver into cells compared to chitosan at the same weight ratio. The Arginine-CQDs/pEGFP (W/W) nanocomplex, not only lead to transfection with a relatively higher efficiency than PEI polymer, which is the “golden standard”, but carboplex also demonstrates no significant toxicity. Indeed, the EGFP expression level has reached to 2.4 ± 0.2 via Arginine-CQDs carboplex at W/W 50 weight ratio. To the best of our knowledge, this is the first report includes chitosan-based CQDs functionalized by arginine which is applied to serve as a pseudohomogeneous vehicle for gene transfection.

A high-definition (HD) map development framework providing real-time visualization of multimodal perception data for state estimation, motion planning, and decision-making in autonomous navigation is presented and experimentally validated. The proposed framework integrates synchronized visual and LiDAR data and generates consistent frame transformations to construct accurate and interpretable HD maps suitable for navigation in dynamic environments. In addition, the framework enables flexible customization of essential map elements, including road features and static landmarks, facilitating efficient map generation and visualization. Building upon the developed HD map visualizer, a semantic-aware visual odometry (VO)-based pose estimation module is designed and verified through extensive evaluations and under perceptually degraded conditions. To ensure the reliability of synchronized multimodal data used by downstream perception and pose estimation modules, a sensor health monitoring system is also developed and validated in urban canyon scenarios with intermittent or unavailable global navigation satellite system (GNSS) measurements. Experimental results demonstrate that the proposed HD map visualizer and associated perception modules are transferable for autonomous navigation and can be effectively employed as benchmarking tools for state estimation and motion planning algorithms in autonomous driving.

A distributed state observer is designed for state estimation and tracking of mobile robots amidst dynamic environments and occlusions within distributed LiDAR sensor networks. The proposed novel framework enhances three-dimensional bounding box detection and tracking utilizing a consensus-based information filter and a region of interest for state estimation of mobile robots. The framework enables the identification of the input to the dynamic process using remote sensing, enhancing the state prediction accuracy for low-visibility and occlusion scenarios in dynamic scenes. Experimental evaluations in indoor settings confirm the effectiveness of the framework in terms of accuracy and computational efficiency. These results highlight the benefit of integrating stationary LiDAR sensors’ state estimates into a switching consensus information filter to enhance the reliability of tracking and to reduce estimation error in the sense of mean square and covariance.

Inertial navigation systems augmented with visual and wheel odometry measurements have emerged as a robust solution to address uncertainties in robot localization and odometry. This paper introduces a novel data-driven approach to compensate for wheel slippage in visual-inertial-wheel odometry (VIWO). The proposed method leverages Gaussian process regression (GPR) with deep kernel design and long short-term memory (LSTM) layers to model and mitigate slippage-induced errors effectively. Furthermore, a feature confidence estimator is incorporated to address the impact of dynamic feature points on visual measurements, ensuring reliable data integration. By refining these measurements, the system utilizes a multi-state constraint Kalman filter (MSCKF) to achieve accurate state estimation and enhanced navigation performance. The effectiveness of the proposed approach is demonstrated through extensive simulations and experimental validations using real-world datasets. The results highlight the ability of the method to handle challenging terrains and dynamic environments by compensating for wheel slippage and mitigating the influence of dynamic objects. Compared to conventional VIWO systems, the integration of GPR and LSTM layers significantly improves localization accuracy and robustness. This work paves the way for deploying VIWO systems in diverse and unpredictable environments, contributing to advancements in autonomous navigation and multi-sensor fusion technologies.

In this paper, the effect of an external ultrafast transverse magnetic field (UFTMF) on a vacuum arc in the diffused mode has been studied. According to the results of studies, a novel approach for making a zero-crossing in a DC arc current has been presented. Plasma voltage fluctuations of the vacuum arc, which are caused by UFTMF, have been investigated via finite element simulation and two-fluid description of plasma physics. By making an appropriate UFTMF through an external circuit, the arc current can be commuted successfully from the vacuum interrupter (VI) to a parallel capacitor and charge it up. In this way, a zero-crossing in the arc current can be achieved, and the current will be interrupted by the VI. Simulation results, which are supporting physical backgrounds for this analysis, have been presented in this paper while technological issues for industrial implementation of this concept have been discussed in detail.

