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Xue Y, Ma Y, Sun Z, Liu X, Zhang M, Zhang J, Xi N. Identification and Measurement of Biomarkers at Single Microorganism Level for In Situ Monitoring Deep Ultraviolet Disinfection Process. IEEE Trans Nanobioscience 2024; 23:242-251. [PMID: 37676797 DOI: 10.1109/tnb.2023.3312754] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/09/2023]
Abstract
Since the COVID-19 disease has been further aggravated, the prevention of pathogen transmission becomes a vital issue to restrain casualties. Recent research outcomes have shown the possibilities of the viruses existing on inanimate surfaces up to few days, which carry the risk of touch propagation of the disease. Deep ultraviolet germicide irradiation (UVGI) with the wavelength of 255-280nm has been verified to efficiently disinfect various types of bacteria and virus, which could prevent the aggravation of pandemic spread. Even though considerable experiments and approaches have been applied to evaluate the disinfection effects, there are only few reports about how the individual bio-organism behaves after ultraviolet C (UVC) irradiation, especially in the aspect of mechanical changes. Furthermore, since the standard pathway of virus transmission and reproduction requires the host cell to assemble and transport newly generated virus, the dynamic response of infectious cell is always the vital aspect of virology study. In this work, high power LEDs array has been established with 270nm UVC irradiation to evaluate disinfection capability on various types of bio-organism, and incubator embedded atomic force microscopy (AFM) is used to investigate the single bacterium and virus under UVGI. The real-time tracking of the living Vero cells infected with adenovirus has also been presented in this study. The results show that after sufficient UVGI, the outer shell of bacteria and viruses remain intact in structure, however the bio-organisms lost the capability of reproduction and normal metabolism. The experiment results also indicate that once the host cell is infected with adenovirus, the rapid production of newborn virus capsid will gradually destroy the cellular normal metabolism and lose mechanical integrity.
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2
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Tang L, Li M, Bai C, Feng X, Hu H, Yao Y, Li B, Li H, Qin G, Xi N, Lv G, Zhang L. Discovery of benzoheterocyclic-substituted amide derivatives as apoptosis signal-regulating kinase 1 (ASK1) inhibitors. RSC Med Chem 2024; 15:856-873. [PMID: 38516590 PMCID: PMC10953477 DOI: 10.1039/d3md00663h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/27/2023] [Accepted: 01/23/2024] [Indexed: 03/23/2024] Open
Abstract
Three series of benzoheterocyclic-substituted amide derivatives were designed and synthesized as potent ASK1 inhibitors in this work. After undergoing continuous structural optimization, compound 17a was discovered to be a novel inhibitor of ASK1 with good potency (kinase, IC50 = 26 nM), noteworthy liver microsomal stability (human, T1/2 = 340.4 min), good pharmacokinetic parameters (rat, T1/2 p.o. = 2.11 h, AUClast p.o. = 10 900 h ng mL-1) and high oral bioavailability (rat, F = 97.9%), while also being inactive towards hERG (IC50 > 10 μM).
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Affiliation(s)
- Lin Tang
- MOE International Joint Research Laboratory on Synthetic Biology and Medicines, School of Biology and Biological Engineering, South China University of Technology Guangzhou 510006 P.R. China
- Sunshine Lake Pharmaceutical Co., Ltd. Dongguan 523871 P.R. China
- Shaoguan HEC Technology R & D Co., Ltd Shaoguan 512000 P.R. China
| | - Minxiong Li
- Sunshine Lake Pharmaceutical Co., Ltd. Dongguan 523871 P.R. China
| | - Changlin Bai
- Sunshine Lake Pharmaceutical Co., Ltd. Dongguan 523871 P.R. China
| | - Xuejin Feng
- Sunshine Lake Pharmaceutical Co., Ltd. Dongguan 523871 P.R. China
| | - Haiyang Hu
- Sunshine Lake Pharmaceutical Co., Ltd. Dongguan 523871 P.R. China
| | - Yufen Yao
- Guangdong Provincial Key Laboratory of New Drug Design and Evaluation, School of Pharmaceutical Sciences, Sun Yat-Sen University 510006 Guangzhou P.R. China
| | - Baiqing Li
- Guangzhou National Laboratory Guangzhou 510005 P.R. China
| | - Hongwei Li
- Guangdong Yuchuang Electronics Co., Ltd. Shaoguan 512721 P.R. China
| | - Guohong Qin
- Guangdong Yuchuang Electronics Co., Ltd. Shaoguan 512721 P.R. China
| | - Ning Xi
- Institute of Drug Discovery Technology, Ningbo University Ningbo 315211 P.R. China
| | - Genpin Lv
- Shaoguan HEC Technology R & D Co., Ltd Shaoguan 512000 P.R. China
| | - Lei Zhang
- MOE International Joint Research Laboratory on Synthetic Biology and Medicines, School of Biology and Biological Engineering, South China University of Technology Guangzhou 510006 P.R. China
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3
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Zhang Q, Xue Y, Zhao Y, Zou K, Yuan W, Tian Y, Chen J, Chen J, Xi N. Shear stiffening gel-enabled twisted string for bio-inspired robot actuators. Sci Rep 2024; 14:4710. [PMID: 38409463 PMCID: PMC10897407 DOI: 10.1038/s41598-024-55405-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/09/2023] [Accepted: 02/22/2024] [Indexed: 02/28/2024] Open
Abstract
A rotary motor combined with fibrous string demonstrates excellent performance because it is powerful, lightweight, and prone to large strokes; however, the stiffness range and force-generating capability of twisted string transmission systems are limited. Here, we present a variable stiffness artificial muscle generated by impregnating shear stiffening gels (STGs) into a twisted string actuator (TSA). A high twisting speed produces a large impact force and causes shear stiffening of the STG, thereby improving the elasticity, stiffness, force capacity, and response time of the TSA. We show that at a twisting speed of 4186 rpm, the elasticity of an STG-TSA reached 30.92 N/mm, whereas at a low twisting speed of 200 rpm, it was only 10.51 N/mm. In addition, the STG-TSA exhibited a more prominent shear stiffening effect under a high stiffness load. Our work provides a promising approach for artificial muscles to coactivate with human muscles to effectively compensate for motion.
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Affiliation(s)
- Qingqing Zhang
- Department of Industrial and Manufacturing System Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Yuxuan Xue
- Department of Industrial and Manufacturing System Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Yafei Zhao
- Department of Industrial and Manufacturing System Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Kehan Zou
- Department of Industrial and Manufacturing System Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Wenbo Yuan
- Department of Industrial and Manufacturing System Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Yuqing Tian
- Department of Industrial and Manufacturing System Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Jiaming Chen
- Department of Industrial and Manufacturing System Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Jiangcheng Chen
- Department of Industrial and Manufacturing System Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Ning Xi
- Department of Industrial and Manufacturing System Engineering, The University of Hong Kong, Hong Kong SAR, China.
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4
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Zhang C, Yang L, Wang W, Fan H, Tan W, Wang R, Wang F, Xi N, Liu L. Steering Muscle-Based Bio-Syncretic Robot Through Bionic Optimized Biped Mechanical Design. Soft Robot 2024. [PMID: 38407843 DOI: 10.1089/soro.2023.0121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/27/2024] Open
Abstract
Bio-syncretic robots consisting of artificial structures and living muscle cells have attracted much attention owing to their potential advantages, such as high drive efficiency, miniaturization, and compatibility. Motion controllability, as an important factor related to the main performance of bio-syncretic robots, has been explored in numerous studies. However, most of the existing bio-syncretic robots still face challenges related to the further development of steerable kinematic dexterity. In this study, a bionic optimized biped fully soft bio-syncretic robot actuated by two muscle tissues and steered with a direction-controllable electric field generated by external circularly distributed multiple electrodes has been developed. The developed bio-syncretic robot could realize wirelessly steerable motion and effective transportation of microparticle cargo on artificial polystyrene and biological pork tripe surfaces. This study may provide an effective strategy for the development of bio-syncretic robots and other related studies, such as nonliving soft robot design and muscle tissue engineering.
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Affiliation(s)
- Chuang Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
| | - Lianchao Yang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Wenxue Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
| | - Huijie Fan
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
| | - Wenjun Tan
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Ruiqian Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Feifei Wang
- Department of Electrical and Electronic Engineering, University of Hong Kong, Hong Kong, China
| | - Ning Xi
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- Emerging Technologies Institute, Department of Industrial and Manufacturing Systems Engineering, University of Hong Kong, Hong Kong, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
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Zhao S, Ma Y, Liu L, Fang J, Ma H, Feng G, Xie B, Zeng S, Chang J, Ren J, Zhang Y, Xi N, Zhuang Y, Jiang Y, Zhang Q, Kang N, Zhang L, Zhao H. Ningetinib plus gefitinib in EGFR-mutant non-small-cell lung cancer with MET and AXL dysregulations: A phase 1b clinical trial and biomarker analysis. Lung Cancer 2024; 188:107468. [PMID: 38181454 DOI: 10.1016/j.lungcan.2024.107468] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/12/2023] [Revised: 12/26/2023] [Accepted: 01/01/2024] [Indexed: 01/07/2024]
Abstract
BACKGROUND MET and AXL dysregulations are implicated in acquired resistance to EGFR-TKIs in NSCLC. But consensus on the optimal definition for MET/AXL dysregulations in EGFR-mutant NSCLC is lacking. Here, we investigated the efficacy and tolerability of ningetinib (a MET/AXL inhibitor) plus gefitinib in EGFR-mutant NSCLC, and evaluated the clinical relevance of MET/AXL dysregulations by different definitions. METHODS Patients in this phase 1b dose-escalation/dose-expansion trial received ningetinib 30 mg/40 mg/60 mg plus gefitinib 250 mg once daily. Primary endpoints were tolerability (dose-escalation) and objective response rate (dose-expansion). MET/AXL status were analyzed using FISH and IHC. RESULTS Between March 2017 and January 2021, 108 patients were enrolled. The proportion of MET focal amplification, MET polysomy, MET overexpression, AXL amplification and AXL overexpression is 18.1 %, 5.6 %, 55.8 %, 8.1 % and 45.3 %, respectively. 6.8 % patients have concurrent MET amplification and AXL overexpression. ORR is 30.8 % for tumors with MET amplification, 0 % for MET polysomy, 24.1 % for MET overexpression, 20 % for AXL amplification and 27.6 % for AXL overexpression. For patients with concurrent MET amplification and AXL overexpression, ningetinib plus gefitinib provides an ORR of 80 %, DCR of 100 % and median PFS of 4.7 months. Tumors with higher MET copy number and AXL expression tend to have higher likelihood of response. Biomarker analyses show that MET focal amplification and overexpression are complementary in predicting clinical benefit from MET inhibition, while AXL dysregulations defined by an arbitrary level may dilute the efficacy of AXL blockade. CONCLUSIONS This study demonstrates that combined blockade of MET, AXL and EGFR is a feasible strategy for a subset of EGFR-mutant NSCLC. TRIAL REGISTRATION Chinadrugtrials.org.cn, CTR20160875.
