Slip considered path planning of a novel angled-spoke based robot in a terrain mixture of granular media and rigid support.

Navigation in terrains mixture of rigid support and granular media is associated with slippage. It is important to find the optimal path because slippage implies the possibility of a mobile robot being stuck in the sand. This research introduce concept of effective distance which consider effect of slippage to present a path planning algorithm.

Rhus verniciflua Stokes extract induces inhibition of cell growth and apoptosis in human chronic myelogenous leukemia K562 cells.

Rhus verniciflua Stokes has been widely used as a traditional medicinal plant with a variety of pharmacological activities. We investigated the mechanisms involved in mediating the effects of Rhus verniciflua Strokes (R. verniciflua) extract in human chronic myelogenous leukemia K562 cells, including caspase-dependent apoptotic pathways related to cell-cycle arrest, as well as the inhibition of nuclear factor NF-κB activation and upregulation of the mitogen-activated protein kinase (MAPK) signaling pathway.

Orostachys japonicus inhibits the expression of MMP-2 and MMP-9 mRNA and modulates the expression of iNOS and COX-2 genes in human PMA-differentiated THP-1 cells via inhibition of NF-κB and MAPK activation.

Orostachys japonicus has been used in traditional medicine as an anticancer agent. The present study aimed to investigate the mechanism by which O. japonicus extract affects the expression of matrix metalloproteinase (MMP)-2 and MMP-9, its association with the expression of the inducible nitric oxide synthase (iNOS) and cyclooxygenase-2 (COX-2) genes in phorbol myristate acetate-differentiated THP-1 human monocytic leukemia cells and how it mediates the nuclear factor (NF)-κB and mitogen-activated protein kinase (MAPK) pathways.

Two-year clinical effectiveness of adhesives and retention form on resin composite restorations of non-carious cervical lesions.

The current study investigated the clinical effectiveness of three adhesives and the use of retention form in Class V resin composite restorations of the non-carious cervical lesion (NCCL) over a two-year period. One-hundred and fifty NCCLs in 39 patients were restored with resin composites according to six experimental protocols combining the presence or absence of retention form and three adhesives: ScotchBond Multi-Purpose (MP, 3M ESPE), an experimental adhesive (EX, Vericom) and Adper Prompt (AP, 3M ESPE). All restorations were evaluated at baseline, 6, 12 and 24 months.