Design and in-orbit test of a high accuracy pointing method in satellite-to-ground quantum communication.

To meet the requirement of high-accuracy pointing of quantum signals in satellite-to-ground quantum communication, this paper proposes a flexible satellite-based pointing method that changes the fine tracking point to solve the problem from point-ahead angle and ground beacon laser offset. This method does not require the use of a point-ahead mechanism and can detect the pointing angle in real time. Detailed algorithms and analysis are given. The method has been verified in orbit on the quantum science satellite Micius. The satellite-to-ground test results show that the quantum signal pointing accuracy is between 0.5∼1.0 µrad, which meets the efficiency requirements of satellite-to-ground quantum communication.

Design of a bipedal robot for water running based on a six-linkage mechanism inspired by basilisk lizards.

Legged robots have received widespread attention in academia and engineering owing to their excellent terrain adaptability. However, most legged robots can only adapt to high-hardness environments instead of flexible environments. Expanding the motion range of legged robots to water is a promising but challenging work. Inspired by basilisk lizards which can run on water surfaces by feet, this paper proposes a bipedal robot for water running by hydrodynamics instead of buoyancy. According to the motion parameters of the basilisk lizard during water running, a single-degree of freedom bipedal mechanism is proposed to reproduce the motion trajectory of the feet of the basilisk lizard. Scale optimization is conducted by a particle swarm optimization algorithm to determine the geometrical parameters of the mechanism. The effects of motion frequency and foot area on mechanism performance are studied and the optimal solutions are determined by the maximum single-cycle lift impulse through numerical calculations. A bipedal water running robot prototype was fabricated, and the experimental results show that the prototype can generate enough support for the robot running on the water by providing a maximum lift of 2.4 times its weight (160 g) and reaching a horizontal forward speed range of 0.3-0.8 m s-1, compared with the basilisk lizard weighs 2-200 g, generates a lift impulse that is 111%-225% of its body weight, and moves at a speed of 1.3 ± 0.1 m s-1.

The induced and intrinsic resistance of Escherichia coli to sanguinarine is mediated by AcrB efflux pump.

IMPORTANCE: The use of plant extracts is increasing as an alternative to synthetic compounds, especially antibiotics. However, there is no sufficient knowledge on the mechanisms and potential risks of antibiotic resistance induced by these phytochemicals. In the present study, we found that stable drug resistant mutants of E. coli emerged after repetitive exposure to sanguinarine and demonstrated that the AcrB efflux pump contributed to the emerging of induced and intrinsic resistance of E. coli to this phytochemical. Our results offered some insights into comprehending and preventing the onset of drug-resistant strains when utilizing products containing sanguinarine.

New Insights Into the Antibacterial Mechanism of Cryptotanshinone, a Representative Diterpenoid Quinone From Salvia miltiorrhiza Bunge.

The rapid rise of antibiotic resistance causes an urgent need for new antimicrobial agents with unique and different mechanisms of action. The respiratory chain is one such target involved in the redox balance and energy metabolism. As a natural quinone compound isolated from the root of Salvia miltiorrhiza Bunge, cryptotanshinone (CT) has been previously demonstrated against a wide range of Gram-positive bacteria including multidrug-resistant pathogens. Although superoxide radicals induced by CT are proposed to play an important role in the antibacterial effect of this agent, its mechanism of action is still unclear. In this study, we have shown that CT is a bacteriostatic agent rather than a bactericidal agent. Metabolome analysis suggested that CT might act as an antibacterial agent targeting the cell membrane. CT did not cause severe damage to the bacterial membrane but rapidly dissipated membrane potential, implying that this compound could be a respiratory chain inhibitor. Oxygen consumption analysis in staphylococcal membrane vesicles implied that CT acted as respiratory chain inhibitor probably by targeting type II NADH:quinone dehydrogenase (NDH-2). Molecular docking study suggested that the compound would competitively inhibit the binding of quinone to NDH-2. Consistent with the hypothesis, the antimicrobial activity of CT was blocked by menaquinone, and the combination of CT with thioridazine but not 2-n-heptyl-4-hydroxyquinoline-N-oxide exerted synergistic activity against Staphylococcus aureus. Additionally, combinations of CT with other inhibitors targeting different components of the bacterial respiratory chain exhibit potent synergistic activities against S. aureus, suggesting a promising role in combination therapies.

Design, analysis and control of a novel tendon-driven magnetic resonance-guided robotic system for minimally invasive breast surgery.

Biopsy and brachytherapy for small core breast cancer are always difficult medical problems in the field of cancer treatment. This research mainly develops a magnetic resonance imaging-guided high-precision robotic system for breast puncture treatment. First, a 5-degree-of-freedom tendon-based surgical robotic system is introduced in detail. What follows are the kinematic analysis and dynamical modeling of the robotic system, where a mathematic dynamic model is established using the Lagrange method and a lumped parameter tendon model is used to identify the nonlinear gain of the tendon-sheath transmission system. Based on the dynamical models, an adaptive proportional-integral-derivative controller with friction compensation is proposed for accurate position control. Through simulations using different sinusoidal input signals, we observe that the sinusoidal tracking error at 1/2π Hz is 0.41 mm. Finally, the experiments on tendon-sheath transmission and needle insertion performance are conducted, which show that the insertion precision is 0.68 mm in laboratory environment.