Robust Localization of Industrial Park UGV and Prior Map Maintenance.

The precise localization of unmanned ground vehicles (UGVs) in industrial parks without prior GPS measurements presents a significant challenge. Simultaneous localization and mapping (SLAM) techniques can address this challenge by capturing environmental features, using sensors for real-time UGV localization. In order to increase the real-time localization accuracy and efficiency of UGVs, and to improve the robustness of UGVs' odometry within industrial parks-thereby addressing issues related to UGVs' motion control discontinuity and odometry drift-this paper proposes a tightly coupled LiDAR-IMU odometry method based on FAST-LIO2, integrating ground constraints and a novel feature extraction method. Additionally, a novel maintenance method of prior maps is proposed. The front-end module acquires the prior pose of the UGV by combining the detection and correction of relocation with point cloud registration. Then, the proposed maintenance method of prior maps is used to hierarchically and partitionally segregate and perform the real-time maintenance of the prior maps. At the back-end, real-time localization is achieved by the proposed tightly coupled LiDAR-IMU odometry that incorporates ground constraints. Furthermore, a feature extraction method based on the bidirectional-projection plane slope difference filter is proposed, enabling efficient and accurate point cloud feature extraction for edge, planar and ground points. Finally, the proposed method is evaluated, using self-collected datasets from industrial parks and the KITTI dataset. Our experimental results demonstrate that, compared to FAST-LIO2 and FAST-LIO2 with the curvature feature extraction method, the proposed method improved the odometry accuracy by 30.19% and 48.24% on the KITTI dataset. The efficiency of odometry was improved by 56.72% and 40.06%. When leveraging prior maps, the UGV achieved centimeter-level localization accuracy. The localization accuracy of the proposed method was improved by 46.367% compared to FAST-LIO2 on self-collected datasets, and the located efficiency was improved by 32.33%. The z-axis-located accuracy of the proposed method reached millimeter-level accuracy. The proposed prior map maintenance method reduced RAM usage by 64% compared to traditional methods.

A Cartesian-Based Trajectory Optimization with Jerk Constraints for a Robot.

To address the time-optimal trajectory planning (TOTP) problem with joint jerk constraints in a Cartesian coordinate system, we propose a time-optimal path-parameterization (TOPP) algorithm based on nonlinear optimization. The key insight of our approach is the presentation of a comprehensive and effective iterative optimization framework for solving the optimal control problem (OCP) formulation of the TOTP problem in the (s,s˙)-phase plane. In particular, we identify two major difficulties: establishing TOPP in Cartesian space satisfying third-order constraints in joint space, and finding an efficient computational solution to TOPP, which includes nonlinear constraints. Experimental results demonstrate that the proposed method is an effective solution for time-optimal trajectory planning with joint jerk limits, and can be applied to a wide range of robotic systems.

TCL1A acts as a tumour suppressor by modulating gastric cancer autophagy via miR-181a-5p-TCL1A-Akt/mTOR-c-MYC loop.

Gastric cancer is the third most commonly cause of tumour-related death worldwide and one of the most prevalent malignancies in China. TCL1A, TCL1 family Akt coactivator A, can active Akt/mTOR pathway and regulate the autophagy. However, the action of TCL1A in gastric cancer is not well understood. The present study is investigating the mechanism of action of TCL1A in gastric cancer. TCL1A was lowly expressed in gastric cancer tissues. Subsequent experiments demonstrated that miR-181a-5p can regulate c-MYC through the TCL1A-Akt/mTOR pathway and c-MYC can in turn affect the expression of miR-181a-5p, thus confirming the existence of the miR-181a-5p-TCL1A-Akt/mTOR-c-MYC loop. Flow cytometric apoptosis assay and mRFP-eGFP-LC3 autophagy assay demonstrated that both miR-181a-5p and TCL1A can affect autophagy and apoptosis of gastric cancer cells through the loop. In vivo experiments confirmed that TCL1A can affect the proliferation of gastric cancer. These results illustrate that TCL1A can exert tumour suppressive effects and affect gastric cancer autophagy and progression via the miR-181a-5p-TCL1A-Akt/mTOR-c-MYC loop, which could be a potential therapeutic target for gastric cancer.

