Regio-, Site- and Stereo-Selective Aziridination of Conjugated Dienes Enabled by Palladium/Copper/Iodide/Oxygen Cooperation.

Vinylaziridines are important building blocks in organic chemistry, especially in the synthesis of nitrogen-containing heterocycles. The direct and efficient transfer of an appropriate nitrogen source to readily accessible conjugated dienes is a notable methodology. The Pd-catalyzed oxidative 1,2-difunctionalization of conjugated dienes through a π-allyl-palladium species should be an ideal method for the selective synthesis of vinylaziridines.

Adaptive Gait Training of a Lower Limb Rehabilitation Robot Based on Human-Robot Interaction Force Measurement.

The existing fixed gait lower limb rehabilitation robots perform a predetermined walking trajectory for patients, ignoring their residual muscle strength. To enhance patient participation and safety in training, this paper aims to develop a lower limb rehabilitation robot with adaptive gait training capability relying on human-robot interaction force measurement. Firstly, a novel lower limb rehabilitation robot system with several active and passive driven joints is developed, and 2 face-to-face mounted cantilever beam force sensors are employed to measure the human-robot interaction forces.

Real-time Trajectory Planning and Tracking Control of Bionic Underwater Robot in Dynamic Environment.

In this article, we study the trajectory planning and tracking control of a bionic underwater robot under multiple dynamic obstacles. We first introduce the design of the bionic leopard cabinet underwater robot developed in our lab. Then, we model the trajectory planning problem of the bionic underwater robot by combining its dynamics and physical constraints.

Discovery of novel diaryl substituted isoquinolin-1(2H)-one derivatives as hypoxia-inducible factor-1 signaling inhibitors for the treatment of rheumatoid arthritis.

Since synovial hypoxic microenvironment significantly promotes the pathological progress of rheumatoid arthritis (RA), hypoxia-inducible factor 1 (HIF-1) has been emerged as a promising target for the development of novel therapeutic agents for RA treatment. In this study, we designed and synthesized a series of diaryl substituted isoquinolin-1(2H)-one derivatives as HIF-1 signaling inhibitors using scaffold-hopping strategy. By modifying the substituents on N-atom and 6-position of isoquinolin-1-one, we discovered compound 17q with the most potent activities against HIF-1 (IC = 0.

Study on the clinical efficacy and safety of baloxavir marboxil tablets in the treatment of influenza A.

Objective: To evaluate the clinical efficacy and safety of baloxavir marboxil tablets in the treatment of influenza A.

Methods: According to a random sequence generated by computer software, 200 patients with confirmed influenza A were divided into a study group and a control group with 100 cases in each group. Group allocation was concealed using sealed envelopes.

A Fish-like Binocular Vision System for Underwater Perception of Robotic Fish.

Biological fish exhibit a remarkably broad-spectrum visual perception capability. Inspired by the eye arrangement of biological fish, we design a fish-like binocular vision system, thereby endowing underwater bionic robots with an exceptionally broad visual perception capacity. Firstly, based on the design principles of binocular visual field overlap and tangency to streamlined shapes, a fish-like vision system is developed for underwater robots, enabling wide-field underwater perception without a waterproof cover.

GCY-20 signaling controls suppression of Caenorhabditis elegans egg laying by moderate cold.

Organisms sensing environmental cues and internal states and integrating the sensory information to control fecundity are essential for survival and proliferation. The present study finds that a moderate cold temperature of 11°C reduces egg laying in Caenorhabditis elegans. ASEL and AWC neurons sense the cold via GCY-20 signaling and act antagonistically on egg laying through the ASEL and AWC/AIA/HSN circuits.

Molecular and circuit mechanisms underlying avoidance of rapid cooling stimuli in C. elegans.

The mechanisms by which animals respond to rapid changes in temperature are largely unknown. Here, we found that polymodal ASH sensory neurons mediate rapid cooling-evoked avoidance behavior within the physiological temperature range in C. elegans.

