Explore the vast range of titles available.

Mobile robot path planning in an unknown environment is a fundamental and challenging problem in the field of robotics. Dynamic window approach (DWA) is an effective method of local path planning, however some of its evaluation functions are inadequate and the algorithm for choosing the weights of these functions is lacking, which makes it highly dependent on the global reference and prone to fail in an unknown environment. In this paper, an improved DWA based on Q-learning is proposed. First, the original evaluation functions are modified and extended by adding two new evaluation functions to enhance the performance of global navigation. Then, considering the balance of effectiveness and speed, we define the state space, action space and reward function of the adopted Q-learning algorithm for the robot motion planning. After that, the parameters of the proposed DWA are adaptively learned by Q-learning and a trained agent is obtained to adapt to the unknown environment. At last, by a series of comparative simulations, the proposed method shows higher navigation efficiency and successful rate in the complex unknown environment. The proposed method is also validated in experiments based on XQ-4 Pro robot to verify its navigation capability in both static and dynamic environment.

This study investigates the correlation between motivation, test preparation, and speaking performance among undergraduates in Anhui Province, China, thereby addressing a deficiency in the body of research regarding the interplay between these variables in English language acquisition. The study investigates the impact of intrinsic and extrinsic motivation on performance in high-stakes language testing, drawing on self-determination theory, language management theory, and Shih’s washback model of students’ learning. Data were acquired from 387 students using a quantitative survey design. The results indicated substantial positive correlations between motivation, test preparation, and IELTS speaking scores. The effect of motivation on speaking performance was mediated by test preparation. These results offer educators practical strategies to improve learners’ motivation and performance in English proficiency examinations such as the IELTS and theoretical insights into the language learning process.

Background Intestinal dysbiosis contributes to the progression of renal failure and cardiovascular diseases in patients with chronic kidney disease. Probiotics is a promising intervention to improving intestinal dysbiosis. A double-blind clinical trial to investigate the ability of probiotics to modulate gut microbiota compositions in patients receiving hemodialysis (HD) was undertaken. Methods Fifty HD patients were enrolled and randomized, receiving either probiotics or placebo for 6 months. The responses to the interventions on gut microbiome, serum and fecal metabolome, serum albumin and endotoxin, endothelial activation markers and inflammatory markers were assessed. Results Totally, 22 in the probiotics group (11 males; 14 non-diabetic) and 23 in the placebo group (13 males; 17 non-diabetic) completed the study. Compared to that in the placebo group, probiotics did not significantly alter species diversity of the fecal microbiome. Probiotics did, however, restore the community composition, with particular significance in non-diabetic HD patients ( P  = 0.007 by Adonis analysis). Specifically, according to the results of linear discriminate analysis effect size, probiotics raised the proportions of family Bacteroidaceae and Enterococcaceae, and reduced Ruminococcaceae, Halomonadaceae, Peptostreptococcaceae, Clostridiales Family XIII. Incertae Sedis and Erysipelotrichaceae in non-diabetic HD patients. Additionally, probiotics reduced the abundances of several uremic retention solutes in serum or feces, including indole-3-acetic acid- O -glucuronide, 3-guanidinopropionic acid, and 1-methylinosine ( P  < 0.05). In the probiotic arm, no significant changes were observed in other secondary outcomes. Conclusions Taken together, outcomes from this study suggest that probiotics do have benefits on improving intestinal imbalances and lowering exposure to several uremic toxins in HD patients.

Circular RNAs (circRNAs) are increasingly gaining importance and attention due to their diverse potential functions and their value as diagnostic biomarkers (disease specific). This study aims to explore the novel mechanisms by which exosome-contained circRNAs promote tumor development and metastasis in TNBC. We identified increased circRNA circPSMA1 in TNBC cells, their exosomes, and serum exosomes samples from TNBC patients. The overexpression of circPSMA1 promoted TNBC cell proliferation, migration, and metastasis both in vitro and in vivo. Moreover, we investigated the tumor-infiltrating immune cells (TICs) or stromal components in immune microenvironment (IME), and identified the significant differences in the immune cells between TNBC and non-TNBC samples. Mechanistically, circPSMA1 acted as a “miRNAs sponge” to absorb miR-637; miR-637 inhibited TNBC cell migration and metastasis by directly targeted Akt1, which recognized as a key immune-related gene and affected downstream genes β-catenin and cyclin D1. Subsequent co-culture experiments also demonstrated that exosomes from TNBC carrying large amounts of circPSMA1 could transmit migration and proliferation capacity to recipient cells. Kaplan–Meier plots showed that high expression of Akt1 and low expression of mir-637 are highly correlated with poor prognosis in patients with lymph node metastasis of TNBC. Collectively, all these results reveal that circPSMA1 functions as a tumor promoter through the circPSMA1/miR-637/Akt1-β-catenin (cyclin D1) regulatory axis, which can facilitate the tumorigenesis, metastasis, and immunosuppression of TNBC. Our research proposes a fresh perspective on novel potential biomarkers and immune treatment strategies for TNBC.

