Deep Reinforcement Learning-based Multi-objective Path Planning on the Off-road Terrain Environment for Ground Vehicles

Due to the energy-consumption efficiency between up-slope and down-slope is hugely different, a path with the shortest length on a complex off-road terrain environment (2.5D map) is not always the path with the least energy consumption. For any energy-sensitive vehicles, realizing a good trade-off between distance and energy consumption on 2.5D path planning is significantly meaningful. In this paper, a deep reinforcement learning-based 2.5D multi-objective path planning method (DMOP) is proposed. The DMOP can efficiently find the desired path with three steps: (1) Transform the high-resolution 2.5D map into a small-size map. (2) Use a trained deep Q network (DQN) to find the desired path on the small-size map. (3) Build the planned path to the original high-resolution map using a path enhanced method. In addition, the imitation learning method and reward shaping theory are applied to train the DQN. The reward function is constructed with the information of terrain, distance, border. Simulation shows that the proposed method can finish the multi-objective 2.5D path planning task. Also, simulation proves that the method has powerful reasoning capability that enables it to perform arbitrary untrained planning tasks on the same map

The Characteristics of Sleep Apnea in Tibetans and Han Long-Term High Altitude Residents

Purpose: Obstructive sleep apnea (OSA) is common both at low and high altitude. Since adaptations to high altitude and respiratory control may differ among Tibetans and Hans, we compared characteristics of sleep-disordered breathing in the two ethnic groups at high altitude. Materials and methods: This was a prospective observational study including 86 Tibetan and Han long-term (>5 years) high altitude residents with chief complaints of snoring and/or witnessed apnea underwent clinical evaluation and polysomnography at 3200 meters in Shangri-La, China. Results: In 42 Tibetans, 38 men, median (quartiles) age was 50.0 (41.0; 56.0)y, total apnea/hypopnea index (AHI) 53.9 (32.0; 77.5)/h, obstructive AHI 51.0 (28.0; 72.2)/h and central AHI 1.5 (0.2; 3.1)/h. In 44 Hans, 32 men, median (quartiles) age was 47.0 (43.5; 51.0)y, total AHI 22.2 (12.8; 39.2)/h, obstructive AHI 17.7 (12.0; 33.0)/h and central AHI 2.4 (0.5; 3.4)/h (p < 0.001 total and obstructive AHI vs Tibetans). In Tibetans, mean nocturnal oxygen saturation was lower [median 85.0 (83.0; 88.0)% vs 88.5 (87.0; 90.0)%] and obstructive apnea and hypopnea duration was longer [22.0 (19.6; 24.8) sec vs 18.3 (16.7; 20.6) sec] than in Hans (all p < 0.001). In regression analysis, Tibetan ethnicity, neck circumference and high-altitude living duration were the predictors of total AHI. We also found that with every 10/h increase in total AHI, there were an approximately 0.9 beat/min and 0.8 beat/min increase in mean heart rate during rapid eye movement (REM) and non-REM sleep and 1.9 mmHg and 2.0 mmHg increase in evening and morning systolic blood pressure. Conclusion: Our data suggest that Tibetans presented more severe obstructive sleep apnea, hypoxemia and longer apnea duration compared to Hans at 3200 meters, which was correlated with higher heart rate and blood pressure suggesting a greater cardiovascular risk. Keywords: Tibetan; high altitude; long-term Han resident; obstructive sleep apnea

KAEMPFEROL, A FLAVONOID COMPOUND FROM GYNURA MEDICA INDUCED APOPTOSIS AND GROWTH INHIBITION IN MCF-7 BREAST CANCER CELL

Background: Kaempferol, a natural flavonoid, has been shown to induce cancer cell apoptosis and cell growth inhibition in several tumors. Previously we have conducted a full investigation on the chemical constituents of Gynura medica, kaempferol and its glycosides are the major constituents of G. medica. Here we investigated the growth inhibition and apoptosis induction effect of kaempferol extracted from G. medica. Materials and Methods: The inhibition effects of kaempferol were evaluated by MTS assay and soft agar colony formation assay. Fluorescence staining and western blotting were be used to study the apoptosis. The structure was identified by 1H- NMR), 13C-NMR and ESI-MS analyses. Results: Our results showed that kaempferol’s inhibition of MCF-7 breast cancer cell growth may through inducing apoptosis and downregulation of Bcl2 expression. Conclusion: Kaempferol is a promising cancer preventive and therapeutic agent for breast cancer

Synchronous multiple primary malignancies of clear cell renal cell carcinoma with sarcomatoid, thyroid carcinoma: a case report

Multiple primary malignant neoplasms (MPMNs) are defined as the presence of two or more malignancies with different histologies in the same patient. MPMNs are rare, accounting for fewer than 4% of all tumor cases. Depending on the time interval between the diagnosis of the different malignancies, they are classified as either simultaneous or metachronous MPMNs, with simultaneous being rarer in MPMNs. Here, we present a 63-year-old female patient presenting with multiple primary renal and thyroid carcinomas and discuss the risk factors, treatment options, and prognosis of rare dual carcinomas. We focus on managing multidisciplinary teams and selecting individualized treatment options to deliver valuable treatment strategies to patients

