The nonlinear control problem of quadrotor UAVs which perform cooperative transportation of payloads is treated with the use of nonlinear optimal and multi-loop flatness-based control methods. The load is suspended with a link from a cart which is turn in connected through cables with two quadrotors. The aim is to compute the flight path and the control inputs of the quadrotors that will allow to lift the load and move it to any desirable final position. First, the dynamic model of the cable-suspended load is obtained through Euler-Lagrange analysis. Despite underactuation the associated nonlinear optimal control problem is solved, thus allowing to compute the lift forces of the cables that enable the load to move on the vertical plane until it reaches the targeted position. These forces are also applied with opposite sign to the quadrotors’ side through joints at the other end of the cables. Thus, the dynamic model of the quadrotors is updated by including in it additional drag forces which are due to the tension of the cables. The flight paths for the two quadrotors that enables to bring the suspended load to its final position are also computed. Next, for each quadrotor the nonlinear control and path following problem is solved, taking into account the cable-induced drag forces effects. To this end, a flatness-based control approach which is implemented in successive loops is applied to each quadrotor. The state-space model of each quadrotor UAV is separated into subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. The state variables of the second subsystem become virtual control inputs for the first subsystem. In turn, exogenous control inputs are applied to the second subsystem. The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis. The whole procedure is repeated at each sampling instance, that is (i) solution of the nonlinear optimal control problem for the transportation of the payload (ii) computation of the drag forces which are exerted on the UAVs due to lifting the load, (iii) solution of the multi-loop flatness-based control problem for the individual UAVs. This control method allows each quadrotor to follow precisely the defined flight path and finally achieves to bring the load to the targeted position.

Wrist photoplethysmogram (PPG) signals are widely used for physiological monitoring in consumer devices. However, the PPG is highly susceptible to noise, which can reduce the accuracy of monitored parameters. The aim of this study was to identify factors which influence PPG signal quality. Data from the Aurora-BP dataset were used, consisting of reflectance wrist PPG signals measured from 1,155 subjects of varying ages and health statuses. Measurements were acquired in supine, sitting, and standing postures, and with the sensor held at different heights. Three signal quality metrics were calculated: the signal-to-noise ratio (SNR), the perfusion index (PI), and the template-matching correlation coefficient (TMCC). When comparing between postures with the sensor held at a natural height, quality was greatest in the supine position (SNR: 18.7 dB), followed by sitting with the arm resting in the lap (13.9 dB), and lowest whilst standing with the arm hanging alongside (9.1 dB) (p<0.001). Signal quality increased as the arm was raised to heart height: whilst sitting, quality was lowest with the arm alongside the body (10.7 dB), and increased when the sensor was held in the lap (13.9 dB) and at heart height (16.3 dB) (p<0.001). Similar trends were observed for the TMCC and PI. Findings were mixed for the influence of participant characteristics on signal quality. The SNR and TMCC, but not the PI, increased with age. The SNR decreased at darker skin tones when controlling for PPG DC amplitude, although this association did not hold for other metrics. In conclusion, this study identified the impacts of posture and sensor height on signal quality, with highest qualities observed in the supine posture and with the sensor at heart height. It also highlights the importance of adjusting LED light intensity to maintain signal quality across skin tones.

This study aimed to evaluate the role of macrophages in myocardial repair following myocardial infarction (MI) by conducting a bibliometric analysis of post-MI macrophage research. A comprehensive data set was compiled from the Web of Science Core Collection (WoSCC), encompassing articles published up to December 30, 2023. The analysis included co-authorship and keyword co-occurrence, with visualization facilitated by VOSviewer and key terms identified through CiteSpace. The study encompassed 1,342 publications, highlighting the United States, China, and Germany as leading contributors, with Circulation Research emerging as the most active journal. The prevalent themes were ”Inflammation” and ”atherosclerosis.” The research presents a detailed landscape of macrophage involvement in MI, outlining significant countries, institutions, journals, and publications, offering valuable insights into macrophage functions in myocardial infarction.