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Affiliation(s)
- Shen Zhao
- Department of Medical Oncology, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-sen University Cancer Center, Guangzhou, China
| | - Yuxiang Ma
- Department of Clinical Research, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-sen University Cancer Center, Guangzhou, China
| | - Lianke Liu
- Department of Oncology, Jiangsu Provincial Hospital, Nanjing, China
| | - Jian Fang
- Department of Thoracic Oncology, Beijing Cancer Hospital, Beijing, China
| | - Haiqing Ma
- Department of Oncology, The Fifth Affiliated Hospital of Sun Yat-sen University, Zhuhai, China
| | - Guosheng Feng
- Department of Oncology, The People's Hospital of Guangxi Zhuang Autonomous Region, Nanning, China
| | - Bo Xie
- Department of Oncology, General Hospital of the PLA South Military Command, PLA, Guangzhou, China
| | - Shan Zeng
- Department of Oncology, Xiangya Hospital, Central South University, Changsha, China
| | - Jianhua Chang
- Department of Oncology, Fudan University Shanghai Cancer Center, Shanghai, China
| | - Jun Ren
- Department of Oncology, Beijing Shijitan Hospital, Beijing, China
| | | | - Ning Xi
- Sunshine Lake Pharma Co., Ltd, Dongguan, China; Institute of Drug Discovery Technology, Ningbo University, Ningbo, China
| | | | | | - Qi Zhang
- Sunshine Lake Pharma Co., Ltd, Dongguan, China
| | - Ning Kang
- Sunshine Lake Pharma Co., Ltd, Dongguan, China
| | - Li Zhang
- Department of Medical Oncology, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-sen University Cancer Center, Guangzhou, China.
| | - Hongyun Zhao
- Department of Clinical Research, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-sen University Cancer Center, Guangzhou, China.
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Xiang J, Zhang C, Gao Y, Schmidt W, Schmalzl K, Wang CW, Li B, Xi N, Liu XY, Jin H, Li G, Shen J, Chen Z, Qi Y, Wan Y, Jin W, Li W, Sun P, Su G. Giant magnetocaloric effect in spin supersolid candidate Na 2BaCo(PO 4) 2. Nature 2024; 625:270-275. [PMID: 38200301 DOI: 10.1038/s41586-023-06885-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/18/2022] [Accepted: 11/21/2023] [Indexed: 01/12/2024]
Abstract
Supersolid, an exotic quantum state of matter that consists of particles forming an incompressible solid structure while simultaneously showing superfluidity of zero viscosity1, is one of the long-standing pursuits in fundamental research2,3. Although the initial report of 4He supersolid turned out to be an artefact4, this intriguing quantum matter has inspired enthusiastic investigations into ultracold quantum gases5-8. Nevertheless, the realization of supersolidity in condensed matter remains elusive. Here we find evidence for a quantum magnetic analogue of supersolid-the spin supersolid-in the recently synthesized triangular-lattice antiferromagnet Na2BaCo(PO4)2 (ref. 9). Notably, a giant magnetocaloric effect related to the spin supersolidity is observed in the demagnetization cooling process, manifesting itself as two prominent valley-like regimes, with the lowest temperature attaining below 100 mK. Not only is there an experimentally determined series of critical fields but the demagnetization cooling profile also shows excellent agreement with the theoretical simulations with an easy-axis Heisenberg model. Neutron diffractions also successfully locate the proposed spin supersolid phases by revealing the coexistence of three-sublattice spin solid order and interlayer incommensurability indicative of the spin superfluidity. Thus, our results reveal a strong entropic effect of the spin supersolid phase in a frustrated quantum magnet and open up a viable and promising avenue for applications in sub-kelvin refrigeration, especially in the context of persistent concerns about helium shortages10,11.
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Affiliation(s)
- Junsen Xiang
- Beijing National Laboratory for Condensed Matter Physics, Institute of Physics, Chinese Academy of Sciences, Beijing, China
| | - Chuandi Zhang
- School of Physics, Beihang University, Beijing, China
| | - Yuan Gao
- School of Physics, Beihang University, Beijing, China
- CAS Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, Beijing, China
| | - Wolfgang Schmidt
- Jülich Centre for Neutron Science at Institut Laue-Langevin (ILL), Forschungszentrum Jülich GmbH, Grenoble Cedex 9, France
| | - Karin Schmalzl
- Jülich Centre for Neutron Science at Institut Laue-Langevin (ILL), Forschungszentrum Jülich GmbH, Grenoble Cedex 9, France
| | - Chin-Wei Wang
- Australian Nuclear Science and Technology Organisation, Lucas Heights, New South Wales, Australia
| | - Bo Li
- School of Physics, Beihang University, Beijing, China
| | - Ning Xi
- CAS Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, Beijing, China
| | - Xin-Yang Liu
- School of Physics, Beihang University, Beijing, China
- CAS Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, Beijing, China
| | - Hai Jin
- Department of Astronomy, Tsinghua University, Beijing, China
| | - Gang Li
- Beijing National Laboratory for Condensed Matter Physics, Institute of Physics, Chinese Academy of Sciences, Beijing, China
| | - Jun Shen
- Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
| | - Ziyu Chen
- School of Physics, Beihang University, Beijing, China
| | - Yang Qi
- State Key Laboratory of Surface Physics and Department of Physics, Fudan University, Shanghai, China
| | - Yuan Wan
- Beijing National Laboratory for Condensed Matter Physics, Institute of Physics, Chinese Academy of Sciences, Beijing, China
| | - Wentao Jin
- School of Physics, Beihang University, Beijing, China.
| | - Wei Li
- CAS Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, Beijing, China.
- CAS Center for Excellence in Topological Quantum Computation, University of Chinese Academy of Sciences, Beijng, China.
- Peng Huanwu Collaborative Center for Research and Education, Beihang University, Beijing, China.
| | - Peijie Sun
- Beijing National Laboratory for Condensed Matter Physics, Institute of Physics, Chinese Academy of Sciences, Beijing, China.
| | - Gang Su
- CAS Center for Excellence in Topological Quantum Computation, University of Chinese Academy of Sciences, Beijng, China.
- Kavli Institute for Theoretical Sciences, and School of Physical Sciences, University of Chinese Academy of Sciences, Beijng, China.
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Zhao X, Xi N, Zhang W, Cui C, Su X, Wang X, Yu X, Liu H, Sang Y. Insight into interface electronic structure of ZnIn 2S 4/TiO 2 heterostructure for enhanced photoelectrochemical glycerol oxidation. J Colloid Interface Sci 2023; 650:1983-1992. [PMID: 37527603 DOI: 10.1016/j.jcis.2023.07.116] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2023] [Revised: 07/01/2023] [Accepted: 07/18/2023] [Indexed: 08/03/2023]
Abstract
Developing a high-efficiency photoelectrochemical (PEC) electrode for the glycerol oxidation reaction (GOR) is important for producing valuable products. The PEC performance could be enhanced by rationally designing heterostructures with inhibited recombination of charge carriers. Nevertheless, the interface electronic structure of heterostructures has not been comprehensively analyzed. In this work, the PEC GOR performance of ZnIn2S4/TiO2 heterostructure photoanode showed 1.7 folds enhancement than that of pure TiO2 photoanode at 1.23 V vs. RHE. The ZnIn2S4/TiO2 heterostructure was simulated by constructing ZnIn2S4 on the TiO2 single crystal, which was beneficial for investigating the interface electronic structure of heterostructure. Single-particle spectroscopy demonstrated a significantly increased lifetime of charge carriers. Combined with the in-situ X-ray photoelectron spectroscopy, Kelvin probe force microscopy, work function, and electron paramagnetic resonance, the interface electronic structure of the ZnIn2S4/TiO2 heterostructure was proposed with a Z-scheme mechanism. This work provides a comprehensive strategy for analyzing the interface electronic structure of heterostructures.
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Affiliation(s)
- Xiaolei Zhao
- State Key Laboratory of Crystal Materials, Shandong University, Jinan 250100, China
| | - Ning Xi
- State Key Laboratory of Crystal Materials, Shandong University, Jinan 250100, China
| | - Wenkai Zhang
- School of Transportation and Civil Engineering, Shandong Jiaotong University, Jinan 250357, China
| | - Chao Cui
- State Key Laboratory of Crystal Materials, Shandong University, Jinan 250100, China
| | - Xiaowen Su
- State Key Laboratory of Crystal Materials, Shandong University, Jinan 250100, China
| | - Xiaoning Wang
- School of Transportation and Civil Engineering, Shandong Jiaotong University, Jinan 250357, China
| | - Xiaowen Yu
- State Key Laboratory of Crystal Materials, Shandong University, Jinan 250100, China
| | - Hong Liu
- State Key Laboratory of Crystal Materials, Shandong University, Jinan 250100, China
| | - Yuanhua Sang
- State Key Laboratory of Crystal Materials, Shandong University, Jinan 250100, China.
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8
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Xi N, Liu J, Li Y, Qin B. Decentralized access control for secure microservices cooperation with blockchain. ISA Trans 2023; 141:44-51. [PMID: 37541856 DOI: 10.1016/j.isatra.2023.07.018] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/29/2022] [Revised: 07/03/2023] [Accepted: 07/14/2023] [Indexed: 08/06/2023]
Abstract
With the rapid advancement of cloud-native computing, the microservice with high concurrency and low coupling has ushered in an unprecedented period of vigorous development. However, due to the mutability and complexity of cooperation procedures, it is difficult to realize high-efficient security management on these microservices. Traditional centralized access control has the defects of relying on a centralized cloud manager and a single point of failure. Meanwhile, decentralized mechanisms are defective by inconsistent policies defined by different participants. This paper first proposes a blockchain-based distributed access control policies and scheme, especially for microservices cooperation with dynamic access policies. We store the authorized security policies on the blockchain to solve the inconsistent policy problem while enabling individual management of personalized access policies by the providers rather than a central authority. Then we propose a graph-based decision-making scheme to achieve an efficient access control for microservices cooperation. Through the evaluations and experiments, it shows that our solution can realize effective distributed access control at an affordable cost.
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Affiliation(s)
- Ning Xi
- School of Cyber Engineering, Xidian University, Taibai Road No. 2, Xi'an, 710071, China.
| | - Jin Liu
- School of Cyber Engineering, Xidian University, Taibai Road No. 2, Xi'an, 710071, China.
| | - Yajie Li
- School of Cyber Engineering, Xidian University, Taibai Road No. 2, Xi'an, 710071, China.
| | - Bojun Qin
- School of Cyber Engineering, Xidian University, Taibai Road No. 2, Xi'an, 710071, China.
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9
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Wang J, Li H, Xi N, Gao Y, Yan QB, Li W, Su G. Plaquette Singlet Transition, Magnetic Barocaloric Effect, and Spin Supersolidity in the Shastry-Sutherland Model. Phys Rev Lett 2023; 131:116702. [PMID: 37774260 DOI: 10.1103/physrevlett.131.116702] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/26/2023] [Accepted: 08/16/2023] [Indexed: 10/01/2023]
Abstract
Inspired by recent experimental measurements [Guo et al., Phys. Rev. Lett. 124, 206602 (2020PRLTAO0031-900710.1103/PhysRevLett.124.206602); Jiménez et al., Nature (London) 592, 370 (2021)NATUAS0028-083610.1038/s41586-021-03411-8] on frustrated quantum magnet SrCu_{2}(BO_{3})_{2} under combined pressure and magnetic fields, we study the related spin-1/2 Shastry-Sutherland model using state-of-the-art tensor network methods. By calculating thermodynamics, correlations, and susceptibilities, we find, in zero magnetic field, not only a line of first-order dimer-singlet to plaquette-singlet phase transition ending with a critical point, but also signatures of the ordered plaquette-singlet transition with its critical end point terminating on this first-order line. Moreover, we uncover prominent magnetic barocaloric responses, a novel type of quantum correlation induced cooling effect, in the strongly fluctuating supercritical regime. Under finite fields, we identify a quantum phase transition from the plaquette-singlet phase to the spin supersolid phase that breaks simultaneously lattice translational and spin rotational symmetries. The present findings on the Shastry-Sutherland model are accessible in current experiments and would shed new light on the critical and supercritical phenomena in the archetypal frustrated quantum magnet SrCu_{2}(BO_{3})_{2}.
