RESUMEN
In recent years, multi-robot control systems and service robots equipped with graphical computing have been introduced in various application scenarios. However, the long-term operation of VSLAM calculation leads to reduced energy efficiency of the robot, and accidental localization failure still persists in large-scale fields with dynamic crowds and obstacles. This study proposes an EnergyWise multi-robot system based on ROS that actively determines the activation of VSLAM using real-time fused localization poses by an innovative energy-saving selector algorithm. The service robot is equipped with multiple sensors and utilizes the novel 2-level EKF method and incorporates the UWB global localization mechanism to adapt to complex environments. During the COVID-19 pandemic, three disinfection service robots were deployed to disinfect a large, open, and complex experimental site for 10 days. The results demonstrated that the proposed EnergyWise multi-robot control system successfully achieved a 54% reduction in computing energy consumption during long-term operations while maintaining a localization accuracy of 3 cm.
Asunto(s)
COVID-19 , Robótica , Humanos , Conservación de los Recursos Energéticos , Desinfección , PandemiasRESUMEN
Simultaneous extraction of various types of biomolecule from a single sample can be beneficial for multiomics studies of unique specimens. An efficient and convenient sample preparation approach must be developed that can comprehensively isolate and extract biomolecules from one sample. TRIzol reagent is widely used in biological studies for DNA, RNA, and protein isolation. This study evaluated the feasibility of using TRIzol reagent for the simultaneous isolation of not only DNA, RNA, and proteins but also metabolites and lipids from a single sample. Through the comparison of known metabolites and lipids obtained using the conventional methanol (MeOH) and methyl-tert-butyl ether (MTBE) extraction methods, we determined the presence of metabolites and lipids in the supernatant during TRIzol sequential isolation. Finally, we performed untargeted metabolomics and lipidomics to examine metabolite and lipid alterations associated with the jhp0417 mutation in Helicobacter pylori by using the TRIzol sequential isolation protocol and MeOH and MTBE extraction methods. Metabolites and lipids with significant differences isolated using the TRIzol sequential isolation protocol were consistent with those obtained using the conventional MeOH and MTBE extraction methods. These results indicated that TRIzol reagent can be used to simultaneously isolate metabolites and lipids from a single sample. Thus, TRIzol reagent can be used in biological and clinical research, especially in multiomics studies.
Asunto(s)
Multiómica , ARN , Indicadores y Reactivos , Proteínas , Metanol , LípidosRESUMEN
Alcoholism induces folate deficiency and increases the risk for embryonic anomalies. However, the interplay between ethanol exposure and embryonic folate status remains unclear. To investigate how ethanol exposure affects embryonic folate status and one-carbon homeostasis, we incubated zebrafish embryos in ethanol and analyzed embryonic folate content and folate enzyme expression. Exposure to 2% ethanol did not change embryonic total folate content but increased the tetrahydrofolate level approximately 1.5-fold. The expression of 10-formyltetrahydrofolate dehydrogenase (FDH), a potential intracellular tetrahydrofolate reservoir, was increased in both mRNA and protein levels. Overexpressing recombinant FDH in embryos alleviated the ethanol-induced oxidative stress in ethanol-exposed embryos. Further characterization of the zebrafish fdh promoter revealed that the -124/+40 promoter fragment was the minimal region required for transactivational activity. The results of site-directed mutagenesis and binding analysis revealed that Sp1 is involved in the basal level of expression of fdh but not in ethanol-induced upregulation of fdh. On the other hand, CEBPα was the protein that mediated the ethanol-induced upregulation of fdh, with an approximately 40-fold increase of fdh promoter activity when overexpressed in vitro. We concluded that upregulation of fdh involving CEBPα helps relieve embryonic oxidative stress induced by ethanol exposure.
Asunto(s)
Etanol/farmacología , Estrés Oxidativo/efectos de los fármacos , Oxidorreductasas actuantes sobre Donantes de Grupo CH-NH/metabolismo , Regulación hacia Arriba/efectos de los fármacos , Proteínas de Pez Cebra/metabolismo , Animales , Secuencia de Bases , Sitios de Unión/genética , Proteína alfa Potenciadora de Unión a CCAAT/genética , Proteína alfa Potenciadora de Unión a CCAAT/metabolismo , Depresores del Sistema Nervioso Central/farmacología , Embrión no Mamífero/efectos de los fármacos , Embrión no Mamífero/embriología , Embrión no Mamífero/metabolismo , Ácido Fólico/metabolismo , Regulación del Desarrollo de la Expresión Génica , Técnicas de Silenciamiento del Gen , Datos de Secuencia Molecular , Mutagénesis Sitio-Dirigida , Oxidorreductasas actuantes sobre Donantes de Grupo CH-NH/genética , Regiones Promotoras Genéticas/genética , Tetrahidrofolatos/metabolismo , Pez Cebra/embriología , Pez Cebra/genética , Pez Cebra/metabolismo , Proteínas de Pez Cebra/genéticaRESUMEN
This investigation demonstrates the feasibility of a magnetically tunable liquid crystal phase grating for the terahertz wave. The phase grating can be used as a beam splitter. The ratio of the zeroth and first-order diffracted THz-beams (0.3 THz) polarized in a direction perpendicular to that of the grooves of the grating can be tuned from 4:1 to 1:2. When the THz wave is polarized in any other direction, this device can be operated as a polarizing beam splitter.
