ABSTRACT
NaNbO3(NN)-based lead-free materials are attracting widespread attention due to their environment-friendly and complex phase transitions, which can satisfy the miniaturization and integration for future electronic components. However, NN materials usually have large remanent polarization and obvious hysteresis, which are not conducive to energy storage. In this work, we investigated the effect of introducing CaTiO3((1-x)NaNbO3-xCaTiO3) on the physical properties of NN. The results indicated that as x increased, the surface topography, oxygen vacancy and dielectric loss of the thin films were significantly improved when optimal value was achieved at x = 0.1. Moreover, the 0.9NN-0.1CT thin film shows reversible polarization domain structures and well-established piezoresponse hysteresis loops. These results indicate that our thin films have potential application in future advanced pulsed power electronics.
ABSTRACT
The condensation of acetyl-CoA with malonyl-acyl carrier protein (ACP) by ß-ketoacyl-ACP synthase III (KAS III, FabH) and decarboxylation of malonyl-ACP by malonyl-ACP decarboxylase are the two pathways that initiate bacterial fatty acid synthesis (FAS) in Escherichia coli. In addition to these two routes, we report that Pseudomonas putida F1 ß-ketoacyl-ACP synthase I (FabB), in addition to playing a key role in fatty acid elongation, also initiates FAS in vivo. We report that although two P. putida F1 fabH genes (PpfabH1 and PpfabH2) both encode functional KAS III enzymes, neither is essential for growth. PpFabH1 is a canonical KAS III similar to E. coli FabH whereas PpFabH2 catalyzes condensation of malonyl-ACP with short- and medium-chain length acyl-CoAs. Since these two KAS III enzymes are not essential for FAS in P. putida F1, we sought the P. putida initiation enzyme and unexpectedly found that it was FabB, the elongation enzyme of the oxygen-independent unsaturated fatty acid pathway. P. putida FabB decarboxylates malonyl-ACP and condenses the acetyl-ACP product with malonyl-ACP for initiation of FAS. These data show that P. putida FabB, unlike the paradigm E. coli FabB, can catalyze the initiation reaction in FAS.
Subject(s)
3-Oxoacyl-(Acyl-Carrier-Protein) Synthase , Pseudomonas putida , 3-Oxoacyl-(Acyl-Carrier-Protein) Synthase/genetics , 3-Oxoacyl-(Acyl-Carrier-Protein) Synthase/metabolism , Acyl Carrier Protein/metabolism , Escherichia coli/metabolism , Fatty Acid Elongases/genetics , Fatty Acid Elongases/metabolism , Fatty Acids , Glycogen Synthase , Pseudomonas putida/genetics , Pseudomonas putida/metabolismABSTRACT
The dual-transducer support structure discussed has the advantages of a simple structure and low cost, as well as allowing for the use of both Traveling-Wave (TW) and Standing-Wave (SW) acoustic transportation, supporting its use in pharmaceutical and biochemical analysis, for example. By adjusting the distance between the vibrating plate and the reflector which forms SW field in the y direction, the control of the position of the SW nodes or the TW component along the x direction allows the formation of a Two-Dimensional Standing Wave (2D-SW) or a Traveling Wave (TW) acoustic field, and these could be used for transportation in the x direction. It has been found that the x position of the SW nodes can be adjusted through changing the temporal phase shift, θ, which permits multiple objects to be transported using the 2D-SW mode. By comparison, TWs in the opposite direction could be generated at a pair of specific temporal phase shifts, allowing fast transportation using the TW mode. In this research work, an experiment has been carried out to transport polystyrene spheres using the two modes by programming the temporal phase shift, θ, this illustrating that precise position control of the multiple objects transported was possible using the 2D-SW mode, while high-speed transportation (up to 540 mm/s) was realized using the TW mode, showing that the dual-transducer support structure could be used effectively for accurate and fast transportation. As a fully non-contact method, the dual-transducer support structure can be seen to work in the 2D-SW mode for reaction synthesis or detection applications, and also in TW mode for rapid sample transportation applications.
