This article designed a soft bending actuator (SBA) and presented a neural-network-based tracking control strategy for such an actuator. To achieve high-precision control, a visual feedback system ...was established by using a high-speed camera to dynamically compute the corresponding central angle which described the curvature of the SBA. Considering its nonlinear features, the echo state Gaussian process, a fusion of echo state network and Gaussian process, was used to approximate the SBA's dynamics with a nonlinear autoregressive exogenous model. On this basis, a single-layer neural network was trained to calculate the control signal in light of the idea of predictive control, due to its simplicity and good approximation capabilities. The stability of the closed-loop system was guaranteed, and experimental results indicated that the proposed strategy showed relatively high tracking accuracy under various reference trajectories.
Exploring rough sets from the perspective of multigranulation represents a promising direction in rough set theory, where concepts are approximated by multiple granular structures represented by ...binary relations. Through a combination of multigranulation rough sets with intuitionistic fuzzy rough sets, this study develops a new multigranulation rough set model, called an intuitionistic fuzzy multigranulation rough set (IFMGRS). In the multigranulation framework, three types of IFMGRSs that are generalizations of three existing intuitionistic fuzzy rough set models are proposed. First, we present three types of IFMGRSs. From their basic properties, we conclude that they are extensions of three existing intuitionistic fuzzy rough sets. Second, we define the reducts of the three types of IFMGRSs to eliminate redundant intuitionistic fuzzy granulations. Third, we examine the reduction approaches of IFMGRS with a detailed example and discuss the general reduction theory of IFMGRS.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK
How to design an anthropomorphic hand with a few actuators to replicate the grasping functions of the human hand is still a challenging problem. This paper aims to develop a general theory for ...designing the anthropomorphic hand and endowing the designed hand with natural grasping functions. A grasping experimental paradigm was set up for analyzing the grasping mechanism of the human hand in daily living. The movement relationship among joints in a digit, among digits in the human hand, and the postural synergic characteristic of the fingers were studied during the grasping. The design principle of the anthropomorphic mechanical digit that can reproduce the digit grasping movement of the human hand was developed. The design theory of the kinematic transmission mechanism that can be embedded into the palm of the anthropomorphic hand to reproduce the postural synergic characteristic of the fingers by using a limited number of actuators is proposed. The design method of the anthropomorphic hand for replicating human grasping functions was formulated. Grasping experiments are given to verify the effectiveness of the proposed design method of the anthropomorphic hand.
Introduction
Primary central nervous system lymphoma (PCNSL) is infrequent and represents 3. 1% of primary brain tumors. And the lesions that are restricted to the ventricular system, particularly ...the third ventricle, are even rarer. There are few pieces of literature or case reports to date. We report a case of PCNSL with partial hypointense on diffusion-weighted imaging (DWI) located in the lateral and third ventricles. Then we reviewed almost all case reports of ventricular PCNSLs in the last 20 years, discuss the imaging presentation, other ventricular tumors with similar imaging findings, and primary treatment measures.
Case presentation
A 78-year-old man presented with memory loss and poor responsiveness for one week without obvious precipitating factors. Magnetic resonance imaging (MRI) showed lesions in the third ventricle and left lateral ventricles, which were slightly hypointense on T1-weighted imaging (T1WI), and isointense to slightly hypointense on T2-weighted imaging (T2WI). On DWI, the left lateral ventricular lesion was hyperintense, while the third ventricular lesion was hypointense. After the surgical procedure, the pathology and immunohistochemistry revealed diffuse large B-cell lymphoma (DLBCL).
Conclusions
Ventricular PCNSL is quite rare, and may be confused with other tumors in the same position. However, PCNSL differs from other central nervous system tumors in that it is primarily treated with chemotherapy and/or radiation therapy. So, it is important to recognize PCNSL and differentiate it from other tumors, considering its implications for management planning.
