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Autonomous vision-based aerial grasping is an essential and challenging task for aerial manipulation missions. In this paper, we propose a vision-based aerial grasping system for a Rotorcraft Unmanned Aerial Vehicle (UAV) to grasp a target object. The UAV system is equipped with a monocular camera, a 3-DOF robotic arm with a gripper and a Jetson TK1 computer. Efficient and reliable visual detectors and control laws are crucial for autonomous aerial grasping using limited onboard sensing and computational capabilities. To detect and track the target object in real time, an efficient proposal algorithm is presented to reliably estimate the region of interest (ROI), then a correlation filter-based classifier is developed to track the detected object. Moreover, a support vector regression (SVR)-based grasping position detector is proposed to improve the grasp success rate with high computational efficiency. Using the estimated grasping position and the UAV?Äôs states, novel control laws of the UAV and the robotic arm are proposed to perform aerial grasping. Extensive simulations and outdoor flight experiments have been implemented. The experimental results illustrate that the proposed vision-based aerial grasping system can autonomously and reliably grasp the target object while working entirely onboard.

In this study, cetylpyridinium peroxyphosphotungstate was synthesized as an environmentally benign phase transfer catalyst with high catalytic activity from cetylpyridinium chloride, phosphotungstic acid, and hydrogen peroxide. The chemical structure of the catalyst was identified by SEM, XRD, FT-IR, ICP, elemental analysis, XPS, and TGA/DTG, revealing its catalytic activity to be related to the regular and dense distribution of pores on its surface. High catalytic activity was demonstrated in the oxidation of linalool to furanoid and pyranoid linalool oxides using hydrogen peroxide in low toxicity organic solvents such as ethanol and ethyl acetate. The total yield and total selectivity of furanoid and pyranoid linalool oxides were optimized by varying parameters including the catalyst loading, hydrogen peroxide amount, reaction temperature, and reaction time. Optimized conditions providing furanoid and pyranoid linalool oxides with 80.1% total yield were 10 wt% catalyst and 1.16 mL/g 30% H 2 O 2 (vs. linalool) at 30 °C for 1.5 h. This procedure has the advantages of high yield, employing a green oxidant, and non-toxic reagents.

Periodontal pathogen and gut microbiota are closely associated with the pathogenesis of Alzheimer's disease (AD). (Pg), the keystone periodontal pathogen, can induce cognitive impairment. The gut has a connection and communication with the brain, which is an important aspect of the gut-brain axis (GBA). In the present study, we investigate whether Pg induces cognitive impairment through disturbing the GBA. In this study, Pg was orally administered to mice, three times a week for 1 month. The effects of Pg administration on the gut and brain were evaluated through behaviors, gut microbiota, immune cells, glymphatic pathway clearance, and neuroinflammation. Pg induced cognitive impairment and dysbiosis of gut microbiota. The α-diversity parameters did not show significant change after Pg administration. The β-diversity demonstrated that the gut microbiota compositions were different between the Pg-administered and control groups. At the species level, the Pg group displayed a lower abundance of and than the control group, but a higher abundance of . The proportions of lymphocytes in the periphery and myeloid cells infiltrating the brain were increased in Pg-treated animals. In addition, the solute clearance efficiency of the glymphatic system decreased. Neurons in the hippocampus and cortex regions were reduced in mice treated with Pg. Microglia, astrocytes, and apoptotic cells were increased. Furthermore, amyloid plaque appeared in the hippocampus and cortex regions in Pg-treated mice. These findings indicate that Pg may play an important role in gut dysbiosis, neuroinflammation, and glymphatic system impairment, which may in turn lead to cognitive impairment.

Steroid-induced osteonecrosis of femoral head (SONFH) is one of the most common bone disorders in humans. Statin treatment is beneficial in preventing the development of SONFH through anti-inflammation effects and inhibition of the glucocorticoid receptor (GR). However, potential mechanisms of statin action remain to be determined. In this study, pulse methylprednisolone (MP) treatment was used to induce SONFH in broilers, and then MP-treated birds were administrated with simvastatin simultaneously to investigate the changes in cartilage homeostasis. Meanwhile, chondrocytes were isolated, cultured, and treated with MP, simvastatin, or GR inhibitor in vitro. The changes in serum homeostasis factors, cell viability, and expression of GR were analyzed. The results showed that the morbidity of SONFH in the MP-treated group increased significantly compared with the simvastatin-treated and control group. Furthermore, MP treatment induced apoptosis and high-level catabolism and low-level anabolism in vitro and vivo, while simvastatin significantly decreased catabolism and slightly recovered anabolism via inhibiting GR and the hypoxia-inducible factor (HIF) pathway. The GR inhibitor or its siRNA mainly affected the catabolism of cartilage homeostasis in vitro. In conclusion, the occurrence of SONFH in broilers was related to the activation of GR and HIF pathway, and imbalance of cartilage homeostasis. Simvastatin and GR inhibitor maintained cartilage homeostasis via GR and the HIF pathway.