Background and Purpose The molecular mechanisms responsible for atherogenesis have not been fully elucidated. The intraplaque endothelium dysfunction and associated inflammation are believed to contribute to the progression of atherosclerosis. This study aims to uncover molecular drivers of atherosclerotic cardiovascular disease and then develop therapeutic strategies for the disease. Methods The expression of zinc-finger transcription factor Snail in human and mouse atherosclerotic plaques was assessed using immunostaining, LacZ reporter mouse line and single-cell RNA-sequencing. The functional role and underlying mechanisms of endothelium-derived Snail in driving atherosclerosis was determined using the canonical and accelerated models of atherosclerosis developed in the endothelial cell (EC)-specific Snail-inducible deleted mice with the ApoE-/- background. An orally bioavailable small-molecule inhibitor of Snail was developed using the docking algorithm analysis and chemical structural optimization, and the anti-atherosclerotic effects of the compound were evaluated in mice. Results Snail is activated in ECs in both human and mouse atherosclerotic plaques, and its expression is positively correlated with disease severity. EC-specific Snail deletion in ApoE-/- mice reduces intraplaque endothelium dysfunction, inflammation and lipid uptake in tandem with enhanced plaque stability. Mechanistically, Snail deletion decreases histone acetylation on Ccl5 and Cxcl10 promoters, thereby decreases CCL5/CXCL10-driven vascular damage and inflammation. Administration with recombinant CXCL10 protein could efficiently restore atherogenesis in Snail-deleted mice. The orally bioavailable small-molecule inhibitor of Snail exhibits a potent anti-atherosclerotic effect in ApoE-/- mice. Conclusions These results reveal that Snail plays an essential role in atherogenesis and pharmacological targeting of Snail may provide therapeutic benefits against atherosclerotic cardiovascular disease.

In a recent publication in British Journal of Pharmacology, Rakoczy, et al. describe the use of animal tissues and behavioral tests to study the potential of psychedelic compounds to benefit human mental health. However, the research warrants additional context regarding the limitations of these behavioral tests, whether the proposed benefits outweigh the harms experienced by the animals used, and whether this study has translational capacity considering its lack of human specimens and data.

The quest to understand how the immune system maintains balance is one of the most pressing scientific inquiries highlighted by ”Science” magazine. Autoimmune diseases and immune-mediated kidney diseases are primarily attributed to immune dysregulation. Typically, interventions such as steroids, other immunosuppressants, and biologics are required, but these expose patients to a heightened risk of infections. We became intrigued by a category of drugs known as immunomodulators, specifically Thymosins, which may possess both negative and positive immunomodulatory effects. In other words, they can both enhance (stimulate) or suppress the immune response. This paper offers a brief account of the discovery of Thymosins and their role in the context of the immune system’s irregularities seen in autoimmune and kidney diseases. We explore the mechanisms by which Thymosins can modulate the immune response. Additionally, we present a thorough examination of the literature on the use of Thymosins in these diseases, aiming to give medical professionals a clear picture of how these substances can be utilized, focusing on their ability to dampen the immune system. We challenge traditional views on thymosins’ use in autoimmune and immune-mediated kidney diseases and underscore their potential therapeutic roles. Their negative immunomodulatory properties make them potentially valuable as adjuvant therapy alongside glucocorticoids and immunosuppressants, especially in situations where the effectiveness of these treatments is suboptimal or intolerable. It is important to note that the dosage range is crucial, and additional studies are essential to elucidate the role of thymosins in these diseases.

Objective: This study analyze the effect of proprotein conversion enzyme subtilisin type 9 (PCSK 9) inhibitor effect on retinal microvascular changes. Methods: This study is a prospective randomized controlled trial. Group Awere treated with PCSK9 inhibitors with statins, and group B were treated with statins. Retinal microvascular changes will be examined by Optical coherence tomography angiography (OCTA) before and after treatment. Results: The foveal avascular zone (FAZ) showed a significant reduction at 12 months in group A, whereas the FAZ in group B showed a significant expansion. The superficial vessel density (SVD) in every region in group A were significantly higher than those in group B. Deep vessel density (DVD) in every region except foveal DVD in group A were significantly higher than those in group B after treatment. In group B, the downward trend only was found in the parafovea DVD. Conclusion: Intensive lipid-lowering therapy with PCSK9 inhibitor can not only influence atherosclerosis, but also help maintain retinal blood flow stability.

