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1.
Analyst ; 148(24): 6350-6358, 2023 Dec 04.
Artículo en Inglés | MEDLINE | ID: mdl-37966221

RESUMEN

This article proposes a film-linked electrostatic self-assembly microfluidic chip for the first time, designed to be ready-to-use. Barrier films are used to isolate the gas/liquid path microchannels and the pre-stored reagents of the chip before use. Through the linkage design between the film materials, the motion of barrier films is linked to the structural changes inside the chip. Under the combined action of the rebound force of the elastic substrate, the electrostatic adsorption force between the substrates, and the reaction force of the elastic film, the elastic substrate and the liquid storage substrate are instantly bonded, and the self-assembly of the chip is completed within 1 s. By using six independently output programmable sequences to perform the sequential quantitative pumping of pre-stored reagents, the transfer and mixing of samples and pre-stored reagents are automatically driven in a confined space, which greatly reduces the contamination risk and loss rate of samples/reagents, and improves the accuracy and reproducibility of test results. In addition, the microfluidic multi-step reaction driven in parallel can avoid liquid reflux, accurately control the amount of reactant transfer, and realize the quantitative detection of samples. Multiple reactions can be performed synchronously without interference, saving the test time. Since each gas path is independently controllable, the chip can be extended to a variety of biochemical reactions and has the potential to detect a variety of substances.

2.
Sensors (Basel) ; 22(18)2022 Sep 12.
Artículo en Inglés | MEDLINE | ID: mdl-36146229

RESUMEN

Localization is a keystone for a robot to work within its environment and with other robots. There have been many methods used to solve this problem. This paper deals with the use of beacon-based localization to answer the research question: Can ultra-wideband technology be used to effectively localize a robot with sensor fusion? This paper has developed an innovative solution for creating a sensor fusion platform that uses ultra-wideband communication as a localization method to allow an environment to be perceived and inspected in three dimensions from multiple perspectives simultaneously. A series of contributions have been presented, supported by an in-depth literature review regarding topics in this field of knowledge. The proposed method was then designed, built, and tested successfully in two different environments exceeding its required tolerances. The result of the testing and the ideas formulated throughout the paper were discussed and future work outlined on how to build upon this work in potential academic papers and projects.


Asunto(s)
Algoritmos , Redes de Comunicación de Computadores
3.
Sensors (Basel) ; 22(4)2022 Feb 20.
Artículo en Inglés | MEDLINE | ID: mdl-35214562

RESUMEN

For conventional near-infrared spectroscopy (NIR) technology, even within the same sample, the NIR spectral signal can vary significantly with variation of spectrometers and the spectral collection environment. In order to improve the applicability and application of NIR prediction models, effective calibration transfer is essential. In this study, a stability-analysis-based feature selection algorithm (SAFS) for NIR calibration transfer is proposed, which is used to extract effective spectral band information with high stability between the master and slave instruments during the calibration transfer process. The stability of the spectrum bands shared between the master and slave instruments is used as the evaluation index, and the genetic algorithm was used to select suitable thresholds to filter out the spectral feature information suitable for calibration transfer. The proposed SAFS algorithm was applied to two near-infrared datasets of corn oil content and larch wood density. Simultaneously, its calibration transfer performances were compared with two classical feature selection methods. The effects of different preprocessing algorithms and calibration transfer algorithms were also assessed. The model with the feature variables selected by the SAFS obtained the best prediction. The SAFS algorithm can simplify the spectral data to be transferred and improve the transfer efficiency, and the universality of the SAFS allows it to be used to optimize calibration transfer in various situations. By combining different preprocessing and classic feature selection methods with this, the sensitivity of the correlation between spectral data and component information are improved significantly, as well as the effect of calibration transfer, which will be deeply developed.


