Search Results (20,556)

With the continuous expansion of the application field of mobile robots, the diversification and complexity of the application scenarios have put forward higher requirements for their motion control performance. In order to enhance the ability to brake fast and to prevent slipping when the mobile robot is working, a slipping ratio tracking strategy based on an improved integral sliding mode algorithm regulated by a composite convergence law is proposed. The composite convergence law is proposed by integrating the power law with the exponential convergence law. A mathematical model of a single-wheeled mobile robot is established, a relationship curve between slipping ratio and pavement adhesion coefficient is introduced to estimate the pavement adhesion coefficient, and an improved integral sliding mode controller is designed. The stability is verified using Lyapunov stability theory. The slipping ratio is tracked based on the integral sliding-mode controller, and the slipping ratio is corrected to control the wheel slipping ratio near the ideal optimal slipping ratio. Furthermore, simulation experiments are conducted in MATLAB/Simulink (R2020b) under two typical working conditions to compare the proposed control strategy with conventional sliding-mode control regulated by an exponential convergence law. Finally, the mobile robot slipping ratio tracking experiments are conducted to verify the simulation results, which show that the proposed control strategy enables the mobile robot to reach the ideal braking state more quickly and stably, thereby improving the braking effect of the ABS braking system of the mobile robots. Full article

Lupus nephritis (LN) is a serious complication of systemic lupus erythematosus that is associated with long-term morbidity and mortality. Pathomorphological findings of LN are broadly divided into proliferative lupus nephritis (PLN) and membranous lupus nephritis (MLN). PLN is characterized by diffuse global or segmental proliferative glomerulonephritis with significant infiltration of inflammatory cells. Type 1 T-helper (Th1) cells, which predominate under inflammatory conditions, and NETosis, as the process of forming neutrophil extracellular traps (NETs), are key factors in the development of PLN. Meanwhile, MLN is characterized by diffuse membranous nephropathy (MN) with global granular subepithelial immune deposits. MLN patients usually experience massive proteinuria, and occasionally show an unfavorable renal prognosis despite aggressive treatment, similar to PLN patients. Intriguingly, in some instances, MLN patients do not show the general immunoserological characteristics of SLE, such as low serum complement and elevated anti-DNA antibody titers. Several reports have indicated an association between Th2 cell dominance and the development of MLN. Moreover, exostosin 1 (EXT1) and exostosin 2 (EXT2) on the glomerular basement membrane have recently been discovered as novel putative antigens for secondary MN, and have been shown to be up-regulated in patients with MLN. To date, many studies have focused on the dissimilarities between PLN and MLN. However, the reason for two polar morphological forms existing within the same disease is not completely clear. The present review addresses published observations on this topic in addition to providing our assertion regarding characteristic NETosis and glomerular EXT1/EXT2 expressions between PLN and MLN. Full article

BAR domains are a superfamily of widely conserved membrane binding motifs. In fungi, Pil1 family proteins are BAR domain containing proteins involved in organizing the plasma membrane. S. pombe encodes a sporulation-specific Pil1 family protein, Meu14, which has a specialized role in shaping the forespore membrane during sporulation. The functional analog of Meu14 in S. cerevisiae is Ssp1. While Ssp1 has no primary sequence homology to Pil1 or Meu14, AlphaFold predicts that it contains a Pil1-related BAR domain. Consistent with this structural prediction, mutation of residues in the putative lipid binding face of Ssp1 or in a residue implicated in multimerization disrupt sporulation. Characterization of the mutant proteins indicates that the BAR domain is necessary for recruitment of Ssp1 to the highly curved leading edge of the prospore membrane and multimerization of Ssp1 at that location is required for assembly of the leading edge complex. The distribution of Pil1 family proteins across an evolutionary tree of Ascomycetes reveals that Meu14 and Ssp1 arose independently in the lineages leading to S. pombe and S. cerevisiae, respectively. Full article

