This paper presents a climbing robot (CR) designed for the purpose of pipeline maintenance, with capability to avoid the risks inherent in manual operations. In the design process, a three degree of freedom (DOF) parallel mechanism coupled with a remote center of motion (RCM) mechanism linkage mechanism were designed to serve as the CR’s climbing mechanism, which met the specific demands for climbing movements. The modified Kutzbach–Grübler formula and the screw theory were applied to calculate the DOFs of the CR. Then, the inverse and forward position analysis for the CR was derived. Furthermore, velocity and acceleration analysis of parallel mechanism were conducted and derived the Jacobian matrix, through which the singularity of parallel mechanism was analyzed. In order to evaluate kinematic performance of parallel mechanism, the motion/force transmission index (LTI) of workspace was calculated, which directed the followed dimensional optimization process. According to the optimization result, a prototype was constructed and a series of motion experiments were carried out to validate its climbing capability.

In this study, nine isonitrogenous experimental diets containing graded levels of carbohydrates (40 g/kg, 80 g/kg and 120 g/kg) and crude lipids (80 g/kg, 120 g/kg and 160 g/kg) were formulated in a two-factor (3 × 3) orthogonal design. A total of 945 mandarin fish with similar body weights were randomly assigned to twenty-seven tanks, and the experiment diets were fed to triplicate tanks twice daily for 10 weeks. Results showed that different dietary treatments did not significantly affect the survival rate and growth performance of mandarin fish. However, high dietary lipid and carbohydrate levels significantly decreased the protein content of the whole body and muscle of cultured fish. The lipid content of the whole body, liver and muscle all significantly increased with increasing levels of dietary lipid, while only liver lipid level was significantly affected by dietary carbohydrate level. Hepatic glycogen content increased significantly with increasing dietary carbohydrate levels. As to liver antioxidant capacity, malondialdehyde content increased significantly with increasing dietary lipid or carbohydrate content, and catalase activity showed an opposite trend. Superoxide dismutase activity increased significantly with increasing levels of dietary lipid but decreased first and then increased with increasing dietary carbohydrate levels. Additionally, the increase in both dietary lipid and carbohydrate levels resulted in a significant reduction in muscle hardness. Muscle chewiness, gumminess and shear force were only affected by dietary lipid levels and decreased significantly with increasing dietary lipid levels. In conclusion, considering all the results, the appropriate dietary lipids and carbohydrate levels for mandarin fish were 120 g/kg and 80 g/kg, respectively.

Accurately predicting neurosyphilis prior to a lumbar puncture (LP) is critical for the prompt management of neurosyphilis. However, a valid and reliable model for this purpose is still lacking. This study aimed to develop a nomogram for the accurate identification of neurosyphilis in patients with syphilis. The training cohort included 9,504 syphilis patients who underwent initial neurosyphilis evaluation between 2009 and 2020, while the validation cohort comprised 526 patients whose data were prospectively collected from January 2021 to September 2021. Neurosyphilis was observed in 35.8% (3,400/9,504) of the training cohort and 37.6% (198/526) of the validation cohort. The nomogram incorporated factors such as age, male gender, neurological and psychiatric symptoms, serum RPR, a mucous plaque of the larynx and nose, a history of other STD infections, and co-diabetes. The model exhibited good performance with concordance indexes of 0.84 (95% CI, 0.83–0.85) and 0.82 (95% CI, 0.78–0.86) in the training and validation cohorts, respectively, along with well-fitted calibration curves. This study developed a precise nomogram to predict neurosyphilis risk in syphilis patients, with potential implications for early detection prior to an LP.