Asunto(s)
Algoritmos , Espectroscopía Infrarroja Corta , Calibración , Análisis de los Mínimos Cuadrados , Espectroscopía Infrarroja Corta/métodos
4.
Int J Mol Sci ; 23(10)2022 May 23.
Artículo en Inglés | MEDLINE | ID: mdl-35628638

RESUMEN

Polylactic acid-glycolic acid (PLGA) has been widely used in bone tissue engineering due to its favorable biocompatibility and adjustable biodegradation. 3D printing technology can prepare scaffolds with rich structure and function, and is one of the best methods to obtain scaffolds for bone tissue repair. This review systematically summarizes the research progress of 3D-printed, PLGA-based scaffolds. The properties of the modified components of scaffolds are introduced in detail. The influence of structure and printing method change in printing process is analyzed. The advantages and disadvantages of their applications are illustrated by several examples. Finally, we briefly discuss the limitations and future development direction of current 3D-printed, PLGA-based materials for bone tissue repair.


Asunto(s)
Ingeniería de Tejidos , Andamios del Tejido , Huesos , Glicolatos , Poliésteres , Impresión Tridimensional , Ingeniería de Tejidos/métodos , Andamios del Tejido/química
5.
BMC Musculoskelet Disord ; 22(1): 701, 2021 Aug 17.
Artículo en Inglés | MEDLINE | ID: mdl-34404364

RESUMEN

BACKGROUND: It is imperative to preoperatively distinguish dural ossification (DO) and thus anticipate the risks and outcome of the surgery for patients with ossification of ligamentum flavum (OLF). However, studies have disagreed as to the efficacy of the radiographic signs or factors to predict DO and surgical outcome. In additon, the association between the cerebrospinal fluid cross-section area ratio (CCAR) and DO or clinical outcome had not been reported. The purpose of this study was to analyse CCAR and its role in prediction of DO and neurological function recovery rate in patients with OLF. METHODS: Fifty-two consecutive patients with OLF, who underwent posterior thoracic decompression and fusion between September 2012 and March 2019 at a single institution, were retrospectively reviewed. Demographic data, radiographic signs of DO, CCAR, pre- and postoperative modified Japanese Orthopedic Association (mJOA) score were recorded. RESULTS: There were 27 patients in the DO group and 25 patients in the non-DO group, with a mean age at surgery of 57.4 years and 53.9 years, respectively. No significant differences were found in sex, age, segment of maximum compression and preoperative mJOA score between the two groups. The receiver operating characteristic curve showed that the value of CCAR had a relatively high value for diagnosis of DO and prediction of neurological function recovery rate (P = .000). According to the value of CCAR, three zones were defined as DO zone (≤14.3%), non-DO zone (≥44.5%), and gray zone (14.3 to 44.5%). When the value of CCAR≤14.3%, the recovery rate was poor or fair, while it had good or excellent recovery when CCAR≥45.2%. CONCLUSION: The value of CCAR had a high diagnostic value for prediction of DO and neurological function recovery rate in patients with OLF.


Asunto(s)
Ligamento Amarillo , Osificación Heterotópica , Descompresión Quirúrgica , Humanos , Ligamento Amarillo/diagnóstico por imagen , Ligamento Amarillo/cirugía , Osificación Heterotópica/diagnóstico por imagen , Osificación Heterotópica/epidemiología , Osificación Heterotópica/cirugía , Osteogénesis , Estudios Retrospectivos , Vértebras Torácicas/diagnóstico por imagen , Vértebras Torácicas/cirugía , Resultado del Tratamiento
6.
Biol Lett ; 16(4): 20190940, 2020 04.
Artículo en Inglés | MEDLINE | ID: mdl-32343935