Should Sister Mary Joseph Nodule (SMJN) be revisited?Christina Pappa1, Hooman Soleymani majd11 Oxford University Hospitals, NHS Foundation Trust, Oxford, United Kingdom

Anti-CD20 antibody as Initial therapy for adult-onset minimal change disease with nephrotic syndrome：a case series reportShuang-xi Li MD1, Jing Xu MD1*1Department of nephrology, Changhai Hospital, the Naval Medical University, Shanghai, China;*Correspondence author :Jing Xu, Department of Nephrology, Changhai Hospital, 168 Changhai Rd，Shanghai, China; 200433. E-mail: xujing_802@163.comAbbreviations : MCD：minimal change disease；NS: nephrotic syndrome; CyC: cyclophosphamide; Cys: cyclosporine; TAC: tacrolimus; RTX: rituximab; OTZ: obinutuzumab; IGT: impaired glucose tolerance; ALB: albumin; TG: tolal cholesterol; TC: triglycerides; WBC: white blood cell；Scr: serum creatinine; PR: partial remission; CR:complete remission; AE:adverse eventsKeywords : minimal change disease; CD20; nephrotic syndrome; rituximab; obinutuzumab

Brief report:

A document by Reynaldo Jr. Balintona. Click on the document to view its contents.

A case of Fahr’s disease was referred to as multiple sclerosis with vertigo.Reyhaneh Montazeri-Shatouria, Sanaz Khodadadia, Abdorreza Naser MoghadasiaMultiple Sclerosis Research Center, Neuroscience Institute, Tehran University of Medical Sciences, Tehran, Iran

Successful Thrombolytic Therapy for Floating Aortic Arch Thrombus in a Patient with Essential Thrombocytosis: A Case Report

A document by Awaiting Activation. Click on the document to view its contents.

A document by Jason Katz. Click on the document to view its contents.

Hepatic Lenticular Degeneration with Renal Tumors: A Case SeriesHaibing Xiao 1,2,3 #, Mintian Fei1,2,3 #, Haoqiang Shi1,2,3 #, Xinfeng Ma4, Qili Xu1,2,3, Yu Gao1,2,3, Cheng Yang1,2,3, Yu Yin5*, Jun Zhou 1,2,3 *, Chaozhao Liang 1,2,3 *1. Department of Urology, the First Affiliated Hospital of Anhui Medical University, Anhui Medical University, Hefei, Anhui, PR China2. Institute of Urology, Anhui Medical University, Hefei, Anhui, PR China3. Anhui Province Key Laboratory of Urological and Andrological Diseases Research and Medical Transformation, Anhui Medical University, Hefei, Anhui, PR China4. Affiliated Hospital of Institute of Neurology, Anhui University of Traditional Chinese Medicine, Hefei, Anhui, PR China.5. Department of Pathology, The First Affiliated Hospital of Anhui Medical University, Hefei, Anhui, PR China.

Successful Endoscopic Management of Nasal Septum Squamous Cell Carcinoma Following Induction Chemotherapy with Paclitaxel, Carboplatin, and Cetuximab: A Case ReportTeru Ebihara1, Naohiro Takeshita1, Kazuhiro Omura1,2, Nei Fukasawa3, Masato Nagaoka1, Nobuyoshi Otori1

Sugar kelp (Saccharina latissima) is an ecologically and increasingly economically important kelp, distributed from temperate to Arctic rocky shores. However, S. latissima is presently threatened by ongoing climate changes. Genetic variations have previously been identified across S. latissima populations. However, little is known regarding the genetic basis for adaptation and acclimation to different environmental conditions. In this study, a common garden experiment was performed with sporophytes originated from North-Norway (NN), Mid-Norway (MN) and South-Norway (SN), representing areas with highly different temperatures and photoperiods. Transcriptomic analyses revealed significant variation in the gene expression of cultures from North-Norway, associated with low temperature and long photoperiods, compared to Mid- and South-Norway. Differentially expressed genes included genes linked to photosynthesis, chlorophyll biosynthesis, and heat response exhibited differential expression, suggesting that they are directly involvement in temperature and light adaptation. In addition, genes related to growth, metabolism, protein synthesis, and translation were upregulated in the NN genotype proving evidence that the NN genotype is better adapted to low temperatures than the SN and MN genotypes. Significant variation in gene expression among populations found in this study is influenced by the environment, but genetic differentiation by origin seems to play a role as responses were population specific. This study provides a baseline for deeper insight into the local adaptation potential of S. latissima populations along the Norwegian Coast with implications for the conservation of natural populations.