Background Parkinson’s disease is the second most common neurodegenerative disease worldwide, with no disease-modifying therapy available. NLRP3 inflammasome-linked neuroinflammation is involved in the onset and progression of Parkinson’s disease; therefore, inhibition of the NLRP3 inflammasome may provide a new gene therapy option. Methods In the present study, we developed a CMV-RVG-9dR-siR NLRP3 construct that can be intravenously injected, self-assemble NLRP3-targeted small interfering RNA into extracellular vesicles in host liver cells, and functionally delivered to the brain to knock down NLRP3. The therapeutic effect of the synthetic construct was tested in two male mouse models of Parkinson’s disease through biochemical and behavioral assays. Results Compared with the original RVG guide peptide, the modified RVG-9dR in the synthetic construct delivered higher levels of NLRP3-siRNA to the deep brain structures (substantia nigra and striatum). Injection of this modified synthetic construct attenuated MPTP- and α-synuclein-induced NLRP3 inflammasome activation, microgliosis, dopaminergic neurodegeneration, and motor impairments in the animal models for Parkinson’s disease. Conclusions Our study describes a modified synthetic construct that could improve the efficacy of siRNA delivery to deep brain structures and presents proof-of-principle evidence showing that genetic knockdown of NLRP3 could represent a new therapeutic strategy to treat Parkinson’s disease and other neuroinflammation-related brain disorders.

Growing evidences have suggested the airway microbiota may participate in lung cancer progression. However, little was known about the relationship between airway microbiota and lung cancer associated systemic inflammation. Here we aimed to explore the association between sputum microbiota and systemic inflammation in lung cancer. The microbiota of spontaneous sputum samples from 51 non-small cell lung cancer (NSCLC) patients and 6 patients with lung benign nodules were sequenced via 16 S rRNA sequencing. Neutrophil-lymphocyte ratio (NLR), platelet–lymphocyte ratio (PLR) and C reactive protein (CRP) were used to represent systemic inflammation. Patients were divided into 2 groups based on level of inflammatory biomarkers respectively (CRP_low versus CRP_high; NLR_low versus NLR_high; PLR_low versus PLR_high). α-diversity was significantly decreased in CRP_high and NLR_high patients. β diversity analysis based on weighted unifrac distance indicated that microbial community structure differed significantly between patients with different inflammation status. Lefse identified genera Porphyromonas , Selenomonas , Moryella , Megasphaera , Corynebacterium were enriched in CRP_low group. Compared with NLR_high, genera Veillonella , Neisseria , Bulleidia , Moryella were enriched in NLR_low group. For patients with different PLR level, genera Veillonella , Prevotella , Moryella , Selenomonas were increased in PLR_ low patients. Function analysis identified propionate metabolism pathway was significantly enriched in CRP_low and PLR_low groups. Moreover, RDA analysis showed that compared with PLR, NLR and CRP had strongest association with microbial community. Airway microbial structure differed between lung cancer with different systemic inflammation status. Patients with relative high inflammation status were associated with alteration of specific airway genera and microbial metabolic function.

Background This observational cohort study investigates how infection health factors influence COVID‐19 severity and cognitive outcomes. We collected preinfection data from hospitalized COVID‐19 patients, including demographic information and baseline health conditions prior to diagnosis, and examined their associations with hospitalization duration and cognitive function assessed after infection. Methods Data were obtained from Hui Ya Hospital, The First Affiliated Hospital, Sun Yat‐sen University, China. The study included confirmed COVID‐19 patients requiring hospitalization. Among the 147 collected cases, two were excluded due to missing data, leaving a final sample of 145 patients. The Montreal Cognitive Assessment (MoCA), which evaluates global cognitive function with a total score of 0–30, was used to assess cognitive function, while hospitalization duration and routine clinical examinations were analyzed as indicators of disease severity. Additionally, the SF‐12v2 score reflecting Health‐Related Quality of Life was used to evaluate patients' overall health status. Statistical analyses were conducted to identify preinfection factors associated with COVID‐19 outcomes. Results Preinfection baseline health status was significantly correlated with both hospitalization duration (p < 0.0001, 95% CI [−0.47, −0.16]) and MoCA scores (p = 0.0001, 95% CI [0.15, 0.46]). Patients with better preinfection health conditions experienced shorter hospital stays and demonstrated better cognitive function postinfection. Conclusion Our findings indicate that preinfection baseline health conditions play a crucial role in determining both the severity of COVID‐19 and postinfection cognitive function. Specifically, impairments were more pronounced in the visuospatial, naming, attention, calculation, language, and memory domains. Additionally, our results suggest a potential link between COVID‐19 outcomes and patients’ preexisting underlying diseases. Baseline health status, as measured by the SF‐12v2, was a strong predictor of shorter hospital stay and better postinfection cognitive outcomes. The presence of comorbidities was associated with increased disease severity and significant impairments in attention and language domains, highlighting the importance of proactive health management to reduce associated risks.

