Robust Coordinated Control Algorithm for Multiple Marine Vessels with External Disturbances

The problem of coordinated control for multiple marine vessels in the presence of external disturbances is considered in this paper. A robust coordinated control algorithm is proposed for multiple marine vessels. The proposed robust coordinated control algorithm is divided into two parts. The first part develops an extended state observer to estimate the disturbances of marine vessels. The second part presents a robust coordinated control algorithm based on the output of the extended state observer. Furthermore, the robust coordinated control algorithm is designed using the dynamic surface control method. In light of the leader-follower strategy, the trajectory for each vessel is defined according to the desired trajectory of the assigned leader and the relative distance with respect to the leader. The effectiveness of the proposed coordination algorithm is demonstrated by the simulation results

Ferromagnetic Property of Co and Ni Doped TiO 2

The Co and Ni doped diluted magnetic semiconductor nanoparticle TiO2 is prepared by sol-gel method. Ti0.97Co0.03O2, Ti0.97Ni0.03O2, Ti0.97Co0.06O2, and Ti0.97Ni0.06O2 samples were characterized by X-ray scattering techniques and high resolution transmission electron microscope. The results show that there are no other phases existing in TiO2. As to the sample of high-concentration dopant, the X-ray scattering techniques have explored the existing of CoTiO3 and NiTiO3. The ferromagnetic measurement shows that the magnetization of the sample of high-concentration dopant increases in the same external magnetic field. However, the relatively higher dopant Co and Ni may form more interstitial ions and paramagnet matters, reducing the oxygen vacancy concentration and finally leading to the decrease of remanent magnetization and coercivity of the materials

Genomes shed light on the evolution of Begonia, a mega‐diverse genus

Clarifying the evolutionary processes underlying species diversification and adaptation is a key focus of evolutionary biology. Begonia (Begoniaceae) is one of the most species-rich angiosperm genera with ~2,000 species, most of which are shade-adapted. Here, we present chromosome-scale genome assemblies for four species of Begonia (B. loranthoides, B. masoniana, B. darthvaderiana, and B. peltatifolia), and whole genome shot-gun data for an additional 74 Begonia representatives to investigate lineage evolution and shade adaptation of the genus. The four genome assemblies range in size from 331.75 Mb (B. peltatifolia) to 799.83 Mb (B. masoniana), and harbor 22,059 - 23,444 protein-coding genes. Synteny analysis revealed a lineage specific whole-genome duplication (WGD) that occurred just before the diversification of the Begonia. Functional enrichment of gene families retained after WGD highlight the significance of modified carbohydrate metabolism and photosynthesis possibly linked to shade-adaptation in the genus, which is further supported by expansions of gene families involved in light perception and harvesting. Phylogenomic reconstructions and genomics studies indicate that genomic introgression has also played a role in the evolution of Begonia. Overall, this study provides valuable genomic resources for Begonia and suggests potential drivers underlying the diversity and adaptive evolution of this mega-diverse clade

The in vivo metabolic pathway of Deg-AZM and in vitro investigations into the contribution of drug metabolizing enzymes and drug transporters in the drug interactions of Deg-AZM, a clinical-stage new transgelin agonist

IntroductionDeglycosylated azithromycin (Deg-AZM), a new transgelin agonist with positive therapeutic effects on slow transit constipation, has been approved for clinical trials in 2024. This work investigated the drug metabolism and transport of Deg-AZM to provide research data for further development of Deg-AZM.MethodsA combination of UPLC-QTOF-MS was used to obtain metabolite spectra of Deg-AZM in plasma, urine, feces and bile. Caco-2 cells was used to investigate the permeability of Deg-AZM and whether it is a potential substrate of the efflux transporter P-glycoprotein. Human liver microsome phenotyping assays with chemical inhibition and recombinant CYPs phenotyping assays were used to investigate the CYP450 enzyme phenotype involved in Deg-AZM metabolism in vitro. A HLM inhibition reaction system was established to evaluate the inhibitory effect of Deg-AZM on CYP1A2, CYP2B6, CYP2C8, CYP2C9, CYP2C19, CYP2D6, and CYP3A4. The mRNA expression of human primary hepatocytes incubated with Deg-AZM or not was evaluate the induction of Deg-AZM on CYP1A2, CYP2B6, and CYP3A4.Results44 metabolites of Deg-AZM were identified in rat urine, feces, bile, and plasma, the metabolic pathways included demethylation, monohydroxylation, dihydroxylation, dehydroxidation, hydroreduction, hydrolysis, methylation, glucuronidation and the combination of different metabolic pathways. Deg-AZM was a low permeability drug in the intestine and a potential substrate of the efflux transporter P-glycoprotein. CYP3A4 was the major CYP isoform responsible for Deg-AZM metabolism. Deg-AZM showed moderate inhibition with CYP2B6 and CYP2D6. Data in three batches of human primary hepatocytes disclosed induction potential of Deg-AZM on CYP2B6 and CYP3A4.ConclusionThe in vivo metabolic pathway of Deg-AZM and in vitro possibility of drug interaction for Deg-AZM with CYP enzymes and drug transporter were fully investigated. It was suggested that dose adjustments may be warranted depending on the potency of the corresponding modulators in clinical

Deglycosylated azithromycin alleviates cisplatin-evoked constipation in mice by altering host metabolome and gut microbiota composition

IntroductionChemotherapy induced constipation (CIC) is a gastrointestinal side effect that occurs in patients receiving chemotherapy, which can further deteriorate the living quality of cancer patients. Deglycosylated azithromycin (Deg-AZM), a newly developed Class I drug with good therapeutic effects on chronic constipation, has been approved for clinical trials in 2024. However, it is unclear whether Deg-AZM has any impact on gut microbiota of CIC mice. The purpose of this study was to explore the role of Deg-AZM in treating CIC by modulating the gut microbiota.MethodsThe therapeutic effects of Deg-AZM on intestinal motility were assessed in a cisplatin-induced CIC mouse model. The gut microbiota composition was analyzed using 16S rRNA sequencing, and metabolic changes were evaluated through untargeted metabolomics of fecal samples.ResultsDeg-AZM significantly enhanced intestinal motility in the mice with cisplatin-evoked constipation. Gut microbiota analysis revealed that Deg-AZM altered the community composition by decreasing Deferribacterota and Pseudomonadota and increasing Bacteroidota, Lactobacillus and Muribaculaceae. The feces metabolomics revealed that alanine, aspartate and glutamate metabolism, citrate cycle (TCA cycle), purine metabolism, primary bile acid biosynthesis and taurine and hypotaurine metabolism in CIC model were modulated by Deg-AZM.ConclusionDeg-AZM could alleviate cisplatin-evoked constipation in mice by reshaping the structure of gut microbial community, which may provide a potential basis for the use and clinical development of Deg-AZM for CIC treatment