Spatial Domain Image Fusion with Particle Swarm Optimization and Lightweight AlexNet for Robotic Fish Sensor Fault Diagnosis.

Safety and reliability are vital for robotic fish, which can be improved through fault diagnosis. In this study, a method for diagnosing sensor faults is proposed, which involves using Gramian angular field fusion with particle swarm optimization and lightweight AlexNet. Initially, one-dimensional time series sensor signals are converted into two-dimensional images using the Gramian angular field method with sliding window augmentation.

HybrUR: A Hybrid Physical-Neural Solution for Unsupervised Underwater Image Restoration.

Robust vision restoration of underwater images remains a challenge. Owing to the lack of well-matched underwater and in-air images, unsupervised methods based on the cyclic generative adversarial framework have been widely investigated in recent years. However, when using an end-to-end unsupervised approach with only unpaired image data, mode collapse could occur, and the color correction of the restored images is usually poor.

Efficacy and safety of Nirmatrelvir/Ritonavir for treating the Omicron variant of COVID-19.

Objective: To evaluate the efficacy and safety of Nirmatrelvir/Ritonavir in the treatment of the Omicron variant of coronavirus disease 2019 (COVID-19).

Methods: Data from 58 patients who were infected with the Omicron variant of COVID-19 were retrospectively collected. The patients were divided into two groups according to the treatment regimen they received.

Multi-site programmable functionalization of alkenes via controllable alkene isomerization.

Direct and selective functionalization of hydrocarbon chains is a fundamental problem in synthetic chemistry. Conventional functionalization of C=C double bonds and C(sp)-H bonds provides some solutions, but site diversity remains an issue. The merging of alkene isomerization with (oxidative) functionalization provides an ideal method for remote functionalization, which would provide more opportunities for site diversity.

A Survey on Reinforcement Learning Methods in Bionic Underwater Robots.

Bionic robots possess inherent advantages for underwater operations, and research on motion control and intelligent decision making has expanded their application scope. In recent years, the application of reinforcement learning algorithms in the field of bionic underwater robots has gained considerable attention, and continues to grow. In this paper, we present a comprehensive survey of the accomplishments of reinforcement learning algorithms in the field of bionic underwater robots.

Design and Analysis of a Bionic Gliding Robotic Dolphin.

In this paper, we focus on the design and analysis of a bionic gliding robotic dolphin. Inspired by natural dolphins, a novel bionic gliding robotic dolphin is developed. Different from the existing ones, the gliding robotic dolphin developed in this work is specially introduced with a yaw joint to connect its three oscillating joints to improve maneuverability in both dolphin-like swimming and gliding motion.

Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins.

The aquatic-aerial robot with the free interface crossing can enhance adaptability in complex aquatic environments. However, its design is extremely challenging for the striking discrepancies in propulsion principles. The flying fish in nature exhibits remarkable multi-modal cross-domain locomotion capability, such as high-maneuvers swimming, agile water-air crossing, and long-distance gliding, providing extensive inspiration.

Development and 3-D Path-Following Control of an Agile Robotic Manta With Flexible Pectoral Fins.

The broad and powerful pectoral fins of manta rays are crucial to their efficient and maneuverable swimming. However, very little is currently known about the pectoral-fin-driven 3-D locomotion of manta-inspired robots. This study is focused on the development and 3-D path-following control of an agile robotic manta.

Disexcitation in the ASH/RIM/ADL negative feedback circuit fine-tunes hyperosmotic sensation and avoidance in .

Sensations, especially nociception, are tightly controlled and regulated by the central and peripheral nervous systems. Osmotic sensation and related physiological and behavioral reactions are essential for animal well-being and survival. In this study, we find that interaction between secondary nociceptive ADL and primary nociceptive ASH neurons upregulates avoidance of the mild and medium hyperosmolality of 0.

Calibration Model Optimization for Strain Metrology of Equal Strength Beams Using Deflection Measurements.

