Driver Preview Model with Dual Far-near Points for Autonomous Vehicles

Rongrong Xu,Zezheng Huang,Weihua Li,Jianfeng Wang,Dianbo Ren,Xuewen Geng 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.11

This paper proposes a driver preview-based path-following controller to control both the lateral and longitudinal movements of a vehicle. First, a lateral tracking controller with two preview points is established by considering the displacement and heading errors of the two preview points: the far point, determined by the vehicle speed and fixed preview time, and the near point located at the center of the front axle. Depending on different parameters of the road input, the steering wheel angle is calculated, and different weights are assigned to the steering wheel angles corresponding to different road inputs. Next, a longitudinal tracking controller is established, which controls the vehicle velocity based on the road information of the far point. The control objects are the brake and accelerator pedals. Subsequently, the coupling of the lateral and longitudinal motion of the vehicle is analyzed, and an integrated longitudinal and lateral tracking controller is established. To verify the performance of the controller, the controller and vehicle model are established in Simulink and CarSim, respectively, to enable joint simulation. It is observed that the coupling is solved, and the near-point control makes the tracking error converge to zero and enhances the control effect. It demonstrates high adaptability and control accuracy of the proposed controller.

CDH17 nanobodies facilitate rapid imaging of gastric cancer and efficient delivery of immunotoxin

Jingbo Ma,Xiaolong Xu,Chunjin Fu,Peng Xia,Ming Tian,Liuhai Zheng,Kun Chen,Xiaolian Liu,Yilei Li,Le Yu,Qinchang Zhu,Yangyang Yu,Rongrong Fan,Haibo Jiang,Zhifen Li,Chuanbin Yang,Chengchao Xu,Ying Long,J 한국생체재료학회 2022 생체재료학회지 Vol.26 No.4

Background: It is highly desirable to develop new therapeutic strategies for gastric cancer given the low survival rate despite improvement in the past decades. Cadherin 17 (CDH17) is a membrane protein highly expressed in cancers of digestive system. Nanobody represents a novel antibody format for cancer targeted imaging and drug delivery. Nanobody targeting CHD17 as an imaging probe and a delivery vehicle of toxin remains to be explored for its theragnostic potential in gastric cancer. Methods: Naïve nanobody phage library was screened against CDH17 Domain 1-3 and identified nanobodies were extensively characterized with various assays. Nanobodies labeled with imaging probe were tested in vitro and in vivo for gastric cancer detection. A CDH17 Nanobody fused with toxin PE38 was evaluated for gastric cancer inhibition in vitro and in vivo. Results: Two nanobodies (A1 and E8) against human CDH17 with high affinity and high specificity were successfully obtained. These nanobodies could specifically bind to CDH17 protein and CDH17-positive gastric cancer cells. E8 nanobody as a lead was extensively determined for tumor imaging and drug delivery. It could efficiently co-localize with CDH17-positive gastric cancer cells in zebrafish embryos and rapidly visualize the tumor mass in mice within 3 h when conjugated with imaging dyes. E8 nanobody fused with toxin PE38 showed excellent anti-tumor effect and remarkably improved the mice survival in cell-derived (CDX) and patient-derived xenograft (PDX) models. The immunotoxin also enhanced the anti-tumor effect of clinical drug 5-Fluorouracil. Conclusions: The study presents a novel imaging and drug delivery strategy by targeting CDH17. CDH17 nanobodybased immunotoxin is potentially a promising therapeutic modality for clinical translation against gastric cancer.

Design of MRI compatible biopsy needle capable of force measurement

Rongrong Liu,Binxiang Xu,Seong Young Ko 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

Prostate biopsy is a gold standard for diagnosing prostate cancer. Clinically, since targeting the biopsy needle to exact positions of the cancer is not easy, multiple sampling technique is generally used. During the biopsy process, a surgeon uses the biopsy needle to perform a prostate puncture under ultrasound guidance and remove a small number of thin strips of prostate tissue for pathological analysis under a microscope to ensure a clear diagnosis of prostate cancer. This paper is about development of a prostate biopsy needle capable of force measurement that can be used in an MRI environment. The needle’s body is made of Nitinol, and the Fiber Bragg Grating (FBG) sensor is used to sense the axial force. A unique beam-slot structure is designed to accommodate the FBG sensor and analyzed its performance to improve its force measurement sensitivity.

Regional Homogeneity Brain Alterations in Schizophrenia: An Activation Likelihood Estimation Meta-Analysis

Xiaolei Qiu,Wenwen Xu,Rongrong Zhang,Wei Yan,Wenying Ma,Shiping Xie,Min Zhou 대한신경정신의학회 2021 PSYCHIATRY INVESTIGATION Vol.18 No.8

Objective Resting state functional magnetic resonance imaging (rsfMRI) provides a lot of evidence for local abnormal brain activity in schizophrenia, but the results are not consistent. Our aim is to find out the consistent abnormal brain regions of the patients with schizophrenia by using regional homogeneity (ReHo), and indirectly understand the degree of brain damage of the patients with drug-naive first episode schizophrenia (Dn-FES) and chronic schizophrenia. Methods We performed the experiment by activation likelihood estimation (ALE) software to analysis the differences between people with schizophrenia group (all schizophrenia group and chronic schizophrenia group) and healthy controls. Results Thirteen functional imaging studies were included in quantitative meta-analysis. All schizophrenia group showed decreased ReHo in bilateral precentral gyrus (PreCG) and left middle occipital gyrus (MOG), and increased ReHo in bilateral superior frontal gyrus (SFG) and right insula. Chronic schizophrenia group showed decreased ReHo in bilateral MOG, right fusiform gyrus, left PreCG, left cerebellum, right precuneus, left medial frontal gyrus and left anterior cingulate cortex (ACC). No significant increased brain areas were found in patients with chronic schizophrenia. Conclusion Our findings suggest that patients with chronic schizophrenia have more extensive brain damage than FES, which may contribute to our understanding of the progressive pathophysiology of schizophrenia.

