The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain.However,most of the wheel-legged robots only have one-dir...The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain.However,most of the wheel-legged robots only have one-directional obstacle-crossing ability.During the motion,most of the wheel-legged robots’centroid fluctuates violently,which damages the stability of the load.What’s more,many designs of the obstacle-crossing part and transformation-driving part of this structure are highly coupled,which limits its optimal performance in both aspects.This paper presents a novel wheel-legged robot with a rim-shaped changeable wheel,which has a bi-directional and smooth obstacle-crossing ability.Based on the kinematic model,the geometric parameters of the wheel structure and the design variables of the driving four-bar mechanism are optimized separately.The kinetostatics model of the mobile platform when climbing stairs is established to determine the body length and angular velocity of the driving wheels.A pro-totype is made according to the optimal parameters.Experiments show that the prototype installed with the novel transformable wheels can overcome steps with a height of 1.52 times of its wheel radius with less fluctuation of its centroid and performs good locomotion capabilities in different environments.展开更多
BACKGROUND Programmed death 1(PD-1)and CD4^(+)CD25^(+)FoxP3^(+)expression in peripheral blood T-cells has been previously reported in various types of cancer.However,the specific variation tendency during surgery and ...BACKGROUND Programmed death 1(PD-1)and CD4^(+)CD25^(+)FoxP3^(+)expression in peripheral blood T-cells has been previously reported in various types of cancer.However,the specific variation tendency during surgery and chemotherapy,as well as their relationship in gastric cancer patients,still remain unclear.Understanding this aspect may provide some novel insights for future studies on tumor recurrence and tumor immune escape,and also serve as a reference for determining the optimal timing and dose of clinical anti-PD-1 antibodies.AIM To observe and analyze the expression characteristics of peripheral lymphocyte PD-1 and FoxP3^(+)regulatory T cells(FoxP3^(+)Tregs)before and after surgery or chemotherapy in gastric cancer patients.METHODS Twenty-nine stomach cancer patients undergoing chemotherapy after a D2 gastrectomy provided 10 mL peripheral blood samples at each phase of the perioperative period and during chemotherapy.This study also included 29 agematched healthy donors as a control group.PD-1 expression was detected on lymphocytes,including CD4^(+)CD8^(+)CD45RO^(+),CD4^(+)CD45RO^(+),and CD8^(+)CD45RO^(+)lymphocytes as well as regulatory T cells.RESULTS We observed a significant increase of PD-1 expression on immune subsets and a larger number of FoxP3^(+)Tregs in gastric cancer patients(P<0.05).Following D2 gastrectomy,peripheral lymphocytes PD-1 expression and the number of FoxP3^(+)Tregs notably decrease(P<0.05).However,during postoperative chemotherapy,we only observed a decrease in PD-1 expression on lymphocytes in the CD8^(+)CD45RO^(+)and CD8^(+)CD45RO^(+)populations.Additionally,linear correlation analysis indicated a positive correlation between PD-1 expression and the number of CD4^(+)CD45RO^(+)FoxP3high activated Tregs(aTregs)on the total peripheral lymphocytes(r=0.5622,P<0.0001).CONCLUSION The observed alterations in PD-1 expression and the activation of regulatory T cells during gastric cancer treatment may offer novel insights for future investigations into tumor immune evasion and the clinical application of anti-PD-1 antibodies in gastric cancer.展开更多
BACKGROUND The multidisciplinary team(MDT)has been carried out in many large hospitals now.However,given the costs of time and money and with little strong evidence of MDT effectiveness being reported,critiques of MDT...BACKGROUND The multidisciplinary team(MDT)has been carried out in many large hospitals now.However,given the costs of time and money and with little strong evidence of MDT effectiveness being reported,critiques of MDTs persist.AIM To evaluate the effects of MDTs on patients with synchronous colorectal liver metastases and share our opinion on management of synchronous colorectal liver metastases.METHODS In this study we collected clinical data of patients with synchronous colorectal liver metastases from February 2014 to February 2017 in the Chinese People’s Liberation Army General Hospital and subsequently divided them into an MDT+group and an MDT-group.In total,93 patients in MDT+group and 169 patients in MDT-group were included totally.RESULTS Statistical increases in the rate of chest computed tomography examination(P=0.001),abdomen magnetic resonance imaging examination(P=0.000),and preoperative image staging(P=0.0000)were observed in patients in MDT+group.Additionally,the proportion of patients receiving chemotherapy(P=0.019)and curative resection(P=0.042)was also higher in MDT+group.Multivariable analysis showed that the population of patients assessed by MDT meetings had higher 1-year[hazard ratio(HR)=0.608,95%confidence interval(CI):0.398-0.931,P=0.022]and 5-year(HR=0.694,95%CI:0.515-0.937,P=0.017)overall survival.CONCLUSION These results proved that MDT management did bring patients with synchronous colorectal liver metastases more opportunities for comprehensive examination and treatment,resulting in better outcomes.展开更多