To date, there has been limited research on the interactive effects of yeast and lactic acid bacteria (LAB) on the sensory qualities of navel orange wine. In this study, using Jintang navel orange ...juice as the raw material, multi-microbial fermentation was conducted with
SC-125 and Angel yeast SY, as well as
BC114. Single yeast and co-fermentation with
were used as the control groups. The research aimed to investigate the physicochemical parameters of navel orange wine during fermentation. Additionally, headspace solid-phase microextraction gas chromatography-mass spectrometry (HP-SPME-GC-MS) was employed to determine and analyze the types and levels of flavor compounds in the navel orange wines produced through the different fermentation methods. The co-fermentation using the three strains significantly enhanced both the quantity and variety of volatile compounds in the navel orange wine, concomitant with heightened total phenol and flavonoid levels. Furthermore, a notable improvement was observed in the free radical scavenging activity. A sensory evaluation was carried out to analyze the differences among the various navel orange wines, shedding light on the impact of different wine yeasts and co-fermentation with LAB on the quality of navel orange wines.
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IZUM, KILJ, NUK, PILJ, PNG, SAZU, UL, UM, UPUK
Hand coordination can allow humans to have dexterous control with many degrees of freedom to perform various tasks in daily living. An important contributing factor to this important ability is the ...complex biomechanical architecture of the human hand. However, drawing a clear functional link between biomechanical architecture and hand coordination is challenging. It is not understood which biomechanical characteristics are responsible for hand coordination and what specific effect each biomechanical characteristic has. To explore this link, we first inspected the characteristics of hand coordination during daily tasks through a statistical analysis of the kinematic data, which were collected from thirty right-handed subjects during a multitude of grasping tasks. Then, the functional link between biomechanical architecture and hand coordination was drawn by establishing the clear corresponding causality between the tendinous connective characteristics of the human hand and the coordinated characteristics during daily grasping activities. The explicit functional link indicates that the biomechanical characteristic of tendinous connective architecture between muscles and articulations is the proper design by the Creator to perform a multitude of daily tasks in a comfortable way. The clear link between the structure and the function of the human hand also suggests that the design of a multifunctional robotic hand should be able to better imitate such basic architecture.
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DOBA, IZUM, KILJ, NUK, PILJ, PNG, SAZU, SIK, UILJ, UKNU, UL, UM, UPUK
At present, the optimal treatment for posterior cruciate ligament tibial avulsion fracture (PCLTAF) combined with concomitant ipsilateral lower limb fractures remains unclear. The present study aimed ...to assess the preliminary outcomes of treatment for PCLTAF with concomitant ipsilateral lower limb fractures by open reduction and internal fixation (ORIF).
The medical records of patients who sustained PCLTAF with concomitant ipsilateral lower limb fractures between March 2015 and February 2019 and underwent treatment at a single institution were retrospectively reviewed. Imaging examinations performed at the time of injury were applied to identify concomitant ipsilateral lower limb fractures. We used 1:2 matching between patients with PCLTAF combined with concomitant ipsilateral lower limb fractures (combined group; n = 11) and those with isolated PCLTAF (isolated group; n = 22). Outcome data were collected, including the range of motion (ROM) and visual analogue scale (VAS), Tegner, Lysholm, and International Knee Documentation Committee (IKDC) scores. At the final follow-up, the clinical outcomes were compared between the combined and isolated groups and between patients who underwent early-stage surgery and those who underwent delayed treatment for PCLTAF.
Thirty-three patients (26 males, 7 females) were included in this study, with eleven patients having PCLTAF and concomitant ipsilateral lower limb fractures and a follow-up of 3.1 to 7.4 years (average, 4.8 years). Compared to patients in the isolated group, patients in the combined group demonstrated significantly worse Lysholm scores (85.7 ± 5.8 vs. 91.5 ± 3.9, p = 0.040), Tegner scores (4.4 ± 0.9 vs. 5.4 ± 0.8, p = 0.006), and IKDC scores (83.6 ± 9.3 vs. 90.5 ± 3.0, p = 0.008). Inferior outcomes were found in patients with delayed treatment.
Inferior results were found in patients with concomitant ipsilateral lower limb fractures, while better outcomes were obtained in patients with PCLTAF through early-stage ORIF using the posteromedial approach. The present findings may help determine the prognoses of patients with PCLTAF combined with concomitant ipsilateral lower limb fractures treated through early-stage ORIF.
