Salvianolic Acid B Prevents Arsenic Trioxide-Induced Cardiotoxicity In Vivo and Enhances Its Anticancer Activity In Vitro

Clinical attempts to reduce the cardiotoxicity of arsenic trioxide (ATO) without compromising its anticancer activities remain to be an unresolved issue. In this study, we determined whether Sal B can protect against ATO-induced cardiac toxicity in vivo and increase the toxicity of ATO toward cancer cells. Combination treatment of Sal B and ATO was investigated using BALB/c mice and human hepatoma (HepG2) cells and human cervical cancer (HeLa) cells. The results showed that the combination treatment significantly improved the ATO-induced loss of cardiac function, attenuated damage of cardiomyocytic structure, and suppressed the ATO-induced release of cardiac enzymes into serum in BALB/c mouse models. The expression levels of Bcl-2 and p-Akt in the mice treated with ATO alone were reduced, whereas those in the mice given the combination treatment were similar to those in the control mice. Moreover, the combination treatment significantly enhanced the ATO-induced cytotoxicity and apoptosis of HepG2 cells and HeLa cells. Increases in apoptotic marker cleaved poly (ADP-ribose) polymerase and decreases in procaspase-3 expressions were observed through western blot. Taken together, these observations indicate that the combination treatment of Sal B and ATO is potentially applicable for treating cancer with reduced cardiotoxic side effects

Robot sensor calibration via neural network and particle swarm optimization enhanced with crossover and mutation

U cilju određivanja položaja i orijentacije nekog predmeta u zglobu za robot, treba procijeniti odnos transformacije sustava ruka-oko, što se opisuje kao rotacijska matrica i vektor translacije. Predlaže se novi pristup koji integrira neuronsku mrežu i algoritam optimaizacije roja čestica s operacijom križanja i mutacije za kalibraciju osjećaja robota. Najprije se strukturira neuronska mreža s matricom rotacijske težine gdje su težine elementi rotacijskog dijela homogenog prijenosa sustava ruka-oko. Tada se algoritam optimalizacije roja čestica integrira u program rješavanja, gdje se faktori težine inercije i vjerojatnosti mutacije sami podešavaju prema putanji gibanja čestica u longitudinalnom pravcu i lateralnom pravcu. Kad je zadovoljen kriterij terminacije, rotaciona matrica se dobiva iz nepromjenljivih težina neuronske mreže. Tada se rješava vektor translacije i postiže se položaj i orijentacija slike s kamere u odnosu na sliku sa zgloba. Predloženi pristup pruža novu šemu za kalibraciju robota tehnikom samo-adaptacije, što garantira ortogonalnost riješenih rotacijskih komponenti homogenog transforma.In order to determine the position and orientation of an object in the wrist frame for robot, transform relation of hand-eye system should be estimated, which is described as rotational matrix and translational vector. A new approach integrating neural network and particle swarm optimization algorithm with crossover and mutation operation for robot sense calibration is proposed. First the neural network with rotational weight matrix is structured, where the weights are the elements of rotational part of homogeneous transform of the hand-eye system. Then the particle swarm optimization algorithm is integrated into the solving program, where the inertia weight factor and mutation probability are tuned self-adaptively according to the motion trajectory of particles in longitudinal direction and lateral direction. When the termination criterion is satisfied, the rotational matrix is obtained from the neural network’s stable weights. Then the translational vector is solved, so the position and orientation of camera frame with respect to wrist frame is achieved. The proposed approach provides a new scheme for robot sense calibration with self-adaptive technique, which guarantees the orthogonality of solved rotational components of the homogeneous transform