Evaluating Electrode-Tissue Contact Force Using the Moving Pattern of the Catheter Tip and the Electrogram Characteristics

As an important reference for the physician during catheter ablation, the electrode-tissue contact force (CF), is one of the key points for the success of the catheter ablation. With the guide of CF sensing, the ablation procedure can be safer and more effective. Techniques and apparatus have been refined since catheter ablation was invented to treat cardiac arrhythmia. In the review part, different techniques for evaluating the electrode-tissue CF are discussed, including both direct and indirect measurement. Sensor-based direct measurement is broadly applied but restricted by the high cost. Surrogate markers of catheter-tissue contact such as impedance, electrogram (EGM) quality, catheter tip temperature and so on, are taken as reference evaluating CF as well, but each of them has their own drawbacks. In this dissertation, our approach estimating the CF is based on the moving pattern of the catheter tip in the heart chamber. The factors determining the catheter tip motion, include the cardiac and respiratory cycles, blood flow, and so on. If the position of the catheter tip can be recorded, then the motion of the catheter tip can be tracked and analyzed. Based on our collected data, the moving pattern of the catheter tip is different when the electrode-tissue CF level varies. Features extracted from catheter tip motion are significant for CF evaluation. There are different features selected to describe the moving pattern of the catheter tip, which are identified to best represent the movement by checking the corresponding CF as reference. In summary, if the feature has a strong correlation with the CF, then it can be taken as a good feature. Using the features as input, the CF evaluating mechanism is based on a multi-class classification decision tree to make an optimum and comprehensive estimation

Robust navigation control and headland turning optimization of agricultural vehicles

Autonomous agricultural robots have experienced rapid development during the last decade. They are capable of automating numerous field operations such as data collection, spraying, weeding, and harvesting. Because of the increasing demand of field work load and the diminishing labor force on the contrary, it is expected that more and more autonomous agricultural robots will be utilized in future farming systems. The development of a four-wheel-steering (4WS) and four-wheel-driving (4WD) robotic vehicle, AgRover, was carried out at Agricultural Automation and Robotics Lab at Iowa State University. As a 4WS/4WD robotic vehicle, AgRover was able to work under four steering modes, including crabbing, front steering, rear steering, and coordinated steering. These steering modes provided extraordinary flexibilities to cope with off-road path tracking and turning situations. AgRover could be manually controlled by a remote joystick to perform activities under individual PID controller of each motor. Socket based software, written in Visual C#, was developed at both AgRover side and remote PC side to manage bi-directional data communication. Safety redundancy was also considered and implemented during the software development. One of the prominent challenges in automated navigation control for off-road vehicles is to overcome the inaccuracy of vehicle modeling and the complexity of soil-tire interactions. Further, the robotic vehicle is a multiple-input and multiple-output (MIMO) high-dimensional nonlinear system, which is hard to be controlled or incorporated by conventional linearization methods. To this end, a robust nonlinear navigation controller was developed based on the Sliding Mode Control (SMC) theory and AgRover was used as the test platform to validate the controller performance. Based on the theoretical framework of such robust controller development, a series of field experiments on robust trajectory tracking control were carried out and promising results were achieved. Another vitally important component in automated agricultural field equipment navigation is automatic headland turning. Until now automated headland turning still remains as a challenging task for most auto-steer agricultural vehicles. This is particularly true after planting where precise alignment between crop row and tractor or tractor-implement is critical when equipment entering the next path. Given the motion constraints originated from nonholonomic agricultural vehicles and allowable headland turning space, to realize automated headland turning, an optimized headland turning trajectory planner is highly desirable. In this dissertation research, an optimization scheme was developed to incorporate vehicle system models, a minimum turning-time objective, and a set of associated motion constraints through a direct collocation nonlinear programming (DCNLP) optimization approach. The optimization algorithms were implemented using Matlab scripts and TOMLAB/SNOPT tool boxes. Various case studies including tractor and tractor-trailer combinations under different headland constraints were conducted. To validate the soundness of the developed optimization algorithm, the planner generated turning trajectory was compared with the hand-calculated trajectory when analytical approach was possible. The overall trajectory planning results clearly demonstrated the great potential of utilizing DCNLP methods for headland turning trajectory optimization for a tractor with or without towed implements