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DOBA, IZUM, KILJ, NUK, PILJ, PNG, SAZU, SIK, UILJ, UKNU, UL, UM, UPUK
In this work, resveratrol (Res) was incorporated into chitosan microspheres for controlled release and stabilisation. The microspheres were prepared by emulsion chemical cross-linking method, and ...vanillin was used as the novel cross-linker. The microspheres showed a smooth surface with irregular small particles and internal voids with a size distribution between 53 and 311
μm. Interpenetrating network cross-linking mechanisms might account for the Schiff base reaction between chitosan and vanillin. The encapsulation efficiency of Res within microspheres was up to 93.68%. Res contained within microspheres was protected from light and heat compared with the free Res. In addition, release behaviours were governed by two distinct stages and dependent on pH of release media. Diffusion, swelling and erosion mechanisms might coexist for the full controlled release and Higuchi was the most suitable model for the whole release procedure. Thus, controlled release and stabilization of Res were achieved through incorporation of Res into cross-linked chitosan microspheres by vanillin.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK
The progression of colorectal carcinoma (CRC) to invasive and metastatic disease may involve localized occurrences of epithelial-mesenchymal transition (EMT). However, mechanisms of the EMT process ...in CRC progression are not fully understood. We previously showed that knockdown of signal transducer and activator of transcription 3 (STAT3) up-regulated E-cadherin (a key component in EMT progression) in CRC. In this study, we examined the roles of STAT3 in CRC EMT and ZEB1, an EMT inducer, in STAT3-induced down-regulation of E-cadherin. Knockdown of STAT3 significantly increased E-cadherin and decreased N-cadherin and vimentin expressions in highly invasive LoVo CRC cells. Meanwhile, overexpression of STAT3 significantly reduced E-cadherin and enhanced N-cadherin and vimentin expressions in weakly invasive SW1116 CRC cells. Activation of STAT3 significantly increased CRC cell invasiveness and resistance to apoptosis. Knockdown of STAT3 dramatically enhanced chemosensitivity of CRC cells to fluorouracil. STAT3 regulated ZEB1 expression in CRC cells, and the STAT3-induced decrease in E-cadherin and cell invasion depended on activation of ZEB1 in CRC cells. Additionally, pSTAT3Tyr-705 and ZEB1 expressions were significantly correlated with TNM (tumor, lymph node, and metastasis stages) (p < 0.01). In conclusion, STAT3 may directly mediate EMT progression and regulate ZEB1 expression in CRC. ZEB1 may participate in STAT3-induced cell invasion and E-cadherin down-regulation in CRC cells. The expressions of pSTAT3Tyr-705 and ZEB1 may be positively associated with CRC metastasis. Our data may provide potential targets to prevent and/or treat CRC invasion and metastasis.
Colorectal cancer (CRC) to metastatic disease may involve the epithelial-mesenchymal transition (EMT).
STAT3 may regulate N-cadherin, vimentin, and ZEB1 expressions. STAT3-induced cell invasion and down-regulation of E-cadherin may depend on ZEB1.
STAT3 may mediate CRC EMT progression and ZEB1 expression. Activation of STAT3 and ZEB1 proteins may contribute to worse prognosis in CRC patients.
Our data may provide potential targets to prevent and/or treat CRC invasion.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
•Acid deamidation is a mild treatment process to potentially improve the functional and rheological properties of glutelin.•Significant increasing in solubility and emulsifying properties of glutelin ...was found after deamidation.•Characteristics of glutelin deamidated with malic acid and citric acid were investigated.
The characteristics of glutelin samples from Akebia trifoliata var. australis seeds (AG) that had been deamidated by malic acid (MDAG) and by citric acid (CDAG) were investigated. Sodium dodecyl sulfate–polyacrylamide gel electrophoresis showed high-molecular-weight subunits that were degraded into smaller fragments, and FTIR indicated a decrease in the number of β-sheet groups and an increase in the amount of β-turns in the deamidated samples. These results could be caused by the cleaving of partial disulfide bonds to form new sulfhydryl groups during deamidation. Citric acid was found to be more effective at deamidation and hydrolysis, resulting in a higher solubility and emulsifying activity for CDAG, and MDAG also exhibited some improvement in terms of surface hydrophobicity and emulsion ability. Rheology showed that the gelation point for deamidated samples was increased, and the gel network was strengthened. The amounts of essential amino acids that were well-preserved and the improved solubility, emulsification, and rheology properties of AG after acid-heating deamidation show that this technique can be useful for treating other plant-based food ingredients in the future.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK
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