The radiation of electromagnetic and mechanical waves depends not only on the intrinsic properties of the emitter but also on the surrounding environment. This principle has laid the foundation for the development of lasers, quantum optics, sonar, musical instruments and other fields related to wave–matter interaction. In the conventional wisdom, the environment is defined exclusively by its eigenstates, and an emitter radiates into and interacts with these eigenstates. Here we show experimentally that this scenario breaks down at a non-Hermitian degeneracy known as an exceptional point. We find a chirality-reversal phenomenon in a ring cavity where the radiation field reveals the missing dimension of the Hilbert space, known as the Jordan vector. This phenomenon demonstrates that the radiation field of an emitter can become fully decoupled from the eigenstates of its environment. The generality of this striking phenomenon in wave–matter interaction is experimentally confirmed in both electromagnetic and acoustic systems. Our finding transforms the fundamental understanding of light–matter interaction and wave–matter interaction in general, and enriches the intriguing physics of exceptional points. The modes of the radiation field generated from an emitter are usually determined by the eigenstates of the surrounding environment. However, this scenario breaks down in a non-Hermitian system, at the spectral degeneracy known as an exceptional point.

Transport through the cell membrane can be divided into active, passive and vesicular types (exosomes). Exosomes are nano‐sized vesicles released by a variety of cells. Emerging evidence shows that exosomes play a critical role in cancers. Exosomes mediate communication between stroma and cancer cells through the transfer of nucleic acid and proteins. It is demonstrated that the contents and the quantity of exosomes will change after occurrence of cancers. Over the last decade, growing attention has been paid to the role of exosomes in the development of breast cancer, the most life‐threatening cancer in women. Breast cancer could induce salivary glands to secret specific exosomes, which could be used as biomarkers in the diagnosis of early breast cancer. Exosome‐delivered nucleic acid and proteins partly facilitate the tumorigenesis, metastasis and resistance of breast cancer. Exosomes could also transmit anti‐cancer drugs outside breast cancer cells, therefore leading to drug resistance. However, exosomes are effective tools for transportation of anti‐cancer drugs with lower immunogenicity and toxicity. This is a promising way to establish a drug delivery system. Exosomes are nano‐sized vesicles released by a variety of cells. Exosomes function as versatile promoters in the tumorigenesis, metastasis and drug resistance of breast cancer. In this review, we summarize the current knowledge about the functions of exosomes in the diagnosis, tumorigenesis, metastasis, microenvironment, drug resistance and therapy of breast cancer.

Adriamycin and docetaxel are two agents commonly used in treatment of breast cancer, but their efficacy is often limited by the emergence of chemoresistance. Recent studies indicate that exosomes act as vehicles for exchange of genetic cargo between heterogeneous populations of tumor cells, engendering a transmitted drug resistance for cancer development and progression. However, the specific contribution of breast cancer-derived exosomes is poorly understood. Here we reinforced other's report that human breast cancer cell line MCF-7/S could acquire increased survival potential from its resistant variants MCF-7/Adr and MCF-7/Doc. Additionally, exosomes of the latter, A/exo and D/exo, significantly modulated the cell cycle distribution and drug-induced apoptosis with respect to S/exo. Exosomes pre-treated with RNase were unable to regulate cell cycle and apoptosis resistance, suggesting an RNA-dependent manner. Microarray and polymerase chain reaction for the miRNA expression profiles of A/exo, D/exo, and S/exo demonstrated that they loaded selective miRNA patterns. Following A/exo and D/exo transfer to recipient MCF-7/S, the same miRNAs were significantly increased in acquired cells. Target gene prediction and pathway analysis showed the involvement of miR-100, miR-222, and miR-30a in pathways implicated in cancer pathogenesis, membrane vesiculation and therapy failure. Furthermore, D/exo co-culture assays and miRNA mimics transfection experiments indicated that miR-222-rich D/exo could alter target gene expression in MCF-7/S. Our results suggest that drug-resistant breast cancer cells may spread resistance capacity to sensitive ones by releasing exosomes and that such effects could be partly attributed to the intercellular transfer of specific miRNAs.

The morbidity and mortality of hepatic fibrosis caused by various etiologies are high worldwide, and the trend is increasing annually. At present, there is no effective method to cure hepatic fibrosis except liver transplantation, and its serious complications threaten the health of patients and cause serious medical burdens. Additionally, there is no specific drug for the treatment of hepatic fibrosis, and many drugs with anti-hepatic fibrosis effects are in the research and development stage. Recently, remarkable progress has been made in the research and development of anti-hepatic fibrosis drugs targeting different targets. We searched websites such as PubMed, ScienceDirect, and Home-ClinicalTrials.gov and found approximately 120 drugs with anti-fibrosis properties, some of which are in phase Ⅱ or Ⅲ clinical trials. Additionally, although these drugs are effective against hepatic fibrosis in animal models, most clinical trials have shown poor results, mainly because animal models do not capture the complexity of human hepatic fibrosis. Besides, the effect of natural products on hepatic fibrosis has not been widely recognized at home and abroad. Furthermore, drugs targeting a single anti-hepatic fibrosis target are prone to adverse reactions. Therefore, currently, the treatment of hepatic fibrosis requires a combination of drugs that target multiple targets. Ten new drugs with potential for development against hepatic fibrosis were selected and highlighted in this mini-review, which provides a reference for clinical drug use.