Background Coronavirus disease 2019 (COVID‐19) may influence the clinical course and symptoms of chronic neurological diseases, such as Parkinson's disease (PD), which can persist even after recovery from the infection. This longitudinal study aimed at exploring the impact of the COVID‐19 on motor and non‐motor symptoms and the related risk factors for exacerbation of PD symptoms. Methods One hundred and two PD patients underwent a first assessment between September 2022 and November 2022 (T0) before Omicron COVID‐19 pandemic. They were then contacted again and asked to complete the second assessment between December 2022 and February 2023 (T1) following Omicron infection. Movement Disorders Society Unified PD Rating Scale Part III, Non‐Motor Symptoms Scale, Fatigue Severity Scale (FSS), and quality of life were investigated. Results Ninety‐five PD patients (93.1%) with COVID‐19 for the first time were mild cases. However, 55 patients (55.9%) experienced worsening motor symptoms of PD after recovering from the infectious symptoms. Preinfection FSS score (odds ratios [OR] 2.062, 95% confidence interval [CI] 1.081–3.933, p = .028) and duration of infection (OR 1.232, 95% CI 1.024–1.481, p = .027) were independent risk factors for the worsening of motor symptoms. PD patients with post‐COVID‐19 fatigue were more likely to experience worsened non‐motor symptoms, resulting in an impaired quality of life. Conclusion This study confirms the impact of the Omicron COVID‐19 pandemic on the motor and non‐motor symptoms of PD, suggesting that management of related factors, including fatigue and duration of infection, may be beneficial in preventing or dealing with the exacerbation of PD symptoms after infection. Preinfection Fatigue Severity Scale (FSS) score and duration of infection are risk factors for the worsening of motor symptoms of Parkinson's disease following Omicron coronavirus disease 2019 (COVID‐19) pandemic. Patients with higher FSS scores and longer duration of infection were more likely to experience worsening motor symptoms after recovery from infectious symptoms of COVID‐19.

Microinfarcts are common among the elderly and patients with microinfarcts are more vulnerable to another stroke. However, the impact of microinfarcts on recurrent stroke has yet to be fully understood. The purpose of this study was to explore the negative effects of microinfarcts on recurrent stroke. To achieve this, two-photon laser was used to induce microinfarcts, while photothrombotic stroke was induced on the opposite side. The results showed that microinfarcts led to trained immunity in microglia, which worsened the pro-inflammatory response and ischemic injury in the secondary photothrombotic stroke. Additionally, the study clarified the role of NLRP3 in microglial nuclei, indicating that it interacts with the MLL1 complex through NACHT domain and increases H3K4 methylation, which suggests that NLRP3 is critical in the formation of innate immune memory caused by microinfarcts. Furthermore, the knockout of NLRP3 in microglia alleviated the trained immunity and reduced the harmful effects of microinfarcts on recurrent stroke. This study emphasizes the detrimental effect of trained immunity on recurrent stroke and highlights the critical role of NLRP3 in mediating the formation of this memory, which may offer a potential therapeutic target for mitigating recurrent strokes.

Background Continuous glucose monitoring (CGM) devices provide detailed information on daily glucose control and glycemic variability. Yet limited population-based studies have explored the association between CGM metrics and fatty liver. We aimed to investigate the associations of CGM metrics with the degree of hepatic steatosis. Methods This cross-sectional study included 1180 participants from the Guangzhou Nutrition and Health Study. CGM metrics, covering mean glucose level, glycemic variability, and in-range measures, were separately processed for all-day, nighttime, and daytime periods. Hepatic steatosis degree (healthy: n = 698; mild steatosis: n = 242; moderate/severe steatosis: n = 240) was determined by magnetic resonance imaging proton density fat fraction. Multivariate ordinal logistic regression models were conducted to estimate the associations between CGM metrics and steatosis degree. Machine learning models were employed to evaluate the predictive performance of CGM metrics for steatosis degree. Results Mean blood glucose, coefficient of variation (CV) of glucose, mean amplitude of glucose excursions (MAGE), and mean of daily differences (MODD) were positively associated with steatosis degree, with corresponding odds ratios (ORs) and 95% confidence intervals (CIs) of 1.35 (1.17, 1.56), 1.21 (1.06, 1.39), 1.37 (1.19, 1.57), and 1.35 (1.17, 1.56) during all-day period. Notably, lower daytime time in range (TIR) and higher nighttime TIR were associated with higher steatosis degree, with ORs (95% CIs) of 0.83 (0.73, 0.95) and 1.16 (1.00, 1.33), respectively. For moderate/severe steatosis (vs. healthy) prediction, the average area under the receiver operating characteristic curves were higher for the nighttime (0.69) and daytime (0.66) metrics than that of all-day metrics (0.63, P  < 0.001 for all comparisons). The model combining both nighttime and daytime metrics achieved the highest predictive capacity (0.73), with nighttime MODD emerging as the most important predictor. Conclusions Higher CGM-derived mean glucose and glycemic variability were linked with higher steatosis degree. CGM-derived metrics during nighttime and daytime provided distinct and complementary insights into hepatic steatosis.