Robust pole assignment for incomplete nonlinear decoupling applied to robots

A robustness analysis and synthesis for incomplete nonlinear decoupling for a class of nonlinear systems is discussed. Rigid and elastic-joint robot models belong to this class. For the elastic case, a transformation facilitates the robustness analysis under a weak assumption. Charts with H ₁- and H - norms of closed-loop disturbance transfer functions of the nonlinear-decoupled system are presented for a robust pole assignment.     

A CALPHAD-type Young's modulus database of Ti-rich Ti–Nb–Zr–Mo system

Accurate Young's modulus is the necessity for the design of biomedical Ti alloys. A combinatorial method of the diffusion couple, nanoindentation, electron probe microanalysis (EPMA), and CALculation of PHAse Diagrams (CALPHAD) techniques has been utilized to construct the Young's modulus database of Ti alloys with various compositions in the present work. Two groups of body-centered cubic (bcc) Ti–Nb–Zr–Mo quaternary diffusion couples annealed at 1273 K for 25 h were experimentally prepared. Subsequently, the composition-dependent mechanical properties in the wide compositional range of Ti-based alloys were obtained by using EPMA and nanoindentation probes. Finally, on the basis of the measured Young's moduli in the present and previous work and the modeling parameters of Young's modulus of Ti–Nb–Zr system, the Young's modulus database of bcc Ti–Nb–Zr–Mo system was established through the CALPHAD approach. The CALPHAD-type database of bcc Ti–Nb–Zr–Mo system can provide the accurate Young's moduli of Ti alloys with wide compositions.     

Estimation of elastic constant of rocks using an ANFIS approach

The engineering properties of the rocks have the most vital role in planning of rock excavation and construction for optimum utilization of earth resources with greater safety and least damage to surroundings. The design and construction of structure is influenced by physico-mechanical properties of rock mass. Young's modulus provides insight about the magnitude and characteristic of the rock mass deformation due to change in stress field. The determination of the Young's modulus in laboratory is very time consuming and costly. Therefore, basic rock properties like point load, density and water absorption have been used to predict the Young's modulus. Point load, density and water absorption can be easily determined in field as well as laboratory and are pertinent properties to characterize a rock mass. The artificial neural network (ANN), fuzzy inference system (FIS) and neuro fuzzy are promising techniques which have proven to be very reliable in recent years. In, present study, neuro fuzzy system is applied to predict the rock Young's modulus to overcome the limitation of ANN and fuzzy logic. Total 85 dataset were used for training the network and 10 dataset for testing and validation of network rules. The network performance indices correlation coefficient, mean absolute percentage error (MAPE), root mean square error (RMSE), and variance account for (VAF) are found to be 0.6643, 7.583, 6.799, and 91.95 respectively, which endow with high performance of predictive neuro-fuzzy system to make use for prediction of complex rock parameter.     

一种新的修正恒模算法

阐述了恒模算法(CMA)、修正恒模算法(MCMA)和判决引导(DD)算法的基本原理。针对CMA和MCMA收敛速度慢,固定步长条件下收敛速度和剩余误差之间存在矛盾的缺陷,在分析CMA误差特性的基础上,利用DD算法误差函数的模值和判决器输出构造新的误差函数,提出了一种新的变步长MCMA。新算法在加快收敛速度的同时保持小的剩余误差。仿真结果表明,新算法比CMA和MCMA收敛速度快,均衡输出剩余码间干扰(ISI)小而且能克服相位偏移,具有很好的实用性。     

Altered mRNA and Protein Expression of Monocarboxylate Transporter MCT1 in the Cerebral Cortex and Cerebellum of Prion Protein Knockout Mice