In response to the lubrication failure problem during spacecraft operation, new requirements have been put forward for micro, precise, and dynamically adjustable lubrication and oil-supply technology for its key moving components. This article charts the design of a micro fuel-supply device structure based on a piezoelectric oscillator. Through finite-element simulation, the influence of the vibration mode and excitation parameters (waveform, frequency, voltage amplitude) of the piezoelectric oscillator on the displacement response amplitude and period of the oscillator is analyzed in depth. Research on waveform characteristics shows that sine waves can maintain frequency and phase stability due to their single-frequency nature, with an amplitude of 0.21615 mm between the two; The study of frequency characteristics shows that the displacement response amplitude of the piezoelectric oscillator is the largest at a 4914.2 Hz resonant state, which is about 10 times that of the non-resonant state; the study on voltage amplitude characteristics shows that the vibration displacement amplitude is significantly positively correlated with the driving voltage. When the excitation voltage is 220 V, the displacement response amplitude is 0.21615 mm and the period is 3960 µs. This study provides important theoretical support for optimizing the performance of piezoelectric oscillators. Full article

The number of people affected by myopia worldwide is estimated to reach two billion and to further grow. Therefore, numerous treatment approaches (pharmacological, behavioral, environmental, and optical) have been put forth to slow the progression of myopia, especially in children. Among these, spectacle lenses represent a straightforward and less intrusive therapeutic approach for children and their parents. For this reason, in recent years, several spectacle lenses with different technologies have been developed to slow myopia progression and enhance the quality of life for myopic children, thus trying to reduce the related health care burden. According to the published scientific literature, three different types of spectacle lenses are currently the most validated optical options for myopia management: (i) Defocus Incorporated Multiple Segments lenses (DIMS), (ii) Highly Aspherical Lenslet Target lenses (HALT) and (iii) Cylindrical Annular Refractive Elements (CARE) lenses. The aim of this narrative review is to exclusively discuss the scientific evidence of these three different spectacles lenses, and to point out the potential benefits and drawbacks in their use for myopia control and management. Full article

English walnut (Juglans regia) is a species that is highly valued for the quality of its wood and the nutritional and nutraceutical properties of its fruit. A severe dieback of J. regia trees was observed recently in orchards located in three geographically distinct areas of Tuscany, central Italy. Symptoms included root and collar rot, necrosis of the under-bark tissue, bleeding cankers, stunted growth, and crown dieback. Four Phytophthora species were obtained from 239 isolates found on symptomatic J. regia individuals. They were identified, on the basis of macro-morphological (colony shape and texture), micro-morphometric (shape and size of oogonia, antheridia, oospores, sporangia, and chlamydospores) and molecular (ITS sequencing) characters, as P. gonapodyides, P. cactorum, P. citricola, and P. plurivora. Among these species, P. plurivora was the species isolated with overwhelming frequency from symptomatic tissue and rhizosphere soil, suggesting it to be the putative etiological agent. Pathogenicity assays were conducted on 20 cm long detached J. regia branches for a definitive establishment of disease causation. Severe symptoms (extended necroses) were exhibited by branches infected with P. plurivora, proving its pathogenicity and high virulence on this host. The other Phytophtora species produced negligible necroses around the inoculation site. P. plurivora was recovered from all the investigated orchards, providing evidence that it is quite widespread. This study highlights the growing threat posed by the polyphagous P. plurivora to walnut cultivation and the sustainable business it fuels in Europe, underscoring the need for integrated management strategies to mitigate its economic and ecological impacts. Full article

