Study on human-SRL synchronized walking based on coupled impedance

IntroductionSupernumerary robotic limbs (SRL) is a novel category of wearable robotics. Unlike prostheses (compensation for human limbs) and exoskeletons (augmentation of human limbs), SRL focuses on expanding human limbs and enhancing human activities, perception, and operation through the mutual collaboration of mechanical limbs and human limbs. The SRL of lower limbs are attached to the human waist, synchronized with the human walking in the forward direction, and can carry weight independently in the vertical direction.MethodsIn order to enhance the synchronization performance of the human-machine system during walking and minimize interference with human gait, it is essential to investigate the coupling dynamics within the human-SRL system. To facilitate our research, this paper focuses on relatively ideal working conditions: level road surfaces, no additional weight-bearing on the SRL, and humans walking in a straight line without any turns. We build upon the passive dynamic walking theory and utilize the human-SRL system model established by MIT to develop a coupling system model. Through numerical simulations, we identify the optimal values for the stiffness and damping coefficients of the human-machine connection. Additionally, we have designed the wheel-legged SRL structure and constructed the SRL control system for experimental validation.ResultsIt is found that a better synchronization of the human-machine walking process can be achieved by configuring suitable spring and damping units in the human-machine connection part.DiscussionIn this study, we explored the concept of SRL and its potential benefits for enhancing human motion, conducting simulations and experiments based on the coupled dynamics of human-SRL systems. The results indicate that by equipping the human-machine connection component with suitable spring and damping units, synchronization during the walking process can be improved

Preparation and characterization of β-cyclodextrin grafted N-maleoyl chitosan nanoparticles for drug delivery

β-cyclodextrin (CD) grafted N-maleoyl chitosan (CD-g-NMCS) with two different degrees of substitution (DS) of N-maleoyl (DS = 21.2% and 30.5%) were synthesized from maleic anhydride and chitosan bearing pendant cyclodextrin (CD-g-CS). CD-g-NMCS based nanoparticles were prepared via an ionic gelation method together with chitosan and CD-g-CS nanoparticles. The size and zeta potential of prepared CD-g-NMCS nanoparticles were 179.2~274.0 nm and 36.2~42.4 mV, respectively. In vitro stability test indicated that CD-g-NMCS nanoparticles were more stable in phosphate-buffered saline compared with chitosan nanoparticles. Moreover, a poorly water-soluble drug, ketoprofen (KTP), was selected as a model drug to study the obtained nanoparticle's potentials as drug delivery carriers. The drug loading efficiency of CD-g-NMCS20 nanoparticles were 14.8% for KTP. MTT assay showed that KTP loaded CD-g-NMCS nanoparticles were safe drug carriers. Notably, in vitro drug release studies showed that KTP was released in a sustained-release manner for the nanoparticles. The pharmacokinetic of drug loaded CD-g-NMCS20 nanoparticles were evaluated in rats after intravenous administration. The results of studies revealed that, compared with free KTP, KTP loaded CD-g-NMCS20 nanoparticles exhibited a significant increase in AUC0→24h and mean residence time by 6.6-fold and 2.9-fold, respectively. Therefore, CD-g-NMCS nanoparticles could be used as a novel promising nanoparticle-based drug delivery system for sustained release of poorly water-soluble drugs. The carboxylic acid groups of the CD-g-NMCS molecule provide convenient sites for further structural modifications including introduction of tissue- or disease- specific targeting groups

Cyclodextrin/chitosan nanoparticles for oral ovalbumin delivery: Preparation, characterization and intestinal mucosal immunity in mice

A novel oral protein delivery system with enhanced intestinal penetration and improved antigen stability based on chitosan (CS) nanoparticles and antigen-cyclodextrin (CD) inclusion complex was prepared by a precipitation/coacervation method. Ovalbumin (OVA) as a model antigen was firstly encapsulated by cyclodextrin, either β-cyclodextrin (β-CD) or carboxymethyl-hydroxypropyl-β-cyclodextrin (CM-HP-β-CD) and formed OVA-CD inclusion complexes, which were then loaded to chitosan nanoparticles to form OVA loaded β-CD/CS or CM-HP-β-CD/CS nanoparticles with uniform particle size (836.3 and 779.2 nm, respectively) and improved OVA loading efficiency (27.6% and 20.4%, respectively). In vitro drug release studies mimicking oral delivery condition of OVA loaded CD/CS nanoparticles showed low initial releases at pH 1.2 for 2 h less than 3.0% and a delayed release which was below to 30% at pH 6.8 for further 72 h. More importantly, after oral administration of OVA loaded β-CD/CS nanoparticles to Balb/c mice, OVA-specific sIgA levels in jejunum of OVA loaded β-CD/CS nanoparticles were 3.6-fold and 1.9-fold higher than that of OVA solution and OVA loaded chitosan nanoparticles, respectively. In vivo evaluation results showed that OVA loaded CD/CS nanoparticles could enhance its efficacy for inducing intestinal mucosal immune response. In conclusion, our data suggested that CD/CS nanoparticles could serve as a promising antigen-delivery system for oral vaccination. Keywords: β-cyclodextrin, Chitosan nanoparticles, Ovalbumin, Oral protein delivery, Intestinal mucosal immunit