Extracellular vesicles (EVs), including exosomes and microvesicles, are involved in intercellular communication by transferring biomolecules such as mRNA, which has been shown to be as essential biomarkers for many physiological and pathological conditions such as diabetic nephropathy (DN). This study aimed to investigate the expression of CDH1, CDH2, MCP-1, and PAI-1 mRNAs in blood EVs of DN patients and to determine their accuracy in predicting early-stage DN. We recruited 196 participants, including 35 overt DN patients, 53 incipient DN patients, 62 diabetic patients (DM), and 46 healthy individuals. Quantification of the mRNA profile of blood EVs was performed using the qRT-PCR method. The diagnostic performance of mRNA was evaluated using receiver operating characteristic analysis. The mRNA expression of CDH2 and MCP-1 was downregulated in overt DN group (0.22-fold change and 0.15-fold change, respectively) and incipient DN group (0.60-fold change and 0.43-fold change, respectively) compared to DM group (1.72-fold change and 2.77-fold change, respectively), while PAI-1 mRNA expression decreased in incipient DN group (0.70-fold change) and DM group (0.58-fold change) compared to control. However, the expression level of CDH1 mRNA was not significantly different among the four groups (p = 0.408). Moreover, CDH2 and MCP-1 mRNAs inversely correlated with creatinine (r = -0.370 and r = -0.361, p<0.001) and Alb/Cr ratio (r = -0.355 and r = -0.297, p<0.001). 1/CDH2 mRNA also predicted overt DN with an accuracy of 0.75 (95%CI: 0.65-0.85) and incipient DN with an accuracy of 0.61 (95%CI: 0.50-0.71) while 1/MCP-1 mRNA had an accuracy of 0.66 (95%CI: 0.55-0.77) for overt DN prediction and an accuracy of 0.61 (95%CI: 0.51-0.71) for incipient DN prediction. CDH2 and MCP-1 mRNAs expression in blood EVs was decreased with the development of DN, suggesting the renoprotective effect of these mRNAs in diabetic individuals. Moreover, their quantifications could serve as diagnostic biomarkers for early-stage DN.

A slip-aware localization framework is proposed for mobile robots experiencing wheel slip in dynamic environments. The framework fuses infrastructure-aided visual tracking data (via fisheye lenses) and proprioceptive sensory data from a skid-steer mobile robot to enhance accuracy and reduce variance of the estimated states. The slip-aware localization framework includes: the visual thread to detect and track the robot in the stereo image through computationally efficient 3D point cloud generation using a region of interest; and the ego motion thread which uses a slip-aware odometry mechanism to estimate the robot pose utilizing a motion model considering wheel slip. Covariance intersection is used to fuse the pose prediction (using proprioceptive data) and the visual thread, such that the updated estimate remains consistent. As confirmed by experiments on a skid-steer mobile robot, the designed localization framework addresses state estimation challenges for indoor/outdoor autonomous mobile robots which experience high-slip, uneven torque distribution at each wheel (by the motion planner), or occlusion when observed by an infrastructure-mounted camera. The proposed system is real-time capable and scalable to multiple robots and multiple environmental cameras.