Oxymatrine induces human pancreatic cancer PANC-1 cells apoptosis via regulating expression of Bcl-2 and IAP families, and releasing of cytochrome c

<p>Abstract</p> <p>Background</p> <p>Oxymatrine, an isolated extract from traditional Chinese herb <it>Sophora Flavescens Ait</it>, has been traditionally used for therapy of anti-hepatitis B virus, anti-inflammation and anti-anaphylaxis. The present study was to investigate the anti-cancer effect of oxymatrine on human pancreatic cancer PANC-1 cells, and its possible molecular mechanism.</p> <p>Methods</p> <p>The effect of oxymatrine on the viability and apoptosis was examined by methyl thiazolyl tetrazolium and flow cytometry analysis. The expression of Bax, Bcl-2, Bcl-x (L/S), Bid, Bad, HIAP-1, HIAP-2, XIAP, NAIP, Livin and Survivin genes was accessed by RT-PCR. The levels of cytochrome c and caspase 3 protein were assessed by Western blotting.</p> <p>Results</p> <p>Oxymatrine inhibited cell viability and induced apoptosis of PANC-1 cells in a time- and dose-dependent manner. This was accompanied by down-regulated expression of Livin and Survivin genes while the Bax/Bcl-2 ratio was upregulated. Furthermore, oxymatrine treatment led to the release of cytochrome c and activation of caspase-3 proteins.</p> <p>Conclusion</p> <p>Oxymatrine can induce apoptotic cell death of human pancreatic cancer, which might be attributed to the regulation of Bcl-2 and IAP families, release of mitochondrial cytochrome c and activation of caspase-3.</p

Headland Turning Optimisation for Agricultural Vehicles and Those with Towed Implements

As an essential part of field coverage path planning process, mobile agricultural field equipment headland turning is a process that should be done in a manner that can maximise the equipment’s operational efficiency through minimising the time or travel distance during the turning. However, this headland turning trajectory optimisation task represents a challenging dynamic nonlinear optimisation problem which is difficult to solve by using traditional indirect numerical methods. In this research, we investigated the possibility of using direct numerical methods to solve such a nonlinear optimisation problem in a restricted parameter neighborhood with constraints. We developed the kinematic models of the tractor and the tractor-implement(s) systems and formulated their headland turning optimisation problems through incorporating their models and the operational constraints. A range of headland turning scenarios from symmetrical bulb turn to fishtail turn and to turns with single and double trailers. With integration of the tractor and trailer models and by implementing the optimization process with the TOMLAB/SNOPT software tool, results for diverse circumstances of the tractor/trailer headland turning scenarios were generated and illustrated in this paper

Succinate dehydrogenase/complex II is critical for metabolic and epigenetic regulation of T cell proliferation and inflammation

Effective T cell-mediated immune responses require the proper allocation of metabolic resources to sustain growth, proliferation, and cytokine production. Epigenetic control of the genome also governs T cell transcriptome and T cell lineage commitment and maintenance. Cellular metabolic programs interact with epigenetic regulation by providing substrates for covalent modifications of chromatin. By using complementary genetic, epigenetic, and metabolic approaches, we revealed that tricarboxylic acid (TCA) cycle flux fueled biosynthetic processes while controlling the ratio of succinate/α-ketoglutarate (α-KG) to modulate the activities of dioxygenases that are critical for driving T cell inflammation. In contrast to cancer cells, where succinate dehydrogenase (SDH)/complex II inactivation drives cell transformation and growth, SDH/complex II deficiency in T cells caused proliferation and survival defects when the TCA cycle was truncated, blocking carbon flux to support nucleoside biosynthesis. Replenishing the intracellular nucleoside pool partially relieved the dependence of T cells on SDH/complex II for proliferation and survival. SDH deficiency induced a proinflammatory gene signature in T cells and promoted T helper 1 and T helper 17 lineage differentiation. An increasing succinate/α-KG ratio in SDH-deficient T cells promoted inflammation by changing the pattern of the transcriptional and chromatin accessibility signatures and consequentially increasing the expression of the transcription factor, PR domain zinc finger protein 1. Collectively, our studies revealed a role of SDH/complex II in allocating carbon resources for anabolic processes and epigenetic regulation in T cell proliferation and inflammation.National Institute of Health (Cancer Moonshot program) 1UO1CA232488-01United States Department of Health & Human Services National Institutes of Health (NIH) - USA 2R01AI114581-06 RO1CA247941V-Foundation V2014-001American Cancer Society 128436-RSG-15-180-01-LIBSBP NCI Cancer Center Support Grant P30 CA030199Markey Cancer Center Support Grant P30CA17755