Strain sensors, especially fiber Bragg grating (FBG) sensors, are of great importance in structural health monitoring, mechanical property analysis, and so on. Their metrological accuracy is typically evaluated by equal strength beams. The traditional strain calibration model using the equal strength beams was built based on an approximation method by small deformation theory.

Reproductive toxicity of enrofloxacin in Caenorhabditis elegans involves oxidative stress-induced cell apoptosis.

Fluoroquinolone antibiotics (FQs) that persist and bioaccumulate in the environment have aroused people's great concern. Here, we studied the adverse effects of FQs in soil animals of Caenorhabditis elegans via food-chronically exposure. The result shows C.

Positive interaction between ASH and ASK sensory neurons accelerates nociception and inhibits behavioral adaptation.

Central and peripheral sensory neurons tightly regulate nociception and avoidance behavior. The peripheral modulation of nociception provides more veridical and instantaneous information for animals to achieve rapid, more fine-tuned and concentrated behavioral responses. In this study, we find that positive interaction between ASH and ASK sensory neurons is essential for the fast-rising phase of ASH Ca responses to noxious copper ions and inhibits the adaption of avoiding Cu.

The Relevance of Host Gut Microbiome Signature Alterations on de novo Fatty Acids Synthesis in Patients with Multi-Drug Resistant Tuberculosis.

Background: Tuberculosis (TB) is still the single pathogen infectious disease with the largest number of deaths worldwide. The relationship that intestinal microbiota disorder and de novo fatty acid synthesis metabolism have with disease progression in multi-drug resistant TB (MDR-TB) has not yet been fully studied.

Objective: To investigate the effects of long periods of MDR-TB, pre-extensively drug-resistant TB (pre-XDR-TB), or rifampicin-resistant TB (RR-TB) on gut microbiome dysbiosis and advanced disease.

Pd-Catalyzed Aerobic Intermolecular 1,2-Diamination of Conjugated Dienes: Regio- and Chemoselective Synthesis of Piperazines and 2-Piperazinones.

Dinitrogen heterocycles are among the most important molecular structures, and the synthesis of these types of structures through intermolecular 1,2-diamination of olefins is a direct and efficient method. However, the types of nitrogen sources are mostly derived from ureas or arylamines, and nitrogen sources from aliphatic amines are still limited due to their distinct electronic and steric effects. Herein, we report a palladium-catalyzed aerobic intermolecular 1,2-diamination of conjugated dienes, using ethanediamine and α-amino amide derivatives as nitrogen sources respectively, for the synthesis of piperazines and 2-piperazinones in good yields (up to 95 %) and with high regio- and chemoselectivities.

The Diagnostic Value of the Thermostatic Amplification of Ribonucleic Acid in Bronchoalveolar Lavage Fluid in Smear-Negative Pulmonary Tuberculosis.

Objective: This study aimed to determine the value of the simultaneous amplification and testing for in bronchoalveolar lavage fluid (BALF) in the diagnosis of smear-negative pulmonary tuberculosis (PTB).

Methods: A total of 316 patients were selected, of which 197 had smear-negative PTB (observation group), and 119 did not have TB (control group). Bronchoscopy was performed in both groups, and BALF samples were collected for acid-fast bacilli smears, simultaneous amplification/testing for TB (SAT-TB), and BACTEC MGIT 960 cultures.

Barrier-Based Adaptive Line-of-Sight 3-D Path-Following System for a Multijoint Robotic Fish With Sideslip Compensation.

This article proposes a novel barrier-based adaptive line-of-sight (ALOS) three-dimensional (3-D) path-following system for an underactuated multijoint robotic fish. The framework of the developed path-following system is established based on a detailed dynamic model, including a barrier-based ALOS guidance strategy, three integrated inner-loop controllers, and a nonlinear disturbance observer (NDOB)-based sideslip angle compensation, which is employed to preserve a reliable tracking under a frequently varying sideslip angle of the robotic fish. First, a barrier-based convergence strategy is proposed to deal with probable along-track error disruption and suppress the error within a manageable range.