Adaptive Control of Space Robot Manipulators with Task Space Base on Neural Network

As are considered, the body posture is controlled and position cannot control, space manipulator system model is difficult to be set up because of disturbance and model uncertainty. An adaptive control strategy based on neural network is put forward. Neural network on-line modeling technology is used to approximate the system uncertain model, and the strategy avoids solving the inverse Jacobi matrix, neural network approximation error and external bounded disturbance are eliminated by variable structure control controller. Inverse dynamic model of the control strategy does not need to be estimated, also do not need to take the training process, globally asymptotically stable of the closed-loop system is proved based on the lyapunov theory. The simulation results show that the designed controller can achieve high control precision has the important value of engineering application

MiR-708 promotes steroid-induced osteonecrosis of femoral head, suppresses osteogenic differentiation by targeting SMAD3

Steroid-induced osteonecrosis of femoral head (ONFH) is a serious complication of glucocorticoid (GC) use. We investigated the differential expression of miRs in the mesenchymal stem cells (MSCs) of patients with ONFH, and aimed to explain the relationship between GC use and the development of MSC dysfunction in ONFH. Cells were collected from bone marrow of patients with ONFH. Samples were assigned to either GCs Group or Control Group at 1:1 matched with control. We then used miRNA microarray analysis and real-time PCR to identify the differentially expressed miRs. We also induced normal MSCs with GCs to verify the differential expression above. Subsequently, we selected some of the miRs for further studies, including miRNA target and pathway prediction, and functional analysis. We discovered that miR-708 was upregulated in ONFH patients and GC-treated MSCs. SMAD3 was identified as a direct target gene of miR-708, and functional analysis demonstrated that miR-708 could markedly suppress osteogenic differentiation and adipogenesis differentiation of MSCs. Inhibition of miR-708 rescued the suppressive effect of GC on osteonecrosis. Therefore, we determined that GC use resulted in overexpression of miR-708 in MSCs, and thus, targeting miR-708 may serve as a novel therapeutic biomarker for the prevention and treatment of ONFH

Analyses of winter circulation types and their impacts on haze pollution in Beijing

To better understand the interannual variation of winter haze pollution, this paper investigates winter circulation types and their impacts on local meteorological conditions and haze pollution during 38 winters from 1980 to 2017 in Beijing. Circulation types were classified by T-mode principal component analysis combined with the K-means cluster method using European Centre for Medium-range Weather Forecasts ERA-interim sea level pressure data. The results can significantly distinguish the cold air process, a degeneration of cold air, and stagnant weather. The cold air process over Beijing was accompanied by a low temperature, high relative humidity, large pressure gradient and near-surface wind speed, and deep mixing layer. The cold air process facilitated pollutant dispersion and transport to the outside (such as East China, Bohai Sea, and Yellow Sea) and formed low PM2.5 concentrations and low frequencies of haze days. In contrast, the local meteorology and haze pollution were almost the inverse for stagnant weather. The local meteorological conditions and haze pollution for the degeneration of cold air are between the previous circulation types. Considering PM2.5 observation during 2010–2017, the occurrence frequency of cold air was low in the recent winters of 2013, 2014 and 2017, and resulted in severe PM2.5 pollution. High frequency of stagnant weather (48.4%) was one of the reasons that haze pollution reached 37% during 38 winters from 1980 to 2017 over Beijing. The time series of haze frequency was negatively correlated with that of cold air frequency. Winter haze pollution was affected by climate change over Beijing. During 38 winters from 1980 to 2017, a decreased trend of haze days was found, which was partly related to an increased trend of cold air frequency. However, the trends of haze days and cold air in Beijing were not significant based on regression analysis

Genetic diversity and differentiation of three populations of Penaeus monodon Fabricus

【英文摘要】 Genetic diversity of two wild Penaeus monodon populations sampled from the coastal waters of Qinglan (Hainan Province of China,HN) and Malaysia (KD),and the F1 generation of a Thailand broodstock population (CP) were examined by vertical polyacrylamide gel electrophoresis. Of 21 loci encoded by ten enzymes,11 were polymorphic. The mean proportions of polymorphic loci of HN,KD and CP were 36.36%,45.45% and 50.00%,with the average heterozygosities of 0.135,0.181 and 0.191,and the effective numbers of alleles ..The National Natural Science Foundation of China under contract No.30471322

Homozygous p.Ser267Phe in SLC10A1 is associated with a new type of hypercholanemia and implications for personalized medicine.