As the reserves of these raw materials continue to dwindle, their extraction is becoming increasingly difficult, with shaft depth increasing and sometimes exceeding three kilometres. As shaft depths increase, the costs, as well as the risks of mining and other shaft operations, increase non-linearly. There is also a significant increase in the costs associated with condition assessment, which depend on the inspection and testing method used and increase with the lifetime of the facility. New technical and organisational solutions are emerging to meet these requirements. This paper addresses the operation of steel ropes. This article analyses the results of strength tests on two selected modern hoisting rope designs that have recently come into service. These structures are relatively unknown to users in terms of their wear. In their operation, significant problems of condition assessment and safety, as well as disqualification due to the level of wear reached, arise. Strength tests were performed using classic non-destructive methods (tensile test, torsion test, bending test) to assess the technical condition of ropes after their replacement. The tests on two rope structures carried out before and after they were put down by expert decision were analyzed. The results of these tests were statistically processed and presented graphically to determine similarities and differences. Statistical analyses were used to evaluate the results by examining the distribution of variable strength parameters. All results were commented on, and specific and general conclusions were drawn. The article presents the conclusions, the most important of which is that new and complex ropes exhibit varying degrees of wear across the layers. This is due to their compaction process. These should be useful to users of similar rope designs, personnel carrying out the obligatory tests imposed by the legislation, and those making strategic decisions regarding the operation of entire mining plants. The analyses may contribute to the subsequent assessment of the technical condition of new ropes, which in many cases have wear parameters (corrosion, strength loss, etc.) assessed in a subjective, not quantitative, manner. Full article

Verticillium wilt, caused by Verticillium dahliae, severely threatens various crops and trees worldwide. This study aimed to characterize the function of a CUE (coupling of ubiquitin conjugation to endoplasmic reticulum (ER) degradation)-domain-containing protein, VdCUE, in V. dahliae, which exhibits sequence divergence between the defoliating strain XJ592 and the non-defoliating strain XJ511. We generated ∆VdCUE-knockout mutants and evaluated their phenotypes in growth and virulence. Functional analyses included verifying the signal peptide activity of VdCUE, testing its ability to induce cell death or inhibit BAX-induced cell death in Nicotiana benthamiana leaves, and identifying host targets via yeast two-hybrid screening. The ∆VdCUE mutants showed reduced formation of melanized microsclerotia but no other obvious growth defects. Cotton plants infected with the ∆VdCUE mutants exhibited a significantly lower disease index and defoliation rate. VdCUE was confirmed to be secreted via a functional signal peptide, but it neither triggered cell death nor inhibited BAX-induced cell death. Three putative host targets were identified and supported by AI-based three-dimensional structural modeling, including tRNA-specific 2-thiouridylase, peptidyl-prolyl cis-trans isomerase, and 40S ribosomal protein, which may mediate VdCUE-dependent virulence regulation. These findings reveal VdCUE as a key virulence factor in V. dahliae, contributing to our understanding of its pathogenic mechanism. Full article

This article presents an analysis of the architectural integration of two new buildings implemented on the Gdańsk University of Technology campus (Poland) as a case study of combining contemporary technologies with cultural continuity. The buildings, designed by the author of the article, who is the main designer, are a conscious response to the historical urban and architectural context of the campus, the development of which started at the beginning of the 20th century in the style of Dutch Neo-Renaissance. The new buildings refer to the architectural heritage of the university through their scale and colors, but their form, details and applied technological solutions clearly reflect modernity. A particularly important element of their modern character is the implementation of advanced pro-ecological systems for obtaining energy from renewable sources (RES), which fits into the current climate challenges and the role of the technical university as a promoter of sustainable development. The article discusses how architecture, materials and modern building systems were used to create a dialogue between tradition and innovation. The analysis is based on design documentation and planning conditions, and its background is a broader discourse on culturally sustainable architecture. Conscious of other, more conservative views, the author puts forward the thesis that cultural continuity does not require stylistic imitation, but conscious, contextual reinterpretation. The results of the article enrich the debate on the development of academic campuses, heritage-responsible design and the role of the architect in shaping a space that connects the future with the past. The main research contribution of the article is the presentation of an original method of designing architectural objects that integrates advanced pro-ecological technologies with a contextual reinterpretation of architectural heritage, which constitutes a new perspective in the discussion on culturally sustainable architecture. Full article

