A Herd-Foraging-Based Approach to Adaptive Coverage Path Planning in Dual Environments

Coverage path planning (CPP) is essential for robotic tasks, such as environmental monitoring and terrain surveying, which require covering all surface areas of interest. As the pioneering approach to CPP, inspired by the concept of predation risk in predator-prey relations, the predator-prey CPP (PPCPP) has the benefit of adaptively covering arbitrary bent 2-D manifolds and can handle unexpected changes in an environment, such as the sudden introduction of dynamic obstacles. However, it can only work in bounded environment and cannot handle tasks in unbounded one, e.g., search and rescue tasks where the search boundary is unknown. Sometimes, robots are required to handle both bounded and unbounded environments, i.e., dual environments, such as capturing criminals in a city. Once encountering a building, the robot enters it to cover the bounded environment, then continues to cover the unbounded one when leaving the building. Therefore, the capability of swarm robots for the coverage tasks both in bounded and unbounded environments is important. In nature, herbivores live in groups to find more food and reduce the risk of predation. Especially the juvenile ones prefer to forage near the herd to protect themselves. Inspired by the foraging behavior of animals in a herd, this article proposes an online adaptive CPP approach that enables swarm robots to handle both bounded and unbounded environments without knowing the environmental information in advance, called dual-environmental herd-foraging-based CPP (DH-CPP). It's performance is evaluated in dual environments with stationary and dynamic obstacles of different shapes and quantity, and compared with three state-of-the-art approaches. Simulation results demonstrate that it is highly effective to handle dual environments.

Extended autofocusing in dual-wavelength digital holography

In single-wavelength digital holography (DH), the phase wrapping phenomenon limits the total object depth that can be measured due to the requirement for well-resolved phase fringes. To address this limitation, dual-wavelength DH is proposed, enabling measurement of much deeper objects. In single-wavelength DH, because the object depth is limited, the depth of focus (DOF) of DH's optical system at a reconstruction distance is sufficient to cover the object depth. To date, many autofocusing algorithms have been proposed to obtain a correct reconstruction distance. However, in dual-wavelength DH, because the object depth is extended, the DOF at a reconstruction distance cannot cover the extended object depth. The extended object depth can span multiple DOFs, causing partially out of focus object depth. Therefore, in dual-wavelength DH, relying solely on autofocusing algorithms for a single distance is insufficient. But extended autofocusing algorithms, which can autofocus objects through multiple DOFs, are demanded. However, there are no such extended autofocusing algorithms in dual-wavelength DH. Therefore, we propose an extended autofocusing algorithm for dual-wavelength DH based on a correlation coefficient. The proposed algorithm is able to focus the whole object depth when the depth spans multiple DOFs. Through theoretical analysis, simulations, and experiments, the necessity and effectiveness of the proposed algorithm are verified.

Sonocatalytic degradation of ciprofloxacin using hydrogel beads of TiO2 incorporated biochar and chitosan

Pharmaceuticals are necessary to be removed from environment. Herein TiO₂ incorporated biochar made from pyrolysis of agricultural wastes was encapsulated into chitosan to obtain a novel hydrogel beads. This hydrogel beads executed a dual role as both adsorbent and sonocatalyst, which proved to be suitable for the removal of antibiotic ciprofloxacin (CIP) from water. The results showed that adsorption of CIP followed pseudo first order kinetics model and Langmuir adsorption isotherm model, having maximum adsorption at pH 9. Whereas the degradation was more efficient at pH 6 due to greater standard potential for ^•OH/H₂O in acidic media. The degradation was maximum at 150 W of ultrasonic power, then decreased in presence of dissimilar electrolytes and even reduced to 0 in presence of Na₃PO₄. Different quenchers such as benzoquinone (BQ), Triethanolamine (TEA) and isopropyl alcohol (IPA) reduced degradation efficiency (DE) and mineralization efficiency (ME). The DE was decreased from 85.23% to 81.50% (BQ), 74.27% (TEA), and 61.77% (IPA) within 25 min. The prepared sonocatalyst was capable of regeneration with DE, remaining sufficiently high (62%) even after four regeneration steps. These results indicate that titanium-biochar/chitosan hydrogel beads (TBCB) are durable and effective for long-term CIP removal.

