Adaptive optimal tracking control for multi-joint manipulator on space robot

This paper aims to address the tracking control problem for the multi-joint manipulator on a space robot subject to model uncertainties and external disturbances. A Gauss-Newton interactive optimization algorithm is used to obtain the desired joint angle for each joint. In order to formulate the optimization problem, the Denaait-Hartenberg (D-H) method is employed to describe the model of the multi-joint manipulator. Subsequently, an adaptive controller is developed to achieve tracking control, where controller parameters updated in real time are introduced to handle the nondeterminacy of the multi-joint manipulator. Moreover, a fuzzy control strategy is composed such that our designed controller is robust against the complex environment as well. The controller design is performed by means of the Lyapunov techniques. Meanwhile, its effectiveness is verified through numerical simulations. Finally, some concluding remarks close the paper.     

Nonremission and Recurrent Tumor-Induced Osteomalacia: A Retrospective Study

Tumor-induced osteomalacia (TIO) is a rare paraneoplastic syndrome. It is curable by excision of the causative tumor. However, a few cases may persist or relapse after tumor resection. We aimed to investigate the rate of these events and related factors. We retrospectively studied TIO patients treated with surgery in a tertiary hospital. TIO was established based on a pathologic examination or the reversion of hypophosphatemia. Refractory TIO patients consisted of those with nonremission or recurrent hypophosphatemia after surgery. A total of 230 patients were confirmed as having TIO. After primary surgery, 26 (11.3%) cases persisted, and 16 (7.0%) cases recurred. The overall refractory rate was 18.3%. The median time of recurrence was 33 months. Compared with patients in the recovery group, patients in the refractory group were more likely to be female (59.5% versus 41.0%, p = .029) and have a lower serum phosphate level (0.44 ± 0.13 versus 0.50 ± 0.11 mmol/L, p = .002). The refractory rate was lowest in head/neck tumors (7.5%) and highest in spine tumors (77.8%). Regarding the tissue involved of tumor location, the refractory rate was higher in tumors involving bone than tumors involving soft tissue (32.7% versus 7.0%, p < .001). The outcomes of malignant tumors were worse than those of benign tumors (p < .001): nonremission rate, 21.4% versus 9.7%; recurrence rate, 28.6% versus 6.5%. In the multivariate regression analysis, female sex, spine tumors, bone tissue-involved tumors, malignancy, and low preoperation serum phosphorus levels were identified as risk factors for refractory outcomes. High preoperative fibroblast growth factor 23 (FGF23) levels were also associated with refractory after adjusting for involving tissue and tumor malignancy. In summary, we are the first to report the rate and clinical characteristics of refractory TIO in a large cohort. For patients with multiple risk factors, especially spine tumors, clinical practitioners should be aware of a poor surgical prognosis. © 2019 The Authors. Journal of Bone and Mineral Research published by American Society for Bone and Mineral Research.     

Steroid-sparing maintenance immunosuppression is safe and effective after simultaneous liver-kidney transplantation

Optimization of maintenance immunosuppression (mIS) regimens in the transplant recipient requires a balance between sufficient potency to prevent rejection and avoidance of excessive immunosuppression to prevent toxicities and complications. The optimal regimen after simultaneous liver-kidney (SLK) transplantation remains unclear, but small single-center reports have shown success with steroid-sparing regimens. We studied 4184 adult SLK recipients using the Scientific Registry of Transplant Recipients, from March 1, 2002, to February 28, 2017, on tacrolimus-based regimens at 1 year post-transplant. We determined the association between mIS regimen and mortality and graft failure using Cox proportional hazard models. The use of steroid-sparing regimens increased post-transplant, from 16.1% at discharge to 88.0% at 5 years. Using multi-level logistic regression modeling, we found center-level variation to be the major contributor to choice of mIS regimen (ICC 44.5%; 95% CI: 36.2%-53.0%). In multivariate analysis, use of a steroid-sparing regimen at 1 year was associated with a 21% decreased risk of mortality compared to steroid-containing regimens (aHR 0.79, P = .01) and 20% decreased risk of liver graft failure (aHR 0.80, P = .01), without differences in kidney graft loss risk (aHR 0.92, P = .6). Among SLK recipients, the use of a steroid-sparing regimen appears to be safe and effective without adverse effects on patient or graft survival.     

