This article proposes a self-balancing wheeled robot named J4.α equipped with intelligent modules for automatic navigation. A mechanism involving dynamic mass was designed to control the linear ...motion of the robot. RGB-D camera was adopted to monitor the front environment; a deep convolutional neural network was adopted to realize a certain level of socially compliant navigation. In combination with the topological localization scheme, J4.α can navigate between nodal locations without environment modification. To facilitate the work of the manipulator on-board, an auto-balancing module was designed to maintain force equilibrium. To further secure spatial reliability, motorized parking stands are also introduced. Prototypes were made and tests were carried out to examine the system dynamics. The experimental result confirmed the effectiveness of the intelligent navigation modules.
A dynamic covalent approach towards rigid aryleneethynylene covalent organic polyhedrons (COPs) was explored. Our study on the relationship of the COP structures and the geometry of their building ...blocks reveals that the topology of aryleneethynylene COPs strongly depends on the size of the building blocks. A tetramer (
D
2h
symmetric), dimer, or interlocked complex can be formed from monomers with the same face-to-edge angle but in different sizes. As alkyne metathesis is a self-exchange reaction and non-directional, the cyclooligomerization of multi-alkyne monomers involves both intramolecular cyclization and intermolecular metathesis reaction, resulting in complicated thermodynamic process disturbed by kinetic competition. Although a tetrahedron-shaped tetramer (
T
d
symmetric) has comparable thermodynamic stability to a
D
2h
symmetric tetramer, its formation is kinetically disfavored and was not observed experimentally. Aryleneethynylene COPs consist of purely unsaturated carbon backbones and exhibit large internal cavities, which would have interesting applications in host-guest chemistry and development of porous materials.
A modular dynamic covalent approach towards rigid aryleneethynylene covalent organic polyhedrons (COPs) and the mechanistic features were explored.
Full text
Available for:
IJS, KILJ, NUK, UL, UM, UPUK
A palladium-catalyzed
-difluoroallylation of propargyl sulfonates with
-difluoroallylboron has been developed. The reaction features synthetic simplicity and high functional group tolerance, ...affording 3,3-difluoro-skipped 1,5-enynes with high efficiency and regioselectivity. In particular, the resulting products can serve as versatile synthons for diversified transformations, having potential applications in medicinal chemistry.
Summary
In this study, mung bean was used as raw material to reveal the interaction mechanism between mung bean protein and polyphenols in the water solution system of heat treatment and to speculate ...the binding form of the two. Structural and functional changes of globulin–polyphenol complexes in mung bean under different interaction ratios and heat treatment conditions (70, 85 and 100 °C) were analysed using 2D and 3D fluorescence, Fourier transform infrared spectroscopy, particle size and ζ potential. The results showed that mung bean globulin–polyphenol binding was a static quenching mechanism, with mainly hydrophobic interactions. Heat treatment had little effect on binding sites and may induce partial covalent binding. Antioxidant activity of the interaction improved; however, heat treatment reduced the antioxidant capacity of the complexes. Before and after heat treatment, globulin–polyphenol complexes had poor solubility, but its emulsification and foaming ability are significantly improved. Polyphenol addition improved mung bean globulin secondary structure, and the thermal stability of the complex was greater than that of mung bean globulin. This study provides a theoretical reference for clarifying the binding mechanism of mung bean protein and polyphenols, which is significant for mung bean food processing and production.
This thesis mainly explores the interaction mechanism, structure and functional properties of mung bean globulin‐polyphenols before and after heat treatment. Studies have shown that the two are non‐covalent binding dominated by hydrophobic interaction, and there are three binding sites. The fluorescence quenching phenomenon occurs after the two interact, and heat treatment will accelerate the occurrence of this phenomenon. In addition, the basic functional properties such as oxidation resistance, emulsification, and foaming properties of the compound after interaction are significantly improved, but after heat treatment, its oxidation resistance is reduced.
