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"Jiao, Ran"
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Nonlinear Model Predictive Impedance Control of a Fully Actuated Hexarotor for Physical Interaction
In this paper, the problem of a fully actuated hexarotor performing a physical interaction with the environment through a rigidly attached tool is considered. A nonlinear model predictive impedance control (NMPIC) method is proposed to achieve the goal in which the controller is able to simultaneously handle the constraints and maintain the compliant behavior. The design of NMPIC is the combination of a nonlinear model predictive control and impedance control based on the dynamics of the system. A disturbance observer is exploited to estimate the external wrench and then provide compensation for the model which was employed in the controller. Moreover, a weight adaptive strategy is proposed to perform the online tuning of the weighting matrix of the cost function within the optimal problem of NMPIC to improve the performance and stability. The effectiveness and advantages of the proposed method are validated by several simulations in different scenarios compared with the general impedance controller. The results also indicate that the proposed method opens a novel way for interaction force regulation.
Journal Article
A Homogeneous Colorimetric Strategy Based on Rose-like CuS@Prussian Blue/Pt for Detection of Dopamine
The development of effective methods for dopamine detection is critical. In this study, a homogeneous colorimetric strategy for the detection of dopamine based on a copper sulfide and Prussian blue/platinum (CuS@PB/Pt) composite was developed. A rose-like CuS@PB/Pt composite was synthesized for the first time, and it was discovered that when hydrogen peroxide was present, the 3,3′,5,5′-tetramethylbenzidine (TMB) changed from colorless into blue-oxidized TMB. The CuS@PB/Pt composite was characterized with a scanning electron microscope (SEM), an energy dispersive spectrometer (EDS), and an X-ray photoelectron spectrometer (XPS). Moreover, the catalytic activity of the CuS@PB/Pt composite was inhibited by the binding of dopamine to the composite. The color change of TMB can be evaluated by the UV spectrum and a portable smartphone detection device. The developed colorimetric sensor can be used to quantitatively analyze dopamine between 1 and 60 µM with a detection limit of 0.28 μM. Furthermore, the sensor showed good long-term stability and good performance in human serum samples. Compared with other reported methods, this strategy can be performed rapidly (16 min) and has the advantage of smartphone visual detection. The portable smartphone detection device is portable and user-friendly, providing convenient colorimetric analysis for serum. This colorimetric strategy also has considerable potential for the development of in vitro diagnosis methods in combination with other test strips.
Journal Article
Role of Dexmedetomidine in Early POCD in Patients Undergoing Thoracic Surgery
Importance. Postoperative cognitive dysfunction (POCD) occurs in 6%–53% of elderly patients receiving major surgery and is related to longer hospital stays, increased hospital costs, and 1-year mortality. An increasing number of studies suggest that using dexmedetomidine (Dex) in critical care units is associated with reduced incidence of delirium. However, perioperative use of Dex for the prevention of POCD has not been well studied. Objective. To evaluate whether a low-dose perioperative infusion of Dex reduces early POCD. Design. This study was a double-blind, randomized, placebo-controlled trial that randomly assigned patients to Dex or saline placebo infused during surgery and patient-controlled intravenous analgesia (PCIA) infusion. Patients were assessed for postoperative cognitive decline. Interventions. Dex was infused at a loading dose of 0.5 μg/kg intravenously (15 min after entering the operation room) followed by a continuous infusion at a rate of 0.5 μg/kg/h until one-lung ventilation or artificial pneumothorax ended. Patients in the Dex group received regular PCIA pump with additional dose of Dex (200 μg). Results. In total, 126 patients were randomized, and 102 patients were involved in the result analysis. The incidence of POCD was 36.54% (19/52) in the Dex group and 32.00% (16/50) in the normal saline (NS) group, with no statistic difference. No significant difference was observed between the two groups in terms of Telephone Interview for Cognitive Status-Modified (TICS-m) scores at different times. However, the TICS-m score at 7 days after surgery was significantly lower than that at 30 days in 102 patients (32.93±0.42 vs. 33.92±0.47, P=0.03). The visual analogue scale scores in the Dex group were significantly lower than those in the NS group 1 day postoperation at rest and activity (2.00 [1.00–3.00] vs. 3.00 [2.00–4.00], P<0.01; 4.00 [3.00–5.00] vs. 5.00 [4.00–6.00], P<0.05, respectively). Patients receiving Dex or NS had no statistical difference in activities of daily living (ADLs) scores at 7 and 30 days after surgery, but the ADL score at 30 days after surgery showed a significant reduction compared with that at 7 days (P<0.01). Patients in the Dex group had a shorter hospital length of stay (15.26±3.77 vs. 17.69±5.09, P=0.02) and less expenses (52458.71±10649.30 vs. 57269.03±9269.98, P=0.04) than those in the NS group. Conclusions. Low-dose Dex in the perioperative period did not reduce the incidence of early POCD in thoracic surgery. However, it relieved postoperative pain, decreased the hospitalization expenses, and shortened the length of stay.