Changes in corneal innervation and pain responses in fungal keratitis

AIM: To characterize changes in the cornea nerve and pain responses in fungal keratitis (FK). METHODS: A retrospective analysis of in vivo confocal microscopy images of 11 FK corneas was performed, and the results were compared with those for 11 normal corneas. Subbasal corneal nerves were analyzed for total nerve number, main nerve trunk number, branching patterns and tortuosity. C57BL/6 mice were infected with Aspergillus fumigatus. Disease severity was determined through clinical scoring and slit lamp photography. Corneas were harvested at 1, 3, 5, and 7d post infection (p.i.) and assessed for β III tubulin. Corneal mechanical sensitivity thresholds were detected by von Frey test. β-endorphin (β-EP) and μ receptor protein expression was detected through Western blotting. RESULTS: Total nerve number, main nerve trunk number, and nerve branching were significantly lower in FK patients than in controls, but tortuosity was not significantly different. In infected mice, subbasal nerve density decreased from 1d p.i., reaching a minimum at 5d p.i. Clinical scores rose at 1d p.i., peaked at 3d p.i., and decreased at 5d p.i. Mechanical sensitivity thresholds showed the same trends. β-EP and μ receptor protein expression increased after infection. CONCLUSION: Corneal nerve density is lower in FK patients and Aspergillus fumigatus-infected mice than in controls. Pain sensitivity decreases with postinfection corneal ulcer aggravation. β-EP and μ receptor proteins are both upregulated in infected mouse corneas.     

基因工程化分泌神经营养因子-3的鼠胚神经干细胞实验研究

目的：探索以Lentivirus为载体,构建同时表达绿色荧光蛋白（GFP）和神经营养因子-3（NT-3）的基因工程化鼠胚神经干细胞（NSC）的可行性.方法：体外分离培养鼠胚NSC,用同时携带NT-3和GFP的lentivirus转染构建工程化NSC：用荧光显微镜、鼠胚背根神经结培养（Dorsal Root Ganglion,DRG）、Western blot等方法检测基因工程NSC的转基因表达.结果：荧光显微镜观察到几乎100%的工程化NSC表达GFP;DRG培养和Western blot检测到基因工程化NSC能高效分泌NT-3蛋白.结论：以Lentivirus为载体,构建同时携带并稳定表达GFP和NT-3的基因工程化鼠胚NSC是可行的,可为脊髓损伤基础研究提供有价值的细胞资源.     

两种麻醉方法在老年患者髋关节部位手术中应用比较

目的对比腰硬联合麻醉和全身麻醉用于老年患者髋关节部位手术的影响。方法选择髋关节部位手术老年患者40例,随机分成腰硬联合麻醉组和全身麻醉组各20例,观察麻醉前后、手术开始前后、手术中、手术后的血压（收缩压）、动脉血氧分压和心率的变化,以及手术后的患者转归。结果两组均能完成手术,全身麻醉组麻醉前后血流动力学变化、血氧变化大于腰硬联合麻醉组,手术中腰硬联合麻醉组变化大于全身麻醉组,全身麻醉组手术后并发症多于腰硬联合麻醉组。结论全身麻醉有利于手术中血流动力学管理,腰硬联合麻醉有利于手术后患者恢复。     

五味子宁神口服液抗紫外辐射作用研究

目的：研究五味子宁神口服液对3T3细胞紫外辐射损伤的保护作用.方法：建立3T3细胞紫外辐射模型,采用流式细胞术检测高、中、低剂量组（12.5,25.0,50.0 mg·ml-1）五味子宁神口服液作用前后细胞内活性氧浓度的变化,检测胞质匀浆中的超氧化物歧化酶（SOD）、谷胱甘肽过氧化物酶（GSH--Px）和过氧化氢酶（CAT）活性以及丙二醛（MDA）含量变化.结果：与中波紫外线辐射组（UVB组）比较,高、中、低剂量组五味子宁神口服液的活性氧含量和MDA含量显著降低（P＜0.01）,SOD、CAT和GSH-Px活性显著升高（P＜0.01或0.05）.结论：五味子宁神口服液能提高SOD、CAT、GSH-Px等酶活性,降低活性氧和MDA含量,对UVB辐射造成的细胞损伤具有保护作用.     

