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Bio-inspired transverse brachiation robots mimic the movement of human climbers as they traverse along ledges on a vertical wall. The constraints on the locomotion of these robots differ considerably from those of conventional brachiation robots due primarily to the need for robust hand-eye coordination. This paper describes the development of a motion control strategy for a brachiation robot navigating between wall ledges positioned on a level plane or at different elevations. We based our robot on a four-link arm-body-tail system performing a four-phase movement, including a release phase, body reversal phase, swing-up phase, and grasping phase. We designed a gripper that uses passive wrist joint motion to grasp the ledge during the tail swing. We also developed a dynamic model by which to coordinate the swing-up movement, define the phase switching conditions, and time the grasping action of the grippers. In experiments, the robot proved highly effective in traversing between wall ledges of the same or different elevations.

Purpose of ReviewSpinocerebellar ataxias (SCAs) are autosomal dominant degenerative syndromes that present with ataxia and brain stem abnormalities. This review describes the cognitive and behavioral symptoms of SCAs in the context of recent knowledge of the role of the cerebellum in higher intellectual function.Recent FindingsRecent studies suggest that patients with spinocerebellar ataxia can display cognitive deficits even early in the disease. These have been given the term cerebellar cognitive affective syndrome (CCAS). CCAS can be tracked using newly developed rating scales. In addition, patients with spinocerebellar ataxia also display impulsive and compulsive behavior, depression, anxiety, fatigue, and sleep disturbances.SummaryThis review stresses the importance of recognizing non-motor symptoms in SCAs. There is a pressing need for novel therapeutic interventions to address these symptoms given their deleterious impact on patients’ quality of life.

A transverse ledge climbing robot inspired by athletic locomotion is a customized robot aiming to travel through horizontal ledges in vertical walls. Due to the safety issue and complex configurations in graspable ledges such as horizontal, inclined ledges, and gaps between ledges, existing well-known vision-based navigation methods suffering from occlusion problems may not be applicable to this special kind of application. This study develops a force feedback-based motion planning strategy for the robot to explore and make feasible grasping actions as it continuously travels through reachable ledges. A contact force detection algorithm developed using a momentum observer approach is implemented to estimate the contact force between the robot’s exploring hand and the ledge. Then, to minimize the detection errors due to dynamic model uncertainties and noises, a time-varying threshold is integrated. When the estimated contact force exceeds the threshold value, the robot control system feeds the estimated force into the admittance controller to revise the joint motion trajectories for a smooth transition. To handle the scenario of gaps between ledges, several ledge-searching algorithms are developed to allow the robot to grasp the next target ledge and safely overcome the gap transition. The effectiveness of the proposed motion planning and searching strategy has been justified by simulation, where the four-link transverse climbing robot successfully navigates through a set of obstacle scenarios modeled to approximate the actual environment. The performance of the developed grasping ledge searching methods for various obstacle characteristics has been evaluated.

Cerebellum is a key-structure for the modulation of motor, cognitive, social and affective functions, contributing to automatic behaviours through interactions with the cerebral cortex, basal ganglia and spinal cord. The predictive mechanisms used by the cerebellum cover not only sensorimotor functions but also reward-related tasks. Cerebellar circuits appear to encode temporal difference error and reward prediction error. From a chemical standpoint, cerebellar catecholamines modulate the rate of cerebellar-based cognitive learning, and mediate cerebellar contributions during complex behaviours. Reward processing and its associated emotions are tuned by the cerebellum which operates as a controller of adaptive homeostatic processes based on interoceptive and exteroceptive inputs. Lobules VI-VII/areas of the vermis are candidate regions for the cortico-subcortical signaling pathways associated with loss aversion and reward sensitivity, together with other nodes of the limbic circuitry. There is growing evidence that the cerebellum works as a hub of regional dysconnectivity across all mood states and that mental disorders involve the cerebellar circuitry, including mood and addiction disorders, and impaired eating behaviors where the cerebellum might be involved in longer time scales of prediction as compared to motor operations. Cerebellar patients exhibit aberrant social behaviour, showing aberrant impulsivity/compulsivity. The cerebellum is a master-piece of reward mechanisms, together with the striatum, ventral tegmental area (VTA) and prefrontal cortex (PFC). Critically, studies on reward processing reinforce our view that a fundamental role of the cerebellum is to construct internal models, perform predictions on the impact of future behaviour and compare what is predicted and what actually occurs.