RESUMEN

Geomagnetic field (GMF) intensity can be used by some animals to determine their position during migration. However, its role, if any, in mediating other migration-related phenotypes remains largely unknown. Here, we simulated variation in GMF intensity between two locations along the migration route of a nocturnal insect migrant, the brown planthopper Nilaparvata lugens, that varied by approximately 5 µT in field intensity. After one generation of exposure, we tested for changes in key morphological, behavioural and physiological traits related to migratory performance, including wing dimorphism, flight capacity and positive phototaxis. Our results showed that all three morphological and behavioural phenotypes responded to a small difference in magnetic field intensity. Consistent magnetic responses in the expression of the phototaxis-related Drosophila-like cryptochrome 1 (Cry1) gene and levels of two primary energy substrates used during flight, triglyceride and trehalose, were also found. Our findings indicate changes in GMF intensity can alter the expression of phenotypes critical for insect migration and highlight the unique role of magnetoreception as a trait that may help migratory insects express potentially beneficial phenotypes in geographically variable environments.


Asunto(s)
Hemípteros , Animales , Hemípteros/genética , Proteínas de Insectos/genética , Campos Magnéticos , Fenotipo , Alas de Animales
7.
Sensors (Basel) ; 19(20)2019 Oct 22.
Artículo en Inglés | MEDLINE | ID: mdl-31652544

RESUMEN

In this paper, the application of Augmented Reality (AR) for the control and adjustment of robots has been developed, with the aim of making interaction and adjustment of robots easier and more accurate from a remote location. A LeapMotion sensor based controller has been investigated to track the movement of the operator hands. The data from the controller allows gestures and the position of the hand palm's central point to be detected and tracked. A Kinect V2 camera is able to measure the corresponding motion velocities in x, y, z directions after our investigated post-processing algorithm is fulfilled. Unreal Engine 4 is used to create an AR environment for the user to monitor the control process immersively. Kalman filtering (KF) algorithm is employed to fuse the position signals from the LeapMotion sensor with the velocity signals from the Kinect camera sensor, respectively. The fused/optimal data are sent to teleoperate a Baxter robot in real-time by User Datagram Protocol (UDP). Several experiments have been conducted to test the validation of the proposed method.


Asunto(s)
Algoritmos , Realidad Aumentada , Robótica , Interfaz Usuario-Computador , Calibración , Humanos , Movimiento (Física)
8.
Sci Rep ; 14(1): 6199, 2024 Mar 14.
Artículo en Inglés | MEDLINE | ID: mdl-38485721

RESUMEN

Gestures are a common way people communicate. Gesture-based teleoperation control systems tend to be simple to operate and suitable for most people's daily use. This paper employed a LeapMotion sensor to develop a mobile robot control system based on gesture recognition, which mainly established connections through a client/server structure. The principles of gesture recognition in the system were studied and the relevant self-investigated algorithms-GestureMoRo, for the association between gestures and mobile robots were designed. Moreover, in order to avoid the unstably fluctuated movement of the mobile robot caused by palm shaking, the Gaussian filter algorithm was used to smooth and denoise the collected gesture data, which effectively improved the robustness and stability of the mobile robot's locomotion. Finally, the teleoperation control strategy of the gesture to the WATER2 mobile robot was realized, and the effectiveness and practicability of the designed system were verified through multiple experiments.

9.
Bioact Mater ; 24: 361-375, 2023 Jun.
Artículo en Inglés | MEDLINE | ID: mdl-36632506

RESUMEN

Long-term nonunion of bone defects has always been a major problem in orthopedic treatment. Artificial bone graft materials such as Poly (lactic-co-glycolic acid)/ß-tricalcium phosphate (PLGA/ß-TCP) scaffolds are expected to solve this problem due to their suitable degradation rate and good osteoconductivity. However, insufficient mechanical properties, lack of osteoinductivity and infections after implanted limit its large-scale clinical application. Hence, we proposed a novel bone repair bioscaffold by adding zinc submicron particles to PLGA/ß-TCP using low temperature rapid prototyping 3D printing technology. We first screened the scaffolds with 1 wt% Zn that had good biocompatibility and could stably release a safe dose of zinc ions within 16 weeks to ensure long-term non-toxicity. As designed, the scaffold had a multi-level porous structure of biomimetic cancellous bone, and the Young's modulus (63.41 ± 1.89 MPa) and compressive strength (2.887 ± 0.025 MPa) of the scaffold were close to those of cancellous bone. In addition, after a series of in vitro and in vivo experiments, the scaffolds proved to have no adverse effects on the viability of BMSCs and promoted their adhesion and osteogenic differentiation, as well as exhibiting higher osteogenic and anti-inflammatory properties than PLGA/ß-TCP scaffold without zinc particles. We also found that this osteogenic and anti-inflammatory effect might be related to Wnt/ß-catenin, P38 MAPK and NFkB pathways. This study lay a foundation for the follow-up study of bone regeneration mechanism of Zn-containing biomaterials. We envision that this scaffold may become a new strategy for clinical treatment of bone defects.