Full text
Available for:
BFBNIB, FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
Heterogeneous nuclear ribonucleoprotein F (HnRNP F) is a key regulator for nucleic acid metabolism; however, whether HnRNP F expression is important in maintaining podocyte integrity is unclear. ...Nephroseq analysis from a registry of human kidney biopsies was performed. Age- and sex-matched podocyte-specific HnRNP F knockout (HnRNP FPOD KO) mice and control (HnRNP Ffl/fl) were studied. Podocytopathy was induced in male mice (more susceptible) either by adriamycin (ADR)- or low-dose streptozotocin treatment for 2 or 8 weeks. The mouse podocyte cell line (mPODs) was used in vitro. Nephroseq data in three human cohorts were varied greatly. Both sexes of HnRNP FPOD KO mice were fertile and appeared grossly normal. However, male 20-week-old HnRNP FPOD KO than HnRNP Ffl/fl mice had increased urinary albumin/creatinine ratio, and lower expression of podocyte markers. ADR- or diabetic- HnRNP FPOD KO (vs. HnRNP Ffl/fl) mice had more severe podocytopathy. Moreover, methyltransferase-like 14 (Mettl14) gene expression was increased in podocytes from HnRNP FPOD KO mice, further enhanced in ADR- or diabetic-treated HnRNP FPOD KO mice. Consequently, this elevated Mettl14 expression led to sirtuin1 (Sirt1) inhibition, associated with podocyte loss. In mPODs, knock-down of HnRNP F promoted Mettl14 nuclear translocation, which was associated with podocyte dysmorphology and Sirt1 inhibition-mediated podocyte loss. This process was more severe in ADR- or high glucose- treated mPODs. Conclusion: HnRNP F deficiency in podocytes promotes podocytopathy through activation of Mettl14 expression and its nuclear translocation to inhibit Sirt1 expression, underscoring the protective role of HnRNP F against podocyte injury.
Full text
Available for:
GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
•The three-tower suspension bridge with unequal-length main spans is discussed.•The reasonable range of the central tower stiffness is determined analytically.•Hanger tensile forces under the joint ...action of dead and live loads are calculated.•Cases of the live load acting on the shorter main span and longer one are considered.•Effects of the dead-to-live load ratio and the friction coefficient are discussed.
Three-tower suspension bridges with unequal-length main spans more easily adapt to different terrain features and therefore, have broader application prospects. However, due to the unique “central tower effect” of the three-tower suspension bridge, it is required that the lateral stiffness of the central tower in the longitudinal direction of the bridge girder should be neither too large nor too small. To calculate the reasonable range for the central tower stiffness in the three-tower suspension bridge with unequal-length main spans, this study proposes an analytical algorithm based on the segmental catenary theory. Firstly, hanger tensile forces under the joint action of dead and live loads are calculated. Next, the governing equations for the main cable shape of each span are constructed for the following conditions: closure of elevation difference, closure of span length, moment balance of splay saddle, and conservation of unstrained length of the main cable. The solutions of the derived set of simultaneous equations are obtained for (i) deflection-to-span ratio limit of the stiffening girder and (ii) anti-slip control between the main cable and saddle conditions, which yield the lower and upper limits of reasonable stiffness of the central tower, respectively. This study discusses a three-tower suspension bridge spanned as 248 m + 1060 m + 1360 m + 380 m. The calculation is performed for the two cases of the live load application: (i) to the longer main span and (ii) to the shorter main span. The results obtained proved the feasibility and effectiveness of the proposed algorithm. The following findings are reported: The upper and lower limits of reasonable central tower stiffness are derived from the above two cases, respectively. Therefore, it is not sufficient to consider only the former case when calculating the central tower stiffness of the three-tower suspension bridge with equal-length main spans. The dead-to-live load ratio and friction coefficient between the main cable and saddle also strongly influence the central tower stiffness: their increase can expand the reasonable range of the latter but if they are too small, no such optimization can be provided.