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Affiliation(s)
- Junsen Wang
- Center of Materials Science and Optoelectronics Engineering, College of Materials Science and Opto-electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China
- CAS Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, Beijing 100190, China
| | - Han Li
- CAS Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, Beijing 100190, China
- Kavli Institute for Theoretical Sciences, University of Chinese Academy of Sciences, Beijing 100190, China
| | - Ning Xi
- CAS Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, Beijing 100190, China
| | - Yuan Gao
- CAS Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, Beijing 100190, China
- School of Physics, Beihang University, Beijing 100191, China
| | - Qing-Bo Yan
- Center of Materials Science and Optoelectronics Engineering, College of Materials Science and Opto-electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China
| | - Wei Li
- CAS Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, Beijing 100190, China
- CAS Center for Excellence in Topological Quantum Computation, University of Chinese Academy of Sciences, Beijing 100190, China
- Hefei National Laboratory, University of Science and Technology of China, Hefei 230088, China
| | - Gang Su
- Kavli Institute for Theoretical Sciences, University of Chinese Academy of Sciences, Beijing 100190, China
- CAS Center for Excellence in Topological Quantum Computation, University of Chinese Academy of Sciences, Beijing 100190, China
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10
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Tan W, Zhang C, Wang R, Fu Y, Chen Q, Yang Y, Wang W, Zhang M, Xi N, Liu L. Uncover rock-climbing fish's secret of balancing tight adhesion and fast sliding for bioinspired robots. Natl Sci Rev 2023; 10:nwad183. [PMID: 37560444 PMCID: PMC10408705 DOI: 10.1093/nsr/nwad183] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2023] [Revised: 05/26/2023] [Accepted: 06/15/2023] [Indexed: 08/11/2023] Open
Abstract
The underlying principle of the unique dynamic adaptive adhesion capability of a rock-climbing fish (Beaufortia kweichowensis) that can resist a pull-off force of 1000 times its weight while achieving simultaneous fast sliding (7.83 body lengths per second (BL/S)) remains a mystery in the literature. This adhesion-sliding ability has long been sought for underwater robots. However, strong surface adhesion and fast sliding appear to contradict each other due to the need for high surface contact stress. The skillfully balanced mechanism of the tight surface adhesion and fast sliding of the rock-climbing fish is disclosed in this work. The Stefan force (0.1 mN/mm2) generated by micro-setae on pectoral fins and ventral fins leads to a 70 N/m2 adhesion force by conforming the overall body of the fish to a surface to form a sealing chamber. The pull-off force is neutralized simultaneously due to the negative pressure caused by the volumetric change of the chamber. The rock-climbing fish's micro-setae hydrodynamic interaction and sealing suction cup work cohesively to contribute to low friction and high pull-off-force resistance and can therefore slide rapidly while clinging to the surface. Inspired by this unique mechanism, an underwater robot is developed with incorporated structures that mimic the functionality of the rock-climbing fish via a micro-setae array attached to a soft self-adaptive chamber, a setup which demonstrates superiority over conventional structures in terms of balancing tight underwater adhesion and fast sliding.
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Affiliation(s)
- Wenjun Tan
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Chuang Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
| | - Ruiqian Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Yuanyuan Fu
- Department of Histology and Embryology, Basic Medical College, China Medical University, Shenyang 110122, China
| | - Qin Chen
- Chengdu Institute of Biology, Chinese Academy of Sciences, Chengdu 610042, China
| | - Yongliang Yang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
| | - Wenxue Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
| | - Mingjun Zhang
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing 100084, China
| | - Ning Xi
- Emerging Technologies Institute, Department of Industrial and Manufacturing Systems Engineering, University of Hong Kong, Hong Kong 999077, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
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Assi DS, Huang H, Karthikeyan V, Theja VCS, de Souza MM, Xi N, Li WJ, Roy VAL. Quantum Topological Neuristors for Advanced Neuromorphic Intelligent Systems. Adv Sci (Weinh) 2023; 10:e2300791. [PMID: 37340871 PMCID: PMC10460853 DOI: 10.1002/advs.202300791] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/07/2023] [Revised: 04/02/2023] [Indexed: 06/22/2023]
Abstract
Neuromorphic artificial intelligence systems are the future of ultrahigh performance computing clusters to overcome complex scientific and economical challenges. Despite their importance, the advancement in quantum neuromorphic systems is slow without specific device design. To elucidate biomimicking mammalian brain synapses, a new class of quantum topological neuristors (QTN) with ultralow energy consumption (pJ) and higher switching speed (µs) is introduced. Bioinspired neural network characteristics of QTNs are the effects of edge state transport and tunable energy gap in the quantum topological insulator (QTI) materials. With augmented device and QTI material design, top notch neuromorphic behavior with effective learning-relearning-forgetting stages is demonstrated. Critically, to emulate the real-time neuromorphic efficiency, training of the QTNs is demonstrated with simple hand gesture game by interfacing them with artificial neural networks to perform decision-making operations. Strategically, the QTNs prove the possession of incomparable potential to realize next-gen neuromorphic computing for the development of intelligent machines and humanoids.
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Affiliation(s)
- Dani S. Assi
- Electronics and Nanoscale EngineeringJames Watt School of EngineeringUniversity of GlasgowGlasgowG12 8QQUK
| | - Hongli Huang
- Electronics and Nanoscale EngineeringJames Watt School of EngineeringUniversity of GlasgowGlasgowG12 8QQUK
| | - Vaithinathan Karthikeyan
- Electronics and Nanoscale EngineeringJames Watt School of EngineeringUniversity of GlasgowGlasgowG12 8QQUK
| | - Vaskuri C. S. Theja
- Materials Science and EngineeringCity University of Hong KongTat Chee AvenueHong KongHong Kong
| | | | - Ning Xi
- Industrial and Manufacturing Systems EngineeringThe University of Hong KongPokfulam RoadHong KongHong Kong
| | - Wen Jung Li
- Mechanical EngineeringCity University of Hong KongTat Chee AvenueHong KongHong Kong
| | - Vellaisamy A. L. Roy
- School of Science and TechnologyHong Kong Metropolitan UniversityHo Man TinHong KongHong Kong
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12
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Hou Z, Lu Y, Zhang B, Motiur Rahman AFM, Zhao Y, Xi N, Wang N, Wang J. Investigation of the Relationship between Electronic Structures and Bioactivities of Polypyridyl Ru(II) Complexes. Molecules 2023; 28:5035. [PMID: 37446696 DOI: 10.3390/molecules28135035] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/07/2023] [Revised: 06/23/2023] [Accepted: 06/23/2023] [Indexed: 07/15/2023] Open
Abstract
Ruthenium (Ru)-based organometallic drugs have gained attention as chemotherapeutic and bioimaging agents due to their fewer side effects and excellent physical optical properties. Tuning the electronic structures of Ru complexes has been proven to increase the cytotoxicity of cancer cells and the luminescent efficiency of the analytical probes. However, the relationship between electronic structures and bioactivities is still unclear due to the potential enhancement of both electron donor and acceptor properties. Thus, we investigated the relationship between the electronic structures of Ru(II) complexes and cytotoxicity by optimizing the electron-withdrawing (complex 1), electron-neutral (complex 2), and electron-donating (complex 3) ligands through DFT calculations, bioactivities tests, and docking studies. Our results indicated that it was not sufficient to consider only either the effect of electron-withdrawing or electron-donating effects on biological activities instead of the total electronic effects. Furthermore, these complexes with electron-donating substituents (complex 3) featured unique "off-on" luminescent emission phenomena caused by the various "HOMO-LUMO" distributions when they interacted with DNA, while complex with electron-withdrawing substituent showed an "always-on" signature. These findings offer valuable insight into the development of bifunctional chemotherapeutic agents along with bioimaging ability.
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Affiliation(s)
- Zhiying Hou
- Institute of Drug Discovery Technology (IDDT), Ningbo University, Ningbo 315211, China
| | - Yang Lu
- Institute of Drug Discovery Technology (IDDT), Ningbo University, Ningbo 315211, China
| | - Bin Zhang
- Li Dak Sum Yip Yio Chin Kenneth Li Marine Biopharmaceutical Research Center, Department of Marine Pharmacy, College of Food and Pharmaceutical Sciences, Ningbo University, Ningbo 315800, China
| | - A F M Motiur Rahman
- Department of Pharmaceutical Chemistry, College of Pharmacy, King Saud University, Riyadh 11451, Saudi Arabia
| | - Yufen Zhao
- Institute of Drug Discovery Technology (IDDT), Ningbo University, Ningbo 315211, China
| | - Ning Xi
- Institute of Drug Discovery Technology (IDDT), Ningbo University, Ningbo 315211, China
| | - Ning Wang
- Institute of Drug Discovery Technology (IDDT), Ningbo University, Ningbo 315211, China
| | - Jinhui Wang
- Institute of Drug Discovery Technology (IDDT), Ningbo University, Ningbo 315211, China
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Cui Y, Liu L, Lin H, Wu KH, Hong W, Liu X, Li C, Hu Z, Xi N, Li S, Yu R, Sandvik AW, Yu W. Proximate deconfined quantum critical point in SrCu 2(BO 3)2. Science 2023:eadc9487. [PMID: 37228220 DOI: 10.1126/science.adc9487] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/10/2022] [Accepted: 05/12/2023] [Indexed: 05/27/2023]
Abstract
The deconfined quantum critical point (DQCP) represents a paradigm shift in quantum matter studies, presenting a "beyond Landau" scenario for order-order transitions. Its experimental realization, however, has remained elusive. Using high-pressure 11B nuclear magnetic resonance measurements on the quantum magnet SrCu[Formula: see text](BO[Formula: see text])[Formula: see text], we here demonstrate a magnetic-field induced plaquette-singlet to antiferromagnetic transition above [Formula: see text] GPa at a notably low temperature, [Formula: see text]K. First-order signatures of the transition weaken with increasing pressure, and we observe quantum critical scaling at the highest pressure, [Formula: see text] GPa. Supported by model calculations, we suggest that these observations can be explained by a proximate DQCP inducing critical quantum fluctuations and emergent O(3) symmetry of the order parameters. Our findings offer a concrete experimental platform for the investigation of the DQCP.
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Affiliation(s)
- Yi Cui
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials and Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Lu Liu
- Beijing National Laboratory for Condensed Matter Physics and Institute of Physics, Chinese Academy of Sciences, Beijing 100190, China
- School of Physics, Beijing Institute of Technology, Beijing 100081, China
| | - Huihang Lin
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials and Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Kai-Hsin Wu
- Department of Physics, Boston University, Boston, MA 02215, USA
| | - Wenshan Hong
- Beijing National Laboratory for Condensed Matter Physics and Institute of Physics, Chinese Academy of Sciences, Beijing 100190, China
| | - Xuefei Liu
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials and Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Cong Li
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials and Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Ze Hu
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials and Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Ning Xi
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials and Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Shiliang Li
- Beijing National Laboratory for Condensed Matter Physics and Institute of Physics, Chinese Academy of Sciences, Beijing 100190, China
- School of Physical Sciences, Graduate University of the Chinese Academy of Sciences, Beijing 100190, China
- Songshan Lake Materials Laboratory, Dongguan, Guangdong 523808, China
| | - Rong Yu
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials and Micro-nano Devices, Renmin University of China, Beijing 100872, China
- Key Laboratory of Quantum State Construction and Manipulation (Ministry of Education), Renmin University of China, Beijing 100872, China
| | - Anders W Sandvik
- Beijing National Laboratory for Condensed Matter Physics and Institute of Physics, Chinese Academy of Sciences, Beijing 100190, China
- Department of Physics, Boston University, Boston, MA 02215, USA
| | - Weiqiang Yu
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials and Micro-nano Devices, Renmin University of China, Beijing 100872, China
- Key Laboratory of Quantum State Construction and Manipulation (Ministry of Education), Renmin University of China, Beijing 100872, China
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14
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Feng P, Yang L, Lu D, Xi N, Ma J. BejaGNN: behavior-based Java malware detection via graph neural network. J Supercomput 2023; 79:1-25. [PMID: 37359339 PMCID: PMC10109236 DOI: 10.1007/s11227-023-05243-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Accepted: 03/29/2023] [Indexed: 06/28/2023]
Abstract
As a popular platform-independent language, Java is widely used in enterprise applications. In the past few years, language vulnerabilities exploited by Java malware have become increasingly prevalent, which cause threats for multi-platform. Security researchers continuously propose various approaches for fighting against Java malware programs. The low code path coverage and poor execution efficiency of dynamic analysis limit the large-scale application of dynamic Java malware detection methods. Therefore, researchers turn to extracting abundant static features to implement efficient malware detection. In this paper, we explore the direction of capturing malware semantic information by using graph learning algorithms and present BejaGNN (Behavior-based Java malware detection via Graph Neural Network), a novel behavior-based Java malware detection method using static analysis, word embedding technique, and graph neural network. Specifically, BejaGNN leverages static analysis techniques to extract ICFGs (Inter-procedural Control Flow Graph) from Java program files and then prunes these ICFGs to remove noisy instructions. Then, word embedding techniques are adopted to learn semantic representations for Java bytecode instructions. Finally, BejaGNN builds a graph neural network classifier to determine the maliciousness of Java programs. Experimental results on a public Java bytecode benchmark demonstrate that BejaGNN achieves high F1 98.8% and is superior to existing Java malware detection approaches, which verifies the promise of graph neural network in Java malware detection.