A 60-d feeding trial was conducted to explore the potential regulatory effects of dietary Clostridium butyricum cultures (CBC) supplementation in high-carbohydrate diet (HCD) on carbohydrate utilisation, antioxidant capacity and intestinal microbiota of largemouth bass. Triplicate groups of largemouth bass (average weight 35·03 ± 0·04 g), with a destiny of twenty-eight individuals per tank, were fed low-carbohydrate diet and HCD supplemented with different concentration of CBC (0 %, 0·25 %, 0·50 % and 1·00 %). The results showed that dietary CBC inclusion alleviated the hepatic glycogen accumulation induced by HCD intake. Additionally, the expression of hepatic ampkα1 and insulin signaling pathway-related genes (ira, irb, irs, p13kr1 and akt1) increased linearly with dietary CBC inclusion, which might be associated with the activation of glycolysis-related genes (gk, pfkl and pk). Meanwhile, the expression of intestinal SCFA transport-related genes (ffar3 and mct1) was significantly increased with dietary CBC inclusion. In addition, the hepatic antioxidant capacity was improved with dietary CBC supplementation, as evidenced by linear decrease in malondialdehyde concentration and expression of keap1, and linear increase in antioxidant enzyme activities (total antioxidative capacity, total superoxide dismutase and catalase) and expression of antioxidant enzyme-related genes (nrf2, sod1, sod2 and cat). The analysis of bacterial 16S rRNA V3–4 region indicated that dietary CBC inclusion significantly reduced the enrichment of Firmicutes and potential pathogenic bacteria genus Mycoplasma but significantly elevated the relative abundance of Fusobacteria and Cetobacterium. In summary, dietary CBC inclusion improved carbohydrate utilization, antioxidant capacity and intestinal microbiota of largemouth bass fed HCD.

This research communication investigated the role and the underlying mechanism of sn-1-acylglycerol-3-phosphate O-acyltransferase 6 (AGPAT6) in acetate-induced mTORC1 signaling activation and milk fat synthesis in dairy cow mammary epithelial cells. The data showed AGPAT6 knockdown significantly decreased acetate-induced phosphorylation of mTORC1 signaling molecules and intracellular triacylglycerol (TAG) content, whereas this inhibition effect was reversed after the addition of 16:0,18:1 phosphatidic acid (PA), suggesting that AGPAT6 could generate PA in response to acetate simulation, that in turn activates mTORC1 signaling. PPARγ is the upstream regulator of AGPAT6 upon acetate stimulation. Luciferase assay with clones containing various deletions and mutation in AGPAT6 promoter showed that there is a RXRα binding sequence located at −96 bp of AGPAT6 promoter. Acetate stimulation significantly increased the interaction between PPARγ and AGPAT6 via this RXRα binding site. Taken together, our data indicated that AGPAT6 could activate mTORC1 signaling by producing PA during acetate-induced milk fat synthesis, and PPARγ acts as a transcription factor to mediate the effect of acetate on AGPAT6 via RXRα.

Interstitial cells of Cajal (ICC) play a vital role in the gastrointestinal motility. However, information on ICC in lower vertebrates is rare. Here, ICC and ICC-like features of the gastric wall in the bullfrog (Rana catesbeiana) were observed by light microscopy and transmission electron microscopy. The lengths and distances of the ICC/ICC-like features were measured by morphometric analysis. The gastric wall contained mucosa, submucosa, tunica muscularis, and serosa. The gastric glands contained mucous cells and oxynticopeptic cells. The ICC with 1–3 processes were located among smooth muscle cells (SMC) of the tunica muscularis. Moreover, the ICC-like features were observed among oxynticopeptic cells of the mucosa. The processes of ICC established direct contacts with SMC. Also, the gap junctions were observed between the processes of ICC and nerve fiber bundles in the tunica muscularis. The multivesicular bodies, including shedding exosomes, were frequently observed between ICC and SMC. In addition, ICC-like features and their processes were observed in close proximity to oxynticopeptic cells and blood vessels. Our findings illustrated that ICC are present in the gastric tunica muscularis, and ICC-like features were in the mucosal lamina propria of the gastric wall of R. catesbeiana. These histological evidences supported the notion that ICC are implicated in gastric motility.

Environmental hypoxia exposure causes fertility problems in human and animals. Compelling evidence suggests that chronic hypoxia impairs spermatogenesis and reduces sperm motility. However, it is unclear whether paternal hypoxic exposure affects fertilization and early embryo development. In the present study, we exposed male mice to high altitude (3200 m above sea level) for 7 or 60 days to evaluate the effects of hypoxia on sperm quality, zygotic DNA methylation and blastocyst formation. Compared with age-matched controls, hypoxia-treated males exhibited reduced fertility after mating with normoxic females as a result of defects in sperm motility and function. Results of in vitro fertilization (IVF) experiments revealed that 60 days’ exposure significantly reduced cleavage and blastocyst rates by 30% and 70%, respectively. Immunohistochemical staining of pronuclear formation indicated that the pronuclear formation process was disturbed and expression of imprinted genes was reduced in early embryos after paternal hypoxia. Overall, the findings of this study suggested that exposing male mice to hypoxia impaired sperm function and affected key events during early embryo development in mammals.

