Robust Trajectory Tracking Control of Wheeled Mobile Robots

This research aims to improve the performance of wheeled mobile robots in trajectory tracking tasks despite uncertainties and disturbances, such as varying load weights and surface friction, damaged motors, and time delays. Wheeled mobile robots are used in places such as warehouses, factories, hospitals, and restaurants for material handling, transportation, cleaning, and surveillance purposes. The study investigates different types of wheeled mobile robots and proposes advanced control schemes that reduce tracking errors and improve reliability. Ultimately, the research aims to enhance the productivity, efficiency, and energy consumption of wheeled mobile robots in practical applications

Additional file 1 of Expressing 2-keto acid pathway enzymes significantly increases photosynthetic isobutanol production

Additional file 1. Fig. S1: Schematic overview of genetic constructs used and Western-immunoblot results of engineered Synechocystis PCC 6803 strains HX0 and HX6. (A) Schematic presentation of the genetic constructs in the engineered strains. kivdS286T: encodes α-ketoisovalerate decarboxylase (Lactococcus lactis). alsS: encodes acetolactate synthase (Bacillus subtilis). KivdS286T expressed on self-replicating vectors was Strep-tagged at the N-terminal; AlsS expressed in the ddh (slr1556) site of chromosome was His-tagged at the N-terminal. (B) Western-immunoblot results of strains HX0 and HX6. Each lane represents result from respective strain. 5 μg and 20 μg of total soluble protein were loaded for each strain to detect Strep-tagged KivdS286T and His-tagged AlsS, respectively. Fig. S2: Comparison of growth in engineered Synechocystis PCC 6803 strains HX0, HX5, HX7, HX8, and HX9 during 8-day cultivation. Results are the mean of three biological replicates, each with three technical replicates. Error bars represent standard deviation. Fig. S3: Schematic overview of genetic constructs used and comparison of molar ratio of isobutanol and 3-methyl-1-butanol (3M1B) of engineered Synechocystis PCC 6803 strains HX15, HX29, and HX45. (A) Molar ratio of isobutanol and 3M1B of indicated strains, calculated based on the isobutanol production measured on day 4. (B) Schematic presentation of the genetic constructs in the engineered strains. Asterisk represents significant difference between HX45 and HX15 (One-way ANOVA, p < 0.05). Results are the mean of three biological replicates, each with three technical replicates. Error bars represent standard deviation. Table S1: Sequences of codon optimized synthetic genes used in this study. Table S2: Plasmids used in this study. Expressed genes in bold. Table S3: Oligonucleotides used in this study. Table S4: Expression quantification of heterologously expressed enzymes. The expression level of each protein is presented by the corresponding band intensity. The unit is intensity x m

MOESM3 of Pseudomonas stutzeri as an alternative host for membrane proteins

Additional file 3: Table S3. Production level of all tested constructs at different conditions

MOESM1 of Enhancement of photosynthetic isobutanol production in engineered cells of Synechocystis PCC 6803

Additional file 1: Figure S1. Growth of the Synechocystis PCC 6803 empty vector control strain under different light intensities and with different pH adjustments. Results represent the mean of three biological replicates, error bars represent standard deviation. Figure S2. Tolerance test for isobutanol and isobutyraldehyde. Three isobutanol concentrations and two isobutyraldehyde concentrations were tested in plug-sealed tissue flasks. The chemicals were added into pEEK2-ST cultures with OD750 = 0.5. The change on OD750 in each culture after 24 h cultivation was analyzed here. Results represent the mean of three biological replicates, error bars represent standard deviation. Figure S3. Schematic overview of the constructs for identifying potential bottlenecks. All the constructs are generated on the self-replicating vector pEEK2. A: Schematic overviews of the constructs with single operon expressing KivdS286T and one of the respective genes to be examined. B: The construct generated to reduce the expression level of AlsS. C: Schematic overview of the constructs with two convergent orientated operons with a double terminator BBa_B0015 in between

Additional file 1 of Sustainable production of photosynthetic isobutanol and 3-methyl-1-butanol in the cyanobacterium Synechocystis sp. PCC 6803

Additional file 1. Additional figures and tables

DataSheet5_A Four-Gene Prognostic Signature Based on the TEAD4 Differential Expression Predicts Overall Survival and Immune Microenvironment Estimation in Lung Adenocarcinoma.xlsx