PHENOLIC CONSTITUENTS FROM SARCOPYRAMIS NEPALENSIS AND THEIR Α-GLUCOSIDASE INHIBITORY ACTIVITY

Background: This study was carried out to fully investigate the phenolic chemical constituents of Sarcopyramis nepalensis and determine their α-glucosidase inhibitory activity. Materials and Methods: S. nepalensis was extracted using the ultrasonic assistant extraction (UAE) method and further fractionated with petroleum ether (PE), chloroform (CHCl3), ethyl acetate (EtOAc) and n-butanol (n-BuOH), respectively. The active fraction was chromatographed on AB-8 macroporous resin column, silica gel column, Sephadex LH-20 column, RP-ODS column and semi-preparative HPLC column. The isolated phenolic constituents were identified by 1H-Nuclear Magnetic Resonance (NMR), 13C-NMR and mass spectral (MS) analyses and detected their α-glucosidase inhibitory activity by micro-plate. Results: Ten phenolic constituents were isolated and identified from the active fraction of S. nepalensis. They were identified as isorhamnetin(1), quercetin(2), isorhamnetin-3-O-β-D-glucopyranoside(3), isoquercetin (4), astragalin(5),isorhamnetin-3-O-(6"-p-coumaroyl)-β-D-glucopyranoside(6),isorhamnetin-3-O-(6"-caffeoyl)-β-D-glucopyranoside(7), isoferulic acid(8) Caffeic acid(9) and ellagic acid(10). All of the phenolic compounds were assayed for their hypoglycemic activity against α-glucosidase in vitro. Compound 4, 6 and 7 showed promising α-glucosidase inhibitory activity with the IC50 values of 0.69 mg/ml, 0.56 mg/ml, 0.45 mg/ml, respectively. Conclusion: Compounds 5-8 were isolated for the first time from S. nepalensis. This is the first report on the characterization of phenolic compounds and possible utilization of S. nepalensis for therapeutic intervention in type 2 diabetes

Ascorbic Acid Facilitates Neural Regeneration After Sciatic Nerve Crush Injury

Ascorbic acid (AA) is an essential micronutrient that has been safely used in the clinic for many years. The present study indicates that AA has an unexpected function in facilitating nerve regeneration. Using a mouse model of sciatic nerve crush injury, we found that AA can significantly accelerate axonal regrowth in the early stage [3 days post-injury (dpi)], a finding that was revealed by immunostaining and Western blotting for antibodies against GAP-43 and SCG10. On day 28 post-injury, histomorphometric assessments demonstrated that AA treatment increased the density, size, and remyelination of regenerated axons in the injured nerve and alleviated myoatrophy in the gastrocnemius. Moreover, the results from various behavioral tests and electrophysiological assays revealed that nerve injury-derived functional defects in motor and sensory behavior as well as in nerve conduction were significantly attenuated by treatment with AA. The potential mechanisms of AA in nerve regeneration were further explored by investigating the effects of AA on three types of cells involved in this process [neurons, Schwann cells (SCs) and macrophages] through a series of experiments. Overall, the data illustrated that AA treatment in cultured dorsal root ganglionic neurons resulted in increased neurite growth and lower expression of RhoA, which is an important inhibitory factor in neural regeneration. In SCs, proliferation, phagocytosis, and neurotrophin expression were all enhanced by AA. Meanwhile, AA treatment also improved proliferation, migration, phagocytosis, and anti-inflammatory polarization in macrophages. In conclusion, this study demonstrated that treatment with AA can promote the morphological and functional recovery of injured peripheral nerves and that this effect is potentially due to AA’s bioeffects on neurons, SCs and macrophages, three of most important types of cells involved in nerve injury and regeneration

Inhibition of RhoA-Subfamily GTPases Suppresses Schwann Cell Proliferation Through Regulating AKT Pathway Rather Than ROCK Pathway

Inhibiting RhoA-subfamily GTPases by C3 transferase is widely recognized as a prospective strategy to enhance axonal regeneration. When C3 transferase is administered for treating the injured peripheral nerves, Schwann cells (SCs, important glial cells in peripheral nerve) are inevitably impacted and therefore SC bioeffects on nerve regeneration might be influenced. However, the potential role of C3 transferase on SCs remains elusive. Assessed by cell counting, EdU and water-soluble tetrazolium salt-1 (WST-1) assays as well as western blotting with PCNA antibody, herein we first found that CT04 (a cell permeable C3 transferase) treatment could significantly suppress SC proliferation. Unexpectedly, using Y27632 to inhibit ROCK (the well-accepted downstream signal molecule of RhoA subfamily) did not impact SC proliferation. Further studies indicated that CT04 could inactivate AKT pathway by altering the expression levels of phosphorylated AKT (p-AKT), PI3K and PTEN, while activating AKT pathway by IGF-1 or SC79 could reverse the inhibitory effect of CT04 on SC proliferation. Based on present data, we concluded that inhibition of RhoA-subfamily GTPases could suppress SC proliferation, and this effect is independent of conventional ROCK pathway but involves inactivation of AKT pathway