In engineering design for semi-submersible drilling platforms, it is necessary to improve anti-collision performance by optimizing the platform’s column’ structure. However, collision is usually analyzed through numerical analysis methods such as finite element analysis, which comes with high calculation costs. The genetic algorithm (GA) and other traditional optimization methods require massive numerical simulations, with unacceptable computational complexity. To address the above problems, a parallel efficient global optimization (EGO) multi-objective algorithm, based on hybrid criteria for the Kriging approximate model, is put forward in this paper. The proposed algorithm was validated through six typical multi-objective optimization test functions. The results show that it is superior to classic EGO, in terms of both optimization results and computational efficiency. Lastly, the hybrid criterion-based parallel EGO algorithm proposed in this paper was employed for the anti-collision, lightweight design of the column of the first ice zone semi-submersible drilling platform in China. It was found that the anti-collision capacity of the platform column rose by 11.9% and the structural weight declined by 2.7 t in the optimized design, suggesting obvious optimization effects with respect to the original design. Full article

Botulinum neurotoxins (BoNTs), produced by the anaerobic spore-forming bacterium Clostridium botulinum, are among the most potent known biological toxins. BoNTs cause lethal botulism via contaminated food, wound infections, or infant intestinal colonization, posing significant threats to public health. Although the mouse bioassay is still being considered as the gold standard for detecting BoNTs, its drawbacks, including the lengthy experimental duration, high costs, and ethical issues, highlight the urgent need to develop alternative methods to fulfill the detection requirements. In recent years, frequent botulism poisoning incidents haves put forward higher requirements for detection technology. On-site detection is expected to be rapid and immediate, while laboratory detection requires high sensitivity and serotype discrimination capabilities. This review comprehensively introduces current detection approaches, including mouse bioassay, cell-based assays, immunological methods, endopeptidase–mass spectrometry, biosensors, chromatography, and mass spectrometry techniques. Notably, cell-based assays have been used for the potency testing of commercialized botulinum toxin type A and are considered the most promising alternative to the mouse bioassay. Biosensors based on nanomaterials demonstrate advantages in real-time detection due to their rapid response and portability, while endopeptidase–mass spectrometry achieves high sensitivity and effective serotype identification by specifically recognizing toxin-cleaved substrates. Future works shall aim to completely replace MBA, developing a detection system suitable for multiple scenarios such as clinical diagnosis, food safety monitoring, and environmental monitoring. The detection methods should also have matrix compatibility and serotype discrimination capabilities. Full article

Background: Micropeptides, encoded by non-coding RNAs, play a pivotal role in various cellular functions. While several micropeptides have already been linked to HCC, their roles remain incompletely understood. Our study identifies MP60, a conserved micropeptide strongly associated with HCC progression. Methods and Results: By analyzing The Cancer Genome Atlas (TCGA) dataset, we assessed the coding potential of long non-coding RNAs (lncRNAs) with significant expression changes in HCC. Our findings reveal that ENST0000614292, a transcript of LINC01138, exhibited the highest coding potential, encoding a putative 60-amino-acid micropeptide, which we have named MP60 and confirmed the expression of MP60 in HCC tissues, with a nuclear localization. MP60 directly interacts with RNA-binding motif protein 10 (RBM10) and downregulates its expression. Additionally, MP60 modulates EMT. Functional analyses demonstrated that MP60 promotes cellular proliferation and migration, while reducing cellular adhesion, translated by enhanced tumorigenesis in vivo. Notably, MP60 expression is markedly increased in HCC tissues and is associated with a poorer prognosis. Conclusions: These findings identify MP60 as a potential biomarker and therapeutic target in HCC, linking its oncogenic effects to EMT modulation and tumor progression. Full article

Cattle fever ticks, Rhipicephalus microplus and Rhipicephalus annulatus, transmit Babesia pathogens, the causative agents of cattle fever worldwide. Although eradicated from the United States, increasing incursions of cattle fever ticks in Texas have put considerable strain on the Cattle Fever Tick Eradication Program (CFTEP). The movement of ticks between wildlife and cattle along the Texas–Mexico border complicates control efforts. Here, we used habitat suitability models, the literature, and quantitative survey data to project the distributions of native and introduced ungulates in Texas. Specifically, we used habitat suitability models and downscaling to estimate potential overlap between cattle and free-ranging white-tailed deer (Odocoileus virginianus) and nilgai (Boselaphus tragocamelus) that may carry cattle fever ticks and generate maps of estimated tick exposure risk. Our findings suggest that the introduction and spread of exotic ungulates, such as the nilgai antelope, may facilitate the expansion of cattle fever ticks within and beyond the historical quarantine zone established in 1943. The increasing range of nilgai populations could enhance landscape connectivity for cattle fever ticks in sensitive areas along the Texas–Mexico border. By combining these models with cattle inventory data, we provide tools to help the CFTEP better allocate resources, monitor tick populations, prevent incursions, and implement early interventions. Full article