Journal Article
BI 1015550 Improves Silica-Induced Silicosis and LPS-Induced Acute Lung Injury in Mice
Silicosis is an interstitial lung disease (ILD) caused by prolonged inhalation of silica particles. Acute lung injury (ALI) is a critical clinical syndrome involving bilateral lung infiltration and acute hypoxic respiratory failure. However, there is currently no effective treatment for these two diseases. Previous research has established that cyclic adenosine monophosphate (cAMP) is pivotal in the pathogenesis of silicosis and acute lung injury. Phosphodiesterase 4 (PDE4) is a hydrolase enzyme of cAMP, and BI 1015550, as an inhibitor of PDE4B, is expected to be a candidate drug for treating both. BI 1015550 has shown certain anti-inflammatory and anti-fibrotic properties in systemic sclerosis-associated interstitial lung disease (SSc-ILD) and idiopathic pulmonary fibrosis (IPF), but there is a lack of research on silicosis and acute lung injury. In this research, we successfully synthesized BI 1015550 autonomously and demonstrated that it could significantly improve lung fibrosis and inflammation in a silica-induced silicosis mouse model. Furthermore, we found that BI 1015550 could also alleviate lung inflammation in a Lipopolysaccharide (LPS)-induced acute lung injury mouse model. The mechanism of action may involve the regulation of cAMP-related signaling pathways.
Journal Article
Impact of terminal ileal microbiota dysbiosis and tryptophan metabolism alterations on mental disorders in patients with Crohn’s disease
Background
Crohn’s disease (CD) is a chronic non-specific inflammatory bowel disease with an increasing incidence worldwide. Patients with CD are facing elevated risk for mental disorders (MD) than healthy people, and chronic psychological stress is considered to trigger deterioration and relapse of CD. The microbiome-gut-brain axis (MGBA) is recognized as a crucial factor in unraveling this connection. Whereas, so far, few studies have revealed the relationship of the microbiota communities and tryptophan catabolites of the terminal ileum mucosa on gut-brain communication.
Materials and methods
A total of 52 patients with CD, along with 11 patients with colorectal cancers recruited as controls, were enrolled in this study. The participants completed Patient Health Questionnaire-9 and Generalized Anxiety Disorder-7 Questionnaire. The terminal ileal mucosa was collected during surgery. We profiled the microbiota composition of 37 patients and quantified the tryptophan catabolites of 28 patients utilizing 16 S rRNA gene sequencing and liquid chromatography-tandem mass spectrometry, respectively. In addition, bioinformatics methods were used to elucidate the interrelationships between psychological states, microbial communities, and tryptophan catabolites.