Background: TEA domain transcription factor 4 (TEAD4) is a member of the transcriptional enhancer factor (TEF) family of transcription factors, which is studied to be linked to the tumorigenesis and progression of various forms of cancers, including lung adenocarcinoma (LUAD). However, the specific function of this gene in the progression of LUAD remains to be explored.Method: A total of 19 genes related to the Hippo pathway were analyzed to identify the significant genes involved in LUAD progression. The TCGA-LUAD data (n = 585) from public databases were mined, and the differentially expressed genes (DEGs) in patients with the differential level of TEAD4 were identified. The univariate Cox regression, zero LASSO regression coefficients, and multivariate Cox regression were performed to identify the independent prognostic signatures. The immune microenvironment estimation in the two subgroups, including immune cell infiltration, HLA family genes, and immune checkpoint genes, was assessed. The Gene Set Enrichment Analysis (GSEA) and GO were conducted to analyze the functional enrichment of DEGs between the two risk groups. The potential drugs for the high-risk subtypes were forecasted via the mode of action (moa) module of the connectivity map (CMap) database.Results:TEAD4 was found to be significantly correlated with poor prognosis in LUAD-patients. A total of 102 DEGs in TEAD4-high vs. TEAD4-low groups were identified. Among these DEGs, four genes (CPS1, ANLN, RHOV, and KRT6A) were identified as the independent prognostic signature to conduct the Cox risk model. The immune microenvironment estimation indicated a strong relationship between the high TEAD4 expression and immunotherapeutic resistance. The GSEA and GO showed that pathways, including cell cycle regulation, were enriched in the high-risk group, while immune response-related and metabolism biological processes were enriched in the low-risk group. Several small molecular perturbagens targeting CFTR or PLA2G1B, by the mode of action (moa) modules of the glucocorticoid receptor agonist, cyclooxygenase inhibitor, and NFkB pathway inhibitor, were predicted to be suited for the high-risk subtypes based on the high TEAD4 expression.Conclusion: The current study revealed TEAD4 is an immune regulation–related predictor of prognosis and a novel therapeutic target for LUAD.</p

DataSheet6_A Four-Gene Prognostic Signature Based on the TEAD4 Differential Expression Predicts Overall Survival and Immune Microenvironment Estimation in Lung Adenocarcinoma.xlsx

Background: TEA domain transcription factor 4 (TEAD4) is a member of the transcriptional enhancer factor (TEF) family of transcription factors, which is studied to be linked to the tumorigenesis and progression of various forms of cancers, including lung adenocarcinoma (LUAD). However, the specific function of this gene in the progression of LUAD remains to be explored.Method: A total of 19 genes related to the Hippo pathway were analyzed to identify the significant genes involved in LUAD progression. The TCGA-LUAD data (n = 585) from public databases were mined, and the differentially expressed genes (DEGs) in patients with the differential level of TEAD4 were identified. The univariate Cox regression, zero LASSO regression coefficients, and multivariate Cox regression were performed to identify the independent prognostic signatures. The immune microenvironment estimation in the two subgroups, including immune cell infiltration, HLA family genes, and immune checkpoint genes, was assessed. The Gene Set Enrichment Analysis (GSEA) and GO were conducted to analyze the functional enrichment of DEGs between the two risk groups. The potential drugs for the high-risk subtypes were forecasted via the mode of action (moa) module of the connectivity map (CMap) database.Results:TEAD4 was found to be significantly correlated with poor prognosis in LUAD-patients. A total of 102 DEGs in TEAD4-high vs. TEAD4-low groups were identified. Among these DEGs, four genes (CPS1, ANLN, RHOV, and KRT6A) were identified as the independent prognostic signature to conduct the Cox risk model. The immune microenvironment estimation indicated a strong relationship between the high TEAD4 expression and immunotherapeutic resistance. The GSEA and GO showed that pathways, including cell cycle regulation, were enriched in the high-risk group, while immune response-related and metabolism biological processes were enriched in the low-risk group. Several small molecular perturbagens targeting CFTR or PLA2G1B, by the mode of action (moa) modules of the glucocorticoid receptor agonist, cyclooxygenase inhibitor, and NFkB pathway inhibitor, were predicted to be suited for the high-risk subtypes based on the high TEAD4 expression.Conclusion: The current study revealed TEAD4 is an immune regulation–related predictor of prognosis and a novel therapeutic target for LUAD.</p

Prediction results upon all test proteins by corresponding sub-networks.