SLC10A1 codes for the sodium-taurocholate cotransporting polypeptide (NTCP), which is a hepatocellular transporter for bile acids (BAs) and the receptor for hepatitis B and D viruses. NTCP is also a target of multiple drugs. We aimed to evaluate the medical consequences of the loss of function mutation p.Ser267Phe in SLC10A1. We identified eight individuals with homozygous p.Ser267Phe mutation in SLC10A1 and followed up for 8-90 months. We compared their total serum BAs and 6 species of BAs with 170 wild-type and 107 heterozygous healthy individuals. We performed in-depth medical examinations and exome sequencing in the homozygous individuals. All homozygous individuals had persistent hypercholanemia (P = 5.8 × 10-29). Exome sequencing excluded the involvement of other BA metabolism-associated genes in the hypercholanemia. Although asymptomatic, all individuals had low vitamin D levels. Of six adults that were subjected to bone mineral density analysis, three presented with osteoporosis/osteopenia. Sex hormones and blood lipids were deviated in all subjects. Homozygosity of p.Ser267Phe in SLC10A1 is associated with asymptomatic hypercholanemia. Individuals with homozygous p.Ser267Phe in SLC10A1 are prone to vitamin D deficiency, deviated sex hormones and blood lipids. Surveillance of these parameters may also be needed in patients treated with drugs targeting NTCP.This project is supported by the National Natural Science Foundation of China (31471193, 81570539, 81370535, 91331204 and 31525014). S.X. acknowledges financial support from the Strategic Priority Research Program (XDB13040100) and Key Research Program of Frontier Sciences (QYZDJ-SSW-SYS009) of the Chinese Academy of Sciences (CAS)

Finishing the euchromatic sequence of the human genome

The sequence of the human genome encodes the genetic instructions for human physiology, as well as rich information about human evolution. In 2001, the International Human Genome Sequencing Consortium reported a draft sequence of the euchromatic portion of the human genome. Since then, the international collaboration has worked to convert this draft into a genome sequence with high accuracy and nearly complete coverage. Here, we report the result of this finishing process. The current genome sequence (Build 35) contains 2.85 billion nucleotides interrupted by only 341 gaps. It covers ∼99% of the euchromatic genome and is accurate to an error rate of ∼1 event per 100,000 bases. Many of the remaining euchromatic gaps are associated with segmental duplications and will require focused work with new methods. The near-complete sequence, the first for a vertebrate, greatly improves the precision of biological analyses of the human genome including studies of gene number, birth and death. Notably, the human enome seems to encode only 20,000-25,000 protein-coding genes. The genome sequence reported here should serve as a firm foundation for biomedical research in the decades ahead

Quantitative evaluation of the immunodeficiency of a mouse strain by tumor engraftments

© 2015 Ye et al. Background: The mouse is an organism that is widely used as a mammalian model for studying human physiology or disease, and the development of immunodeficient mice has provided a valuable tool for basic and applied human disease research. Following the development of large-scale mouse knockout programs and genome-editing tools, it has become increasingly efficient to generate genetically modified mouse strains with immunodeficiency. However, due to the lack of a standardized system for evaluating the immuno-capacity that prevents tumor progression in mice, an objective choice of the appropriate immunodeficient mouse strains to be used for tumor engrafting experiments is difficult. Methods: In this study, we developed a tumor engraftment index (TEI) to quantify the immunodeficiency response to hematologic malignant cells and solid tumor cells of six immunodeficient mouse strains and C57BL/6 wild-type mouse (WT). Results: Mice with a more severely impaired immune system attained a higher TEI score. We then validated that the NOD-scid-IL2Rg-/- (NSI) mice, which had the highest TEI score, were more suitable for xenograft and allograft experiments using multiple functional assays. Conclusions: The TEI score was effectively able to reflect the immunodeficiency of a mouse strain.Link_to_subscribed_fulltex