Guaranteed Cost Nonfragile Robust Controller for Walking Simulation of Quadruped Search Robot on a Slope of VRML Model

The problem of walking simulation for the quadruped search robot on a slope is described as an uncertainty system. In order to create the virtual ramp road environment, VRML modeling language is used to build a real environment, which is a 3D terrain scene in Matlab platform. According to the VRML model structure of the quadruped search robot, a guaranteed cost nonfragile robust controller is designed for ramp road walking simulation. The constraint inequation is transformed into a strict linear inequality by using two equalities; the controller and the guaranteed cost upper bound are given based on the solutions of the linear matrix inequality. And the approaches of designing the controller are given in terms of linear matrix inequalities. The walking stability of quadruped search robot is observed using the VRML model established with the change of gravity curve. Simulation results show that the gravity displacement curve of the robot is smooth. The results given by linear matrix inequalities indicate that the proposed guaranteed cost controller is correct and effective

DRAP: a toolbox for drug response analysis and visualization tailored for preclinical drug testing on patient-derived xenograft models

Abstract Background One of the key reasons for the high failure rate of new agents and low therapeutic benefit of approved treatments is the lack of preclinical models that mirror the biology of human tumors. At present, the optimal cancer model for drug response study to date is patient-derived xenograft (PDX) models. PDX recaptures both inter- and intra-tumor heterogeneity inherent in human cancer, which represent a valuable platform for preclinical drug testing and personalized medicine applications. Building efficient drug response analysis tools is critical but far from adequate for the PDX platform. Results In this work, we first classified the emerging PDX preclinical trial designs into four patterns based on the number of tumors, arms, and animal repeats in every arm. Then we developed an R package, DRAP, which implements Drug Response Analyses on PDX platform separately for the four patterns, involving data visualization, data analysis and conclusion presentation. The data analysis module offers statistical analysis methods to assess difference of tumor volume between arms, tumor growth inhibition (TGI) rate calculation to quantify drug response, and drug response level analysis to label the drug response at animal level. In the end, we applied DRAP in two case studies through which the functions and usage of DRAP were illustrated. Conclusion DRAP is the first integrated toolbox for drug response analysis and visualization tailored for PDX platform. It would greatly promote the application of PDXs in drug development and personalized cancer treatments

Spatially Varying Effects of Street Greenery on Walking Time of Older Adults

Population aging has become a notable and enduring demographic phenomenon worldwide. Older adults’ walking behavior is determined by many factors, such as socioeconomic attributes and the built environment. Although a handful of recent studies have examined the influence of street greenery (a built environment variable readily estimated by big data) on older adults’ walking behavior, they have not focused on the spatial heterogeneity in the influence. To this end, this study extracts the socioeconomic and walking behavior data from the Travel Characteristic Survey 2011 of Hong Kong and estimates street greenery (the green view index) based on Google Street View imagery. It then develops global models (linear regression and Box–Cox transformed models) and local models (geographically weighted regression models) to scrutinize the average (global) and location-specific (local) relationships, respectively, between street greenery and older adults’ walking time. Notably, green view indices in three neighborhoods with different sizes are estimated for robustness checks. The results show that (1) street greenery has consistent and significant effects on walking time; (2) the influence of street greenery varies across space—specifically, it is greater in the suburban area; and (3) the performance of different green view indices is highly consistent

Nutritional Changes and Early Warning of Moldy Rice under Different Relative Humidity and Storage Temperature

Processed unhusked rice is prone to mildew during storage. In this study, the storage conditions were simulated at temperatures of 20, 30, and 35 °C and a relative humidity of 40%, 60% and 80%, respectively. The water, fatty acid, and total starch content and the peak viscosity, mold colony number, protein secondary structure, and spatial structure of rice were monitored in order to propose the critical point of mildew during storage. In the process of rice from lively to moldy, the water content, fatty acid contents and the peak viscosity were increased. The total starch content decreased and then showed a slow increasing trend, while the microstructure of the powder particles changed from smooth and complete to loosen and hollow. With the increase in storage time, the vibration of the amide Ⅰ band of the rice samples decreased slightly, indicating that the total contents of β-fold, β-turn, α-helix, and random curl of the rice protein also changed. PCA (Principal Component Analysis) analysis showed that rice mildew index was closely related to temperature and humidity during storage. In our investigation, the best and most suitable temperature and relative humidity for rice storge is 20 °C and 40%, respectively. These results suggested that temperature and environmental humidity are vital factors affecting the physicochemical properties and nutrient changes, which provides a theoretical basis for the early warning of rice mildew during storage

Optimization of energy consumption structure based on carbon emission reduction target: A case study in Shandong Province, China

It is urgent to significantly reduce greenhouse gas emissions to actively deal with global warming. This paper investigates Shandong Province, a typical province of energy consumption, as the research object, aiming to optimize total energy consumption and consumption structure in the future planning year. This paper constructs a methodological system to optimize energy consumption structure in Shandong Province, using a scenario combination of system dynamics (SD) prediction and analysis based on the coupling of key scenario elements affecting different energy consumption from different perspectives. Structural equation modeling and SD sensitivity analysis indicate an overlap between key factors restricting energy consumption. Pairing the key scenario factors can better reflect the internal mechanism of energy consumption development. Based on this, 21 scenarios based on different combinations of the key elements are constructed. Through SD prediction and analysis, the most suitable scenario mode for optimizing energy consumption structure in Shandong Province is selected. This paper provides a suitable development range for the average gross domestic product growth rate, the proportion of secondary industry, energy consumption intensity of secondary industry, and the urbanization rate for Shandong Province. This paper can provide a reference for similar research and the government in formulating the optimization scheme of energy consumption structure