调节自噬提高人肝癌Bel-7402/FU细胞株对5-氟尿嘧啶的敏感性

目的：探讨细胞自噬对肝癌Bel-7402／FU细胞5-氟尿嘧啶敏感性的影响。方法：选取Bel-7402、Bel-7402／FU细胞株,分为对照组、5-氟尿嘧啶组、自噬抑制剂3-甲基腺苷组以及5-氟尿嘧啶＋3-甲基腺苷组,MTT法了解抑制细胞自噬对肝癌5-氟尿嘧啶IC50值的影响;流式细胞术检测抑制细胞自噬对细胞凋亡的影响;GFP-LC3质粒转染观察细胞浆中GFP-LC3分布情况。结果：Bel-7402细胞株与Bel-7402／FU细胞株5-氟尿嘧啶IC50值分别为4．66、68．14μg／mL,凋亡率分别为13．809／6、1.09％。3-甲基腺苷联合5-氟尿嘧啶作用后Bel-7402细胞株与Bel-7402／FU细胞株的氟尿嘧啶IC50值分别为4．31、29．44μg／mL,凋亡率分别为13．82％、6．86％。在3-甲基腺苷作用下,Bel-7402／5-FU细胞株5-氟尿嘧啶诱导的点状样GFP-LC3的细胞数量减少。结论：抑制细胞自噬可降低Bel-7402／FU对5-氟尿嘧啶IC50值,诱导细胞凋亡,从而有效地逆转Bel-7402／FU对5-氟尿嘧啶耐药。     

地西他滨治疗骨髓增生异常综合征和急性髓细胞白血病临床观察

目的探讨地西他滨治疗骨髓增生异常综合征（MDS）和急性髓细胞白血病（AML）的临床疗效和安全性。方法收集2011年1月至2013年7月接受地西他滨[15mg／（m2·d）,第1—5天,静脉滴注持续1h以上1单药或联合CAGf阿糖胞苷（Ara-C）、阿克拉霉素（Acla）、粒细胞集落刺激因子（G-CSF）]方案治疗的20例MDS和AML患者的临床资料,评价其疗效和不良反应。结果20例患者中完全缓解（CR）4例,部分缓解（PR）8例,稳定（SD）及进展（PD）8例,总有效率为60．0％（12／20）。其中12例AML患者中CR2例,PR5例,总有效率为58.3％（7／12）,8例MDS患者中CR2例,PR3例,总有效率为62．5％（5／8）。1例MDS．难治性贫血伴环状铁粒幼细胞患者和2例慢性粒一单核细胞性白血病患者输血依赖情况有所改善。14例患者出现Ⅲ－Ⅳ度骨髓受抑,发生率为70．O％（14／20）。总感染率为35．0％（7,20）,其中肺部感染率为20．0％（4／20）,患者经积极抗感染、刺激造血及输血等支持治疗后感染控制。1例患者出现化疗相关死亡。20例患者均未出现严重肝功能损害及出血。结论地西他滨单药或联合CAG方案治疗MDS和AML有一定疗效,可廷缓疾病进展;患者对化疗不良反应均能耐受．且化疗相关病死率低。     

Acute and chronic toxic effects of bisphenol a on Chlorella pyrenoidosa and Scenedesmus obliquus

The acute and chronic toxic effects of Bisphenol A (BPA) on Chlorella pyrenoidosa (C. pyrenoidosa) and Scenedesmus obliquus (S. obliquus) were not well understood. The indoor experiments were carried out to observe and analyze the BPA‐induced changes. Results of the observations showed that in acute tests BPA could significantly inhibit the growth of both algae, whereas chronic exposure hardly displayed similar trend. Superoxide dismutase (SOD) and Catalase (CAT) activities of both algae were promoted in all the treatments. Chlorophyll a synthesis of the two algae exhibited similar inhibitory trend in short‐term treatments, and in chronic tests C. pyrenoidosa hardly resulted in visible influence, whereas in contrast, dose‐dependent inhibitory effects of S. obliquus could be clearly observed. The experimental results indicated that the growth and Chlorophyll a syntheses of S.obliquus were more sensitive in response to BPA than that of C. pyrenoidosa, whereas for SOD andCAT activities, C. pyrenoidosa was more susceptible. This research provides a basic understanding of BPA toxicity to aquatic organisms. © 2012 Wiley Periodicals, Inc. Environ Toxicol 29: 714–722, 2014.