Transcription factor 3 (TCF3) combined with histone deacetylase 3 (HDAC3) down-regulates microRNA-101 to promote Burkitt lymphoma cell proliferation and inhibit apoptosis

To explore the function of transcription factor 3 (TCF3) on the proliferation and apoptosis of Burkitt lymphoma cells and its mechanism. qRT-PCR was performed to determine the expression of TCF3, histone deacetylase 3 (HDAC3), and microRNA-101 (miR-101) in the Burkitt lymphoma (BL) tumor tissues and lymph node tissues with reactive lymph node hyperplasia (RLNH). We found that the expression of TCF3 and HDAC3 was up-regulated in BL tumor tissues and lymphoma cells, and the miR-101 expression was down-regulated. And TCF3 and HDAC3 were negatively correlated with the expression of miR-101, respectively. In addition, knockdown of TCF3 can inhibit BL cell proliferation, reduce cell viability and promote cell apoptosis, retain the cell cycle in the G0/G1 phase, and inhibit the expression of Akt/mTOR pathway-related proteins (p-Akt and p-mTOR). When miR-101 was overexpressed, the results were the same as when TCF3 was knocked down. Moreover, we used Co-immunoprecipitation (Co-IP) to detect the interaction between TCF3 and HDAC3, and performed the Chromatin immunoprecipitation (ChIP) experiment to detect the enrichment of TCF3 and HDAC3 in the promoter region of miR-101. We found that TCF3 can interact with HDAC3 and is enriched in the miR-101 promoter region. In conclusion, TCF3 combined with HDAC3 down-regulates the expression of miR-101, thereby promoting the proliferation of BL cells and inhibiting their apoptosis.

CircKDM4C upregulates P53 by sponging hsa-let-7b-5p to induce ferroptosis in acute myeloid leukemia

To investigate the role of circKDM4C in acute myeloid leukemia (AML), the expression of circKDM4C, hsa-let-7b-5p, and P53 was measured by qRT-RCR. AML cell lines(K-562 and HL-60) were transfected correspondingly and investigated for cell proliferation, migration, and invasion abilities by CCK-8, colony formation, transwell, and wound healing assays, respectively. The levels of P53, ACSL4, PTGS2, GPX4, and FTH1 in the K-562, and HL-60 cells were measured by western blotting. Also, circKDM4C mediated regulation of ferroptosis was studied. The Phen Green SK probe and confocal laser scanning microscope were used to assess the cellular iron levels. The reactive oxygen species levels were analyzed by fluorescence-activated cell sorting using the C11-BODIPY probe. Bioinformatics analysis predicted the putative binding sites among circKDM4C, hsa-let-7b-5p, and P53. These were verified using the dual-luciferase reporter assay, RNA pull-down, and RNA immunoprecipitation assays. Finally, in vitro findings were also verified in vivo using the nude mice. CircKDM4C was significantly down-regulated in AML patients. The overexpression of circKDM4C in AML cell lines inhibited the cell proliferation, migration, invasion, and promoted ferroptosis. We found that circKDM4C acts as a sponge of hsa-let-7b-5p and thereby regulates p53 which is a target gene of hsa-let-7b-5p. Also, the expression of circKDM4C and hsa-let-7b-5p are negatively correlated, while circKDM4C and p53 are positively correlated to AML patients. Moreover, we found that circKDM4C induces ferroptosis by sponging hsa-let-7b-5p which upregulates the expression of P53. This work emphasizes the role of circKDM4C in AML patients, which could be explored for the therapeutic role.

Degenerate four-wave mixing for measurement of magnetic field using a nanoparticles-doped highly nonlinear photonic crystal fiber

A novel magnetic field sensor based on the degenerate four-wave mixing (DFWM) technique is theoretically proposed using a As₂S₃-core silica-cladding photonic crystal fiber (PCF). In order to enhance the sensitivity, we put forth a novel design of highly nonlinear PCF where the silica cladding is doped with either Au, Ag, or Al metallic nanoparticles. The effect of volume fraction of the nanoparticles within the cladding and the size of nanoparticles are considered as the control parameters in designing the magnetic field PCF sensor to obtain high sensitivity using this novel DFWM scheme. The PCF structure of the proposed sensor is optimized with the proposed pitch of 3 μm and air hole diameter of 2.78 μm. We consider a pumping pulsed laser light with a wavelength of 2100 nm in the mid-IR regime. It has been found that the optimized PCF with Al-SiO₂-cladding with small volume fraction and small nanoparticle size possess magnetic field sensitivity values of 2.74 and -0.058  nm/Oe for the Stokes and anti-Stokes gain lines.

Two-step method for creating a gastric tube during laparoscopic-thoracoscopic Ivor-Lewis esophagectomy

AIM

To introduce a two-step method for creating a gastric tube during laparoscopic-thoracoscopic Ivor-Lewis esophagectomy and assess its clinical application.

METHODS

One hundred and twenty-two patients with middle or lower esophageal cancer who underwent laparoscopic-thoracoscopic Ivor-Lewis esophagectomy at Liaoning Cancer Hospital and Institute from March 2014 to March 2016 were included in this study, and divided into two groups based on the procedure used for creating a gastric tube. One group used a two-step method for creating a gastric tube, and the other group used the conventional method. The two groups were compared regarding the operating time, surgical complications, and number of stapler cartridges used.

RESULTS

The mean operating time was significantly shorter in the two-step method group than in the conventional method group [238 (179-293) min vs 272 (189-347) min, P < 0.01]. No postoperative death occurred in either group. There was no significant difference in the rate of complications [14 (21.9%) vs 13 (22.4%), P = 0.55] or mean number of stapler cartridges used [5 (4-6) vs 5.2 (5-6), P = 0.007] between the two groups.