10.
Bioact Mater ; 14: 389-401, 2022 Aug.
Artículo en Inglés | MEDLINE | ID: mdl-35386815

RESUMEN

CSFL caused by spinal dural defect is a common complication of spinal surgery, which need repair such as suture or sealants. However, low intracranial pressure symptoms, wound infection and prolonged hospital associated with pin-hole leakage or loose seal effect were often occurred after surgical suture or sealants repair. Stable, pressure resistance and high viscosity spinal dural repair patch in wet environment without suture or sealants was highly needed. Herein, a bioactive patch composed of alginate and polyacrylamide hydrogel matrix cross-linked by calcium ions, and chitosan adhesive was proposed. This fabricated patch exhibits the capabilities of promoting defect closure and good tight seal ability with the bursting pressure is more than 790 mm H2O in wet environment. In addition, the chitosan adhesive layer of the patch could inhibit the growth of bacterial in vitro, which is meaningful for the postoperative infection. Furthermore, the patch also significantly reduced the expression of GFAP, IBA-1, MBP, TNF-α, and COX-2 in early postoperative period in vivo study, exerting the effects of anti-inflammatory, analgesic and adhesion prevention. Thus, the bioactive patch expected to be applied in spinal dural repair with the good properties of withstanding high pressure, promoting defect closure and inhibiting postoperative infection.

11.
Front Neurol ; 13: 917002, 2022.
Artículo en Inglés | MEDLINE | ID: mdl-35785346

RESUMEN

Objective: To compare the safety, angiographic, and long-term clinical outcomes of intradural large vertebrobasilar artery (VBA) aneurysms following flow diversion (FD) or conventional stent-assisted coiling (SAC). Methods: We performed a retrospective study of 66 consecutive patients with intradural large VBA aneurysms between 2014 and 2021 who underwent FD or SAC. Patients' characteristics, postprocedural complications, and clinical and angiographic outcome details were reviewed. Results: A total of 66 intradural large VBA aneurysms were included, including 42 (63.6%), which were treated with SAC (SAC group) and 24 (36.4%), which were treated with FD (FD group). Clinical follow-up was obtained at the median of 24.0 [interquartile range (IQR) 12.0-45.0] months, with 34 (81.0%) patients achieved the modified Rankin Scale (mRS) ≤ 2 in the SAC group and 21 (87.5%) patients in the FD group. Thirteen (19.7%) patients experienced neurological complications, of which 9 (13.6%) patients first occurred during the periprocedural phase and 4 (6.1%) patients first occurred during follow-up. The overall complication rate and periprocedural complication rate were both higher in the SAC group, but did not reach statistical significance (23.8 vs. 12.5%, P = 0.430; 16.7 vs. 8.3%, P = 0.564). The mortality rates were similar between the groups (11.9 vs. 12.5%). Angiographic follow-up was available for 46 patients at the median of 7 (IQR 6-14) months, with a numerically higher complete occlusion rate in the SAC group (82.1 vs. 55.6%, P = 0.051) and similar adequate aneurysm occlusion rates between the groups (85.7 vs. 83.3%, P = 1.000). In the multivariate analysis, ischemic onset (P = 0.019), unilateral vertebral artery sacrifice (P = 0.008), and older age (≥60 years) (P = 0.031) were significantly associated with complications. Conclusion: There was a trend toward lower complication rate and lower complete occlusion rate for intradural large VBA aneurysms following FD as compared to SAC. FD and SAC have comparable mortality rates and favorable outcomes. Ischemic onset, unilateral vertebral artery sacrifice, and older age could increase the risk of complications.