Results
CD patients with MD showed a significant reduction in microbial diversity within the ileal mucosa. Regarding microbial composition,
Prevotella
was relatively enriched in CD patients with MD, along with lower relative abundances of
Akkermansia
and
Faecalibacterium
. Furthermore, significant disparities in the levels of Picolinic acid (PA), Kynurenic acid (KYNA), Nicotinic acid (N-Acid), and Indole-3-carbaldehyde (ICAld) were detected within the ileal mucosa of CD patients comorbid with MD. A pronounced correlation was observed between PA levels and anxiety scale scores. The heightened abundance of
Prevotella
may be closely associated with altered levels of PA, N-Acid, and KYNA.
Conclusion
Alterations in the microbial composition of the terminal ileum may interact with changes in tryptophan metabolism and are associated with MD in patients with CD undergoing surgery.
Journal Article
Miglustat ameliorates isoproterenol-induced cardiac fibrosis via targeting UGCG
Background
Cardiac fibrosis is significant global health problem, which is associated with numerous cardiovascular diseases, and ultimately leads to the progression to heart failure. β-adrenergic receptor (β-AR) overactivation play a role in the development of cardiac fibrosis. Miglustat (Mig) has shown anti-fibrosis effects in multiple fibrotic diseases. However, it is unclear whether and how Mig can ameliorate cardiac fibrosis induced by β-AR overactivation.
Methods
In vivo, mice were injected with isoproterenol (ISO) to induce cardiac fibrosis and treated with Mig. In vitro, primary cardiac fibroblasts were stimulated by ISO and treated with Mig. Levels of cardiac fibrosis, cardiac dysfunction, activation of cardiac fibroblasts were evaluated by real-time polymerase chain reaction, western blots, sirius red staining, immunohistochemistry staining and echocardiography. Through GEO data and knockdown UDP-glucose ceramide glycosyltransferase (UGCG) in primary cardiac fibroblasts, whether Mig alleviates cardiac fibrosis by targeting UGCG was explored.
Results
The results indicated that Mig alleviated ISO-induced cardiac dysfunction. Consistently, Mig also suppressed ISO-induced cardiac fibrosis. Moreover, Mig attenuated ISO-induced cardiac fibroblasts (CFs) activation. To identify the protective mechanism of Mig on cardiac fibrosis, several classical β-AR downstream signaling pathways, including ERK, STAT3, Akt and GSK3β, were further analyzed. As expected, ISO activated the ERK, STAT3, Akt and GSK3β in both CFs and mouse hearts, but this effect was reversed pretreated with Mig. Besides, Mig ameliorates ISO-induced cardiac fibrosis by targeting UDP-glucose ceramide glycosyltransferase (UGCG) in CFs.
Conclusions
Mig ameliorates β-AR overactivation-induced cardiac fibrosis by inhibiting ERK, STAT3, Akt and GSK3β signaling and UGCG may be a potential target for the treatment of cardiac fibrosis.
Journal Article
Microbial Transformation of Polyethylene Terephthalate Microplastics by Wetland-Derived Microbial Communities: Implications for Coastal Sediment Systems
Microplastics are persistent contaminants in coastal wetlands, yet the mechanisms of their microbial transformation remain poorly understood. This study examined the interactions between a wetland sediment-derived microbial consortium and polyethylene terephthalate (PET) fibers over a 60-day incubation. After 60 days, the consortium caused a PET weight loss of 13.7 ± 0.9%, whereas the abiotic control showed a less than 2% loss. The water contact angle decreased from 77.5 ± 1.2° to 75.8 ± 0.4°, suggesting enhanced surface hydrophilicity. Multi-scale surface analyses (SEM, WCA, and FTIR) confirmed progressive microbial colonization, increased surface roughness, and enhanced hydrophilicity through microbially mediated modification. High-throughput 16S rRNA sequencing unveiled a distinct community succession; PET exerted selective pressure that reduced alpha-diversity while enriching specific functional taxa such as Acinetobacter and Pseudomonas. Moreover, isolation and co-culture assays confirmed the importance of synergistic microbial interactions in PET transformation, with co-culture of four representative isolates causing 9.2 ± 0.1% PET weight loss, compared with only 1.7–3.2% in monocultures. These findings underscore the intrinsic natural attenuation potential of wetland ecosystems and provide a critical scientific basis for developing nature-based management strategies. By identifying key functional taxa and PET-associated transformation pathways, this work supports the establishment of early-warning mechanisms to safeguard the ecological integrity and soil health of coastal World Natural Heritage sites like the Tiaozini Wetland.
