Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control.

Squatting is a fundamental and crucial movement, often employed as a basic test during robot commissioning, and it plays a significant role in some service industries and in cases when robots perform high-dynamic movements like jumping. Therefore, achieving continuous and precise squatting actions is of great importance for the future development of humanoid robots. In this paper, we apply three-particle model predictive control (TP-MPC) combined with weight-based whole-body control (WBC) to a humanoid robot.

Silicon-based all-solid-state batteries operating free from external pressure.

Silicon-based all-solid-state batteries offer high energy density and safety but face significant application challenges due to the requirement of high external pressure. In this study, a LiSi/Si-LiSi double-layered anode is developed for all-solid-state batteries operating free from external pressure. Under the cold-pressed sintering of LiSi alloys, the anode forms a top layer (LiSi layer) with mixed ionic/electronic conduction and a bottom layer (Si-LiSi layer) containing a three-dimensional continuous conductive network.

Tumor microenvironment triggered iron-based metal organic frameworks for magnetic resonance imaging and photodynamic-enhanced ferroptosis therapy.

Photodynamic therapy (PDT) primarily relies on the generation of reactive oxygen species (ROS) to eliminate tumor cells. However, the elevated levels of glutathione (GSH) within tumor cells can limit the efficacy of PDT, posing a challenge to achieve complete tumor eradication. Herein, a porous iron-based metal-organic frameworks (PEG-Fe-MOFs) nanoplatform was developed for the combined application of PDT and ferroptosis in cancer treatment.

Exploring microfluidics-based organoid interactions through analysis of albumin secretion.

Organoids-on-a-chip exhibit significant potential for advancing disease modeling, drug screening, and precision medicine, largely due to their capacity to facilitate interactions among organoids. However, the influence of chip design on these interactions remains poorly understood, primarily due to our limited knowledge of the mediators of communication and the complexity of interaction dynamics. This study demonstrates that analyzing albumin secretion from liver organoids within an organoids-on-a-chip system can provide a measure of the interaction intensity among organoids, offering valuable insights into how chip design influences these interactions.

Modulation of DAPK1 expression by its alternative splice variant DAPK1-215 in cancer.

Background: Death-Associated Protein Kinase 1 (DAPK1) family members are calcium/calmodulin-regulated serine/threonine kinases implicated in cell death, normal development, and human diseases. However, the regulation of DAPK1 expression in cancer remains unclear.

Methods: We examined the expression and functional impact of a DAPK1 splice variant, DAPK1-215, in multiple cancer cell lines.

Curcumin attenuates ulcerative colitis via regulation of Sphingosine kinases 1/NF-κB signaling pathway.

Curcumin, a compound from Curcuma longa L., has significant anti-inflammatory properties. However, the mechanisms underlying its anti-inflammatory activity in dextran sodium sulfate (DSS)-induced ulcerative colitis (UC) remain inadequately understood.

Association of different emotional support status with cardio-cerebrovascular diseases.

Background: Evidence suggests that emotional status affect physical health. We aimed to investigate the association of different emotional support sources with morbidity or mortality of cardio-cerebrovascular diseases (CVDs).

Methods: We conducted a retrospective-cohort analysis using data in National Health and Nutrition Examination Survey from 1999 to 2004.

Genome-Wide Identification of Xyloglucan Endotransglucosylase/Hydrolase Multigene Family in Chinese Jujube () and Their Expression Patterns Under Different Environmental Stresses.

The Xyloglucan endotransglucosylase/hydrolase (XTH) family, a group of cell wall-modifying enzymes, plays crucial roles in plant growth, development, and stress adaptation. The quality and yield of Chinese jujube () fruit are significantly impacted by environmental stresses, including excessive salinity, drought, freezing, and disease. However, there has been no report of the XTH encoding genes present in the Chinese jujube genome and their response transcription level under various stresses.

A Whole-Body Coordinated Motion Control Method for Highly Redundant Degrees of Freedom Mobile Humanoid Robots.