12.
Toxics ; 11(1)2022 Dec 27.
Artículo en Inglés | MEDLINE | ID: mdl-36668752

RESUMEN

Using styrene as a proxy for VOCs, a new method was developed to remove styrene gas in nitrogen atmospheres. The effect on the styrene removal efficiency was explored by varying parameters within the continuum dynamic experimental setup, such as ferrous ion concentration, hydrogen peroxide concentration, and pH values. The by-products are quantized by a TOC analyzer. The optimal process conditions were hydrogen peroxide at 20 mmol/L, ferrous ions at 0.3 mmol/L and pH 3, resulting in an average styrene removal efficiency of 96.23%. In addition, in this study, we construct a BAS-BP neural network model with experimental data as a sample training set, which boosts the goodness-of-fit of the BP neural network and is able to tentatively predict styrene gas residuals for different front-end conditions.

13.
Clin Neurol Neurosurg ; 219: 107317, 2022 08.
Artículo en Inglés | MEDLINE | ID: mdl-35750021

RESUMEN

OBJECTIVE: As a chronic complication of aneurysmal subarachnoid hemorrhage(aSAH), Shunt dependent hydrocephalus (SDHC) often leads to severe neurological deficits. At present, risk factors of SDHC after aSAH are being refined. So this study aims to investigate independent risk factors and develop a novel score to identify early the patients who require a permanent shunt. METHOD: Five hundred twenty-four patients treated in the first affiliated hospital of Harbin medical university from March 2019 to March 2021 were analyzed. We collected clinical and radiographic data of patients within 72 h after the ictus. The relevant factors were firstly analyzed by univariate analysis, and the significant factors (p < 0.05) were included in the multivariate logistic regression analysis to obtain the independent risk factors with statistical differences. The MAI score was established based on the contribution of different independent risk factors to the outcome. the new score was validated in another cohort (97 patients with aSAH from April and June 2021). RESULT: We enrolled 524 aneurysm patients and 41(7.82%) patients who underwent ventriculoperitoneal shunt (VPS) after aneurysm treatment. Based on univariate and multivariate analysis, Acute Hydrocephalus (OR 6.498,:95% confidence interval (CI) 1.98-21.33, p = 0.002), Intraventricular hemorrhage (OR 3.55,:95%CI 1.189-10.599, p = 0.023) and Modified Fisher score ≥ 3 (OR 5.846, 95%CI 2.649-12.900, p = 0.001) were independent risk factors. The novel score was assigned according to the contribution of different independent risk factors to the results. The MAI score: Modified Fisher grade ≥ 3 (1 point), Acute Hydrocephalus (1 point), Intraventricular hemorrhage (1 point). In the receiver operating characteristic curve analysis, the area under the curve (AUC) for the MAI score is 0.773 (p < 0.0001, 95%CI 0.686-0.861). Patients scoring 2-3 MAI points showed a 10-fold higher risk for shunt dependency than patients scoring 0-1 MAI points (p < 0.001). We performed internal validation of the MAI scoring system. The scoring system reliably predicted SDHC after aSAH. The AUC of the internal validation was 0.950 (p = 0.002, 95%CI 0.863-1.000). CONCLUSION: We develop a novel score based on univariate and multivariate analysis. The effectiveness of the MAI score has been confirmed in this study, which can more accurately predict SDHC after aASH and can be widely used in clinical practice. Prospective studies are needed for validation in the future.