Mental disorders and neurological diseases are becoming a rapidly increasing medical burden. Although extensive studies have been conducted, the progress in developing effective therapies for these diseases has still been slow. The current dilemma reminds us that the human being is a superorganism. Only when we take the human self and its partner microbiota into consideration at the same time, can we better understand these diseases. Over the last few centuries, the partner microbiota has experienced tremendous change, much more than human genes, because of the modern transformations in diet, lifestyle, medical care, and so on, parallel to the modern epidemiological transition. Existing research indicates that gut microbiota plays an important role in this transition. According to gut-brain psychology, the gut microbiota is a crucial part of the gut-brain network, and it communicates with the brain via the microbiota-gut-brain axis. The gut microbiota almost develops synchronously with the gut-brain, brain, and mind. The gut microbiota influences various normal mental processes and mental phenomena, and is involved in the pathophysiology of numerous mental and neurological diseases. Targeting the microbiota in therapy for these diseases is a promising approach that is supported by three theories: the gut microbiota hypothesis, the \"old friend\" hypothesis, and the leaky gut theory. The effects of gut microbiota on the brain and behavior are fulfilled by the microbiota-gut-brain axis, which is mainly composed of the nervous pathway, endocrine pathway, and immune pathway. Undoubtedly, gut-brain psychology will bring great enhancement to psychology, neuroscience, and psychiatry. Various microbiota-improving methods including fecal microbiota transplantation, probiotics, prebiotics, a healthy diet, and healthy lifestyle have shown the capability to promote the function of the gut-brain, microbiota-gut-brain axis, and brain. It will be possible to harness the gut microbiota to improve brain and mental health and prevent and treat related diseases in the future.

Brain-computer interface-based rehabilitation represents an emerging neurorehabilitation approach for post-stroke motor recovery, yet its comprehensive effects on patients in the early phase after stroke, typically defined as within 3 months of onset, remain to be fully established. This systematic review and meta-analysis evaluated effects of this intervention on upper limb function, activities of daily living, and adverse events in individuals with early stroke. This study was conducted following PRISMA guidelines. Eligibility criteria were established for randomized controlled trials that encompassed: (1) participants were adults (≥18 years) within 3 months of stroke onset with upper limb motor impairment; (2) interventions included brain-computer interface-based rehabilitation, and (3) outcomes that measured upper limb function, activities of daily living, and adverse events. A systematic search was performed across PubMed, Embase, Cumulative Index to Nursing and Allied Health Literature, Cochrane Library, and China National Knowledge Infrastructure databases from their inception to August 23, 2025. Two independent reviewers assessed eligibility, compiled data, and appraised methodological rigor, potential bias, and reliability of the evidence. Meta-analysis was performed using RevMan 5.4 (Cochrane Collaboration, UK) and Stata 18 (StataCorp., USA), applying random-effects models to calculate mean differences (MD) or risk ratios (RR) with 95% confidence intervals (CI). Subgroup analyses, meta-regression, sensitivity analyses, and publication bias assessments were conducted where appropriate. Nine studies involving 642 participants (212 females and 430 males) with a mean age of 59.77 years were included. For primary outcomes, brain-computer interface-based rehabilitation significantly improved upper limb function in patients with early stroke (MD = 5.02, 95% CI: 3.20, 6.84). Subgroup analyses revealed that no statistically significant differences were observed in the improvement of upper limb functionality among various patient demographics and intervention characteristics (all > 0.05). For secondary outcomes, the pooled analysis suggested a potential improvement in activities of daily living with BCI-based rehabilitation (MD = 7.68, 95% CI: 0.32, 15.03), although this finding was accompanied by very high heterogeneity ( = 88%) and was not robust in sensitivity analyses, indicating low certainty of evidence. Subgroup analyses indicated that greater benefits might be observed in patients within 30 days after stroke onset and with intervention durations not exceeding 3 weeks. Regarding safety, preliminary data from a single study suggested no significant difference in adverse events between groups ( = 0.87), but the evidence base is currently insufficient to draw firm conclusions. Brain-computer interface-based rehabilitation is effective in improving upper limb motor function in patients with early stroke. Current evidence suggests a potential benefit for activities of daily living, but the evidence is of low certainty due to substantial heterogeneity and limited robustness. Subgroup analyses identified time from onset and intervention duration as potential effect modifiers for activities of daily living. Preliminary safety data from a single study are encouraging but insufficient to establish a safety profile. Further well-designed randomized controlled trials are needed to establish optimal brain-computer interface-based rehabilitation protocols, to confirm the potential benefit on activities of daily living with more robust evidence, and to evaluate long-term efficacy and safety. PROSPERO [Register number: CRD420251144151].