Functional Magnetic Resonance Imaging of Brain Function and Emergence Agitation of Patients with Dexmedetomidine-Assisted General Anesthesia under Comfortable Nursing Intervention.

In order to explore the effects of dexmedetomidine (DEX) on functional magnetic resonance imaging (fMRI) and emergence agitation of patients who underwent general anesthesia surgery with sevoflurane under comfortable nursing intervention, 66 patients who received upper abdominal surgery were selected as research objects. According to nursing and anesthesia methods, the patients were randomly divided into control group (routine nursing and anesthesia), group A (routine nursing and DEX-assisted anesthesia), and group B (comfortable nursing and DEX-assisted anesthesia). The differences in the brain fMRI characteristics, hemodynamic indexes, anesthesia recovery indexes, and nursing satisfaction in the perioperative period were evaluated. The results showed that the regional homogeneity values were different in different brain regions, but there was no difference in the Z value of functional connectivity(P > 0.05). Compared with the control group, heart rate, mean arterial pressure, awakening time, extubation time, the Riker sedation-agitation scale (SAS) score, and anesthetic dosage were signally decreased in group A and group B, while the Ramsay scores, the postanesthesia care unit (PACU) stay, and anesthesia maintenance time in the two groups was obviously increased(P < 0.05). Compared with group A, the extubation time, the SAS score, PACU stay, and hospital stay were all remarkably reduced in group B, while the nursing satisfaction score was greatly increased(P < 0.05). To sum up, DEX was helpful to safely and effectively reduce the occurrence of emergence agitation in patients under general anesthesia surgery with sevoflurane. Besides, comfortable nursing intervention could further reduce the incidence of emergence agitation in patients with general anesthesia, shorten the length of hospital stay, and improve nursing satisfaction.

An Efficient Online Trajectory Generation Method Based on Kinodynamic Path Search and Trajectory Optimization for Human-Robot Interaction Safety.

With the rapid development of robot perception and planning technology, robots are gradually getting rid of fixed fences and working closely with humans in shared workspaces. The safety of human-robot coexistence has become critical. Traditional motion planning methods perform poorly in dynamic environments where obstacles motion is highly uncertain. In this paper, we propose an efficient online trajectory generation method to help manipulator autonomous planning in dynamic environments. Our approach starts with an efficient kinodynamic path search algorithm that considers the links constraints and finds a safe and feasible initial trajectory with minimal control effort and time. To increase the clearance between the trajectory and obstacles and improve the smoothness, a trajectory optimization method using the B-spline convex hull property is adopted to minimize the penalty of collision cost, smoothness, and dynamical feasibility. To avoid the collisions between the links and obstacles and the collisions of the links themselves, a constraint-relaxed links collision avoidance method is developed by solving a quadratic programming problem. Compared with the existing state-of-the-art planning method for dynamic environments and advanced trajectory optimization method, our method can generate a smoother, collision-free trajectory in less time with a higher success rate. Detailed simulation comparison experiments, as well as real-world experiments, are reported to verify the effectiveness of our method.

Mechanisms of Traditional Chinese Medicine Bushenantai granules in promoting angiogenesis at the maternal-fetal interface of recurrent spontaneous abortion mice.