Asunto(s)
Hidrocefalia , Hemorragia Subaracnoidea , Humanos , Hidrocefalia/diagnóstico por imagen , Hidrocefalia/etiología , Hidrocefalia/cirugía , Estudios Prospectivos , Estudios Retrospectivos , Factores de Riesgo , Hemorragia Subaracnoidea/complicaciones , Hemorragia Subaracnoidea/diagnóstico por imagen , Hemorragia Subaracnoidea/cirugía , Derivación Ventriculoperitoneal/efectos adversos
14.
Front Bioeng Biotechnol ; 9: 766087, 2021.
Artículo en Inglés | MEDLINE | ID: mdl-34746112

RESUMEN

Low-back and neck-shoulder pains caused by intervertebral disk degeneration are highly prevalent among middle-aged and elderly people globally. The main therapy method for intervertebral disk degeneration is surgical intervention, including interbody fusion, disk replacement, and diskectomy. However, the stress changes caused by traditional fusion surgery are prone to degeneration of adjacent segments, while non-fusion surgery has problems, such as ossification of artificial intervertebral disks. To overcome these drawbacks, biomaterials that could endogenously regenerate the intervertebral disk and restore the biomechanical function of the intervertebral disk is imperative. Intervertebral disk is a fibrocartilaginous tissue, primarily comprising nucleus pulposus and annulus fibrosus. Nucleus pulposus (NP) contains high water and proteoglycan, and its main function is absorbing compressive forces and dispersing loads from physical activities to other body parts. Annulus fibrosus (AF) is a multilamellar structure that encloses the NP, comprises water and collagen, and supports compressive and shear stress during complex motion. Therefore, different biomaterials and tissue engineering strategies are required for the functional recovery of NP and AF based on their structures and function. Recently, great progress has been achieved on biomaterials for NP and AF made of functional polymers, such as chitosan, collagen, polylactic acid, and polycaprolactone. However, scaffolds regenerating intervertebral disk remain unexplored. Hence, several tissue engineering strategies based on cell transplantation and growth factors have been extensively researched. In this review, we summarized the functional polymers and tissue engineering strategies of NP and AF to endogenously regenerate degenerative intervertebral disk. The perspective and challenges of tissue engineering strategies using functional polymers, cell transplantation, and growth factor for generating degenerative intervertebral disks were also discussed.

15.
Front Neurosci ; 15: 736730, 2021.
Artículo en Inglés | MEDLINE | ID: mdl-34512256

RESUMEN

Magnetic control systems of micro-robots have recently blossomed as one of the most thrilling areas in the field of medical treatment. For the sake of learning how to apply relevant technologies in medical services, we systematically review pioneering works published in the past and divide magnetic control systems into three categories: stationary electromagnet control systems, permanent magnet control systems and mobile electromagnet control systems. Based on this, we ulteriorly analyze and illustrate their respective strengths and weaknesses. Furthermore, aiming at surmounting the instability of magnetic control system, we utilize SolidWorks2020 software to partially modify the SAMM system to make its final overall thickness attain 111 mm, which is capable to control and observe the motion of the micro-robot under the microscope system in an even better fashion. Ultimately, we emphasize the challenges and open problems that urgently need to be settled, and summarize the direction of development in this field, which plays a momentous role in the wide and safe application of magnetic control systems of micro-robots in clinic.