Full text
Available for:
GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
Display omitted
•A hybrid phonon Monte Carlo-diffusion method is developed for ballistic-diffusive heat conduction in nanostructures.•This method can greatly reduce the computational time without ...destroying accuracy.•Numerical experiments of two typical nanostructures have been conducted to verify this method.
The existing phonon Monte Carlo (MC) for ballistic-diffusive heat conduction are limited to small and simple structures owing to the huge time cost following with the increasing scale. This article presents a new hybrid phonon Monte Carlo-diffusion method for ballistic-diffusive heat conduction, which successfully characterizes the ballistic effect with significantly reducing the computational cost. Based on the idea that the phonon-boundary scattering mainly affects the regions adjacent to the boundaries when the system is considerably large, the whole system is divided into three zones: the boundary MC zone and the middle diffusion zone, between which is the overlap zone. By using an alternating method and setting virtual phonon bath or specular reflection as the boundary condition for the MC zones, the results of the phonon tracing MC and diffusion equation can be coupled and converge at the overlap zone. To verify, the cross-plane and in-plane film heat conduction, where slip boundary conditions are the major characteristics of the ballistic-diffusive regime, are simulated by the hybrid method as well as standard phonon tracing MC which works as a benchmark. It is found that the hybrid method can accurately predict the distributions of temperature and heat flux in the system with nearly the same precision as the phonon tracing MC while the computation time can reduce up to 90%, validating its potential use for larger and more complex structures.
Full text
Available for:
GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK, ZRSKP
Background
Among the novel robotic platforms, the Hugo RAS system is the second most studied platform, next to the da Vinci system, and we aim to address our experiences in radical prostatectomy (RP) ...with the Hugo RAS system.
Methods
We recorded our first 12 cases of prostate cancer undergoing RP with the Hugo RAS system. The median console time was 145 min and median hospital stay was 7 days. Hedge’ g was applied to search for the cut‐off case in four parameters in surgeries.
Results
Pre‐console preparation was significantly improved after the first seven cases, and the console time was remarkably shortened after the first two cases. The intraoperative pause for trouble shooting was remarkably shortened after the first three cases.
Conclusions
We found that RP with the Hugo RAS system was feasible, and the learning curve was short as surgeons may benefit from the previous experience with the da Vinci system.
Full text
Available for:
FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
Tracheobronchopathia osteochondroplastica (TO) is an uncommon disease of the tracheobronchial system that leads to narrowing of the airway lumen from cartilaginous and/or osseous submucosal nodules. ...The aim of this study is to perform a detailed review of this rare disease in a large cohort of patients with TO proven by fiberoptic bronchoscopy from China.
Retrospective chart review was performed on 41,600 patients who underwent bronchoscopy in the Department of Respiratory Medicine of Changhai Hospital between January 2005 and December 2012. Cases of TO were identified based on characteristic features during bronchoscopic examination.
22 cases of bronchoscopic TO were identified. Among whom one-half were male and the mean age was 47.45±10.91 years old. The most frequent symptoms at presentation were chronic cough (n = 14) and increased sputum production (n = 10). Radiographic abnormalities were observed in 3/18 patients and findings on computed tomography consistent with TO such as beaded intraluminal calcifications and/or increased luminal thickenings were observed in 18/22 patients. Patients were classified into the following categories based on the severity of bronchoscopic findings: Stage I (n = 2), Stage II (n = 6) and Stage III (n = 14). The result that bronchoscopic improvement was observed in 2 patients administered with inhaled corticosteroids suggested that resolution of this disease is possible.
TO is a benign disease with slow progression, which could be roughly divided into 3 stages on the basis of the characteristic endoscopic features and histopathologic findings. Chronic inflammation was thought to be more important than the other existing plausible hypotheses in the course of TO. Inhaled corticosteroids might have some impact on patients at Stage I/II.
Full text
Available for:
DOBA, IZUM, KILJ, NUK, PILJ, PNG, SAZU, SIK, UILJ, UKNU, UL, UM, UPUK
PDF
