12 research outputs found
A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts
This paper presents a multi-robot system for manufacturing personalized
medical stent grafts. The proposed system adopts a modular design, which
includes: a (personalized) mandrel module, a bimanual sewing module, and a
vision module. The mandrel module incorporates the personalized geometry of
patients, while the bimanual sewing module adopts a learning-by-demonstration
approach to transfer human hand-sewing skills to the robots. The human
demonstrations were firstly observed by the vision module and then encoded
using a statistical model to generate the reference motion trajectories. During
autonomous robot sewing, the vision module plays the role of coordinating
multi-robot collaboration. Experiment results show that the robots can adapt to
generalized stent designs. The proposed system can also be used for other
manipulation tasks, especially for flexible production of customized products
and where bimanual or multi-robot cooperation is required.Comment: 10 pages, 12 figures, accepted by IEEE Transactions on Industrial
Informatics, Key words: modularity, medical device customization, multi-robot
system, robot learning, visual servoing, robot sewin
The results from linear mixed models of the covariates and tooth number on cognitive function: 13-year follow-up data.
<p>The results from linear mixed models of the covariates and tooth number on cognitive function: 13-year follow-up data.</p
Description of characteristics of the participants at baseline (N = 8153).
<p>Description of characteristics of the participants at baseline (N = 8153).</p
The results from linear mixed models of the covariates and tooth number on cognitive function: 13-year follow-up data.
<p>The results from linear mixed models of the covariates and tooth number on cognitive function: 13-year follow-up data.</p
Additional file 1: Table S1. of The impact of residential status on cognitive decline among older adults in China: Results from a longitudinal study
Parameter Estimates for Trajectories of Cognitive function Over Time. (DOCX 35 kb
mS100a7a15, calpain-1 and mature IL-1α are induced in IMQ-induced psoriasis model.
<p><b>(A)</b> Quantification of mS100a7a15 mRNA expression of skin from normal and imiquimod-induced psoriatic mouse backs at 5 days. <b>(B)</b> Immunoblot of mS100a7a15, IL-1α and calpain-1 in skin extracts from normal and imiquimod-induced psoriatic mouse backs. <b>(C)</b> HE staining and immunohistochemical analysis of mS100a7a15, calpain-1 in skin tissues as described in fig 4A. The scale bars represent 100 μm. All data are representative of three independent experiments with n = 6 and are means ± SEM. <i>P</i> values were determined by two-tailed t test. *** <i>P</i><0.001.</p
hS100A7 induces mature IL-1α expression in normal human epidermal keratinocytes.
<p><b>(A)</b> IL-1α and IL-1β mRNA levels were measured by real time PCR after incubated with indicated concentrations hS100A7 at 6 hours. <b>(B)</b> Immunoblot of IL-1α treated with hS100A7 (50 ng/ml) at 6 hours or recombinant IL-1α protein (30 ng) by western blot in NHEKs. <b>(C)</b> Immunoblot of IL-1β treated with hS100A7 (50 ng/ml) at 6 hours or irradiated with broad-band UVB 4 mW/cm<sup>2</sup> by western blot in NHEKs. (<b>D</b>) NHEK cells were incubated with hS100A7 (50 ng/ml) and concentrations of IL-1α in the supernatants were determined by ELISA after 5 hours. (<b>E</b>) Psoriatic epidermis was extracted by RAPI lysis buffer, IL-1α protein level was determined by western blot. All data are representative of three independent experiments with n = 3 and are means ± SEM. <i>P</i> values were determined by two-tailed t test. *** <i>P</i><0.001.</p
Proteolysis of IL-1α induced by hS100A7 is dependent on calpain-1.
<p><b>(A)</b> Quantification of IL-1α protein expression treated with hS100A7 (50 ng/ml) in the absence or presence of SB202190 (p38 MAPK inhibitor, 15 μM), PD151746 (calpain-1 inhibitor, 15 μM) in NHEKs. <b>(B)</b> Mature IL-1α protein expression induced by hS100A7 at 6 hours after calpain-1 was silenced by siRNA. <b>(C and D)</b> Calpain-1 protein and mRNA expression determined by westernblot at different time points after treated with hS100A7 (50 ng/ml) in NHEKs. <b>(E)</b> Calpain-1 expression after blocking p38 MAPK activity by SB202190 (15 μM) in NHEKs. <b>(F)</b> The model shows that hS100A7 induces mature IL-1α expression via RAGE-p38 MAPK-calpain-1 signal pathway. All data are representative of three independent experiments with n = 3 and are means ± SEM. <i>P</i> values were determined by two-tailed t test. *** <i>P</i><0.001.</p
P38 MAPK and RAGE are critical to mature IL-1α production induced by hS100A7.
<p><b>(A)</b> Immunoblot of proteins by different times treated with hS100A7 (50 ng/ml) in NHEKs. <b>(B)</b> Quantification of IL-1α protein expression in NHEKs treated with hS100A7 (50 ng/ml) in the absence or presence of SB202190 (p38 MAPK inhibitor, 15 μM), SP600125 (JNK inhibitor, 15 μM), caspase-8 inhibitor, (20 μM), and LY294002 (AKT inhibitor, 20 μM). The recombinant IL-1α protein (20 ng) showed as a positive control. <b>(C)</b> Mature IL-1α protein expression induced by hS100A7 after p38 MAPK was silenced by siRNA. <b>(D)</b> Mature IL-1α protein expression and p38 activation induced by hS100A7 after RAGE was silenced by siRNA. Each experiment was repeated as least three times.</p
PD151746 ameliorates epidermal hyperplasia in IMQ-treated mice.
<p><b>(A)</b> HE staining of skin in wild-type mouse treated by imiquimod (25 mg) in the absence or presence of PD151746 (10 mg) at 5 days. The scale bars represent 100 μm. <b>(B)</b> Epidermal thickness was measured by Image J. <b>(C)</b> Protein expression on mouse back skin as described in fig 5A by westernblot at 5 days. <b>(D)</b> IL-1α mRNA level was measured by real time PCR as shown in fig 5A. All data are representative of three independent experiments with n = 6 and are means ± SEM. <i>P</i> values were determined by one-way ANOVA. n.s., no significance. * <i>P</i><0.05, ** <i>P</i><0.01.</p