Although grassland degradation is well known to increase the pathogenic bacteria abundance that live on and in the plants and soil, whether grassland degradation would further increase the fecal pathogenic bacteria in herbivore, and thus increasing the risk of animal and human diseases via environmental pollution, still remains elusive. Here, we investigated the effects of grassland saline-alkaline degradation on the fecal pathogenic bacteria of domestic ruminant-cattle, and also preliminarily explored the underlying mechanisms of influence via analyzing changes in nutrient intake from cattle that long-term grazing on undegraded and severely degraded grasslands, respectively. Our results showed that the relative abundance of pathogenic bacteria including Streptococcus, Mogibacterium and Alistipes were increased significantly in the cattle grazing on severely degraded grassland. Notably, the results for correlation analyses demonstrated that the Paludibacter had a positive effect on these three pathogenic bacteria. Moreover, we found that cattle grazing on severely degraded grassland showed an increased iron and sodium intake compared with those cattle grazing on undegraded grassland. Further, our results found that the Fe intake most contribute to the enhancement of the relative abundance of fecal Streptococcus and Paludibacter, whilst the Na intake most contribute to the increase in the relative abundance of fecal Alistipes. In general, our study highlights that Fe and Na intake could mainly affect the abundance of fecal pathogenic bacteria in cattle through two pathways, namely direct as well as indirect regulation of Paludibacter abundance. Our findings suggest that increasing grassland saline-alkaline degradation worldwide will not only greatly increases the risk of animal diseases, but also even poses a serious threat to human health through environmentally mediated transmission, and therefore, cattle grazing on severely degraded grassland should be prohibited.

Improving agricultural productivity in saline soils is crucial for securing food supplies, especially in the context of global food security challenges. In this study, cellulolytic bacteria and plant growth-promoting rhizobacteria (PGPR) were isolated from saline soils and combined with vinegar residue for preliminary composting. The resulting compost was then enriched with indoleacetic acid to produce a vinegar residue compound biofertilizer. The impact of co-applying vinegar residue compound biofertilizer and modified biochar on saline soils was evaluated through plant potting experiments. Compared to untreated soil, this co-treatment treatment significantly enhanced soil quality. It reduced soil pH by 0.59 units, increased organic matter content to 20.20 g/kg, and boosted the levels of available nutrients: alkaline nitrogen increased by 71.67%, available phosphorus by 125.30%, total nitrogen by 83.33%, and total phosphorus by 90.91%. Enzyme activities also show substantial increases, with urease activity rising by 66.79% and alkaline phosphatase activity by 141.13%. Moreover, the co-application of vinegar residue compound biofertilizer and modified biochar markedly promoted the growth and photosynthesis of wheat seedlings, resulting in a maximum increase in fresh weight by 109.09% and dry weight by 133.3%. This study presents a viable approach for improving saline-alkaline soils, contributing to food security by significantly enhancing agricultural productivity.

The brain’s ability to integrate sensory and motor information allows us to maintain a sense of orientation in space, a process in which head-direction cells play a key role. While these neurons have been studied extensively in mammals, their presence and function in non-mammalian species remain less understood. Here, I summarise the research work for my PhD thesis, where we explore the interpeduncular nucleus (IPN) in zebrafish, a lesser-known brain region, using whole-brain electron microscopy and calcium imaging techniques. We identified a novel population of unipolar neurons, with their activity exhibiting a dynamic, rotational pattern during head movements, even in the absence of sensory cues. This population mirrors the functionality of head-direction cells observed in mammals, suggesting a conserved mechanism for spatial orientation across vertebrates. Our findings reveal the potential of the zebrafish IPN as a vertebrate model for studying ring attractor networks, a theoretical framework previously used to explain head-direction cell activity. These results pave the way for future research on how motor and sensory signals converge in the vertebrate brain to maintain spatial orientation.