Journal Article
Long-Term Efficacy and Safety of Stapokibart in Adults with Moderate-to-Severe Atopic Dermatitis: An Open-Label Extension, Nonrandomized Clinical Trial
Background
Stapokibart/CM310, a humanized monoclonal antibody targeting the interleukin-4 receptor α chain, has shown promising treatment benefits in patients with moderate-to-severe atopic dermatitis in previous phase II clinical trials.
Objective
We aimed to evaluate the long-term efficacy and safety of stapokibart in adults with moderate-to-severe atopic dermatitis.
Methods
Enrolled patients who previously completed parent trials of stapokibart received a subcutaneous stapokibart 600-mg loading dose, then 300 mg every 2 weeks up to 52 weeks. Efficacy outcomes included the proportions of patients with ≥ 50%/75%/90% improvements from baseline of parent trials in the Eczema Area and Severity Index, Investigator’s Global Assessment, and weekly average of the daily Peak Pruritus Numerical Rating Scale.
Results
In total, 127 patients were enrolled, and 110 (86.6%) completed the study. At week 52, the Eczema Area and Severity Index-50/75/90 response rates were 96.3%, 87.9%, and 71.0%, respectively. An Investigator’s Global Assessment 0/1 with a ≥ 2-point reduction was achieved in 39.3% of patients at week 16, increasing to 58.9% at week 52. The proportions of patients with ≥ 3-point and ≥ 4-point reductions in the weekly average of daily Peak Pruritus Numerical Rating Scale scores were 80.2% and 62.2%, respectively, at week 52. Improvement in patients’ quality of life was sustained over a 52-week treatment period. Treatment-emergent adverse events occurred in 88.2% of patients, with an exposure-adjusted event rate of 299.2 events/100 patient-years. Coronavirus disease 2019, upper respiratory tract infection, and conjunctivitis were the most common treatment-emergent adverse events.
Conclusions
Long-term treatment with stapokibart for 52 weeks showed high efficacy and good safety profiles, supporting its use as a continuous long-term treatment option for atopic dermatitis.
Clinical Trial Registration
ClinicalTrials.gov identifier: NCT04893707 (15 May, 2021).
Journal Article
Anti-Disturbance Control for Quadrotor UAV Manipulator Attitude System Based on Fuzzy Adaptive Saturation Super-Twisting Sliding Mode Observer
Aerial operation with unmanned aerial vehicle (UAV) manipulator is a promising field for future applications. However, the quadrotor UAV manipulator usually suffers from several disturbances, such as external wind and model uncertainties, when conducting aerial tasks, which will seriously influence the stability of the whole system. In this paper, we address the problem of high-precision attitude control for quadrotor manipulator which is equipped with a 2-degree-of-freedom (DOF) robotic arm under disturbances. We propose a new sliding-mode extended state observer (SMESO) to estimate the lumped disturbance and build a backstepping attitude controller to attenuate its influence. First, we use the saturation function to replace discontinuous sign function of traditional SMESO to alleviate the estimation chattering problem. Second, by innovatively introducing super-twisting algorithm and fuzzy logic rules used for adaptively updating the observer switching gains, the fuzzy adaptive saturation super-twisting extended state observer (FASTESO) is constructed. Finally, in order to further reduce the impact of sensor noise, we invite a tracking differentiator (TD) incorporated into FASTESO. The proposed control approach is validated with effectiveness in several simulations and experiments in which we try to fly UAV under varied external disturbances.
Journal Article