16.
J Orthop Translat ; 28: 83-89, 2021 May.
Artículo en Inglés | MEDLINE | ID: mdl-33786321

RESUMEN

BACKGROUND/OBJECTIVE: The reported incidence of scoliosis among adolescents in China differs according to screening method owing to the lack of uniformity and limitations of certain techniques. We aimed to design, develop, and validate a non-invasive, accurate, portable, fast, and automated tool that would enable the measurement and storage of data during scoliosis screening. METHODS: We designed a new portable electronic scoliosis screening device (PESSD)-for the identification of adolescent scoliosis based on ergonomics theory. The device measured the axial deflection angle of the trunk of the human body using a built-in angle sensor. Data obtained using the PESSD, a traditional scoliometer manual ruler, and X-ray measurement of the Cobb angle were compared. RESULTS: The PESSD exhibited more sensitive detection of small-angle scoliosis and improved repeatability compared with the scoliometer. The data obtained using the PESSD showed good correlation with Cobb angle data measured from X-ray images. All patients who were indicated to be positive for scoliosis using the PESSD were found to have clinically identifiable scoliosis from X-ray examination. CONCLUSIONS: The PESSD may be able to achieve early detection of scoliosis in adolescents. It is non-invasive, highly precise, portable, easy to use, and offers automated data storage and traceability. This study is a pilot or preliminary validation study. With further, more in depth studies, the PESSD has excellent potential for transformation into an effective tool for use in large-scale screening programs for adolescent scoliosis in schools and communities. THE TRANSLATIONAL POTENTIAL OF THIS ARTICLE: This article is about designing a new portable electronic scoliosis screening device based on ergonomics theory. Because there are currently no uniform screening methods and standards, the results in this article could facilitate the adoption of a uniform screening tool into large-scale screening programs for adolescent scoliosis in schools and communities, preliminary examination in hospitals, and self-testing at home after parent training.

17.
Front Neurorobot ; 14: 30, 2020.
Artículo en Inglés | MEDLINE | ID: mdl-32714174

RESUMEN

With requirements to improve life quality, smart homes, and healthcare have gradually become a future lifestyle. In particular, service robots with human behavioral sensing for private or personal use in the home have attracted a lot of research attention thanks to their advantages in relieving high labor costs and the fatigue of human assistance. In this paper, a novel force-sensing- and robotic learning algorithm-based teaching interface for robot massaging has been proposed. For the teaching purposes, a human operator physically holds the end-effector of the robot to perform the demonstration. At this stage, the end position data are outputted and sent to be segmented via the Finite Difference (FD) method. A Dynamic Movement Primitive (DMP) is utilized to model and generalize the human-like movements. In order to learn from multiple demonstrations, Dynamic Time Warping (DTW) is used for the preprocessing of the data recorded on the robot platform, and a Gaussian Mixture Model (GMM) is employed for the evaluation of DMP to generate multiple patterns after the completion of the teaching process. After that, a Gaussian Mixture Regression (GMR) algorithm is applied to generate a synthesized trajectory to minimize position errors. Then a hybrid position/force controller is integrated to track the desired trajectory in the task space while considering the safety of human-robot interaction. The validation of our proposed method has been performed and proved by conducting massage tasks on a KUKA LBR iiwa robot platform.

18.
Sci Rep ; 10(1): 18138, 2020 10 23.
Artículo en Inglés | MEDLINE | ID: mdl-33097753

RESUMEN

The earth has been undergoing climate change, especially in recent years, driven by increasing concentration of atmospheric carbon dioxide (CO2) and rising earth-surface temperature, which could reduce N allocation to Bt toxin for transgenic Bt crops (Bt crops), but the N fertilization is considered to be an effective method to enhance the C-N balance in Bt crops in the case of elevated CO2 in future. DNA methylation not only in promoterregion but also in codingregion of transgene plays a critical role in transgene expression regulation and silencing of transgenic crops. Recent research has emphasized the risks of increased transgene silencing of Bacillus thuringiensis (Bt) rice under elevated CO2. In this study, the effects of elevated CO2 (vs. ambient CO2) on exogenous Bt toxins and transgene expression in promoterregion and codingregion of Bt rice during tillering stage (cv. HH1 expressing fused Cry1Ab/Cry1Ac) were evaluated under three nitrogen (N) fertilizer rate (1/4, 1 and 2 N levels). The aboveground and belowground biomass, and foliar Bt protein content of Bt rice were all significantly increased with the augmentation of N-fertilizer. And elevated CO2 significantly increased belowground biomass, total soluble protein content, transgene methylation levels in promoterregion (P1), and in total of promoterregion(P1) and codingregion (P2 + P3) (i.e., P1 + P2 + P3) at 1 N level, and it also increased transgene methylation levels in codingregion (P2), and in total of promoterregion and codingregion (P1 + P2 + P3) at 2 N level. In addition, elevated CO2 decreased foliar Bt protein content at 1 N level. The transgene methylation levels in promoterregion and codingregion were negatively correlated with Bt-transgene expression level. The methylation level of cytosines located at CG sites was higher than those at CHG and CHH sites in P1, P2 and P3 fragments regardless of the CO2 or N-fertilizer level. The correlation of transgene mehtylation in promoterregion with transgene expression is even stronger than that in codingregion. These data indicate that N fertilization supply will increase the Bt toxin content in transgenic Bt rice, especially under elevated CO2.