The effect of a cellular prion protein (PrP^c) deficiency on neuroenergetics was primarily analyzed via surveying the expression of genes specifically involved in lactate/pyruvate metabolism, such as monocarboxylate transporters (MCT1, MCT2, MCT4). The aim of the present study was to elucidate a potential involvement of PrP^c in the regulation of energy metabolism in different brain regions. By using quantitative real-time polymerase chain reaction (qRT-PCR), we observed a marked reduction in MCT1 mRNA expression in the cortex of symptomatic Zürich I Prnp^−/− mice, as compared to their wild-type (WT) counterparts. MCT1 downregulation in the cortex was accompanied with significantly decreased expression of the MCT1 functional interplayer, the Na⁺/K⁺ ATPase α2 subunit. Conversely, the MCT1 mRNA level was significantly raised in the cerebellum of Prnp^−/− vs. WT control group, without a substantial change in the Na⁺/K⁺ ATPase α2 subunit expression. To validate the observed mRNA findings, we confirmed the observed change in MCT1 mRNA expression level in the cortex at the protein level. MCT4, highly expressed in tissues that rely on glycolysis as an energy source, exhibited a significant reduction in the hippocampus of Prnp^−/− vs. WT mice. The present study demonstrates that a lack of PrP^c leads to altered MCT1 and MCT4 mRNA/protein expression in different brain regions of Prnp^−/− vs. WT mice. Our findings provide evidence that PrP^c might affect the monocarboxylate intercellular transport, which needs to be confirmed in further studies.     

Current Understandings on Magnesium Deficiency and Future Outlooks for Sustainable Agriculture

The productivity of agricultural produce is fairly dependent on the availability of nutrients and efficient use. Magnesium (Mg²⁺) is an essential macronutrient of living cells and is the second most prevalent free divalent cation in plants. Mg²⁺ plays a role in several physiological processes that support plant growth and development. However, it has been largely forgotten in fertilization management strategies to increase crop production, which leads to severe reductions in plant growth and yield. In this review, we discuss how the Mg²⁺ shortage induces several responses in plants at different levels: morphological, physiological, biochemical and molecular. Additionally, the Mg²⁺ uptake and transport mechanisms in different cellular organelles and the role of Mg²⁺ transporters in regulating Mg²⁺ homeostasis are also discussed. Overall, in this review, we critically summarize the available information about the responses of Mg deficiency on plant growth and development, which would facilitate plant scientists to create Mg²⁺-deficiency-resilient crops through agronomic and genetic biofortification.     

Novel (Phenothiazinyl)Vinyl-Pyridinium Dyes and Their Potential Applications as Cellular Staining Agents

We report here the synthesis and structural characterization of novel cationic (phenothiazinyl)vinyl-pyridinium (PVP) dyes, together with optical (absorption/emission) properties and their potential applicability as fluorescent labels. Convective heating, ultrasound irradiation and mechanochemical synthesis were considered as alternative synthetic methodologies proficient for overcoming drawbacks such as long reaction time, nonsatisfactory yields or solvent requirements in the synthesis of novel dye (E)-1-(3-chloropropyl)-4-(2-(10-methyl-10H-phenothiazin-3-yl)vinyl)pyridin-1-ium bromide 3d and its N-alkyl-2-methylpyridinium precursor 1c. The trans geometry of the newly synthesized (E)-4-(2-(7-bromo-10-ethyl-10H-phenothiazin-3-yl)vinyl)-1-methylpyridin-1-ium iodide 3b and (E)-1-methyl-4-(2-(10-methyl-10H-phenothiazin-3-yl)vinyl)pyridin-1-ium tetrafluoroborate 3a′ was confirmed by single crystal X-ray diffraction. A negative solvatochromism of the dyes in polar solvents was highlighted by UV-Vis spectroscopy and explanatory insights were supported by molecular modeling which suggested a better stabilization of the lowest unoccupied molecular orbitals (LUMO). The photostability of the dye 3b was investigated by irradiation at 365 nm in different solvents, while the steady-state and time-resolved fluorescence properties of dye 3b and 3a′ in solid state were evaluated under one-photon excitation at 485 nm. The in vitro cytotoxicity of the new PVP dyes on B16-F10 melanoma cells was evaluated by WST-1 assay, while their intracellular localization was assessed by epi-fluorescence conventional microscopy imaging as well as one- and two-photon excited confocal fluorescence lifetime imaging microscopy (FLIM). PVP dyes displayed low cytotoxicity, good internalization inside melanoma cells and intense fluorescence emission inside the B16-F10 murine melanoma cells, making them suitable staining agents for imaging applications.     