Direct Energy Consumption Associated Emissions by Rural-to-Urban Migrants in Beijing

Hundreds of millions of rural residents have migrated to cities in China in recent years. Different lifestyles and living conditions lead to substantial changes in their household energy. Here, we present the result of a survey on direct household energy use of low-skilled rural-to-urban migrants in Beijing. The migrants moved up the energy ladder immediately after arriving in the city by replacing biomass fuels with coal, electricity, and liquefied petroleum gas. After the original shift, pattern of household energy use by the migrants has not changed much over decades, likely due to the long-existing household registration system (Hukou). As a result, the mix of energy types used by the rural-to-urban migrants were different from those by long-term urban residents, although total quantities were similar. Shifting from biomass fuels to coal, the migrants emitted 2.4 times more non-neutral CO₂ than rural residents and 14% more than urban residents. The migration also resulted in significant increase in emissions of SO₂ and mercury but dramatic decreases in some incomplete combustion products including particulate matter. All these changes have significant implication on air quality, health, and climate considering the scale of urbanization in China

Reconstructing Historical Land Cover Type and Complexity by Synergistic Use of Landsat Multispectral Scanner and CORONA

Survey data describing land cover information such as type and diversity over several decades are scarce. Therefore, our capacity to reconstruct historical land cover using field data and archived remotely sensed data over large areas and long periods of time is somewhat limited. This study explores the relationship between CORONA texture—a surrogate for actual land cover type and complexity—with spectral vegetation indices and texture variables derived from Landsat MSS under the Spectral Variation Hypothesis (SVH) such as to reconstruct historical continuous land cover type and complexity. Image texture of CORONA was calculated using a mean occurrence measure while image textures of Landsat MSS were calculated by occurrence and co-occurrence measures. The relationship between these variables was evaluated using correlation and regression techniques. The reconstruction procedure was undertaken through regression kriging. The results showed that, as expected, texture based on the visible bands and corresponding indices indicated larger correlation with CORONA texture, a surrogate of land cover (correlation >0.65). In terms of prediction, the combination of the first-order mean of band green, second-order measure of tasseled cap brightness, second-order mean of Normalized Visible Index (NVI) and second-order entropy of NIR yielded the best model with respect to Akaike’s Information Criterion (AIC), r-square, and variance inflation factors (VIF). The regression model was then used in regression kriging to map historical continuous land cover. The resultant maps indicated the type and degree of complexity in land cover. Moreover, the proposed methodology minimized the impacts of topographic shadow in the region. The performance of this approach was compared with two conventional classification methods: hard classifiers and continuous classifiers. In contrast to conventional techniques, the technique could clearly quantify land cover complexity and type. Future applications of CORONA datasets such as this one could include: improved quality of CORONA imagery, studies of the CORONA texture measures for extracting ecological parameters (e.g., species distributions), change detection and super resolution mapping using CORONA and Landsat MSS

Neuronal actin cytoskeleton gain of function in the human brainResearch in context

Summary: Background: While advancements in imaging techniques have led to major strides in deciphering the human brain, successful interventions are elusive and represent some of the most persistent translational gaps in medicine. Human restricted CHRFAM7A has been associated with neuropsychiatric disorders. Methods: The physiological role of CHRFAM7A in human brain is explored using multiomics approach on 600 post mortem human brain tissue samples. The emerging pathways and mechanistic hypotheses are tested and validated in an isogenic hiPSC model of CHRFAM7A knock-in medial ganglionic eminence progenitors and neurons. Findings: CHRFAM7A is identified as a modulator of intracellular calcium dynamics and an upstream regulator of Rac1. Rac1 activation re-designs the actin cytoskeleton leading to dynamic actin driven remodeling of membrane protrusion and a switch from filopodia to lamellipodia. The reinforced cytoskeleton leads to an advantage to tolerate stiffer mechanical properties of the extracellular environment. Interpretation: CHRFAM7A modifies the actin cytoskeleton to a more dynamic and stiffness resistant state in an α7nAChR dependent manner. CHRFAM7A may facilitate neuronal adaptation to changes in the brain environment in physiological and pathological conditions contributing to risk or recovery. Understanding how CHRFAM7A affects human brain requires human studies in the areas of memory formation and erasure, cognitive reserve, and neuronal plasticity. Funding: This work is supported in part by the Community Foundation for Greater Buffalo (Kinga Szigeti). Also, in part by the International Society for Neurochemistry (ISN) and The Company of Biologists (Nicolas Rosas). ROSMAP is supported by NIA grants P30AG10161, P30AG72975, R01AG15819, R01AG17917. U01AG46152, and U01AG61356