Asunto(s)
Toxinas de Bacillus thuringiensis/genética , Dióxido de Carbono/efectos adversos , Fertilizantes , Oryza/genética , Plantas Modificadas Genéticamente/genética , Cambio Climático , Metilación de ADN/efectos de los fármacos , Regulación de la Expresión Génica de las Plantas/efectos de los fármacos , Regulación de la Expresión Génica de las Plantas/genética , Silenciador del Gen , Nitrógeno/administración & dosificación , Sistemas de Lectura Abierta/genética , Regiones Promotoras Genéticas/genética , Transgenes/genética
19.
Polymers (Basel) ; 12(2)2020 Feb 05.
Artículo en Inglés | MEDLINE | ID: mdl-32033418

RESUMEN

To improve sulfuric acid recovery from sodium sulfate wastewater, a lab-scale bipolar membrane electrodialysis (BMED) process was used for the treatment of simulated sodium sulfate wastewater. In order to increase the concentration of sulfuric acid (H2SO4) generated during the process, a certain concentration of ammonium sulfate solution was added into the feed compartment. To study the influencing factors of sulfuric acid yield, we prepared different concentrations of ammonium sulfate solution, different feed solution volumes, and different membrane configurations in this experiment. As it can be seen from the results, when adding 8% (NH4)2SO4 into 15% Na2SO4 under the experimental conditions where the current density was 50 mA/cm2, the concentration of H2SO4 increased from 0.89 to 1.215 mol/L, and the current efficiency and energy consumption could be up to 60.12% and 2.59 kWh/kg, respectively. Furthermore, with the increase of the volume of the feed compartment, the concentration of H2SO4 also increased. At the same time, the configuration also affects the final concentration of the sulfuric acid; in the BP-A-C-BP ("BP" means bipolar membrane, "A" means anion exchange membrane, and "C" means cation exchange membrane; "BP-A-C-BP" means that two bipolar membranes, an anion exchange membrane, and a cation exchange membrane are alternately arranged to form a repeating unit of the membrane stack) configuration, a higher H2SO4 concentration was generated and less energy was consumed. The results show that the addition of the double conjugate salt is an effective method to increase the concentration of acid produced in the BMED process.

20.
Polymers (Basel) ; 11(12)2019 Dec 02.
Artículo en Inglés | MEDLINE | ID: mdl-31810257

RESUMEN

ZIF-8 nanoparticle-doped polyvinyl alcohol (PVA)-S-MC films were prepared via casting method. The effect of different concentrations of ZIF-8 on the physical properties and structural characterization of the films were investigated. The results indicated that ZIF-8 could increase the water resistance and mechanical property of the membrane. Through FTIR, scanning electron microscope (SEM), atomic force microscope (AFM), and TGA analysis, it was found that ZIF-8 changed the phenomenon of macromolecule agglomeration and improved the thermal stability of the membrane. The breathable behavior of the film was also studied through oxygen permeability and water vapor permeability analysis. The result illustrated that the breathability of the film improved significantly by adding ZIF-8. The maximum reached when the weight ratio of ZIF-8 was 0.01 wt %. The property expands the application of PVA/starch blend film in the postharvest technology of fruits and vegetables.

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