Microsatellite Mutation Rate during Allohexaploidization of Newly Resynthesized Wheat

Simple sequence repeats (SSRs, also known as microsatellites) are known to be mutational hotspots in genomes. DNA rearrangements have also been reported to accompany allopolyploidization. A study of the effect of allopolyploidization on SSR mutation is therefore important for understanding the origin and evolutionary dynamics of SSRs in allopolyploids. Three synthesized double haploid (SynDH) populations were made from 241 interspecific F1 haploid hybrids between Triticum turgidum L. and Aegilops tauschii (Coss.) through spontaneous chromosome doubling via unreduced gametes. Mutation events were studied at 160 SSR loci in the S1 generation (the first generation after chromosome doubling) of the three SynDH populations. Of the 148260 SSR alleles investigated in S1 generation, only one mutation (changed number of repeats) was confirmed with a mutation rate of 6.74 × 10−6. This mutation most likely occurred in the respective F1 hybrid. In comparison with previously reported data, our results suggested that allohexaploidization of wheat did not increase SSR mutation rate

Biogranulation process facilitates cost-efficient resources recovery from microalgae-based wastewater treatment systems and the creation of a circular bioeconomy

Energy self-sufficient wastewater treatment designs can reduce net energy consumption and achieve resources recovery. Microalgae are regarded as a promising candidate for developing a circular bioeconomy in wastewater treatment plants (WWTPs) due to its potential for simultaneous wastewater remediation and high value-added materials production. Much effort has been made to overcome the high production costs for microalgae; however, biomass harvesting still remains as the bottleneck for its large-scale application. In this study, the novel biogranulation system facilitating easier and faster microalgae harvesting was firstly compared with the conventional suspended culture for energy-efficiency and sustainability assessment on microalgae (Ankistrodesmus falcatus var. acicularis) cultivation using the synthetic anaerobic digestion liquor. Results demonstrated that the biogranulation system enhanced volumetric biomass productivity (223.17 ± 11.82 g/m3/day) by about 4.4 times compared to that from the suspended system (41.57 ± 2.08 g/m3/day) under the same environmental conditions. It was noticed that lipids, carbohydrates and proteins were accumulated in microalgae cells along with nutrients remediation, and the microalgae granules with much higher proteins content (313.28 ± 26.67 mg/g-VSS) could be easily harvested through 2 min gravity sedimentation with little impact on the contents of carbohydrates and lipids. In the whole cultivation and harvesting process, the biomass mass-based electricity consumption and footprint demand by the biogranulation system were reduced by 58% and 76%, respectively. Results from this study provide a cost-effective and sustainable approach for microalgae in the treatment of nutrients rich digestion liquor with simultaneous production of valuable biomaterials.This work was supported by JSPS KAKENHI Grant Number JP18H03403. Ms. Qian Wang would like to thank the financial support from the China Scholarship Council (No. 201808050110) for her PhD study in University of Tsukuba, Japan

Burden of Cardiovascular Disease among Multi-Racial and Ethnic Populations in the United States: An Update from the National Health Interview Surveys

Purpose: The study aimed to provide new evidence of health disparities in cardiovascular disease (CVD) and diabetes mellitus (DM), and to examine their associations with lifestyle-related risk factors across the U.S. multi-racial and ethnic groups. Methods: The analysis included a randomized population sample of 68,321 subjects aged ≥18 years old who participated in the U.S. 2012 and 2013 National Health Interview Surveys. Hypertension, coronary heart disease (CHD), stroke and DM were classified according to participants’ self-report of physician diagnosis. Assessments of risk factors were measured using standard survey instruments. Associations of risk factors with hypertension, CHD, stroke and DM were analyzed using univariable and multivariable analysis methods. Results: Non-Hispanic (NH)-Blacks had significantly higher odds of hypertension, stroke and DM, while NH-Asians and Hispanics had significantly lower odds of stroke and higher odds of stroke and higher odds of DM than NH-Whites (p<0.001). NH-Whites had higher odds of CHD than NH-Black, NH-Asians and Hispanics (p<0.001). Increased body weight, cigarette smoking and physical inactivity were significantly associated with increased odds of hypertension, CHD, stroke and DM (p<0.001). However, the strengths of associations between lifestyle-related factors and the study outcomes were different across racial and ethnic groups. NH-Asians with BMI ≥30 kg/m2 had the highest odds ratios (OR, 95%CI) for hypertension (5.37, 4.01-7.18), CHD (2.93, 1.90-4.52) and stroke (2.23, 1.08-4.61), and had the second highest odd ratios for DM (3.78, 2.68-5.35) than NH-Whites, NH-Blacks and Hispanics. Conclusion: CVD and DM disproportionately affect the U.S. multi-racial and ethnic population. Although lifestyle-related risk factors are significantly associated with increased odds of CVD and DM, the impacts of risk factors on the study outcomes are different by race and ethnicity