Humanoid robots are becoming a global research focus. Due to the limitations of bipedal walking technology, mobile humanoid robots equipped with a wheeled chassis and dual arms have emerged as the most suitable configuration for performing complex tasks in factory or home environments. To address the high redundancy issue arising from the wheeled chassis and dual-arm design of mobile humanoid robots, this study proposes a whole-body coordinated motion control algorithm based on arm potential energy optimization.

Integrative analysis of recurrence related gene signature and STC1 in colorectal cancer proliferation and metastasis.

Colorectal cancer remains a formidable global health challenge, characterized by high recurrence rates and poor prognosis. This study introduces a novel Recurrence Related Gene Signature (RRGS), designed to predict therapy response and enhance prognostic accuracy in colorectal cancer. Through analysis of the GSE17536 cohort, we identified 79 differentially expressed genes (DEGs) between recurrent and non-recurrent cases, comprising 54 upregulated and 25 downregulated genes.

Correlation between optic nerve sheath diameter measured by bedside ultrasound and intracranial pressure in neurologically ill patients in a Chinese population.

Background: We assessed the correlation between optic nerve sheath diameter (ONSD) values measured by bedside ultrasound and intracranial pressure (ICP) changes among patients under neurocritical care and evaluated the diagnostic performance of ONSD for increased ICP.

Methods: Sixty-seven neurologically critical patients who were hospitalised in the intensive care unit (ICU) of Jining No.1 People's Hospital between September 2023 and March 2024 and underwent lumbar puncture were included.

DAPK enhances DDX20 protein stability via suppression of TRIM25-mediated ubiquitination-based DDX20 degradation.

We have previously found that the DAPK-DDX20 signaling axis exerts an anti-cancer activity in hepatocellular carcinoma (HCC) by inhibiting the GTPase activity of CDC42, thereby reducing the invasive and migratory capabilities of cancer cells without affecting cell proliferation. DDX20 serves as an intermediate protein regulated by DAPK in the control of CDC42. Specifically, DAPK enhances DDX20 protein levels by suppressing DDX20 degradation.

Neoantigen DNA vaccines are safe, feasible, and induce neoantigen-specific immune responses in triple-negative breast cancer patients.

Background: Neoantigen vaccines can induce or enhance highly specific antitumor immune responses with minimal risk of autoimmunity. We have developed a neoantigen DNA vaccine platform capable of efficiently presenting both HLA class I and II epitopes and performed a phase 1 clinical trial in triple-negative breast cancer patients with persistent disease on surgical pathology following neoadjuvant chemotherapy, a patient population at high risk of disease recurrence.

Methods: Expressed somatic mutations were identified by tumor/normal exome sequencing and tumor RNA sequencing.

Hand Compartment Syndrome After Prolonged Robotic-Assisted Laparoscopic Rectal Resection: A Case Report and Literature Review.

Hand compartment syndrome is a rare condition due to trauma and vascular obstruction or injury, such as fluid extravasation, vascular obstruction, or arterial injury from arterial line insertion during anesthesia. However, perioperative hand compartment syndrome with no apparent preexisting cause during anesthesia that requires fasciotomy is extremely rare. We report a case on a 54-year-old male with history significant for stage IIIA moderately differentiated adenocarcinoma of the rectum who was scheduled for ultralow rectal resection and cystourethroscopy with insertion of urethral stent.

Semisynthesis, Structure Elucidation and Anti- Activity of a Series of Marine-Derived 14-Membered Resorcylic Acid Lactones with Interesting Ketal Groups.

The incidence of infection is on the rise; however, the existing drug treatment cycle is lengthy and often requires multi-drug combination. Therefore, there is a need to develop new and effective anti- drugs. Cochliomycin A, a 14-membered resorcylic acid lactone with an acetonide group at C-5' and C-6', exhibits a wide range of antimicrobial, antimalarial, and antifouling activities.

Evaluating the ability of the Wind Erosion Prediction System (WEPS) to simulate near-surface wind speeds in the Inland Pacific Northwest, USA.