ABSTRACT
Acoustic manipulation techniques have gained significant attention across various fields, particularly in medical diagnosis and biochemical research, due to their biocompatibility and non-contact operation. In this article, we review the broad range of biomedical applications of micro/nano-motors that use acoustic manipulation methods, with a specific focus on cell manipulation, targeted drug release for cancer treatment and genetic disease diagnosis. These applications are facilitated by acoustic-propelled micro/nano-motors and nanoparticles which are manipulated by acoustic tweezers. Acoustic systems enable high precision positioning and can be effectively combined with magnetic manipulation techniques. Furthermore, acoustic propulsion facilitates faster transportation speeds, making it suitable for tasks in blood flow, allowing for precise positioning and in-body manipulation of cells, microprobes, and drugs. By summarizing and understanding these acoustic manipulation methods, this review aims to provide a summary and discussion of the acoustic manipulation methods for biomedical research, diagnostic, and therapeutic applications.
ABSTRACT
Pseudomonas aeruginosa PAO1 has two aerobic pathways for synthesis of unsaturated fatty acids (UFAs), DesA and DesB plus the oxygen independent FabAB pathway. The DesA desaturase acts on saturated acyl chains of membrane phospholipid bilayers whereas the substrates of the DesB desaturase are thought to be long chain saturated acyl-CoA thioesters derived from exogeneous saturated fatty acids that are required to support DesB-dependent growth. Under suitable aerobic conditions either of these membrane-bound desaturates can support growth of P. aeruginosa ∆fabA strains lacking the oxygen independent FabAB pathway. We previously studied function of the desA desaturase of P. putida in a P. aeruginosa ∆fabA ∆desA strain that required supplementation with a UFA for growth and noted bypass suppression of the P. aeruginosa ∆fabA ∆desA strain that restored UFA synthesis. We report three genes encoding lipid metabolism proteins that give rise to suppressor strains that bypass loss of the DesA and oxygen independent FabAB pathways.
Subject(s)
Fatty Acids , Pseudomonas aeruginosa , Pseudomonas aeruginosa/genetics , Pseudomonas aeruginosa/metabolism , Fatty Acids/metabolism , Fatty Acids, Unsaturated/metabolism , Fatty Acid Desaturases/genetics , Fatty Acid Desaturases/metabolism , Oxygen/metabolismABSTRACT
The self-reconfigurable modular robotic system is a class of robots that can alter its configuration by rearranging the connectivity of their component modular units. The reconfiguration deformation planning problem is to find a sequence of reconfiguration actions to transform one reconfiguration into another. In this paper, a hybrid reconfiguration deformation planning algorithm for modular robots is presented to enable reconfiguration between initial and goal configurations. A hybrid algorithm is developed to decompose the configuration into subconfigurations with maximum commonality and implement distributed dynamic mapping of free vertices. The module mapping relationship between the initial and target configurations is then utilized to generate reconfiguration actions. Simulation and experiment results verify the effectiveness of the proposed algorithm.
ABSTRACT
Characterizing material flows and environmental impacts of plastic value chain is crucial for sustainable plastic management. Here, we combine material flow analysis and life cycle assessment methods to map the flows of eight major plastics and investigate the multiple environmental impacts of China's plastic value chain. We find that packaging and textile sectors dominate plastic consumption and are responsible for the value chain environmental burdens, but with low recycling rates. Major environmental impacts are generated in plastic production and product manufacturing stages because of the consumption of coal-based feedstocks and electricity. We therefore set up six scenarios by considering carbon neutrality energy pathway, plastic recycling improvement, and technology updating, finding that the value chain environmental impact can be reduced by 14%-57% in 2060 under combined scenario. Particularly, carbon neutrality renewable energy pathway plays an important role. These findings provide valuable insights to identify key mitigation pathways for plastic value chain.