Identification of cuproptosis-related biomarkers and analysis of immune infiltration in allograft lung ischemia-reperfusion injury

Background: Allograft lung ischemia-reperfusion injury (ALIRI) is a major cause of early primary graft dysfunction and poor long-term survival after lung transplantation (LTx); however, its pathogenesis has not been fully elucidated. Cell death is a mechanism underlying ALIRI. Cuproptosis is a recently discovered form of programmed cell death. To date, no studies have been conducted on the mechanisms by which cuproptosis-related genes (CRGs) regulate ALIRI. Therefore, we explored the potential biomarkers related to cuproptosis to provide new insights into the treatment of ALIRI.Materials and methods: Datasets containing pre- and post-LTx lung biopsy samples and CRGs were obtained from the GEO database and previous studies. We identified differentially expressed CRGs (DE-CRGs) and performed functional analyses. Biomarker genes were selected using three machine learning algorithms. The ROC curve and logistic regression model (LRM) of these biomarkers were constructed. CIBERSORT was used to calculate the number of infiltrating immune cells pre- and post-LTx, and the correlation between these biomarkers and immune cells was analyzed. A competing endogenous RNA network was constructed using these biomarkers. Finally, the biomarkers were verified in a validation set and a rat LTx model using qRT-PCR and Western blotting.Results: Fifteen DE-CRGs were identified. GO analysis revealed that DE-CRGs were significantly enriched in the mitochondrial acetyl-CoA biosynthetic process from pyruvate, protein lipoylation, the tricarboxylic acid (TCA) cycle, and copper-transporting ATPase activity. KEGG enrichment analysis showed that the DE-CRGs were mainly enriched in metabolic pathways, carbon metabolism, and the TCA cycle. NFE2L2, NLRP3, LIPT1, and MTF1 were identified as potential biomarker genes. The AUC of the ROC curve for each biomarker was greater than 0.8, and the LRM provided an excellent classifier with an AUC of 0.96. These biomarkers were validated in another dataset and a rat LTx model, which exhibited good performance. In the CIBERSORT analysis, differentially expressed immune cells were identified, and the biomarkers were associated with the immune cells.Conclusion:NFE2L2, NLRP3, LIPT1, and MTF1 may serve as predictors of cuproptosis and play an important role in the pathogenesis of cuproptosis in ALIRI

Pengaruh Pendekatan Pembelajaran Matematika Realistik Terhadap Prestasi Belajar Matematika Ditinjau Dari Kemampuan Numerik Siswa Kelas VIII SMP Negeri 2 Amlapura