Artificial protozoa optimizer (APO), as a newly proposed meta-heuristic algorithm, is inspired by the foraging, dormancy, and reproduction behaviors of protozoa in nature. Compared with traditional optimization algorithms, APO demonstrates strong competitive advantages; nevertheless, it is not without inherent limitations, such as slow convergence and a proclivity towards local optimization. In order to enhance the efficacy of the algorithm, this paper puts forth a multi-strategy fusion artificial protozoa optimizer, referred to as MSAPO. In the initialization stage, MSAPO employs the piecewise chaotic opposition-based learning strategy, which results in a uniform population distribution, circumvents initialization bias, and enhances the global exploration capability of the algorithm. Subsequently, cyclone foraging strategy is implemented during the heterotrophic foraging phase. enabling the algorithm to identify the optimal search direction with greater precision, guided by the globally optimal individuals. This reduces random wandering, significantly accelerating the optimization search and enhancing the ability to jump out of the local optimal solutions. Furthermore, the incorporation of hybrid mutation strategy in the reproduction stage enables the algorithm to adaptively transform the mutation patterns during the iteration process, facilitating a strategic balance between rapid escape from local optima in the initial stages and precise convergence in the subsequent stages. Ultimately, crisscross strategy is incorporated at the conclusion of the algorithm’s iteration. This not only enhances the algorithm’s global search capacity but also augments its capability to circumvent local optima through the integrated application of horizontal and vertical crossover techniques. This paper presents a comparative analysis of MSAPO with other prominent optimization algorithms on the three-dimensional CEC2017 and the highest-dimensional CEC2022 test sets, and the results of numerical experiments show that MSAPO outperforms the compared algorithms, and ranks first in the performance evaluation in a comprehensive way. In addition, in eight real-world engineering design problem experiments, MSAPO almost always achieves the theoretical optimal value, which fully confirms its high efficiency and applicability, thus verifying the great potential of MSAPO in solving complex optimization problems. Full article

Polycyclic aromatic hydrocarbons (PAHs) are a class of persistent organic pollutants composed of two or more fused benzene rings, posing serious threats to ecological environments and human health. Biodegradation is an efficient, economical, and sustainable approach for remediating PAHs pollution. In our previous work, we isolated and characterized a PAH-degrading bacterium, Burkholderia sp. FM-2. FM-2 demonstrated strong tolerance and efficient degradation capacity toward various PAHs, achieving 81.98% degradation of 2 mM phenanthrene within 3 days, and over 58% degradation of 2 mM fluorene, dibenzofuran, and dibenzothiophene under the same conditions. Through combined genomic and transcriptomic analyses, a putative PAH degradation gene cluster was identified in the FM-2 genome. Phylogenetic and domain architecture analyses were conducted on seven oxygenase genes within the cluster. Using AlphaFold 3, we predicted the three-dimensional structure of the downstream transport protein OmpW and proposed a potential transmembrane channel for PAHs uptake. To eliminate the phenanthrene degradation intermediate 1-hydroxy-2-naphthoic acid, a genetically engineered strain FM-2::nahG was constructed by heterologous expression of the salicylate hydroxylase gene (nahG). The modified strain completely abolished the accumulation of 1-hydroxy-2-naphthoic acid and achieved complete mineralization of phenanthrene. This study not only reveals the molecular basis of PAHs degradation in Burkholderia sp. FM-2 but also demonstrates the potential of metabolic engineering to enhance biodegradation ability, providing a promising microbial candidate for the bioremediation of PAH-polluted environments. Full article