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Affiliation(s)
- Pengbin Feng
- School of Cyber Engineering, Xidian University, Xi’an, 710071 Shaanxi China
| | - Li Yang
- School of Computer Science & Technology, Xidian University, Xi’an, 710071 Shaanxi China
| | - Di Lu
- School of Computer Science & Technology, Xidian University, Xi’an, 710071 Shaanxi China
| | - Ning Xi
- School of Cyber Engineering, Xidian University, Xi’an, 710071 Shaanxi China
| | - Jianfeng Ma
- School of Cyber Engineering, Xidian University, Xi’an, 710071 Shaanxi China
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15
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Xi N, Ye J, Chen CP, Chu Q, Hu H, Zou SP. Implantable metaverse with retinal prostheses and bionic vision processing. Opt Express 2023; 31:1079-1091. [PMID: 36785150 DOI: 10.1364/oe.478516] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/18/2022] [Accepted: 12/08/2022] [Indexed: 06/18/2023]
Abstract
We present an implantable metaverse featuring retinal prostheses in association with bionic vision processing. Unlike conventional retinal prostheses, whose electrodes are spaced equidistantly, our solution is to rearrange the electrodes to match the distribution of ganglion cells. To naturally imitate the human vision, a scheme of bionic vision processing is developed. On top of a three-dimensional eye model, our bionic vision processing is able to visualize the monocular image, binocular image fusion, and parallax-induced depth map.
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16
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Zu L, Shi H, Yang J, Zhang C, Fu Y, Xi N, Liu L, Wang W. Unidirectional diphenylalanine nanotubes for dynamically guiding neurite outgrowth. Biomed Mater 2022; 18. [PMID: 36541466 DOI: 10.1088/1748-605x/aca737] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/24/2022] [Accepted: 11/29/2022] [Indexed: 12/02/2022]
Abstract
Neural networks have been culturedin vitroto investigate brain functions and diseases, clinical treatments for brain damage, and device development. However, it remains challenging to form complex neural network structures with desired orientations and connectionsin vitro. Here, we introduce a dynamic strategy by using diphenylalanine (FF) nanotubes for controlling physical patterns on a substrate to regulate neurite-growth orientation in cultivating neural networks. Parallel FF nanotube patterns guide neurons to develop neurites through the unidirectional FF nanotubes while restricting their polarization direction. Subsequently, the FF nanotubes disassemble and the restriction of neurites disappear, and secondary neurite development of the neural network occurs in other direction. Experiments were conducted that use the hippocampal neurons, and the results demonstrated that the cultured neural networks by using the proposed dynamic approach can form a significant cross-connected structure with substantially more lateral neural connections than static substrates. The proposed dynamic approach for neurite outgrowing enables the construction of oriented innervation and cross-connected neural networksin vitroand may explore the way for the bio-fabrication of highly complex structures in tissue engineering.
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Affiliation(s)
- Lipeng Zu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China.,Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, People's Republic of China.,University of Chinese Academy of Sciences, Beijing 100049, People's Republic of China
| | - Huiyao Shi
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China.,Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, People's Republic of China.,University of Chinese Academy of Sciences, Beijing 100049, People's Republic of China
| | - Jia Yang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China.,Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, People's Republic of China.,University of Chinese Academy of Sciences, Beijing 100049, People's Republic of China
| | - Chuang Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China.,Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, People's Republic of China
| | - Yuanyuan Fu
- Department of Histology and Embryology, Basic Medical College, China Medical University, Shenyang 110122, People's Republic of China
| | - Ning Xi
- Department of Industrial and Manufacturing Systems Engineering, University of Hong Kong, Pokfulam Road, Hong Kong, People's Republic of China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China.,Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, People's Republic of China
| | - Wenxue Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China.,Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, People's Republic of China
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17
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Lu Y, Sun M, Xi N. Effects of fluorine bonding and nonbonding interactions on 19F chemical shifts. RSC Adv 2022; 12:32082-32096. [PMID: 36415555 PMCID: PMC9644289 DOI: 10.1039/d2ra06660b] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/21/2022] [Accepted: 10/25/2022] [Indexed: 11/03/2023] Open
Abstract
19F-NMR signals are sensitive to local electrostatic fields and are useful in probing protein structures and dynamics. Here, we used chemically identical ortho-F nuclei in N-phenyl γ-lactams to investigate the relationship between 19F NMR chemical shifts and local environments. By varying the structures at the C5- and C7-substituents, we demonstrated that 19F shifts and Hammett coefficients in Hammett plots follow typical relationships in bonding interactions, while manifesting reverse correlations in nonbonding contacts. Quantum mechanics calculations revealed that one of the ortho-F nuclei engages in n → π* orbital delocalization between F lone pair electrons (n) and a C[double bond, length as m-dash]O/Ar[double bond, length as m-dash]N antibonding orbital (π*), and the other ortho-F nucleus exhibits n ↔ σ orbital polarization between the n electrons and the C-H σ bonding orbital. As 19F NMR spectroscopy find increasing use in molecular sensors and biological sciences, our findings are valuable for designing sensitive probes, elucidating molecular structures, and quantifying analytes.
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Affiliation(s)
- Yang Lu
- Institute of Drug Discovery Technology, Ningbo University Ningbo Zhejiang 315211 P. R. China
| | - Mingming Sun
- Department of Chemistry, Nanchang University 999 Xuefu Avenue Nanchang 330031 P. R. China
| | - Ning Xi
- Institute of Drug Discovery Technology, Ningbo University Ningbo Zhejiang 315211 P. R. China
- School of Medicine, Ningbo University Ningbo Zhejiang 315211 P. R. China
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18
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Ma YX, Liu FR, Zhang Y, Chen Q, Chen ZQ, Liu QW, Huang Y, Yang YP, Fang WF, Xi N, Kang N, Zhuang YL, Zhang Q, Jiang YZ, Zhang L, Zhao HY. Preclinical characterization and phase I clinical trial of CT053PTSA targets MET, AXL, and VEGFR2 in patients with advanced solid tumors. Front Immunol 2022; 13:1024755. [PMID: 36341335 PMCID: PMC9632963 DOI: 10.3389/fimmu.2022.1024755] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/22/2022] [Accepted: 09/30/2022] [Indexed: 11/09/2023] Open
Abstract
BACKGROUND CT053PTSA is a novel tyrosine kinase inhibitor that targets MET, AXL, VEGFR2, FLT3 and MERTK. Here, we present preclinical data about CT053PTSA, and we conducted the first-in-human (FIH) study to evaluate the use of CT053PTSA in adult patients with pretreated advanced solid tumors. METHODS The selectivity and antitumor activity of CT053PTSA were assessed in cell lines in vitro through kinase and cellular screening panels and in cell line-derived tumor xenograft (CDX) and patient-derived xenograft (PDX) models in vivo. The FIH, phase I, single-center, single-arm, dose escalation (3 + 3 design) study was conducted, patients received at least one dose of CT053PTSA (15 mg QD, 30 mg QD, 60 mg QD, 100 mg QD, and 150 mg QD). The primary objectives were to assess safety and tolerability, to determine the maximum tolerated dose (MTD), dose-limiting toxicity (DLT), and the recommended dose of CT053PTSA for further study. Secondary objectives included pharmacokinetics, antitumor activity. RESULTS CT053 (free-base form of CT053PTSA) inhibited MET, AXL, VEGFR2, FLT3 and MERTK phosphorylation and suppressed tumor cell angiogenesis by blocking VEGF and HGF, respectively, in vitro. Moreover, cell lines with high MET expression exhibited strong sensitivity to CT053, and CT053 blocked the MET and AXL signaling pathways. In an in vivo study, CT053 significantly inhibited tumor growth in CDX and PDX models. Twenty eligible patients were enrolled in the FIH phase I trial. The most common treatment-related adverse events were transaminase elevation (65%), leukopenia (45%) and neutropenia (35%). DLTs occurred in 3 patients, 1/6 in the 100 mg group and 2/4 in the 150 mg group, so the MTD was set to 100 mg. CT053PTSA was rapidly absorbed after the oral administration of a single dose, and the Cmax and AUC increased proportionally as the dose increased. A total of 17 patients in this trial underwent tumor imaging evaluation, and 29.4% had stable disease. CONCLUSIONS CT053PTSA has potent antitumor and antiangiogenic activity in preclinical models. In this FIH phase I trial, CT053PTSA was well tolerated and had a satisfactory safety profile. Further trials evaluating the clinical activity of CT053PTSA are ongoing.
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Affiliation(s)
- Yu-Xiang Ma
- Department of Clinical Research, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Fu-Rong Liu
- Department of Clinical Research, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Yang Zhang
- Department of Clinical Research, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Qun Chen
- Department of Clinical Research, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Zhi-Qiang Chen
- Department of Clinical Research, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Qian-Wen Liu
- Department of Clinical Research, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Yan Huang
- Department of Medical Oncology, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Yun-Peng Yang
- Department of Medical Oncology, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Wen-Feng Fang
- Department of Medical Oncology, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Ning Xi
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd, Donggguan, China
| | - Ning Kang
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd, Donggguan, China
| | - Yu-Lei Zhuang
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd, Donggguan, China
| | - Qi Zhang
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd, Donggguan, China
| | - Ying-Zhi Jiang
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd, Donggguan, China
| | - Li Zhang
- Department of Medical Oncology, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
| | - Hong-Yun Zhao
- Department of Clinical Research, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-Sen University Cancer Center, Guangzhou, China
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Wu S, Liao M, Li M, Sun M, Xi N, Zeng Y. Structure-based discovery of potent inhibitors of Axl: design, synthesis, and biological evaluation. RSC Med Chem 2022; 13:1246-1264. [PMID: 36325401 PMCID: PMC9579923 DOI: 10.1039/d2md00153e] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/24/2022] [Accepted: 07/12/2022] [Indexed: 07/22/2023] Open
Abstract
Commonly overexpressed in many cancers and associated with tumor growth, metastasis, drug resistance, and poor overall survival, Axl has emerged as a promising target for cancer therapy. However, the availability of new chemical forms for Axl inhibition is limited. Herein, we present the development and characterization of novel Axl inhibitors, including the design, synthesis, and structure-activity relationships (SARs) of a series of diphenylpyrimidine-diamine derivatives. Most of these compounds exhibited remarkable activity against the Axl kinase. In particular, the promising compound m16 showed the highest enzymatic inhibitory potency (IC50 = 5 nM) and blocked multiple tumor cells' proliferation potencies (the CC50 of 4 out of 42 cancer cell lines <100 nM). Furthermore, compound m16 also possessed preferable pharmacokinetic profiles and liver microsome stability. All these favorable results make m16 a good leading therapeutic candidate for further development.