The Scaly-sided Merganser Mergus squamatus is a globally ‘Endangered’ species breeding in north-east Asia. Limited by information on the geographic distribution of suitable habitat, the conservation management programme has not been comprehensive or spatially explicit for the breeding population. This study combines potentially important environmental variables with extensive data on species occurrence to create the first species distribution model for the breeding Scaly-sided Merganser, followed by a GAP analysis to highlight the unprotected areas containing suitable habitat. The predictive map showing the most suitable breeding habitat for the Scaly-sided Merganser covered broad-leaved deciduous forest distributed in six provincial regions in south-east Russia, north-east China, and North Korea. The conservation GAP, i.e. 90% (38,813 km2) of highly suitable habitat, is mainly concentrated in the Sikhote-Alin and Changbai mountain ranges. This study suggests that prioritizing conservation of unprotected broad-leaved deciduous riverine forests within the above two mountainous regions should be included in international conservation planning, and the remaining suitable patches need to be preserved to allow range expansion in future. This predictive map improves the expert global assessment of breeding Scaly-sided Merganser distribution and provides a basic reference for establishing conservation areas or implementing conservation actions for the breeding Scaly-sided Merganser in north-east Asia.

The aim of this study was to explore the effects and mechanisms of different starvation treatments on the compensatory growth of Acipenser dabryanus. A total of 120 fish (60·532 (sem 0·284) g) were randomly assigned to four groups (fasting 0, 3, 7 or 14 d and then refed for 14 d). During fasting, middle body weight decreased significantly with prolonged starvation. The whole-body and muscle composition, serum biochemical indexes, visceral indexes and digestive enzyme activities had been effected with varying degrees of changes. The growth hormone (GH) level in serum was significantly increased in 14D; however, insulin-like growth factor-1 (IGF-1) showed the opposite trend. The neuropeptide Y (npy) mRNA level in brain was significantly improved in 7D; peptide YY (pyy) mRNA level in intestine was significantly decreased during fasting. After refeeding, the final body weight, percentage weight gain, specific growth rate, feed intake, feed efficiency and protein efficiency ratio showed no difference between 0D and 3D. The changes of whole-body and muscle composition, serum biochemical indexes, visceral indexes and digestive enzyme activities had taken place in varying degrees. GH levels in 3D and 7D were significantly higher than those in the 0D; the IGF-1 content decreased significantly during refeeding. There was no significant difference in npy and pyy mRNA levels. These results indicated that short-term fasting followed by refeeding resulted in full compensation and the physiological and biochemical effects on A. dabryanus were the lowest after 3 d of starvation and 14 d of refeeding. Additionally, compensation in A. dabryanus may be mediated by appetite genes and GH, and the degree of compensation is also affected by the duration of starvation.

Transmission of varicella occurs frequently in schools and households. We investigated the characteristics of varicella cases derived from within-household transmission and the modes of varicella transmission between school and household settings in Shanghai, China, from 2009 to 2018. Within-household transmission occurred in 278 households, of which 134 transmission events were between children. Sixty-one household varicella transmission events may be attributed to isolation procedures for infected students during school outbreaks, and 7.6% of school outbreaks were caused by schoolchildren cases derived from within-household transmission. The frequency of ‘school-household-school’ transmission adds an additional layer of complexity to the control of school varicella outbreaks. Administration of varicella vaccine as post-exposure prophylaxis after exposure is considered to be an effective measure to control varicella spread within households and schools.

Although topographic mapping missions and geological surveys carried out by Autonomous Underwater Vehicles (AUVs) are becoming increasingly prevalent, the lack of precise navigation in these scenarios still limits their application. This paper deals with the problems of long-term underwater navigation for AUVs and provides new mapping techniques by developing a Bathymetric Simultaneous Localisation And Mapping (BSLAM) method based on graph SLAM technology. To considerably reduce the calculation cost, the trajectory of the AUV is divided into various submaps based on Differences of Normals (DoN). Loop closures between submaps are obtained by terrain matching; meanwhile, maximum likelihood terrain estimation is also introduced to build weak data association within the submap. Assisted by one weight voting method for loop closures, the global and local trajectory corrections work together to provide an accurate navigation solution for AUVs with weak data association and inaccurate loop closures. The viability, accuracy and real-time performance of the proposed algorithm are verified with data collected onboard, including an 8 km planned track recorded at a speed of 4 knots in Qingdao, China.