OBJECTIVE: To assess the effects of Bushenantai (BSAT) granule() on angiogenesis-related factors [E2, P, and vascular endothelial growth factor (VEGF)] at the maternal-fetal interface of recurrent spontaneous abortion (RSA) mice, and to evaluate the role of BSAT in promoting angiogenesis at the maternal-fetal interface by influencing the expression of sex hormones, and VEGF. METHODS: A mouse model with normal pregnancy and another with Clark's classic RSA were established. The RSA mice were randomly assigned to six groups: normal, model, progesterone, high-doseBSAT granule (BSAT-H), medium-dose-BSAT granule (BSAT-M), and low-dose-BSAT granule (BSAT-L) (n = 10 for each group). The embryo loss rate and the histopathological changes in the decidual tissues were measured. Serum levels of estrogen (E2), progesterone (P), and VEGF were detected by enzyme-linked immunosorbent assay. The mRNA and protein expressions of estradiol receptor (ER), progesterone receptor (PR), VEGF, and vascular endothelial growth factor receptor 2 (VEGFR2) in the decidual tissues were identified by immunohistochemistry, Western blotting, and quantitative reverse transcription polymerase chain reaction. RESULTS: The embryo loss rate in all groups that received BSAT treatment was reduced, while the number of blood vessels at decidual tissues was increased. The serum levels of E2, P and VEGF were elevated, and the mRNA and protein expressions of ER, PR, VEGF, and VEGFR2 in the decidual tissues were enhanced. CONCLUSION: BSAT can improve angiogenesis at the maternal-fetal interface and reduce the embryo loss rate, which may be associated with its ability to increase the serum levels of estrogen, progesterone, and VEGF, in addition to up-regulation of mRNA and protein expression of ER, PR, VEGF, and VEGFR2 in the decidual tissue.

Epigallocatechin gallate inhibits cell growth and regulates miRNA expression in cervical carcinoma cell lines infected with different high-risk human papillomavirus subtypes.

The aim of the present study was to investigate the inhibitory effects of the polyphenol epigallocatechin-3-gallate (EGCG) on the growth of cervical carcinoma cell lines infected with different high-risk human papillomavirus (HPV) subtypes, as well as the associated regulation of microRNA (miR) expression. Cell proliferation was measured using an MTT assay. The effects of 7 different concentrations of EGCG (100, 80, 60, 40, 20, 10 and 0 µg/ml) on HeLa cell proliferation were assessed. HeLa cell growth was significantly inhibited by EGCG in a dose- and time-dependent manner (P<0.05), and the IC50 was 90.74 and 72.74 µg/ml at 24 and 48 h, respectively. The expression of miR-210, miR-29a, miR-203 and miR-125b in HeLa (HPV16/18+), SiHa (HPV16+), CaSki (HPV16+) and C33A (HPV-) cell lines was measured using quantitative polymerase chain reaction analysis. In CA33 cells, miR-203 (all P<0.001) and miR-125b (P<0.01 and <0.0001) were significantly downregulated by EGCG, and miR-210 was significantly upregulated with 40 and 60 µg/ml EGCG (P<0.0001). miR-125b was significantly downregulated (P<0.001 and <0.0001), and miR-210 and miR-29 were significantly upregulated by ≤80 µg/ml EGCG in HeLa cells (all P<0.0001). In CaSki cells, miR-210, miR-29a (all P<0.001) and miR-125b (P<0.01-0.0001) were significantly upregulated by EGCG. In SiHa cells, miR-125b (both P<0.001) and miR-203 (P<0.01 and <0.0001) were significantly upregulated by EGCG. In conclusion, the results of the present study suggest that EGCG suppresses cervical carcinoma cell growth, possibly via regulating the expression of miRs, suggesting their potential as therapeutic targets for the control and prevention of cervical cancer. Additionally, EGCG may be considered a novel anti-cervical cancer drug in the future.

Uterine-Sparing Laparoscopic Pelvic Plexus Ablation, Uterine Artery Occlusion, and Partial Adenomyomectomy for Adenomyosis.

STUDY OBJECTIVE: To evaluate safety, feasibility, and long-term clinical effects of adding laparoscopic pelvic plexus ablation to uterine-sparing procedures (uterine artery occlusion and partial adenomyomectomy) for adenomyosis. DESIGN: A prospective controlled study (Canadian Task Force classification II-1). SETTING: A teaching hospital. PATIENTS: A total of 112 patients with symptomatic adenomyosis were eligible for uterine-sparing laparoscopy. INTERVENTIONS: Laparoscopic pelvic plexus ablation, uterine artery occlusion, and partial adenomyomectomy. MEASUREMENTS AND MAIN RESULTS: After the exclusion of patients with malignant tumors or those lost to follow-up, 102 women underwent laparoscopic uterine artery occlusion and partial adenomyomectomy; 50 of these patients also had laparoscopic uterine pelvic plexus ablation (group A) with the remaining 52 patients serving as the control group (group B). Other than operative time (107.0 ± 15.4 vs 98.9 ± 20.2 minutes, p = .02), there were no statistical differences regarding other operative parameters between groups A and B. Relief of severe dysmenorrhea (Visual Analogue Scale score ≥ 7) at 36 months was higher in group A than in group B (100% vs 76.9%, p < .01). No patient suffered constipation or uroschesis in either group. CONCLUSION: Adding laparoscopic uterine pelvic plexus ablation to laparoscopic uterine artery occlusion and partial adenomyomectomy was more effective in relieving dysmenorrhea.