Wind speed is one of the main control factors of wind erosion and dust emissions, which are major problems in arid and semiarid regions of the world. Accurately simulating highly precise hourly wind speeds is critical and cost-efficient for land management decisions with the goal of mitigating wind erosion and land degradation. The Wind Erosion Prediction System (WEPS) is a process-based, daily time-step model that simulates changes in the soil-vegetation-atmosphere.

Trace RuO nanoparticles loaded nickel-coated multi-walled carbon nanotubes to boost hydrogen evolution reaction under acidic and alkaline media.

Developing low-cost catalysts with high activity for the Hydrogen Evolution Reaction (HER) is a main challenge to reduce the dependence on precious metals while maintaining the catalytic activity. In this study, nickel-plated multi-walled carbon nanotubes (Ni-MWCNTs) with a large number of active sites were selected, and Ni-MWCNTs electrocatalysts loaded with trace amounts of RuO nanoparticles were prepared by annealing treatment, which exhibited excellent HER performances in both acidic and alkaline media. The RuO nanoparticles loaded nickel-coated multi-walled carbon nanotubes (RuO@Ni-MWCNTs) had a small electrochemical impedance spectrum (EIS) and a large electrochemically active surface area (ECSA).

Eicosatrienoic acid enhances the quality of in vitro matured porcine oocytes by reducing PRKN-mediated ubiquitination of CISD2.

Oocytes and early embryos are exposed to many uncontrollable factors that trigger endoplasmic reticulum (ER) stress during in vitro culture. Prevention of ER stress is an effective way to improve the oocyte maturation rate and oocyte quality. Increasing evidence suggests that dietary intake of sufficient n-3 polyunsaturated fatty acids (PUFAs) is associated with health benefits, particularly in the domain of female reproductive health.

Gastrodin Alleviates Angiotensin II-Induced Hypertension and Myocardial Apoptosis via Inhibition of the PRDX2/p53 Pathway In Vivo and In Vitro.

Gastrodin, a highly potent compound found in the traditional Chinese medicine Blume, exhibits significant antihypertensive properties. However, its role and the mechanism behind its protective effects on hypertensive cardiac conditions are not well understood. This study aims to investigate the cardiac protective effects and underlying mechanisms of gastrodin in angiotensin II (Ang II)-induced hypertensive models, both in vivo and in vitro.

Visualizing Immune Checkpoint Inhibitors Derived Inflammation in Atherosclerosis.

Background: Immune checkpoint inhibitor (ICI) usage has resulted in immune-related adverse events in patients with cancer, such as accelerated atherosclerosis. Of immune cells involved in atherosclerosis, the role of CCR2+ (CC motif chemokine receptor 2-positive) proinflammatory macrophages is well documented. However, there is no noninvasive approach to determine the changes of these cells in vivo following ICI treatment and explore the underlying mechanisms of immune-related adverse events.

Causal relationship between Brugada syndrome and electrocardiogram traits: A bidirectional Mendelian randomization study.

Introduction: Observational studies have suggested associations between Brugada syndrome (BrS) and electrocardiograms traits. Nonetheless, the causal relationships remains uncertain in observational studies. This study aims to investigate the causal relationships between BrS phenotypic risk and electrocardiogram traits using Mendelian randomization (MR) analysis and colocalization analysis.

Evaluating the toxicity effects of thiamethoxam and its main metabolite clothianidin to earthworms (Eisenia fetida) from the perspective of endogenous metabolites.

The widespread application of neonicotinoid insecticides (NNIs) has attracted widespread attention to their potential ecotoxicological effects. In this study, we systematically evaluated the toxic effects of thiamethoxam (TMX) and its metabolite clothianidin (CLO) on earthworms (Eisenia fetida). Specifically, the antioxidant system responses and endogenous metabolite metabolism responses in earthworms were analyzed in the temporal dimension after 7, 14, 21 and 28 days of exposure to TMX and CLO.