Previous neuroimaging studies demonstrated that retinal detachment (RD) subjects were associated with abnormal spontaneous brain activities; however, whether the altered interhemispheric functional connectivity (FC) occurred in RD patients remains unknown. The current study tried to explore the alternations of interhemispheric FC of the whole brain in unilateral RD patients using the voxel-mirrored homotopic connectivity (VMHC) method and their connections to clinical features. Methods: We recruited 30 patients with RD (16 males and 14 females) and 30 healthy controls (HCs) (16 males and 14 females) whose age and sex were closely matched. All subjects underwent the rs-fMRI scans. The VMHC method was applied to directly assess the hemispheres’ functional interaction. The VMHC in these brain areas, which could be used as biomarkers to differentiate RD from HC, was identified by the receiver operating characteristic (ROC) curve analyses. The relations between these patients’ clinical features and their mean VMHC signal values in multiple brain regions were calculated by Pearson correlation analysis. Results: RD patients had significantly lower VMHC values than HCs in the bilateral occipital lobe (Brodmann areas, BA 18), bilateral superior temporal gyrus (BA 39), and bilateral cuneus (BA 19). Moreover, the mean VMHC signal values of the bilateral cuneus were in positive correlation with the duration of the RD (r = 0.446, P = 0.013). Conclusion: Our results provided an evidence of disturbed interhemispheric FC in the visual area occurred in RD patients, which might provide some useful information to understand the neural mechanism of RD patients with acute vision loss. Furthermore, the VMHC values might indicate the progress of the RD.

A defect in the intestinal barrier is one of the characteristics of Crohn's disease (CD). The tight junction (TJ) changes and death of epithelial cells caused by intestinal inflammation play an important role in the development of CD. DHA, a long-chain PUFA, has been shown to be helpful in treating inflammatory bowel disease in experimental models by inhibiting the NF-κB pathway. The present study aimed at investigating the specific effect of DHA on the intestinal barrier function in IL-10-deficient mice. IL-10-deficient mice (IL-10− / −) at 16 weeks of age with established colitis were treated with DHA (i.g. 35·5 mg/kg per d) for 2 weeks. The severity of their colitis, levels of pro-inflammatory cytokines, epithelial gene expression, the distributions of TJ proteins (occludin and zona occludens (ZO)-1), and epithelial apoptosis in the proximal colon were measured at the end of the experiment. DHA treatment attenuated the established colitis and was associated with reduced infiltration of inflammatory cells in the colonic mucosa, lower mean histological scores and decreased levels of pro-inflammatory cytokines (IL-17, TNF-α and interferon-γ). Moreover, enhanced barrier function was observed in the DHA-treated mice that resulted from attenuated colonic permeability, rescued expression and corrected distributions of occludin and ZO-1. The results of the present study indicate that DHA therapy may ameliorate experimental colitis in IL-10− / − mice by improving the intestinal epithelial barrier function.

Introduction. Root-knot nematodes (Meloidogyne sp.) cause significant economic damage to Prunus species in China. One of the most economical and environmentally sustainable methods to reduce the impact of root-knot nematodes is the use of resistant rootstock cultivars. Our aim was to examine resistance to M. incognita and its mechanisms. Materials and methods. Four rootstocks were assessed: Tsukuba-4 (P. persica), Tsukuba-5 (P. persica), Nanking cherry (P. tomentosa) and wild peach (P. persica). The susceptible tomato (Lycopersicon esculentum Mill.) cultivar ‘Baiguoqiangfeng’ was used as a positive control. Results. Nematodes did not penetrate roots of Tsukuba-4 and Tsukuba-5, which were considered to be immune varieties. Nanking cherry was highly resistant to M. incognita, whereas wild peach was susceptible. Conclusion. The differences in resistance among the rootstocks were not attributed to differences in effects of root diffusates, but were related to the different structural organizations of the root tips. The epidermal structure of Tsukuba-4 and Tsukuba-5 completely prevented the penetration of second-stage juveniles of M. incognita (J2). In Nanking cherry, penetration of J2 juveniles was reduced, and the development of nematodes from the J2 to female stage was delayed.

The interface structure in a Ti/TiN multilayer material has been investigated by high resolution transmission electron microscopy (HRTEM). It was shown that the α-Ti and β-TiN layers consisted of many cylindrical crystals growing along the close packed directions normal to the surface of a stainless steel. There existed specific orientation relationship at the Ti/TiN interfaces without transition layers: (111)TiN ‖ (001)Ti, [110]TiN ‖ [100]Ti. However there was no such orientation relationship at the Ti/TiN interfaces with TixN (x >1) transition layers.