Eutopic/ectopic endometrial apoptosis initiated by bilateral uterine artery occlusion: A new therapeutic mechanism for uterus-sparing surgery in adenomyosis.

The objective of the present study was to investigate differences in the expression of apoptosis-related factors in the eutopic and ectopic endometrium (EuE/EE) in women with adenomyosis before and after laparoscopic bilateral uterine artery occlusion (LUAO). Ten patients with uterine adenomyosis who received LUAO were selected as the research subjects, from whom EuE and EE tissues were obtained before and after LUAO and detected for the expression of apoptosis-related molecules in EuE and EE by PT-PCR and Western blot, and changes in the mitochondrial structure by electron microscopy. Normal endometrial stromal cells (NESC), and EuE/EE stromal cells in women with adenomyosis were cultured in a 1% O2, 5% CO2 incubator to establish a physical anoxia state in an in vitro stromal cell model. The expression of apoptosis-related molecules was observed at 0, 6, 12, 24 and 48h of hypoxic. The results showed that the expression of apoptosis-related factors in EuE and EE were increased significantly after LUAO and under hypoxic conditions in vitro, suggesting that transient ischemia and hypoxia were involved in the apoptosis of adenomysis lesions, and that uterine artery occlusion could remove adenomyosis lesions on tissue/cell level by cytoreduction, thus reaching the goal of treating adenomyosis effectively.

LPS/TLR4-mediated stromal cells acquire an invasive phenotype and are implicated in the pathogenesis of adenomyosis.

The present study tested whether the LPS/TLR4 signal pathway in endometrial stromal cells is essential for the pathogenesis of adenomyosis. We tested the expression of TLR4, MD2 in the endometrium without adenomyosis (CE), the eutopic endometrium with adenomyosis (EuE) and the ectopic endometrium with adenomyosis (EE). We isolated the stromal cells from CE, EuE and EE (CESC, EuESC, EESC), treated with lipopolysaccharide (LPS) and TLR4 antagonist and detected the cell viability. And we also measured the key protein of the TLR4 signal pathway and inflammatory proliferation and invasive growth of experimental cells. We found that the viability of experimental cells treated with LPS was significantly greater than that of the non-treated cells, blocked by the TLR4 antagonist VIPER. TLR4 signal pathway and inflammatory proliferation and invasive growth of experimental cells stimulated by LPS, and it was inhibited by VIPER. This study suggested that stromal cells were activated by the TLR4 signalling pathway, which processed the cellular inflammatory proliferation and invasive growth involved in the pathogenesis of adenomyosis.

Lipopolysaccharide activated TLR4/NF-κB signaling pathway of fibroblasts from uterine fibroids.

Uterine fibroids (UF) are the most common benign tumor of the female reproductive tract. The aim of this study was to explore the role of lipopolysaccharide (LPS)-induced activation of TLR4/NF-κB signaling pathway on stromal fibroblasts in the pathogenesis of UF. Here, TLR4/NF-κB signaling pathway was more activated in UF, and UF cells (UFC) and UF derived fibroblasts (TAF) than in smooth muscle tissues, smooth muscle cell (SMC) and myometrial fibroblasts (fib) respectively. After lipopolysaccharide (LPS) stimulation, the activity of fib was enhanced, characterized by the increased expression of fibroblast activation protein (FAP), and increased secretion of collagen I and transforming growth factor-ß (TGF-ß). Moreover, TLR4 inhibitor (VIPER) and siTLR4 can represses LPS-activated fibroblasts and TLR4/NF-κB signaling transduction pathways in fib and UFC cells. Co-cultured with LPS-activated fibroblast enhanced fibroblast activation and TLR4/NF-κB signaling. In conclusion, LPS treatment activated TLR4/NF-κB signaling pathway on fibroblasts, which may involve in the development of UF. Our study indicated reproductive tract infection may be associated with fibroid pathogenesis through TLR4/NF-κB signaling. Targeting NF-κB with inhibitors may hold promises of treating uterine fibroid.