ABSTRACT
The Enterococcus faecalis acyl-acyl carrier protein (ACP) phosphate acyltransferase PlsX plays an important role in phospholipid synthesis and exogenous fatty acid incorporation. Loss of plsX almost completely blocks growth by decreasing de novo phospholipid synthesis, which leads to abnormally long-chain acyl chains in the cell membrane phospholipids. The ∆plsX strain failed to grow without supplementation with an appropriate exogenous fatty acid. Introduction of a ∆fabT mutation into the ∆plsX strain to increase fatty acid synthesis allowed very weak growth. The ∆plsX strain accumulated suppressor mutants. One of these encoded a truncated ß-ketoacyl-ACP synthase II (FabO) which restored normal growth and restored de novo phospholipid acyl chain synthesis by increasing saturated acyl-ACP synthesis. Saturated acyl-ACPs are cleaved by a thioesterase to provide free fatty acids for conversion to acyl-phosphates by the FakAB system. The acyl-phosphates are incorporated into position sn1 of the phospholipids by PlsY. We report the tesE gene encodes a thioesterase that can provide free fatty acids. However, we were unable to delete the chromosomal tesE gene to confirm that it is the responsible enzyme. TesE readily cleaves unsaturated acyl-ACPs, whereas saturated acyl-ACPs are cleaved much more slowly. Overexpression of an E. faecalis enoyl-ACP reductase either FabK or FabI which results in high levels of saturated fatty acid synthesis also restored the growth of the ∆plsX strain. The ∆plsX strain grew faster in the presence of palmitic acid than in the presence of oleic acid with improvement in phospholipid acyl chain synthesis. Positional analysis of the acyl chain distribution in the phospholipids showed that saturated acyl chains dominate the sn1-position indicating a preference for saturated fatty acids at this position. High-level production of saturated acyl-ACPs is required to offset the marked preference of the TesE thioesterase for unsaturated acyl-ACPs and allow the initiation of phospholipid synthesis.
Subject(s)
Enterococcus faecalis , Fatty Acids , Enterococcus faecalis/genetics , Fatty Acids, Nonesterified/metabolism , Bacterial Proteins/genetics , Bacterial Proteins/metabolism , Phospholipids , Acyl Carrier Protein/genetics , Acyl Carrier Protein/metabolism , Phosphates/metabolismABSTRACT
To investigate the prevalence and indoor environmental influencing factors of wheeze and asthma among preschool children in Urumqi, Xinjiang, China to provide a strong basis for prevention and control. In August 2019, a cross-sectional study involving 8153 preschool children was conducted in 60 kindergartens in Urumqi. The ALLHOME-2 questionnaire was used for childhood wheeze and asthma survey, and the dampness in buildings and health (DBH) questionnaire was used for the childhood home dwelling and living environment survey. Multivariate unconditional logistic regression was then used to analyze the potential influencing factors of childhood asthma and wheeze. The prevalence of wheeze and asthma in children was 4.7% and 2.0%, respectively. Multivariate unconditional logistic regression results suggested that ethnicity other than the Han Chinese (odds ratio (OR) 1.39, 95% confidence interval (CI) 1.05-1.84), caesarean section (OR 1.24, 95% CI 1.00-1.53), family history of asthma (OR 5.00, 95% CI 3.36-7.44), carpet or floor bedding at home (OR 1.40, 95% CI 1.05-1.87), purchasing new furniture in the mother's residence during pregnancy (OR 1.58, 95% CI 1.06-2.36), pet keeping in the residence at aged 0-1 year (OR 1.55, 95% CI 1.13-2.13), passive smoking by child in the current residence (OR 1.35, 95% CI 1.01-1.80), and having mould or hygroma in the child's residence at aged 0-1 year (OR 1.72, 95% CI 1.12-2.64) were risk factors for wheeze. In addition, Girls (OR 0.73, 95% CI 0.59-0.90) was a protective factor for wheeze. Caesarean section (OR 1.46, 95% CI 1.06-2.00), family history of asthma (OR 7.06, 95% CI 4.33-11.53), carpet or floor bedding at home (OR 2.20, 95% CI 1.50-3.23), and pet keeping in the residence at aged 0-1 year (OR 1.64, 95% CI 1.04-1.83) were risk factors for asthma, whereas Girls (OR 0.58, 95% CI 0.42-0.80) was a protective factor for asthma. This survey indicates that the purchase of new furniture, the placement of carpet or floor bedding in the child's residence, the pets keeping, room dampness or moldy phenomena, and passive smoking may all contribute to an elevated risk of wheeze or asthma in children.