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Affiliation(s)
- Shuang Wu
- Laboratory of Chemical Biology and Traditional Chinese Medicine Research (Ministry of Education of China), Hunan Normal University Changsha 410081 PR China
- Ningbo University School of Medicine 818 Fenghua Road Ningbo Zhejiang 315211 China
- Sunshine Lake Pharmaceutical Co. Ltd Dongyangguang Hi-tech Park Dongguan Guangdong 523871 China
| | - Min Liao
- Sunshine Lake Pharmaceutical Co. Ltd Dongyangguang Hi-tech Park Dongguan Guangdong 523871 China
- School of Chemistry & Chemical Engineering, Guangxi University Nanning 530004 China
| | - Minxiong Li
- Sunshine Lake Pharmaceutical Co. Ltd Dongyangguang Hi-tech Park Dongguan Guangdong 523871 China
| | - Mingming Sun
- Ningbo University School of Medicine 818 Fenghua Road Ningbo Zhejiang 315211 China
- Sunshine Lake Pharmaceutical Co. Ltd Dongyangguang Hi-tech Park Dongguan Guangdong 523871 China
| | - Ning Xi
- Ningbo University School of Medicine 818 Fenghua Road Ningbo Zhejiang 315211 China
- Sunshine Lake Pharmaceutical Co. Ltd Dongyangguang Hi-tech Park Dongguan Guangdong 523871 China
| | - Youlin Zeng
- Laboratory of Chemical Biology and Traditional Chinese Medicine Research (Ministry of Education of China), Hunan Normal University Changsha 410081 PR China
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Pan Y, Tian L, Wang W, Zhao J, Li Y, Xi N, Jian L, Han S, Zhang L. Ameliorating discharge capability of Co-free flower-like spherical α-Ni(OH)2 by NiS coating. Electrochim Acta 2022. [DOI: 10.1016/j.electacta.2022.141074] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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21
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Zhang C, Zhang Y, Wang W, Xi N, Liu L. A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation. Cyborg and Bionic Systems 2022. [DOI: 10.34133/2022/9891380] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/18/2022] Open
Abstract
Biosyncretic robots, which are new nature-based robots in addition to bionic robots, that utilize biological materials to realize their core function, have been supposed to further promote the progress in robotics. Actuation as the main operation mechanism relates to the robotic overall performance. Therefore, biosyncretic robots actuated by living biological actuators have attracted increasing attention. However, innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic robots. In this work, a muscle tissue-based biosyncretic swimmer with a manta ray-inspired propelling mode has been developed. What is more, to improve the stable controllability of the biosyncretic swimmer, a dynamic control method based on circularly distributed multiple electrodes (CDME) has been proposed. In this method, the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the actuation tissue of the dynamic swimmer. Therefore, the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be eliminated. Finally, the biosyncretic robot has demonstrated stable, controllable, and effective swimming, by adjusting the electric stimulation pulse direction, amplitude, and frequency. This work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.
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Affiliation(s)
- Chuang Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
| | - Yiwei Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
- School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang 110159, China
| | - Wenxue Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
| | - Ning Xi
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
- Emerging Technologies Institute, Department of Industrial & Manufacturing Systems Engineering, University of Hong Kong, Pokfulam, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
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22
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Lu Y, Hou Z, Li M, Wang N, Wang J, Ni F, Zhao Y, Zhang B, Xi N. Increasing the cytotoxicity of Ru(II) polypyridyl complexes by tuning the electron donating ability of 1,10-phenanthroline ligands. Dalton Trans 2022; 51:16224-16235. [DOI: 10.1039/d2dt02332f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
Abstract
Ruthenium (Ru)-based chemotherapeutic agents are a choice to replace traditional platinum-containing metallodrugs due to the fewer side effects. It has been proved that the mechanism for Ru complex drugs is...
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Li M, Xi N, Liu L. Hierarchical micro-/nanotopography for tuning structures and mechanics of cells probed by atomic force microscopy. IEEE Trans Nanobioscience 2021; 20:543-553. [PMID: 34242170 DOI: 10.1109/tnb.2021.3096056] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Extracellular matrix plays an important role in regulating the behaviors of cells, and utilizing matrix physics to control cell fate has been a promising way for cell and tissue engineering. However, the nanoscale situations taking place during the topography-regulated cell-matrix interactions are still not fully understood to the best of our knowledge. The invention of atomic force microscopy (AFM) provides a powerful tool to characterize the structures and properties of living biological systems under aqueous conditions with unprecedented spatial resolution. In this work, with the use of AFM, structural and mechanical dynamics of individual cells grown on micro-/nanotopographical surface were revealed. First, the microgroove patterned silicon substrates were fabricated by photolithography. Next, nanogranular topography was formed on microgroove substrates by cell culture medium protein deposition, which was visualized by in situ AFM imaging. The micro-/nanotopographical substrates were then used to grow two types of cells (3T3 cell or MCF-7 cell). AFM morphological imaging and mechanical measurements were applied to characterize the changes of cells grown on the micro-/nanotopographical substrates. The experimental results showed the significant alterations in cellular structures and cellular mechanics caused by micro-/nanotopography. The study provides a novel way based on AFM to unveil the native nanostructures and mechanical properties of cell-matrix interfaces with high spatial resolution in liquids, which will have potential impacts on the studies of topography-tuned cell behaviors.
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Abstract
The advent of atomic force microscopy (AFM) provides an exciting tool to detect molecular and cellular behaviors under aqueous conditions. AFM is able to not only visualize the surface topography of the specimens, but also can quantify the mechanical properties of the specimens by force spectroscopy assay. Nevertheless, integrating AFM topographic imaging with force spectroscopy assay has long been limited due to the low spatiotemporal resolution. In recent years, the appearance of a new AFM imaging mode called peak force tapping (PFT) has shattered this limit. PFT allows AFM to simultaneously acquire the topography and mechanical properties of biological samples with unprecedented spatiotemporal resolution. The practical applications of PFT in the field of life sciences in the past decade have demonstrated the excellent capabilities of PFT in characterizing the fine structures and mechanics of living biological systems in their native states, offering novel possibilities to reveal the underlying mechanisms guiding physiological/pathological activities. In this paper, the recent progress in cell and molecular biology that has been made with the utilization of PFT is summarized, and future perspectives for further progression and biomedical applications of PFT are provided.
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Affiliation(s)
- Mi Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China and Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China and University of Chinese Academy of Sciences, Beijing 100049, China.
| | - Ning Xi
- Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong 999077, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China and Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China and University of Chinese Academy of Sciences, Beijing 100049, China.
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Li MI, Xu X, Xi N, Wang W, Xing X, Liu L. Multiparametric atomic force microscopy imaging of single native exosomes. Acta Biochim Biophys Sin (Shanghai) 2021; 53:385-388. [PMID: 33399205 DOI: 10.1093/abbs/gmaa172] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/14/2022] Open
Affiliation(s)
- M i Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Xinning Xu
- Cancer Hospital of China Medical University, Shenyang 110042, China
- Liaoning Cancer Hospital & Institute, Shenyang 110042, China
| | - Ning Xi
- Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong 999077, China
| | - Wenxue Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Xiaojing Xing
- Cancer Hospital of China Medical University, Shenyang 110042, China
- Liaoning Cancer Hospital & Institute, Shenyang 110042, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
- University of Chinese Academy of Sciences, Beijing 100049, China
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Li M, Xi N, Wang YC, Liu LQ. Atomic force microscopy for revealing micro/nanoscale mechanics in tumor metastasis: from single cells to microenvironmental cues. Acta Pharmacol Sin 2021; 42:323-339. [PMID: 32807839 PMCID: PMC8027022 DOI: 10.1038/s41401-020-0494-3] [Citation(s) in RCA: 28] [Impact Index Per Article: 9.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/27/2020] [Accepted: 07/27/2020] [Indexed: 02/06/2023] Open
Abstract
Mechanics are intrinsic properties which appears throughout the formation, development, and aging processes of biological systems. Mechanics have been shown to play important roles in regulating the development and metastasis of tumors, and understanding tumor mechanics has emerged as a promising way to reveal the underlying mechanisms guiding tumor behaviors. In particular, tumors are highly complex diseases associated with multifaceted factors, including alterations in cancerous cells, tissues, and organs as well as microenvironmental cues, indicating that investigating tumor mechanics on multiple levels is significantly helpful for comprehensively understanding the effects of mechanics on tumor progression. Recently, diverse techniques have been developed for probing the mechanics of tumors, among which atomic force microscopy (AFM) has appeared as an excellent platform enabling simultaneously characterizing the structures and mechanical properties of living biological systems ranging from individual molecules and cells to tissue samples with unprecedented spatiotemporal resolution, offering novel possibilities for understanding tumor physics and contributing much to the studies of cancer. In this review, we survey the recent progress that has been achieved with the use of AFM for revealing micro/nanoscale mechanics in tumor development and metastasis. Challenges and future progress are also discussed.
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Affiliation(s)
- Mi Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China.
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China.
- University of Chinese Academy of Sciences, Beijing 100049, China.
| | - Ning Xi
- Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong, China
| | - Yue-Chao Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Lian-Qing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China.
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China.
- University of Chinese Academy of Sciences, Beijing 100049, China.
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Abstract
Nanorobotics, which has long been a fantasy in the realm of science fiction, is now a reality due to the considerable developments in diverse fields including chemistry, materials, physics, information and nanotechnology in the past decades. Not only different prototypes of nanorobots whose sizes are nanoscale are invented for various biomedical applications, but also robotic nanomanipulators which are able to handle nano-objects obtain substantial achievements for applications in biomedicine. The outstanding achievements in nanorobotics have significantly expanded the field of medical robotics and yielded novel insights into the underlying mechanisms guiding life activities, remarkably showing an emerging and promising way for advancing the diagnosis & treatment level in the coming era of personalized precision medicine. In this review, the recent advances in nanorobotics (nanorobots, nanorobotic manipulations) for biomedical applications are summarized from several facets (including molecular machines, nanomotors, DNA nanorobotics, and robotic nanomanipulators), and the future perspectives are also presented.
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Liu L, Wang Q, Xie C, Xi N, Guo Z, Li M, Hou X, Xie N, Sun M, Li J, Chen X. Drug interaction of ningetinib and gefitinib involving CYP1A1 and efflux transporters in non-small cell lung cancer patients. Br J Clin Pharmacol 2020; 87:2098-2110. [PMID: 33098714 DOI: 10.1111/bcp.14621] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/30/2020] [Revised: 08/18/2020] [Accepted: 09/12/2020] [Indexed: 12/17/2022] Open
Abstract
AIMS Ningetinib is a tyrosine kinase inhibitor for the treatment of non-small cell lung cancer (NSCLC). The present study aims to investigate the drug interaction of ningetinib and gefitinib and the mechanism of high plasma exposure of N-demethylated ningetinib (M1) in NSCLC patients. METHODS Patients with NSCLC were recruited. Metabolism and transport assays were performed using in vitro models. Deuterated M1 was used to study the effects of ningetinib and gefitinib on M1 efflux in Institute of Cancer Research (ICR) mice. RESULTS Upon co-administration of ningetinib with gefitinib, the plasma exposure of M1 was reduced by 80%, whereas that of ningetinib was not affected. In vitro experiments indicated that CYP1A1 was primarily responsible for M1 formation. Gefitinib was demonstrated to be a strong inhibitor of CYP1A1 with Ki value of 0.095 μM. M1 was identified as a substrate of efflux transporters P-gp and BCRP, while ningetinib and gefitinib were demonstrated to be their inhibitors, which was consistent with the results in mice. However, the inhibitory effect of gefitinib on efflux in vivo was negligible in the presence of ningetinib. CONCLUSION The high plasma exposure of M1 in patients was attributed to the inhibition of M1 efflux by ningetinib and its low tissue affinity. When co-administered, gefitinib inhibited the formation of M1, but due to the low metabolic yield of M1 in vivo, the pharmacokinetics of ningetinib was not influenced. Inhibition of CYP1A1 may increase the concentration of ningetinib in target tissues, and the long-term safety and efficacy of ningetinib combined with gefitinib should be evaluated.