Long-term efficacy and quality of life associated with laparoscopic bilateral uterine artery occlusion plus partial resection of symptomatic adenomyosis.

OBJECTIVE: To assess the long-term efficacy and quality of life associated with laparoscopic bilateral uterine artery occlusion plus partial resection of symptomatic adenomyosis. STUDY DESIGN: A total of 182 eligible patients with symptomatic adenomyosis were treated by laparoscopic bilateral uterine artery occlusion plus partial resection of adenomyosis from July 2003 to July 2009. Menstrual blood loss was measured using a pictorial blood loss assessment chart. Pain intensity during menstruation was evaluated on a 10-point visual analog scale (VAS). Health-related quality of life was measured using the WHOQOL-BREF. RESULTS: A total of 179 patients with 3 years follow-up were enrolled in this retrospective study. No severe complications were noted during the surgical procedure or follow-up period. The mean postoperative dysmenorrhea and menorrhagia scores were significantly improved (all p<0.01) at 3, 12 and 36 months postoperatively, compared with preoperative scores. The volume of the uterus was continuously reduced at 3, 6, 12 and 36 months postoperatively, and had shrunk by 58.3% at 36 months after surgery, compared with the preoperative volume. Notably, only 1.7% (3/179) of patients had received a hysterectomy at 36 months follow-up. In addition, patient's health-related quality of life scores were significantly increased (p<0.01) compared with preoperative scores. CONCLUSION: Laparoscopic bilateral uterine artery occlusion plus partial resection of symptomatic adenomyosis is effective. There was a very low recurrence rate detected by ultrasound at 36 months.

Prospective comparison of laparoscopic uterine artery occlusion plus myomectomy with classic intrafascial supracervical hysterectomy for symptomatic fibroid treatment: differences in post-operative quality-of-life measures.

OBJECTIVE: Prospective comparison of laparoscopic uterine artery occlusion plus myomectomy (LUAO+M) with classic intrafascial supracervical hysterectomy (CISH) for symptomatic fibroid treatment, regarding differences in post-operative quality-of-life measures. STUDY DESIGN: Three hundred and thirty-two women with symptomatic fibroids who met the inclusion criteria were prospectively randomized into two treatment groups. The study group consisted of 158 women treated with LUAO+M. The control group contained 174 women treated with CISH. Quality of life was measured before surgery and at 2- and 24-month follow-up visits with the World Health Organization Quality of Life-BREF (WHOQOL-BREF), 4-domain questionnaire adapted for Chinese-speaking patients. RESULTS: By age, education, operation time, operative blood loss, and pre-operative WHOQOL-BREF 4-domain and overall scores, both groups were statistically equivalent, demonstrating that the randomization process worked. At 24 months, overall scores were improved for both the study group and control group patients (P<0.01). At 2 months post-surgery, physical domain and social relationship domain scores were statistically higher in the study group than the control group patients (P<0.01). By 24 months, the study group patients' overall scores were statistically higher than the control group scores (P<0.01) because of greater improvements in the physical, psychological, and social relationship domain scores. Only in the environmental domain were the study group and the control group scores statistically equivalent. At 24-month follow-up, the study group patients had a fibroid recurrence rate of only 2.53%-low by historical standards. CONCLUSION: At 24-month follow-up, overall WHOQOL-BREF scores were statistically improved for the study group and control group patients. At the same statistical level, however, women in the study group had greater overall improvement than women in the control group because of higher scores in three of the four questionnaire domains. Women treated with LUAO+M have a very low fibroid recurrence rate at 24 months.