Unique properties of graphene and its derivatives make them attractive in the field of nanomedicine. However, the mass application of graphene might lead to side effects, which has not been properly addressed in previous studies, especially with regard to its effect on the cell cycle. The effect of two concentrations (100 and 200 μg/mL) of nano- and microsized graphene oxide (nGO and mGO) on apoptosis, cell cycle, and ROS generation was studied. The effect of both sizes on viability and genotoxicity of the embryonic fibroblast cell cycle was evaluated. MTT and flow cytometry were applied to evaluate the effects of graphene oxide (GO) nanosheets on viability of cells. Apoptosis and cell cycle were analyzed by flow cytometry. The results of this study showed that GO disturbed the cell cycle and nGO impaired cell viability by inducing cell apoptosis. Interestingly, both nGO and mGO blocked the cell cycle in the S phase, which is a critical phase of the cell cycle. Upregulation of -gene transcripts was also detected in both nGO- and mGO-treated cells compared to the control, especially at 200 μg/mL. DNA content of the treated cells increased; however, because of DNA degradation, its quality was decreased. In conclusion, graphene oxide at both nano- and micro-scale damages cell physiology and increases cell population in the S phase of the cell cycle.

Background Diabetic nephropathy (DN) has an increasing global prevalence with excessive health expenditure and burden. Exosomal mRNAs regulate intercellular communications and participate in the pathogenesis of various disorders like DN. This study aimed to assess the expression levels of ACE, ELMO1, and WT1 mRNAs in the blood extracellular vesicles (EVs) of DN patients and diabetic patients without nephropathy (DM group) in comparison to healthy controls and investigate their correlations with the severity of DN. Methods The performed investigation is a cross-sectional study of 256 participants including 103 DN patients, 100 DM patients, and 53 healthy controls. The quantification of WT1, ACE, and ELMO1 mRNAs in the blood EVs were executed using qRT-PCR. The ROC analysis was performed to determine the diagnostic accuracy of mRNAs. Results DN patients had significantly higher expressed WT1 mRNA (1.70-fold change) and lower expressed ACE mRNA (0.55-fold change) in the blood EVs compared to DM patients and controls. ELMO1 mRNA was not expressed in EVs of any groups. A positive correlation between WT1 mRNA level and urine Alb/Cr ratio (r = 0.602, p < 0.001) and a negative correlation between ACE mRNA expression and urine Alb/Cr ratio within DN patients (r = − 0.474, p < 0.001) was identified. The accuracy of WT1 mRNA and 1/ACE mRNA for predicting incipient DN was 0.63 (95% CI 0.55, 0.72) and 0.62 (95% CI 0.54, 0.71), and for predicting overt DN was 0.83 (95% CI 0.74, 0.92) and 0.75 (95% CI 0.66, 0.83), respectively. Conclusions WT1 and ACE mRNAs level in blood EVs were predictors for early diagnosis of DN therefore their quantifications might be used to determine the severity of albuminuria and glomerular injuries.

Background One of the most important complications of fixed orthodontic treatment is the formation of white spots which are initial carious lesions. Addition of antimicrobial agents into orthodontic adhesives might be a wise solution for prevention of white spot formation. The aim of this study was to evaluate the antibacterial properties of a conventional orthodontic adhesive containing three different concentrations of silver/hydroxyapatite nanoparticles. Methods One hundred and sixty-two Transbond XT composite discs containing 0, 1, 5, and 10 % silver/hydroxyapatite nanoparticles were prepared and sterilized. Antibacterial properties of these composite groups against Streptococcus mutans , Lactobacillus acidophilus , and Streptococcus sanguinis were investigated using three different antimicrobial tests. Disk agar diffusion test was performed to assess the diffusion of antibacterial agent on brain heart infusion agar plate by measuring bacterial growth inhibition zones. Biofilm inhibition test showed the antibacterial capacity of composite discs against resistant bacterial biofilms. Antimicrobial activity of eluted components from composite discs was investigated by comparing the viable counts of bacteria after 3, 15, and 30 days. Results Composite discs containing 5 and 10 % silver/hydroxyapatite nanoparticles were capable of producing growth inhibition zones for all bacterial types. Results of biofilm inhibition test showed that all of the study groups reduced viable bacterial count in comparison to the control group. Antimicrobial activity of eluted components from composite discs was immensely diverse based on the bacterial type and the concentration of nanoparticles. Conclusions Transbond XT composite discs containing 5 and 10 % silver/hydroxyapatite nanoparticles produce bacterial growth inhibition zones and show antibacterial properties against biofilms.