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Affiliation(s)
- Lu Liu
- University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing, 100049, China.,Shanghai Institute of Materia Medica, Chinese Academy of Sciences, 501 Haike Road, Shanghai, 201203, China
| | - Qian Wang
- State Key Laboratory of Anti-Infective Drug Development (No. 2015DQ780357), Sunshine Lake Pharma Co. Ltd, Dongguan, 523871, P. R. China
| | - Cen Xie
- University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing, 100049, China.,Shanghai Institute of Materia Medica, Chinese Academy of Sciences, 501 Haike Road, Shanghai, 201203, China
| | - Ning Xi
- State Key Laboratory of Anti-Infective Drug Development (No. 2015DQ780357), Sunshine Lake Pharma Co. Ltd, Dongguan, 523871, P. R. China
| | - Zitao Guo
- Shanghai Institute of Materia Medica, Chinese Academy of Sciences, 501 Haike Road, Shanghai, 201203, China
| | - Ming Li
- State Key Laboratory of Anti-Infective Drug Development (No. 2015DQ780357), Sunshine Lake Pharma Co. Ltd, Dongguan, 523871, P. R. China
| | - Xiangyu Hou
- University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing, 100049, China.,Shanghai Institute of Materia Medica, Chinese Academy of Sciences, 501 Haike Road, Shanghai, 201203, China
| | - Ningjie Xie
- University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing, 100049, China.,Shanghai Institute of Materia Medica, Chinese Academy of Sciences, 501 Haike Road, Shanghai, 201203, China
| | - Mingming Sun
- State Key Laboratory of Anti-Infective Drug Development (No. 2015DQ780357), Sunshine Lake Pharma Co. Ltd, Dongguan, 523871, P. R. China
| | - Jing Li
- State Key Laboratory of Anti-Infective Drug Development (No. 2015DQ780357), Sunshine Lake Pharma Co. Ltd, Dongguan, 523871, P. R. China
| | - Xiaoyan Chen
- University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing, 100049, China.,Shanghai Institute of Materia Medica, Chinese Academy of Sciences, 501 Haike Road, Shanghai, 201203, China
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Sun M, Chen W, Zhang T, Liu Z, Wei J, Xi N. 19F NMR spectroscopy as a tool to detect rotations in fluorine substituted phenyl compounds. Tetrahedron 2020. [DOI: 10.1016/j.tet.2020.131679] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
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Li M, Lan F, Yang W, Ji Z, Zhang Y, Xi N, Xin X, Jin X, Li G. Influence of MoS 2-metal interface on charge injection: a comparison between various metal contacts. Nanotechnology 2020; 31:395713. [PMID: 32662448 DOI: 10.1088/1361-6528/ab9cf6] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Achieving good contacts is vital for harnessing the fascinating properties of two-dimensional (2D) materials. However, unsatisfactory 2D material-metal interfaces remain a problem that hinders the successful application of 2D materials for fabricating nanodevices. In this study, Kelvin probe force microscopy (KPFM) and other high-resolution microscopy techniques are utilized to characterize the surface morphology and contact interface between MoS2 and common metals including Au, Ti, Pd, and Ni. Surface potential information, including the contact potential difference ([Formula: see text]) and surface potential difference ([Formula: see text]) of each MoS2-metal contact, is obtained. By comparing the surface potential distribution mappings with and without illumination, non-zero surface photovoltage (SPV) values and evident shift with amplitudes of 32 mV and 44 mV are observed for MoS2-Au and Ti, but not for MoS2-Pd and Ni. The Schottky barrier heights of MoS2-Au, Ti, Pd, and Ni are roughly evaluated from their I-V curves. Raman spectroscopy is also carried out to ensure more convincing results. All the results suggest that a smoother MoS2-metal interface results in better charge transport behaviors. Our analysis of the underlying mechanism and experimental findings offer a new perspective to better understand MoS2-metal contacts and underscore the fundamental importance of interface morphology for MoS2-based devices.
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Affiliation(s)
- Meng Li
- College of Information Science and Engineering, Shenyang University of Technology, Shenyang, People's Republic of China. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, People's Republic of China
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Li M, Xi N, Wang Y, Liu L. In Situ High-Resolution AFM Imaging and Force Probing of Cell Culture Medium-Forming Nanogranular Surfaces for Cell Growth. IEEE Trans Nanobioscience 2020; 19:385-393. [DOI: 10.1109/tnb.2020.2982164] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Zhao H, Liu L, Ma Y, Fang J, Fang W, Ma H, Zhang Y, Feng G, Hong S, Zeng S, Xie B, Ren J, Lin X, Zhang Y, Xi N, Jiang Y, Wu Y, Kang N, Li S, Zhang L. A phase Ib study of a novel c-MET, AXL and VEGFR-2 inhibitor ningetinib and gefitinib combination therapy in Chinese EGFR-TKI resistant NSCLC with T790M negative. J Clin Oncol 2020. [DOI: 10.1200/jco.2020.38.15_suppl.9583] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022] Open
Abstract
9583 Background: Ningetinib is a novel tyrosine kinase inhibitor, targeted at c-Met, Axl, VEGFR-2, Mer and Flt3. This phase Ib trial (NCT03758287) evaluated the safety, determined the recommended phase II dose (RP2D), and further explored the pharmacokinetic and efficacy of Ningetinib + Gefitinib in EGFR-TKIs acquired resistant NSCLC patients (pts) with T790M negative. Methods: Chinese Pts with advanced or metastatic NSCLC, acquired resistant to at least one EGFR-TKI, T790M negative were enrolled. Pts received Ningetinib 30, 40, 60 mg + Gefitinib 250mg orally once daily in dose-escalation (n = 12) by a Fibonacci 3+3 design. Expansion phase (n = 74, enrollment is ongoing) started at tolerated dosage. Safety, RP2D were primary endpoints; PK, antitumor activity were secondary endpoints. Non-mandatory tumor samples at baseline were collected for exploratory objectives. Results: Totally, 86 eligible pts were enrolled between Nov 2016 and Dec 2019, and received treatment (Ningetinib 30 mg, n = 36; 40 mg, n = 46; 60 mg, n = 4), with median age 56.7 years, 36% with baseline brain metastasis, 66%/33%/1% prior 1/2/3 lines EGFR-TKI treatment, respectively. Treatment-related adverse events (TRAEs) occurred in 82 (95%) pts, grade 3/4 in 32 pts (37%). Most common TRAEs (≥30%) were myocardial enzyme elevation (all grade 74.4%; grade 3-4 0%), transaminase elevation (73.3%; 2.3%), skin rash (60.5%; 3.5%), albuminuria (44.2%; 0%), coagulation abnormalities (mostly asymptomatic Fbp decrease; 37.2%; 15.1%), diarrhea (33.7%; 2.3%) and hypertension (32.6%; 11.6%). Two Dose limited toxicities were observed at 60 mg dosage (both were grade 3 Fbg decrease), RP2D was decided at 40 mg. Of 84 efficacy evaluable pts, ORR was 19.1% (16 PR), DCR was 91.7% (61 SD, 7 PD). Totally, 65 (75.6%) progression events occurred at data cut-off (9 Jan 2020), the median PFS for all pts was 4.4 months (95%CI 3.7-4.6). No PFS differences were found between pts grouped by 3rd TKIs history or brain metastasis. C-Met gene amplification by FISH was conducted in 72 pts (83.7%). Pts with higher gene copy number (GCN) responded better in treatment, ORR in the GCN ≥6 (n = 11), GCN ≥5 (n = 16) and GCN ≥3 (n = 37) subgroups was 36.4%, 25.0% and 21.6% respectively. Conclusions: Ningetinib was well tolerated at 30 mg and 40 mg dosage with Gefitinib 250 mg, the RP2D for Ningetinb was 40 mg. This combination therapy showed promising anti-tumor activity in prior EGFR-TKIs acquired resistant NSCLC pts with T790M negative. C-Met GCN was the potential efficacy biomarker. Clinical trial information: NCT03758287 .
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Affiliation(s)
- Hongyun Zhao
- Department of Medical Oncology, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-sen University Cancer Center, Sun Yat-sen University, Guangzhou, China
| | - Lianke Liu
- Jiangsu Province Hospital, Nanjing, China
| | - Yuxiang Ma
- State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Department of Medical Oncology, Sun Yat-sen University Cancer Center, Guangzhou, China
| | - Jian Fang
- Department of Thoracic Oncology II, Peking University Cancer Hospital, Beijing, China
| | - Wenfeng Fang
- State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-sen University Cancer Center, Guangzhou, China
| | - Haiqing Ma
- The Fifth Affiliated Hospital of Sun Yat-sen University, Zhuhai, China
| | - Yang Zhang
- Department of Medical Oncology, State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Sun Yat-sen University Cancer Center, Sun Yat-sen University, Guangzhou, China
| | - Guosheng Feng
- The People’s Hospital of Guangxi Zhuang Autonomous Region, Nanning, China
| | - Shaodong Hong
- State Key Laboratory of Oncology in South China, Collaborative Innovation Center for Cancer Medicine, Department of Medical Oncology, Sun Yat-sen University Cancer Center, Guangzhou, China
| | - Shan Zeng
- Department of Oncology, Xiangya Hospital, Central South University, Changsha, China
| | - Bo Xie
- General Hospital of Southern Theater Command, PLA, Guangzhou, China
| | - Jun Ren
- Beijing Shijitan Hospital, Beijing, China
| | - Xiaoyan Lin
- Fujian Medical University Union Hospital, Fuzhou, China
| | - Yingjun Zhang
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd., Dongguan, China
| | - Ning Xi
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd., Dongguan, China
| | - Yingzhi Jiang
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd., Dongguan, China
| | - Yanjun Wu
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd., Dongguan, China
| | - Ning Kang
- HEC R&D Center, Sunshine Lake Pharma Co., Ltd., Dongguan, China
| | - Su Li
- Sun Yat-sen University Cancer Center, Guangzhou, China
| | - Li Zhang
- State Key Laboratory of Oncology in South China; Collaborative Innovation Center for Cancer Medicine, Department of Medical Oncology, Sun Yat-sen University Cancer Center, Guangzhou, China
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Sun Z, Xi N, Xue Y, Cheng Y, Chen L, Yang R, Song B. Task Space Motion Control for AFM-Based Nanorobot Using Optimal and Ultralimit Archimedean Spiral Local Scan. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2019.2955942] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Li M, Xi N, Wang Y, Liu L. Atomic Force Microscopy as a Powerful Multifunctional Tool for Probing the Behaviors of Single Proteins. IEEE Trans Nanobioscience 2020; 19:78-99. [DOI: 10.1109/tnb.2019.2954099] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Li M, Xi N, Wang Y, Liu L. Nanotopographical Surfaces for Regulating Cellular Mechanical Behaviors Investigated by Atomic Force Microscopy. ACS Biomater Sci Eng 2019; 5:5036-5050. [DOI: 10.1021/acsbiomaterials.9b00991] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/26/2022]
Affiliation(s)
| | - Ning Xi
- Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Kowloon 999077, Hong Kong, China
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Cui Y, Zou H, Xi N, He Z, Yang YX, Shu L, Zhang GH, Hu Z, Chen T, Yu R, Wu J, Yu W. Quantum Criticality of the Ising-like Screw Chain Antiferromagnet SrCo_{2}V_{2}O_{8} in a Transverse Magnetic Field. Phys Rev Lett 2019; 123:067203. [PMID: 31491156 DOI: 10.1103/physrevlett.123.067203] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/03/2019] [Revised: 04/29/2019] [Indexed: 06/10/2023]
Abstract
The quantum criticality of an Ising-like screw chain antiferromagnet SrCo_{2}V_{2}O_{8}, with a transverse magnetic field applied along the crystalline a axis, is investigated by ultralow temperature NMR measurements. The Néel temperature is rapidly and continuously suppressed by the field, giving rise to a quantum critical point (QCP) at H_{C_{1}}≈7.03 T. Surprisingly, a second QCP at H_{C_{2}}≈7.7 T featured with gapless excitations is resolved from both the double-peak structure of the field-dependent spin-lattice relaxation rate 1/^{51}T_{1} at low temperatures and the weakly temperature-dependent 1/^{51}T_{1} at this field. Our data, combined with numerical calculations, suggest that the induced effective staggered transverse field significantly lowers the critical fields, and leads to an exposed QCP at H_{C_{2}}, which belongs to the one-dimensional transverse-field Ising universality.