Alzheimer’s disease (AD) is a disease with dysfunctional brain network. Previous studies found the cerebellar volume changes over the course of AD disease progression; however, whether cerebellar volume change contributes to the cognitive decline in AD, or its earlier disease stage (i.e., mild cognitive impairment [MCI]) remains unclear. In ADNI, cognitive function was assessed using Alzheimer’s Disease Assessment Scale-Cognitive Behavior section (ADAS-Cog). We used linear regression and linear mixed effects models to examine whether cerebellar volume is associated with either baseline cognition or with cognitive changes over time in MCI or in AD. We used logistic regression to assess the relationship between cerebellar volume and disease progression to MCI and AD. We found that cerebellar volume is associated with cognition in patients with MCI, after adjusting for age, gender, education, hippocampal volume, and APOE4 status. Consistently, cerebellar volume is associated with increased odds of the disease stages of MCI and AD when compared to controls. However, cerebellar volume is not associated with cognitive changes over time in either MCI or AD. In summary, cerebellar volume may contribute to cognition level in MCI, but not in AD, indicating that the cerebellar network might modulate the cognitive function in the early stage of the disease. The cerebellum may be a potential target for neuromodulation in treating MCI.

Recent findings in animals have challenged the traditional view of the cerebellum solely as the site of motor control, suggesting that the cerebellum may also be important for learning to predict reward from trial-and-error feedback. Yet, evidence for the role of the cerebellum in reward learning in humans is lacking. Moreover, open questions remain about which specific aspects of reward learning the cerebellum may contribute to. Here we address this gap through an investigation of multiple forms of reward learning in individuals with cerebellum dysfunction, represented by cerebellar ataxia cases. Nineteen participants with cerebellar ataxia and 57 age- and sex-matched healthy controls completed two separate tasks that required learning about reward contingencies from trial-and-error. To probe the selectivity of reward learning processes, the tasks differed in their underlying structure: while one task measured incremental reward learning ability alone, the other allowed participants to use an alternative learning strategy based on episodic memory alongside incremental reward learning. We found that individuals with cerebellar ataxia were profoundly impaired at reward learning from trial-and-error feedback on both tasks, but retained the ability to learn to predict reward based on episodic memory. These findings provide evidence from humans for a specific and necessary role for the cerebellum in incremental learning of reward associations based on reinforcement. More broadly, the findings suggest that alongside its role in motor learning, the cerebellum likely operates in concert with the basal ganglia to support reinforcement learning from reward.

Diabetic patients are at risk of severe urinary tract infections (UTIs). Due to the emerging resistance rates to fluoroquinolones and β-lactams, we aimed to evaluate the effectiveness of β-lactams versus fluoroquinolones as empirical therapy for diabetic patients hospitalized for UTIs. A retrospective cohort study was conducted in a medical center in Taiwan between 2016 and 2018. Patients with type 2 diabetes, aged ≥20 and hospitalized for UTIs were enrolled. Patients with UTI diagnosis within one year before the admission, co-infections at the admission, or ≥2 pathogens in the urine cultures were excluded. The primary outcome was empiric treatment failure. 298 patients were followed for at least 30 days after the admission. Escherichia coli (61.07%) was the most common pathogen. The resistance rates of the pathogens to levofloxacin were 28.52% and 34.22% according to the historical Clinical and Laboratory Standards Institute (CLSI) breakpoints and the updated 2019 CLSI breakpoints, respectively. The resistance rates of ceftazidime and cefepime were 21.81% and 11.41%, respectively. Empirical β-lactams were associated with less treatment failure compared to fluoroquinolones (adjusted OR = 0.32, 95% CI = 0.17-0.60). Beta-lactams were associated with less treatment failure than fluoroquinolones when appropriatness was determined by the pre-2019 CLSI breakpoints but not the 2019 CLSI breakpoints. In diabetic patients hospitalized for UTIs, β-lactams were associated with less empiric treatment failure compared to fluoroquinolones when the resistance rate to fluoroquinolone is higher than β-lactams. The updated 2019 CLSI breakpoint for fluoroquinolone was better than pre-2019 CLSI breakpoints to correlate with treatment outcomes for hospitalized UTIs in diabetic patients.