Experiments were conducted to investigate the botanicals effects of neem (Azardirachta indica) leaf extract on selected field crops’ seed germination and seedling vigor. Five crops viz., rice, maize, sorghum, finger millet, and black gram seeds were used in the study. Seeds of each crop were placed on filter paper saturated with six different concentrations of neem leaf extract (1%, 2%, 3%, 4%, 5%, and 6%), while water was used as the control. Qualitative and quantitative analysis of phytochemicals, including alkaloids, cardiac glycosides, terpenoids, steroids, saponins, phenolic compounds, flavonoids, carbohydrates, and proteins, was conducted using ethanol, chloroform, and diethyl ether extracts. The analysis revealed that neem leaves are richest in alkaloids (5.14%), followed by flavonoids (4.12%). The results showed that Azardirachta indica leaf extracts significantly reduced seed germination and seedling vigor in all crops. As the concentration of the neem leaf extract increased, germination percentages decreased across all crops, with reductions of 18% to 20% compared to the control. Blackgram exhibited the greatest reduction in germination; with germination rates dropping from 89% (water control) to 30% at the highest concentration of neem extract (6%). Regardless of crop type, seedling vigor also declined with increasing neem extract concentrations. Seedling vigor in the water control was recorded as 287.30, 723.1, 696.6, 348.6, and 232.16 for rice, sorghum, maize, black gram, and finger millet, respectively, while values in the 6% neem extract treatment were 161.2, 198.21, 226.4, 58.9, and 62.5, respectively. These results suggest that neem (Azardirachta indica) leaf extract exhibits botanicals effects, inhibiting both seed germination and seedling growth across various crops.

Background It is unclear whether iron levels affect BKPyV reactivation after kidney transplantation. Our goal is to analyze the relationship between preoperative iron levels in kidney transplant recipients and postoperative BK virus reactivation. Additionally, we aim to develop and validate a personalized prediction model for BK virus reactivation. Methods We retrospectively analyzed the relationship between preoperative iron levels and BK virus reactivation in 626 kidney transplant recipients. The cohort was randomly divided into a training cohort and a validation cohort in a 2:1 ratio. Independent risk factors associated with BK virus reactivation were identified in the training cohort using COX proportional hazards regression. Based on the analysis results, a nomogram was constructed to develop individualized risk prediction models for BK viremia and BK virus nephropathy. Results Among the 626 kidney transplant recipients, 38 cases (6.1%) of BK viremia and 18 cases (2.9%) of BK virus nephropathy were diagnosed. Univariate analysis revealed that UIBC, TIBC, and TSAT were associated with the occurrence of BK viremia and BKPyVAN. In the training cohort, multivariate analysis showed that preoperative TSAT was an independent risk factor for BK viremia (1.03 [1.01-1.05], P=0.009) and BK virus nephropathy (1.05 [1.01-1.09], P=0.011). The C-index for the nomogram model predicting BK viremia and BK virus nephropathy after kidney transplantation was 0.77 and 0.82 in the training cohort, and 0.88 and 0.92 in the validation cohort, respectively. Conclusions Preoperative transferrin saturation levels in kidney transplant recipients are closely associated with the reactivation and progression of BK virus after transplantation.

Background and Purpose: Tissue fibrosis remains a significant clinical challenge due to the lack of specific, effective treatments. Current therapeutic strategies targeting TGF-β, a key driver of fibrosis, have shown limited efficacy and are often associated with severe side effects. This highlights the urgent need for novel therapeutic approaches to effectively modulate the TGF-β signaling and prevent fibrosis progression. Experimental Approach: We screened a lead compound library to interfere with SMAD2 phosphorylation, based on the structure and phosphorylation site of SMAD2. Surface plasmon resonance was used to determine the binding affinities of the compounds to SMAD2. LX-2 cell line was utilized to examine compounds’ effect on TGF-β signaling. SMAD2 phosphorylation was tested to verify the inhibition effect of candidate compounds. The mRNA expression of COL1A1 and ACTA2 was detected to evaluate the role of SMAD2. The protein level of COLLAGEN I and α-SMA were confirmed by Enzyme-linked immuno sorbent assay and Immunofluorescence. Key Results: Eight compounds were identified as targeting the phosphorylation of SMAD2. Of these, two compounds 6253-0511 and 8005-4391 were confirmed to be highly effective in inhibiting TGF-β-induced increases in COLLAGEN I and α-SMA levels in hepatic stellate cells, thus blocking the fibrotic process. Conclusion and Implications: In this study, we addressed the modulate TGF-β signaling pathway gap by focusing on SMAD2, a critical downstream mediator of TGF-β signaling. Two compounds were confirmed to effectively inhibit the fibrotic process, providing new insight into the therapeutic potential of targeting SMAD2 phosphorylation as a strategy for combating fibrosis.