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Affiliation(s)
- Y Cui
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials & Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - H Zou
- Tsung-Dao Lee Institute & School of Physics and Astronomy, Shanghai Jiao Tong University, Shanghai 200240, China
| | - N Xi
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials & Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Zhangzhen He
- State Key Laboratory of Structural Chemistry, Fujian Institute of Research on the Structure of Matter, Chinese Academy of Sciences, Fuzhou, Fujian 350002, China
| | - Y X Yang
- State Key Laboratory of Surface Physics, Department of Physics, Fudan University, Shanghai 200433, China
| | - L Shu
- State Key Laboratory of Surface Physics, Department of Physics, Fudan University, Shanghai 200433, China
- Collaborative Innovation Center of Advanced Microstructures, Nanjing 210093, China
| | - G H Zhang
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials & Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Z Hu
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials & Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - T Chen
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials & Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Rong Yu
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials & Micro-nano Devices, Renmin University of China, Beijing 100872, China
| | - Jianda Wu
- Tsung-Dao Lee Institute & School of Physics and Astronomy, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Weiqiang Yu
- Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials & Micro-nano Devices, Renmin University of China, Beijing 100872, China
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Xi N, Lv J, Sun C, Ma J. Secure Service Composition with Quantitative Information Flow Evaluation in Mobile Computing Environments. Entropy (Basel) 2019; 21:e21080753. [PMID: 33267467 PMCID: PMC7515283 DOI: 10.3390/e21080753] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/31/2019] [Revised: 07/25/2019] [Accepted: 07/30/2019] [Indexed: 06/12/2023]
Abstract
The advances in mobile technologies enable mobile devices to cooperate with each other to perform complex tasks to satisfy users' composite service requirements. However, data with different sensitivities and heterogeneous systems with diverse security policies pose a great challenge on information flow security during the service composition across multiple mobile devices. The qualitative information flow control mechanism based on non-interference provides a solid security assurance on the propagation of customer's private data across multiple service participants. However, strict discipline limits the service availability and may cause a high failure rate on service composition. Therefore, we propose a distributed quantitative information flow evaluation approach for service composition across multiple devices in mobile environments. The quantitative approach provides us a more precise way to evaluate the leakage and supports the customized disciplines on information flow security for the diverse requirements of different customers. Considering the limited energy feature on mobile devices, we use a distributed evaluation approach to provide a better balance on consumption on each service participant. Through the experiments and evaluations, the results indicate that our approach can improve the availability of composite service effectively while the security can be ensured.
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Li M, Xi N, Wang Y, Liu L. Composite Nanostructures and Adhesion Analysis of Natural Plant Hydrogels Investigated by Atomic Force Microscopy. IEEE Trans Nanobioscience 2019; 18:448-455. [DOI: 10.1109/tnb.2019.2911044] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Li M, Xi N, Wang Y, Liu L. Tunable Hybrid Biopolymeric Hydrogel Scaffolds Based on Atomic Force Microscopy Characterizations for Tissue Engineering. IEEE Trans Nanobioscience 2019; 18:597-610. [PMID: 31217123 DOI: 10.1109/tnb.2019.2922968] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Developing adequate biomaterials to engineer cell-scaffold interactions has become a promising way for physically regulating the biological behaviors of cells in the field of tissue engineering. Biopolymeric hydrogels have shown great merits as cellular scaffolds due to their biocompatible and biodegradable characteristics. In particular, the advent of atomic force microscopy (AFM) provides a powerful tool for characterizing native specimens at the micro/nanoscale, but utilizing AFM to investigate the detailed structures and properties of hydrogel scaffolds has been still scarce. In this paper, hybrid natural biopolymers are used to form hydrogel scaffolds which exhibit tunable structural and mechanical properties characterized by AFM peak force tapping imaging, and the applications of the formed hydrogel scaffolds in tissue engineering are studied. AFM morphological images showed that the cross-linking reactions of sodium alginate and gum arabic via calcium cations yielded the porous hydrogel scaffolds. By altering the component ratios, AFM mechanical images showed that the porous and mechanical properties (Young's modulus and adhesion force) of the hydrogel scaffolds were tunable. Next, the nanoscale structural and mechanical dynamics of the fabricated hydrogel scaffolds during the degradation process were revealed by AFM peak force tapping imaging. The experimental results on three different types of cells showed that the fabricated hydrogel scaffolds facilitate the formation of cellular spheroids. The research provides a novel idea to design tunable hydrogel scaffolds based on AFM characterizations for investigating cell-scaffold interactions, which will have potential impacts on tissue engineering.
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40
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Shen Y, Xi N. System Approach to Characterize Living Drosophila Embryos for Biomedical Investigations. Nanomedicine (Lond) 2019. [DOI: 10.1201/9780429065767-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022] Open
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41
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Chen JY, Pan Y, Collins TJ, Penn LS, Xi N, Xi J. Examining the feasibility of a "top-down" approach to enhancing the keratinocyte-implant adhesion. Exp Cell Res 2019; 376:105-113. [PMID: 30772381 DOI: 10.1016/j.yexcr.2019.01.024] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/21/2018] [Revised: 01/16/2019] [Accepted: 01/21/2019] [Indexed: 11/16/2022]
Abstract
The adhesion of human epidermal keratinocytes to the implant surface is one of the most critical steps during the patient's recovery from implantation of transcutaneous prosthesis. To improve the success rate of transcutaneous prosthetic implants, we explored a new "top-down" approach to promoting this dynamic adhering process through modulation of upstream cell signaling pathways. To examine the feasibility of this novel approach, we first established an in vitro platform that is capable of providing a non-invasive, real-time, quantitative characterization of the keratinocyte-implant interaction. This platform is based on the dissipation monitoring function of the quartz crystal microbalance with dissipation monitoring (QCM-D) in conjunction with the open-module setup of the QCM-D. We then employed this platform to assess the effects of various pathways-specific modulators on the adhering process of keratinocytes. We demonstrated that this "top-down" approach is as effective in enhancing the adhesion of keratinocytes as the conventional "bottom-up" approach that relies on modifying the substrate surface with the adhesion protein such as fibronectin. We envision that this new "top-down" approach combined with the QCM-D-based in vitro platform will help facilitate the future development of new therapies for enhancing osseointegration and promoting wound healing.
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Affiliation(s)
- Jennifer Y Chen
- Department of Chemistry, Drexel University, Philadelphia, PA 19104, United States
| | - Yue Pan
- Department of Biology, Drexel University, Philadelphia, PA 19104, United States
| | - Tucker J Collins
- Department of Chemistry, Drexel University, Philadelphia, PA 19104, United States
| | - Lynn S Penn
- Department of Chemistry, Drexel University, Philadelphia, PA 19104, United States
| | - Ning Xi
- Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong, China
| | - Jun Xi
- Department of Chemistry, Drexel University, Philadelphia, PA 19104, United States.
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42
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Yang Y, Zeng B, Sun Z, Esfahani AM, Hou J, Jiao ND, Liu L, Chen L, Basson MD, Dong L, Yang R, Xi N. Optimization of Protein-Protein Interaction Measurements for Drug Discovery Using AFM Force Spectroscopy. IEEE Trans Nanotechnol 2019; 18:509-517. [PMID: 32051682 PMCID: PMC7015265 DOI: 10.1109/tnano.2019.2915507] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/15/2023]
Abstract
Increasingly targeted in drug discovery, protein-protein interactions challenge current high throughput screening technologies in the pharmaceutical industry. Developing an effective and efficient method for screening small molecules or compounds is critical to accelerate the discovery of ligands for enzymes, receptors and other pharmaceutical targets. Here, we report developments of methods to increase the signal-to-noise ratio (SNR) for screening protein-protein interactions using atomic force microscopy (AFM) force spectroscopy. We have demonstrated the effectiveness of these developments on detecting the binding process between focal adhesion kinases (FAK) with protein kinase B (Akt1), which is a target for potential cancer drugs. These developments include optimized probe and substrate functionalization processes and redesigned probe-substrate contact regimes. Furthermore, a statistical-based data processing method was developed to enhance the contrast of the experimental data. Collectively, these results demonstrate the potential of the AFM force spectroscopy in automating drug screening with high throughput.
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Affiliation(s)
- Yongliang Yang
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, 48823, USA
| | - Bixi Zeng
- Departments of Surgery and Biomedical Sciences, University of North Dakota, Grand Forks, ND, 58202, USA
| | - Zhiyong Sun
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, 48823, USA
| | - Amir Monemian Esfahani
- Department of Mechanical and Materials Engineering, University of Nebraska Lincoln, NE 68588 USA
| | - Jing Hou
- School of Information and Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China
| | - Nian-Dong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110006, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110006, China
| | - Liangliang Chen
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, 48823, USA
| | - Marc D Basson
- Departments of Surgery and Biomedical Sciences, University of North Dakota, Grand Forks, ND, 58202, USA
| | - Lixin Dong
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, 48823, USA
| | - Ruiguo Yang
- Department of Mechanical and Materials Engineering, University of Nebraska Lincoln, NE 68588 USA
| | - Ning Xi
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, 48823, USA
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Liu L, Zhang C, Wang W, Xi N, Wang Y. Regulation of C2C12 Differentiation and Control of the Beating Dynamics of Contractile Cells for a Muscle-Driven Biosyncretic Crawler by Electrical Stimulation. Soft Robot 2018; 5:748-760. [DOI: 10.1089/soro.2018.0017] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/05/2023] Open
Affiliation(s)
- Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
| | - Chuang Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Wenxue Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
| | - Ning Xi
- Department of Industrial and Manufacturing Systems Engineering, Emerging Technologies Institute, University of Hong Kong Pokfulam, Hong Kong, Hong Kong
| | - Yuechao Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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44
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Xi N, Sun X, Li M, Sun M, Xi MA, Zhan Z, Yao J, Bai X, Wu Y, Liao M. Noncovalent Interactions of Fluorine with Amide and CH 2 Groups in N-Phenyl γ-Lactams: Covalently Identical Fluorine Atoms in Nonequivalent Chemical Environments. J Org Chem 2018; 83:11586-11594. [PMID: 30180581 DOI: 10.1021/acs.joc.8b01562] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Abstract
We designed and synthesized N-phenyl γ-lactam derivatives possessing two covalently identical ortho-F nuclei on the N-phenyl group. The F nuclei sited in different chemical environments where they were spatially adjacent to amide and alkyl groups due to hindered rotation around the central N-Ar bond. 19F NMR spectroscopic and X-ray crystallographic methods were used to distinguish the axially prochiral F nuclei and provide structural insights for through-space interactions between F and amide/CH2 groups. Direct spectroscopic evidence for multipolar interactions in F···amide and F···CH2 pairs were provided.