Oily wastewater from ocean oil spills endangers marine ecosystems and human health. Therefore, developing an effective and sustainable solution for separating oil-water mixtures is urgent. Interfacial solar phototherm...Oily wastewater from ocean oil spills endangers marine ecosystems and human health. Therefore, developing an effective and sustainable solution for separating oil-water mixtures is urgent. Interfacial solar photothermal evaporation is a promising approach for the complete separation of two-phase mixtures using only solar energy. Herein, we report a carbonized wood-based absorber with Janus structure of comprising a hydrophobic top-layer and an oleophobic bottom-layer for simultaneous solar-driven oil-water separation and electricity generation. Under sunlight irradiation, the rapid evaporation of seawater will induce a separation of oil-water mixtures, and cause a high salt concentration region underlying the interface, while the bottom “bulk water” maintains in a low salt concentration, thus forming a salinity gradient. Electricity can be generated by salinity gradient power. Therefore, oil-water separation efficiency of > 99% and derived extra electricity power of ~0.1 W/m2 is achieved under solar radiation, demonstrating the feasibility of oil-water separation and electricity production synchronously directly using solar energy. This work provides a green and cost-effective path for the separation of oil-water mixtures.展开更多
2,3,7,8-Tetrachlorodibenzo-p-dioxin(TCDD) and polychlorinated biphenyls(PCBs) are among persistent polyhalogenated aromatic hydrocarbons that exist as complex mixtures in the environment worldwide.The present study wa...2,3,7,8-Tetrachlorodibenzo-p-dioxin(TCDD) and polychlorinated biphenyls(PCBs) are among persistent polyhalogenated aromatic hydrocarbons that exist as complex mixtures in the environment worldwide.The present study was attempted to investigate the hepatotoxicity following repeated exposure to TCDD and PCBs in combination in male rats,and to reveal the involvement of potential mechanisms.Male Sprague-Dawley rats were exposed to TCDD(10 μg/kg) and Aroclor 1254(10 mg/kg,a representative mixture of PCBs) alone or in combination by intragastric administration.After 12-day exposure,all treatments produced significant hepatotoxicity as characterized by changes of plasma biochemistry and histopathological changes.These effects were more prominent in the combined group.Furthermore,all treatments induced hepatic cytochrome P450 1A1(CYP1A1) expression,and the maximal level of CYP1A1 expression was observed in the combined group,as in the case of the most severe hepatotoxicity evoked by the combined exposure.These findings indicated that the hepatotoxicity induced by TCDD and Aroclor 1254 might be ascribed to the high expression of hepatic CYP1A1.The present study demonstrates the enhanced hepatotoxicity after exposure to TCDD and PCBs in combination in rats.展开更多
基金Supported by State Key Lab of Mechanical System and Vibration Project of China(Grant No.MSVZD202008).
文摘The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain.However,most of the wheel-legged robots only have one-directional obstacle-crossing ability.During the motion,most of the wheel-legged robots’centroid fluctuates violently,which damages the stability of the load.What’s more,many designs of the obstacle-crossing part and transformation-driving part of this structure are highly coupled,which limits its optimal performance in both aspects.This paper presents a novel wheel-legged robot with a rim-shaped changeable wheel,which has a bi-directional and smooth obstacle-crossing ability.Based on the kinematic model,the geometric parameters of the wheel structure and the design variables of the driving four-bar mechanism are optimized separately.The kinetostatics model of the mobile platform when climbing stairs is established to determine the body length and angular velocity of the driving wheels.A pro-totype is made according to the optimal parameters.Experiments show that the prototype installed with the novel transformable wheels can overcome steps with a height of 1.52 times of its wheel radius with less fluctuation of its centroid and performs good locomotion capabilities in different environments.
基金the National Natural Science Foundation of China,No.81871317and Military Medical Innovation Project,No.18CXZ025.
文摘BACKGROUND Programmed death 1(PD-1)and CD4^(+)CD25^(+)FoxP3^(+)expression in peripheral blood T-cells has been previously reported in various types of cancer.However,the specific variation tendency during surgery and chemotherapy,as well as their relationship in gastric cancer patients,still remain unclear.Understanding this aspect may provide some novel insights for future studies on tumor recurrence and tumor immune escape,and also serve as a reference for determining the optimal timing and dose of clinical anti-PD-1 antibodies.AIM To observe and analyze the expression characteristics of peripheral lymphocyte PD-1 and FoxP3^(+)regulatory T cells(FoxP3^(+)Tregs)before and after surgery or chemotherapy in gastric cancer patients.METHODS Twenty-nine stomach cancer patients undergoing chemotherapy after a D2 gastrectomy provided 10 mL peripheral blood samples at each phase of the perioperative period and during chemotherapy.This study also included 29 agematched healthy donors as a control group.PD-1 expression was detected on lymphocytes,including CD4^(+)CD8^(+)CD45RO^(+),CD4^(+)CD45RO^(+),and CD8^(+)CD45RO^(+)lymphocytes as well as regulatory T cells.RESULTS We observed a significant increase of PD-1 expression on immune subsets and a larger number of FoxP3^(+)Tregs in gastric cancer patients(P<0.05).Following D2 gastrectomy,peripheral lymphocytes PD-1 expression and the number of FoxP3^(+)Tregs notably decrease(P<0.05).However,during postoperative chemotherapy,we only observed a decrease in PD-1 expression on lymphocytes in the CD8^(+)CD45RO^(+)and CD8^(+)CD45RO^(+)populations.Additionally,linear correlation analysis indicated a positive correlation between PD-1 expression and the number of CD4^(+)CD45RO^(+)FoxP3high activated Tregs(aTregs)on the total peripheral lymphocytes(r=0.5622,P<0.0001).CONCLUSION The observed alterations in PD-1 expression and the activation of regulatory T cells during gastric cancer treatment may offer novel insights for future investigations into tumor immune evasion and the clinical application of anti-PD-1 antibodies in gastric cancer.