This study explores the amounts of common chemical ultraviolet (UV) filters (i.e., avobenzone, bemotrizinol, ethylhexyl triazone, octocrylene, and octyl methoxycinnamate) in cosmetics and the human stratum corneum. An ultrasound–vortex-assisted dispersive liquid–liquid microextraction (US–VA–DLLME) method with a high-performance liquid chromatography–diode array detector was used to analyze UV filters. A bio-derived solvent (i.e., anisole) was used as the extractant in the US–VA–DLLME procedure, along with methanol as the dispersant, a vortexing time of 4 min, and ultrasonication for 3 min. The mass-transfer rate of the extraction process was enhanced due to vortex-ultrasound combination. Various C18 end-capped columns were used to investigate the separation characteristics of the UV filters, with XBridge BEH or CORTECS selected as the separation column. Calibration curves were constructed in the 0.05–5 μg/mL (all filters except octocrylene) and 0.1–10 μg/mL (octocrylene) ranges, and excellent analytical linearities with coefficients of determination (r2) above 0.998. The developed method was successfully used to analyze sunscreen. Moreover, experiments were designed to simulate the sunscreen-usage habits of consumers, and the cup method was used to extract UV filters from the human stratum corneum. The results suggest that a makeup remover should be employed to remove water-in-oil sunscreens from skin.

ObjectivesLymphogranuloma venereum (LGV) caused by Chlamydia trachomatis genotypes L1–L3 has been resurging among men who have sex with men (MSM) and people with HIV (PWH) in Western countries. While historically attributed to tropical regions, rectal LGV has been rarely recognised in Asia, with Taiwan recently becoming the second Asian country to report cases.MethodsA multicentre, laboratory-based surveillance was conducted from January 2020 to December 2023 in Taiwan. Specimens were collected from MSM through syndromic testing and screening of high-risk populations. C. trachomatis was identified using commercial multiplex PCR assays, with genotyping performed through ompA gene sequencing. LGV-positive samples underwent multilocus sequence typing (MLST) following established protocols.ResultsAmong 446 C. trachomatis-positive samples, 391 (87.7%) underwent successful ompA sequencing. Genovariant L2b accounted for 9.7% of cases, predominantly among PWH with rectal chlamydia (18.2%). PWH accounted for 85.7% of all genovariant L2b cases. Of 38 genovariant L2b samples from 35 cases, 34 (84.2%) samples completed MLST, revealing sequence type (ST) 53 as the predominant strain (74%). ST39 and ST63 were identified as unreported STs in Western countries, along with previously reported ST58. The four identified STs formed a cluster.ConclusionsOur findings indicate the clonal spread of C. trachomatis L2b-ST53 among MSM in Taiwan, primarily affecting PWH. The predominance of ST53 suggests potential international and domestic spread, indicative of the need for enhanced surveillance.

Brachiation robots mimic the locomotion of bio-primates, including continuous brachiation and ricochetal brachiation. The hand-eye coordination involved in ricochetal brachiation is complex. Few studies have integrated both continuous and ricochetal brachiation within the same robot. This study seeks to fill this gap. The proposed design mimics the transverse movements of sports climbers holding onto horizontal wall ledges. We analyzed the cause-and-effect relationship among the phases of a single locomotion cycle. This led us to apply a parallel four-link posture constraint in model-based simulation. To facilitate smooth coordination and efficient energy accumulation, we derived the required phase switching conditions as well as joint motion trajectories. Based on a two-hand-release design, we propose a new style of transverse ricochetal brachiation. This design better exploits inertial energy storage for enhanced moving distance. Experiments demonstrate the effectiveness of the proposed design. A simple evaluation method based on the final robot posture from the previous locomotion cycle is applied to predict the success of subsequent locomotion cycles. This evaluation method serves as a valuable reference for future research.