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Affiliation(s)
- Ning Xi
- The School of Pharmaceutical Sciences , Jilin University , 1266 Fujin Road , Changchun , Jilin 130021 , China.,Sunshine Lake Pharmaceutical Co., Ltd , Dongyangguang Hi-tech Park, Dongguan , Guangdong 523871 , China.,Calitor Sciences LLC , PO Box 19185, Newbury Park , California 91319-9185 , United States
| | - Xiaohua Sun
- The School of Pharmaceutical Sciences , Jilin University , 1266 Fujin Road , Changchun , Jilin 130021 , China
| | - Minxiong Li
- Sunshine Lake Pharmaceutical Co., Ltd , Dongyangguang Hi-tech Park, Dongguan , Guangdong 523871 , China
| | - Mingming Sun
- Sunshine Lake Pharmaceutical Co., Ltd , Dongyangguang Hi-tech Park, Dongguan , Guangdong 523871 , China
| | - Michael A Xi
- Calitor Sciences LLC , PO Box 19185, Newbury Park , California 91319-9185 , United States
| | - Zeping Zhan
- Sunshine Lake Pharmaceutical Co., Ltd , Dongyangguang Hi-tech Park, Dongguan , Guangdong 523871 , China
| | - Jia Yao
- Sunshine Lake Pharmaceutical Co., Ltd , Dongyangguang Hi-tech Park, Dongguan , Guangdong 523871 , China
| | - Xu Bai
- The School of Pharmaceutical Sciences , Jilin University , 1266 Fujin Road , Changchun , Jilin 130021 , China
| | - Yanjun Wu
- Sunshine Lake Pharmaceutical Co., Ltd , Dongyangguang Hi-tech Park, Dongguan , Guangdong 523871 , China
| | - Min Liao
- Sunshine Lake Pharmaceutical Co., Ltd , Dongyangguang Hi-tech Park, Dongguan , Guangdong 523871 , China
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Esfahani AM, Zhao W, Chen JY, Huang C, Xi N, Xi J, Yang R. On the Measurement of Energy Dissipation of Adhered Cells with the Quartz Microbalance with Dissipation Monitoring. Anal Chem 2018; 90:10340-10349. [PMID: 30088414 PMCID: PMC6669898 DOI: 10.1021/acs.analchem.8b02153] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/15/2023]
Abstract
We previously reported the finding of a linear correlation between the change of energy dissipation (Δ D) of adhered cells measured with the quartz crystal microbalance with dissipation monitoring (QCM-D) and the level of focal adhesions of the cells. To account for this correlation, we have developed a theoretical framework for assessing the Δ D-response of adhered cells. We rationalized that the mechanical energy of an oscillating QCM-D sensor coupled with a cell monolayer is dissipated through three main processes: the interfacial friction through the dynamic restructuring (formation and rupture) of cell-extracellular matrix (ECM) bonds, the interfacial viscous damping by the liquid trapped between the QCM-D sensor and the basal membrane of the cell layer, and the intracellular viscous damping through the viscous slip between the cytoplasm and stress fibers as well as among stress fibers themselves. Our modeling study shows that the interfacial viscous damping by the trapped liquid is the primary process for energy dissipation during the early stage of the cell adhesion, whereas the dynamic restructuring of cell-ECM bonds becomes more prevalent during the later stage of the cell adhesion. Our modeling study also establishes a positive linear correlation between the Δ D-response and the level of cell adhesion quantified with the number of cell-ECM bonds, which corroborates our previous experimental finding. This correlation with a wide well-defined linear dynamic range provides a much needed theoretical validation of the dissipation monitoring function of the QCM-D as a powerful quantitative analytical tool for cell study.
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Affiliation(s)
- Amir Monemian Esfahani
- Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 48824, United States
| | - Weiwei Zhao
- Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 48824, United States
| | - Jennifer Y. Chen
- Department of Chemistry, Drexel University, Philadelphia, Pennsylvania 19104, United States
| | - Changjin Huang
- Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, United States
| | - Ning Xi
- Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, HK, China
| | - Jun Xi
- Department of Chemistry, Drexel University, Philadelphia, Pennsylvania 19104, United States
| | - Ruiguo Yang
- Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 48824, United States
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Li N, Yang T, Yu P, Chang J, Zhao L, Zhao X, Elhajj IH, Xi N, Liu L. Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications. Bioinspir Biomim 2018; 13:066001. [PMID: 30088477 DOI: 10.1088/1748-3190/aad8d4] [Citation(s) in RCA: 28] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
Stroke has become the leading cause of disability and the second-leading cause of mortality worldwide. Dyskinesia complications are the major reason of these high death and disability rates. As a tool for rapid motion function recovery in stroke patients, exoskeleton robots can reduce complications and thereby decrease stroke mortality rates. However, existing exoskeleton robots interfere with the wearer's natural motion and damage joints and muscles due to poor human-machine coupling. In this paper, a novel ergonomic soft bionic exoskeleton robot with 7 degrees of freedom was proposed to address these problems based on the principles of functional anatomy and sports biomechanics. First, the human motion system was analysed according to the functional anatomy, and the muscles were modelled as tension lines. Second, a soft bionic robot was established based on the musculoskeletal tension line model. Third, a robot control method mimicking human muscle control principles was proposed and optimized on a humanoid platform manufactured using 3D printing. After the control method was optimized, the motion trajectory similarities between humans and the platform exceeded 87%. Fourth, the force-assisted effect was tested based on electromyogram signals, and the results showed that muscle signals decreased by 58.17% after robot assistance. Finally, motion-assistance experiments were performed with stroke patients. The joint movement level increased by 174% with assistance, which allowed patients to engage in activities of daily living. With this robot, stroke patients could recover their motion functions, preventing complications and decreasing fatality and disability rates.
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Affiliation(s)
- Ning Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China. University of Chinese Academy of Sciences, Beijing 100049, People's Republic of China
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Yang# Y, Yu# J, Esfahani AM, Seiffert-Sinha K, Xi N, Lee I, Sinha AA, Chen L, Sun Z, Yang R, Dong L. Single-cell membrane drug delivery using porous pen nanodeposition. Nanoscale 2018; 10:12704-12712. [PMID: 29946596 PMCID: PMC6528655 DOI: 10.1039/c8nr02600a] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/03/2023]
Abstract
Delivering molecules onto the plasma membrane of single cells is still a challenging task in profiling cell signaling pathways with single cell resolution. We demonstrated that a large quantity of molecules could be targeted and released onto the membrane of individual cells to trigger signaling responses. This is achieved by a porous pen nanodeposition (PPN) method, in which a multilayer porous structure, serving as a reservoir for a large amount of molecules, is formed on an atomic force microscope (AFM) tip using layer-by-layer assembly and post processing. To demonstrate its capability for single cell membrane drug delivery, PPN was employed to induce a calcium flux triggered by the binding of released antibodies to membrane antigens in an autoimmune skin disease model. This calcium signal propagates from the target cell to its neighbors in a matter of seconds, proving the theory of intercellular communication through cell-cell junctions. Collectively, these results demonstrated the effectiveness of PPN in membrane drug delivery for single cells; to the best of our knowledge, this is the first technique that can perform the targeted transport and delivery in single cell resolution, paving the way for probing complex signaling interactions in multicellular settings.
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Affiliation(s)
- Yongliang Yang#
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA,
| | - Jing Yu#
- Department of Chemical Engineering and Materials Science, Michigan State University, East Lansing, MI 48824, USA
| | - Amir Monemian Esfahani
- Department of Mechanical and Materials Engineering, University of Nebraska -Lincoln, Lincoln, NE 68588, USA
| | | | - Ning Xi
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA
| | - Ilsoon Lee
- Department of Chemical Engineering and Materials Science, Michigan State University, East Lansing, MI 48824, USA
| | - Animesh A. Sinha
- Department of Dermatology, University at Buffalo, Buffalo, New York 14203, USA
| | - Liangliang Chen
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA
| | - Zhiyong Sun
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA
| | - Ruiguo Yang
- Department of Mechanical and Materials Engineering, University of Nebraska -Lincoln, Lincoln, NE 68588, USA,
| | - Lixin Dong
- Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA,
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Sun X, Li M, Sun M, Li X, Xi BJ, Wu Y, Yao J, Zhan Z, Bai X, Xi N. Studies on structural requirements for atropisomerism in N -phenyl γ-lactams. Tetrahedron 2018. [DOI: 10.1016/j.tet.2018.04.090] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/01/2022]
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49
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Chen J, Zhang X, Cheng Y, Xi N. Surface EMG based continuous estimation of human lower limb joint angles by using deep belief networks. Biomed Signal Process Control 2018. [DOI: 10.1016/j.bspc.2017.10.002] [Citation(s) in RCA: 28] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/11/2022]
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50
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Zhang C, Wang W, He W, Xi N, Wang Y, Liu L. Dynamic Model for Characterizing Contractile Behaviors and Mechanical Properties of a Cardiomyocyte. Biophys J 2018; 114:188-200. [PMID: 29320686 PMCID: PMC5773758 DOI: 10.1016/j.bpj.2017.11.002] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2017] [Revised: 11/01/2017] [Accepted: 11/02/2017] [Indexed: 01/27/2023] Open
Abstract
Studies on the contractile dynamics of heart cells have attracted broad attention for the development of both heart disease therapies and cardiomyocyte-actuated micro-robotics. In this study, a linear dynamic model of a single cardiomyocyte cell was proposed at the subcellular scale to characterize the contractile behaviors of heart cells, with system parameters representing the mechanical properties of the subcellular components of living cardiomyocytes. The system parameters of the dynamic model were identified with the cellular beating pattern measured by a scanning ion conductance microscope. The experiments were implemented with cardiomyocytes in one control group and two experimental groups with the drugs cytochalasin-D or nocodazole, to identify the system parameters of the model based on scanning ion conductance microscope measurements, measurement of the cellular Young's modulus with atomic force microscopy indentation, measurement of cellular contraction forces using the micro-pillar technique, and immunofluorescence staining and imaging of the cytoskeleton. The proposed mathematical model was both indirectly and qualitatively verified by the variation in cytoskeleton, beating amplitude, and contractility of cardiomyocytes among the control and the experimental groups, as well as directly and quantitatively validated by the simulation and the significant consistency of 90.5% in the comparison between the ratios of the Young's modulus and the equivalent comprehensive cellular elasticities of cells in the experimental groups to those in the control group. Apart from mechanical properties (mass, elasticity, and viscosity) of subcellular structures, other properties of cardiomyocytes have also been studied, such as the properties of the relative action potential pattern and cellular beating frequency. This work has potential implications for research on cytobiology, drug screening, mechanisms of the heart, and cardiomyocyte-based bio-syncretic robotics.
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Affiliation(s)
- Chuang Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China; University of Chinese Academy of Sciences, Beijing, China
| | - Wenxue Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China.
| | - Wenhui He
- Department of Pharmacology, Shenyang Pharmaceutical University, Shenyang, China
| | - Ning Xi
- Emerging Technologies Institute, Department of Industrial and Manufacturing Systems Engineering, University of Hong Kong Pokfulam, Pokfulam, Hong Kong
| | - Yuechao Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China.
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