CONCLUSION

The two-step method for creating a gastric tube during laparoscopic-thoracoscopic Ivor-Lewis esophagectomy has the advantages of simple operation, minimal damage to the tubular stomach, and reduced use of stapler cartridges.

Magnetic field sensor using tilted fiber grating interacting with magnetic fluid

A novel magnetic field sensor using tilted fiber Bragg grating (TFBG) interacting with magnetic fluid is proposed and experimentally demonstrated. The TFBG is surrounded by magnetic fluid whose complex refractive index changes with external magnetic field. The guiding properties of cladding modes excited by the TFBG are therefore modulated by the external magnetic field. As a result, the magnetic field strength measurement is successfully achieved within a range up to 196 Gauss by monitoring extinction ratio of cladding mode resonance. Furthermore, temperature variation can be obtained simultaneously from the wavelength shift of the TFBG transmission spectrum.

Magneto-optical fiber sensor based on magnetic fluid

A novel magnetic field fiber sensor based on magnetic fluid is proposed. The sensor is configured as a Sagnac interferometer structure with a magnetic fluid film and a section of polarization maintaining fiber inserted into the fiber loop to produce a sinusoidal interference spectrum for measurement. The output interference spectrum is shifted as the change of the applied magnetic field strength with a sensitivity of 16.7 pm/Oe and a resolution of 0.60 Oe. The output optical power is varied with the change of the applied magnetic field strength with a sensitivity of 0.3998 dB/Oe.

Magneto-optic fiber Sagnac modulator based on magnetic fluids

A magneto-optic modulator with a magnetic fluid film inserted into an optical fiber Sagnac interferometer is proposed. The magnetic fluid exhibits variable birefringence and Faraday effect under external magnetic field that will lead to a phase difference and polarization state rotation in the Sagnac interferometer. As a result, the intensity of the output light is modulated under the external magnetic field. Moreover, the modulator has a high extinction ratio and can easily be integrated in a single-mode fiber system. The performance of the modulator is not affected by ambient temperature variation from room temperature to 40 °C.

Differential gene expression during terminal erythroid differentiation

Terminal erythroid differentiation in mammals is the process whereby nucleated precursor cells accumulate erythroid-specific proteins such as hemoglobin, undergo extensive cellular and nuclear remodeling, and ultimately shed their nuclei to form reticulocytes, which then become mature erythrocytes in the circulation. Little is known about the mechanisms that enable erythroblasts to undergo such a transformation. We hypothesized that genes involved in these mechanisms were likely expressed at restricted times during the differentiation process and used differential display reverse transcriptase polymerase chain reaction as a first step in identifying such genes. We identified three differentially expressed cDNAs that we termed late erythroblast (LEB) 1-3. None of these cDNAs were previously identified as being expressed in erythroblasts and their patterns of expression indicated they are likely to be involved in the differentiation process. LEB-1 cDNA was derived from the gene A330102K04Rik (approved gene symbol Apoll1), and shares homology with members of the apolipoprotein L family in humans. LEB-3 cDNA was derived from the novel gene D930015E06Rik, that has no known function. LEB-2 cDNA was derived from the gene ranBP16 (approved gene symbol Xpo7), a nuclear exportin. D930015E06Rik mRNA is also strongly expressed in the testis and was localized to a region of the seminiferous tubule where secondary spermatocytes and early spermatids are found, suggesting a role for D930015E06Rik in spermatogenesis as well as terminal erythroid differentiation. We have thus identified three genes not previously described as being expressed in erythroblasts that could be relevant in elucidating mechanisms involved in terminal erythroid differentiation.

[Physical simulation of radial artery displacement]

A previous developed physical cardiovascular simulation is used to investigate the displacement of radial artery during a cardiac cycle. Simulation result shows that the displacement is much greater than the change in the radius of the radial artery. The result is similar to the clinical observation reported before. Based on the simulation result, it is suggested that the displacement of radial artery plays an important part in the Maixiang (pulse condition), which is one of the most important contents of diagnostics in Traditional Chinese Medicine.

[Simulation study on the blood volume feedback control]

To describe the relationship between blood volume and the cardiac function mathematically, a computer cardiovascular model, was developed including a systemic circulation, a heart and a pulmonary model and a blood volume feedback control. Simulation results indicate that the chronic heart failure could be compensated by increasing the blood volume to maintain the proper arterial pressure. Deterioration in heart failure causes an increase in blood volume, as well as increases in heart volume and cardiac energy consumption. These results are in agreement with the clinical data and results reported in the literature. The simulation also shows that for a predetermined ventricular contractility, an adequate increase in blood volume will increase the heart volume but decrease the cardiac energy consumption and lead the heart to work in an optimum condition.