Therapeutic Potential for Regulation of the Nuclear Factor Kappa-B Transcription Factor p65 to Prevent Cellular Senescence and Activation of Pro-Inflammatory in Mesenchymal Stem Cells

Mesenchymal stem cells have an important potential in the treatment of age-related diseases. In the last years, small extracellular vesicles derived from these stem cells have been proposed as cell-free therapies. Cellular senescence and proinflammatory activation are involved in the loss of therapeutic capacity and in the phenomenon called inflamm-aging. The regulators of these two biological processes in mesenchymal stem cells are not well-known. In this study, we found that p65 is activated during cellular senescence and inflammatory activation in human umbilical cord-derived mesenchymal stem cell. To demonstrate the central role of p65 in these two processes, we used small-molecular inhibitors of p65, such as JSH-23, MG-132 and curcumin. We found that the inhibition of p65 prevents the cellular senescence phenotype in human umbilical cord-derived mesenchymal stem cells. Besides, p65 inhibition produced the inactivation of proinflammatory molecules as components of a senescence-associated secretory phenotype (SASP) (interleukin-6 and interleukin-8 (IL-6 and IL-8)). Additionally, we found that the inhibition of p65 prevents the transmission of paracrine senescence between mesenchymal stem cells and the proinflammatory message through small extracellular vesicles. Our work highlights the important role of p65 and its inhibition to restore the loss of functionality of small extracellular vesicles from senescent mesenchymal stem cells and their inflamm-aging signature.     

Cellular Senescence: Pathogenic Mechanisms in Lung Fibrosis

Pulmonary fibrosis is a chronic and fatal lung disease that significantly impacts the aging population globally. To date, anti-fibrotic, immunosuppressive, and other adjunct therapy demonstrate limited efficacies. Advancing our understanding of the pathogenic mechanisms of lung fibrosis will provide a future path for the cure. Cellular senescence has gained substantial interest in recent decades due to the increased incidence of fibroproliferative lung diseases in the older age group. Furthermore, the pathologic state of cellular senescence that includes maladaptive tissue repair, decreased regeneration, and chronic inflammation resembles key features of progressive lung fibrosis. This review describes regulatory pathways of cellular senescence and discusses the current knowledge on the senescence of critical cellular players of lung fibrosis, including epithelial cells (alveolar type 2 cells, basal cells, etc.), fibroblasts, and immune cells, their phenotypic changes, and the cellular and molecular mechanisms by which these cells contribute to the pathogenesis of pulmonary fibrosis. A few challenges in the field include establishing appropriate in vivo experimental models and identifying senescence-targeted signaling molecules and specific therapies to target senescent cells, known collectively as “senolytic” or “senotherapeutic” agents.     

地聚合物混凝土配比及力学性能研究

混凝土是巷道支护过程中的重要建筑材料,然而混凝土在巷道施工中常常出现质量问题,为了不影响正常生产,需要对其进行修补。地聚合物混凝土凝结时间快,早期强度高,界面结合能力强,耐高温性和抗冻性强,耐腐蚀性良好,具有用作修补材料的潜力。以粉煤灰和矿粉为原料,Na₂SiO₃溶液和NaOH为碱激发剂制备地聚合物胶砂,研究不同的碱激发剂模数（1.0、1.2、1.4）和掺量（10%、15%、20%）对不同龄期胶砂力学性能的影响。结果表明：当碱激发剂模数为1.2,碱掺量为15%时,胶砂强度达到最大值。设计正交试验,研究了不同水胶比（0.45、0.50、0.55）、粉煤灰掺量（30%、50%、70%）和砂率（30%、35%、40%）对不同龄期地聚合物混凝土的工作性能和力学性能的影响。结果表明：粉煤灰掺量对抗压强度影响最为显著,水胶比次之,而砂率对强度发展几乎没有影响。最优的配合比为水胶比为0.50,粉煤灰掺量为50%,砂率为35%。