文摘BACKGROUND The multidisciplinary team(MDT)has been carried out in many large hospitals now.However,given the costs of time and money and with little strong evidence of MDT effectiveness being reported,critiques of MDTs persist.AIM To evaluate the effects of MDTs on patients with synchronous colorectal liver metastases and share our opinion on management of synchronous colorectal liver metastases.METHODS In this study we collected clinical data of patients with synchronous colorectal liver metastases from February 2014 to February 2017 in the Chinese People’s Liberation Army General Hospital and subsequently divided them into an MDT+group and an MDT-group.In total,93 patients in MDT+group and 169 patients in MDT-group were included totally.RESULTS Statistical increases in the rate of chest computed tomography examination(P=0.001),abdomen magnetic resonance imaging examination(P=0.000),and preoperative image staging(P=0.0000)were observed in patients in MDT+group.Additionally,the proportion of patients receiving chemotherapy(P=0.019)and curative resection(P=0.042)was also higher in MDT+group.Multivariable analysis showed that the population of patients assessed by MDT meetings had higher 1-year[hazard ratio(HR)=0.608,95%confidence interval(CI):0.398-0.931,P=0.022]and 5-year(HR=0.694,95%CI:0.515-0.937,P=0.017)overall survival.CONCLUSION These results proved that MDT management did bring patients with synchronous colorectal liver metastases more opportunities for comprehensive examination and treatment,resulting in better outcomes.
基金supported by the National Natural Science Foundation of China (No. 22106016)the Fellowship of China Postdoctoral Science Foundation (No. 2022M721556).
文摘Oily wastewater from ocean oil spills endangers marine ecosystems and human health. Therefore, developing an effective and sustainable solution for separating oil-water mixtures is urgent. Interfacial solar photothermal evaporation is a promising approach for the complete separation of two-phase mixtures using only solar energy. Herein, we report a carbonized wood-based absorber with Janus structure of comprising a hydrophobic top-layer and an oleophobic bottom-layer for simultaneous solar-driven oil-water separation and electricity generation. Under sunlight irradiation, the rapid evaporation of seawater will induce a separation of oil-water mixtures, and cause a high salt concentration region underlying the interface, while the bottom “bulk water” maintains in a low salt concentration, thus forming a salinity gradient. Electricity can be generated by salinity gradient power. Therefore, oil-water separation efficiency of > 99% and derived extra electricity power of ~0.1 W/m2 is achieved under solar radiation, demonstrating the feasibility of oil-water separation and electricity production synchronously directly using solar energy. This work provides a green and cost-effective path for the separation of oil-water mixtures.
基金supported by the National Basic Research Program (973) of China (No.2011CB503803)partly financed by the State Key Laboratory of Environmental Chemistry and Ecotoxicology,Research Center for Eco-Environmental Sciences,Chinese Academy of Sciences (No.KF2008-20)
文摘2,3,7,8-Tetrachlorodibenzo-p-dioxin(TCDD) and polychlorinated biphenyls(PCBs) are among persistent polyhalogenated aromatic hydrocarbons that exist as complex mixtures in the environment worldwide.The present study was attempted to investigate the hepatotoxicity following repeated exposure to TCDD and PCBs in combination in male rats,and to reveal the involvement of potential mechanisms.Male Sprague-Dawley rats were exposed to TCDD(10 μg/kg) and Aroclor 1254(10 mg/kg,a representative mixture of PCBs) alone or in combination by intragastric administration.After 12-day exposure,all treatments produced significant hepatotoxicity as characterized by changes of plasma biochemistry and histopathological changes.These effects were more prominent in the combined group.Furthermore,all treatments induced hepatic cytochrome P450 1A1(CYP1A1) expression,and the maximal level of CYP1A1 expression was observed in the combined group,as in the case of the most severe hepatotoxicity evoked by the combined exposure.These findings indicated that the hepatotoxicity induced by TCDD and Aroclor 1254 might be ascribed to the high expression of hepatic CYP1A1.The present study demonstrates the enhanced hepatotoxicity after exposure to TCDD and PCBs in combination in rats.