A New Phloroglucinol Glucoside from the Whole Plants of Glochidion eriocarpum

Yanming Wang,Hongtao Zhu,Dong Wang,Rongrong Cheng,Chongren Yang,Min Xu,Yingjun Zhang 대한화학회 2014 Bulletin of the Korean Chemical Society Vol.35 No.2

A New Phloroglucinol Glucoside from the Whole Plants of Glochidion eriocarpum

Wang, Yanming,Zhu, Hongtao,Wang, Dong,Cheng, Rongrong,Yang, Chongren,Xu, Min,Zhang, Yingjun Korean Chemical Society 2014 Bulletin of the Korean Chemical Society Vol.35 No.2

Production of Transgenic Pigs with an Introduced Missense Mutation of the Bone Morphogenetic Protein Receptor Type IB Gene Related to Prolificacy

Zhao, Xueyan,Yang, Qiang,Zhao, Kewei,Jiang, Chao,Ren, Dongren,Xu, Pan,He, Xiaofang,Liao, Rongrong,Jiang, Kai,Ma, Junwu,Xiao, Shijun,Ren, Jun,Xing, Yuyun Asian Australasian Association of Animal Productio 2016 Animal Bioscience Vol.29 No.7

In the last few decades, transgenic animal technology has witnessed an increasingly wide application in animal breeding. Reproductive traits are economically important to the pig industry. It has been shown that the bone morphogenetic protein receptor type IB (BMPR1B) A746G polymorphism is responsible for the fertility in sheep. However, this causal mutation exits exclusively in sheep and goat. In this study, we attempted to create transgenic pigs by introducing this mutation with the aim to improve reproductive traits in pigs. We successfully constructed a vector containing porcine BMPR1B coding sequence (CDS) with the mutant G allele of A746G mutation. In total, we obtained 24 cloned male piglets using handmade cloning (HMC) technique, and 12 individuals survived till maturation. A set of polymerase chain reactions indicated that 11 of 12 matured boars were transgene-positive individuals, and that the transgenic vector was most likely disrupted during cloning. Of 11 positive pigs, one (No. 11) lost a part of the terminator region but had the intact promoter and the CDS regions. cDNA sequencing showed that the introduced allele (746G) was expressed in multiple tissues of transgene-positive offspring of No.11. Western blot analysis revealed that BMPR1B protein expression in multiple tissues of transgene-positive $F_1$ piglets was 0.5 to 2-fold higher than that in the transgene-negative siblings. The No. 11 boar showed normal litter size performance as normal pigs from the same breed. Transgene-positive $F_1$ boars produced by No. 11 had higher semen volume, sperm concentration and total sperm per ejaculate than the negative siblings, although the differences did not reached statistical significance. Transgene-positive $F_1$ sows had similar litter size performance to the negative siblings, and more data are needed to adequately assess the litter size performance. In conclusion, we obtained 24 cloned transgenic pigs with the modified porcine BMPR1B CDS using HMC. cDNA sequencing and western blot indicated that the exogenous BMPR1B CDS was successfully expressed in host pigs. The transgenic pigs showed normal litter size performance. However, no significant differences in litter size were found between transgene-positive and negative sows. Our study provides new insight into producing cloned transgenic livestock related to reproductive traits.

Genomic Characteristics and the Potential Clinical Implications in Oligometastatic Non–Small Cell Lung Cancer

Rongxin Liao,Kehong Chen,Jinjin Li,Hengqiu He,Guangming Yi,Mingfeng Huang,Rongrong Chen,Lu Shen,Xiaoyue Zhang,Zaicheng Xu,Zhenzhou Yang,Yuan Peng 대한암학회 2023 Cancer Research and Treatment Vol.55 No.3

Purpose Oligometastatic non–small cell lung cancer (NSCLC) patients have been increasingly regarded as a distinct group that could benefit from local treatment to achieve a better clinical outcome. However, current definitions of oligometastasis are solely numerical, which are imprecise because of ignoring the biological heterogeneity caused by genomic characteristics. Our study aimed to profile the molecular alterations of oligometastatic NSCLC and elucidate its potential difference from polymetastasis. Materials and Methods We performed next-generation sequencing to analyze tumors and paired peripheral blood from 77 oligometastatic and 21 polymetastatic NSCLC patients to reveal their genomic characteristics and assess the genetic heterogeneity. Results We found ERBB2, ALK, MLL4, PIK3CB, and TOP2A were mutated at a significantly lower frequency in oligometastasis compared with polymetastasis. EGFR and KEAP1 alterations were mutually exclusive in oligometastatic group. More importantly, oligometastasis has a unique significant enrichment of apoptosis signaling pathway. In contrast to polymetastasis, a highly enriched COSMIC signature 4 and a special mutational process, COSMIC signature 14, were observed in the oligometastatic cohort. According to OncoKB database, 74.03% of oligometastatic NSCLC patients harbored at least one actionable alteration. The median tumor mutation burden of oligometastasis was 5.00 mutations/Mb, which was significantly associated with smoking, DNA damage repair genes, TP53 mutation, SMARCA4 mutation, LRP1B mutation, ABL1 mutation. Conclusion Our results shall help redefine oligometastasis beyond simple lesion enumeration that will ultimately improve the selection of patients with real oligometastatic state and optimize personalized cancer therapy for oligometastatic NSCLC.