<p>The X axis is length range of tested proteins. The Y axis is prediction accuracy (%). Each point represents the predicted accuracy of a protein by its belonged sub-network. The average accuracy is as high as 34.01%. However, the accuracies decrease while the length of proteins increases.</p

DataSheet7_A Four-Gene Prognostic Signature Based on the TEAD4 Differential Expression Predicts Overall Survival and Immune Microenvironment Estimation in Lung Adenocarcinoma.xlsx

Background: TEA domain transcription factor 4 (TEAD4) is a member of the transcriptional enhancer factor (TEF) family of transcription factors, which is studied to be linked to the tumorigenesis and progression of various forms of cancers, including lung adenocarcinoma (LUAD). However, the specific function of this gene in the progression of LUAD remains to be explored.Method: A total of 19 genes related to the Hippo pathway were analyzed to identify the significant genes involved in LUAD progression. The TCGA-LUAD data (n = 585) from public databases were mined, and the differentially expressed genes (DEGs) in patients with the differential level of TEAD4 were identified. The univariate Cox regression, zero LASSO regression coefficients, and multivariate Cox regression were performed to identify the independent prognostic signatures. The immune microenvironment estimation in the two subgroups, including immune cell infiltration, HLA family genes, and immune checkpoint genes, was assessed. The Gene Set Enrichment Analysis (GSEA) and GO were conducted to analyze the functional enrichment of DEGs between the two risk groups. The potential drugs for the high-risk subtypes were forecasted via the mode of action (moa) module of the connectivity map (CMap) database.Results:TEAD4 was found to be significantly correlated with poor prognosis in LUAD-patients. A total of 102 DEGs in TEAD4-high vs. TEAD4-low groups were identified. Among these DEGs, four genes (CPS1, ANLN, RHOV, and KRT6A) were identified as the independent prognostic signature to conduct the Cox risk model. The immune microenvironment estimation indicated a strong relationship between the high TEAD4 expression and immunotherapeutic resistance. The GSEA and GO showed that pathways, including cell cycle regulation, were enriched in the high-risk group, while immune response-related and metabolism biological processes were enriched in the low-risk group. Several small molecular perturbagens targeting CFTR or PLA2G1B, by the mode of action (moa) modules of the glucocorticoid receptor agonist, cyclooxygenase inhibitor, and NFkB pathway inhibitor, were predicted to be suited for the high-risk subtypes based on the high TEAD4 expression.Conclusion: The current study revealed TEAD4 is an immune regulation–related predictor of prognosis and a novel therapeutic target for LUAD.</p

DataSheet3_A Four-Gene Prognostic Signature Based on the TEAD4 Differential Expression Predicts Overall Survival and Immune Microenvironment Estimation in Lung Adenocarcinoma.xlsx

Background: TEA domain transcription factor 4 (TEAD4) is a member of the transcriptional enhancer factor (TEF) family of transcription factors, which is studied to be linked to the tumorigenesis and progression of various forms of cancers, including lung adenocarcinoma (LUAD). However, the specific function of this gene in the progression of LUAD remains to be explored.Method: A total of 19 genes related to the Hippo pathway were analyzed to identify the significant genes involved in LUAD progression. The TCGA-LUAD data (n = 585) from public databases were mined, and the differentially expressed genes (DEGs) in patients with the differential level of TEAD4 were identified. The univariate Cox regression, zero LASSO regression coefficients, and multivariate Cox regression were performed to identify the independent prognostic signatures. The immune microenvironment estimation in the two subgroups, including immune cell infiltration, HLA family genes, and immune checkpoint genes, was assessed. The Gene Set Enrichment Analysis (GSEA) and GO were conducted to analyze the functional enrichment of DEGs between the two risk groups. The potential drugs for the high-risk subtypes were forecasted via the mode of action (moa) module of the connectivity map (CMap) database.Results:TEAD4 was found to be significantly correlated with poor prognosis in LUAD-patients. A total of 102 DEGs in TEAD4-high vs. TEAD4-low groups were identified. Among these DEGs, four genes (CPS1, ANLN, RHOV, and KRT6A) were identified as the independent prognostic signature to conduct the Cox risk model. The immune microenvironment estimation indicated a strong relationship between the high TEAD4 expression and immunotherapeutic resistance. The GSEA and GO showed that pathways, including cell cycle regulation, were enriched in the high-risk group, while immune response-related and metabolism biological processes were enriched in the low-risk group. Several small molecular perturbagens targeting CFTR or PLA2G1B, by the mode of action (moa) modules of the glucocorticoid receptor agonist, cyclooxygenase inhibitor, and NFkB pathway inhibitor, were predicted to be suited for the high-risk subtypes based on the high TEAD4 expression.Conclusion: The current study revealed TEAD4 is an immune regulation–related predictor of prognosis and a novel therapeutic target for LUAD.</p