Penelitian ini bertujuan untuk mengetahui dan mendeskripsikan pengaruh pendekatan pembelajaran matematika realistik terhadap prestasi belajar matematika ditinjau dari kemampuan numerik siswa. Penelitian ini merupakan eksperimen semu dilaksanakan dengan menggunakan rancangan the post test only control group design. Populasinya adalah seluruh siswa kelas VIII SMP Negeri 2 Amlapura tahun pelajaran 2013-2014. Dari delapan kelas yang ada, empat kelas dipilih sebagai sampel yakni dua kelas sebagai kelas eksperimen dan dua kelas sebagai kelas kontrol yang diambil dengan teknik random. Data penelitian dikumpulkan menggunakan tes, yaitu tes kemampuan numerik dan tes prestasi belajar matematika. Data yang diperoleh dianalisis dengan analisis varians dua jalur dilanjutkan dengan uji Tukey. Berdasarkan hasil analisis data dan pembahasan, dapat disimpulkan, terdapat perbedaan yang signifikan prestasi belajar matematika antara siswa yang mengikuti pendekatan pembelajaran matematika realistik dengan siswa yang mengikuti pendekatan pembelajaran konvensional. Terdapat pengaruh interaksi antara pendekatan pembelajaran matematika realistik dan kemampuan numerik terhadap prestasi belajar matematika. Pada Siswa yang memiliki kemampuan numerik tinggi, prestasi belajar matematika siswa yang mengikuti pendekatan pembelajaran matematika realistik lebih baik daripada pendekatan konvensional. Pada siswa yang memiliki kemampuan numerik rendah, prestasi belajar matematika siswa yang mengikuti pendekatan pembelajaran matematika realistik tetap lebih tinggi dari siswa yang mengikuti pendekatan pembelajaran konvensional.Kata Kunci : pendekatan pembelajaran matematika realistik, kemampuan numerik, dan prestasi belajar matematika The study aimed at finding out and describing the contribution of realistic mathematic instructional approach towards mathematic learning achievement viewed from numeric skills. It was a quasi-experimental research by utilizing the post test only control group design. The study involved all students class VIII SMP Negeri 2 Amlapura in 2013-2014 as the population. Four classes of the students were chosen from eight parallel classes as the samples consisting of two classes as experimental and another two classes as control groups. They were determined based on random technique. The data were collected by testing, involving numeric ability and mathematic achievement tests. They were analysed based on two tailed variant analysis followed by Tukey-test. The results indicated that there was a significant difference between mathematic learning achievement of the students joining realistic mathematic instruction and those joining a conventional approach. There was an interactional contribution of realistic mathematic instructional approach and numeric ability towards mathematic learning achievement. The students having higher numeric skills, when joining realistic mathematic instruction approach their mathematic learning achievement was found better or higher than those joining a conventional approach. The students having lower numeric skills, when joining realistic mathematic instruction approach, their mathematic learning achievement was found better or higher than those joining a conventional approach

Using Maxwell’s Theory to model and quantify the fracture evolution of cyclothymic deposition phosphate rock

The evolution and stability of fracturing in the cyclothymic deposition of phosphate rocks are strongly affected by the viscoelasticity and structural form of the rock-forming minerals. Presently, there is no standardized method that has been widely accepted to accurately quantify the elastic-plastic deformation and fracturing of such striped structural rock nor reflect the role of the different lithogenous minerals in phosphate rocks when subjected to viscoelastic strain loading. In this study, integrated mathematical equations were formulated for modelling the mechanical and fracture behaviour of cyclothymic deposition in structured phosphate rocks. These constitutive equations were developed based on Maxwell’s Theory after the elastic modulus and damping coefficient of the rock-forming mineral from the mechanical testing were substituted into the derived-equations. In these new models, the apatite stripes and dolomite stripes were incorporated into the transverse isotropic model through the analysis of structural characteristics of the phosphate rock. Through experimental validation, the response curves of the creep and stress relaxation tests were found to be consistent with the deformation curves generated by modelling using the mathematical equations. Overall, the formulated model along with the corresponding equations was found to exhibit good applicability properties to describe phosphate’s mechanical and fracture behaviour under low horizontal compressive stresses. In the study, the creep mechanism in phosphate rocks were satisfactorily analysed from the angles of microscopic morphology, cracks evolution, and inter-crystalline strength. The hard brittle apatite was found to be surrounded and separated by high creep variant dolomite. Furthermore, the analysis showed that dolomite crystals possessing high creep properties dominated the distribution and evolution of secondary structures in the phosphate rock, under the condition of long-term low-stress loading