Subject(s)
Asthma , Tobacco Smoke Pollution , Humans , Child, Preschool , Female , Pregnancy , Cross-Sectional Studies , Tobacco Smoke Pollution/adverse effects , Prevalence , Cesarean Section/adverse effects , Asthma/epidemiology , Asthma/etiology , Risk Factors , Surveys and QuestionnairesABSTRACT
The genomes of the best-studied pseudomonads, Pseudomonas aeruginosa and Pseudomonas putida, which share 85% of the predicted coding regions, contain a fabA fabB operon (demonstrated in P. aeruginosa, putative in P. putida). The enzymes encoded by the fabA and fabB genes catalyze the introduction of a double bond into a 10-carbon precursor which is elongated to the 16:1Δ9 and 18:1Δ11 unsaturated fatty acyl chains required for functional membrane phospholipids. A detailed analysis of transcription of the P. putida fabA fabB gene cluster showed that fabA and fabB constitute an operon and disclosed an unexpected and essential fabB promoter located within the fabA coding sequence. Inactivation of the fabA fabB operon fails to halt the growth of P. aeruginosa PAO1 but blocks growth of P. putida F1 unless an exogenous unsaturated fatty acid is provided. We report that the asymmetry between these two species is due to the P. aeruginosa PAO1 desA gene which encodes a fatty acid desaturase that introduces double bonds into the 16-carbon acyl chains of membrane phospholipids. Although P. putida F1 encodes a putative DesA homolog that is 84% identical to the P. aeruginosa PAO1, the protein fails to provide sufficient unsaturated fatty acid synthesis for growth when the FabA FabB pathway is inactivated. We report that the P. putida F1 DesA homolog can functionally replace the P. aeruginosa DesA. Hence, the defect in P. putida F1 desaturation is not due to a defective P. putida F1 DesA protein but probably to a weakly active component of the electron transfer process.
Subject(s)
Fatty Acids, Unsaturated , Phospholipids , Fatty Acid Synthase, Type II/metabolism , Fatty Acids, Unsaturated/metabolism , Promoter Regions, GeneticABSTRACT
The Enterococcus faecalis genome contains two enoyl-ACP reductases genes, fabK and fabI, which encode proteins having very different structures. Enoyl-ACP reductase catalyzes the last step of the elongation cycle of type II fatty acid synthesis pathway. The fabK gene is located within the large fatty acid synthesis operon whereas fabI is located together with two genes fabN and fabO required for unsaturated fatty acid synthesis. Prior work showed that FabK is weakly expressed due to poor translational initiation and hence virtually all the cellular enoyl ACP reductase activity is that encoded by fabI. Since FabK is a fully functional enzyme, the question is why FabI is an essential enzyme. Why not increase FabK activity? We report that overproduction of FabK is lethal whereas FabI overproduction only slows the growth and is not lethal. In both cases, normal growth is restored by the addition of oleic acid, an unsaturated fatty acid, to the medium indicating that enoyl ACP reductase overproduction disrupts unsaturated fatty acid synthesis. We report that this is due to competition with FabO, a putative 3-ketoacyl-ACP synthase I via FabN, a dehydratase/isomerase providing evidence that the enoyl-ACP reductase must be matched to the unsaturated fatty acid synthetic genes. FabO has been ascribed the same activity as E. coli FabB and we report in vitro evidence that this is the case, whereas FabN is a dehydratase/isomerase, having the activity of E. coli FabA. However, FabN is much larger than FabA, it is a hexamer rather than a dimer like FabA.
Subject(s)
Enoyl-(Acyl-Carrier-Protein) Reductase (NADH) , Enterococcus faecalis , Enterococcus faecalis/metabolism , Enoyl-(Acyl-Carrier-Protein) Reductase (NADH)/genetics , Enoyl-(Acyl-Carrier-Protein) Reductase (NADH)/metabolism , Escherichia coli/metabolism , Fatty Acids, Unsaturated , Hydro-Lyases/geneticsABSTRACT
Enterococcus faecalis encodes two proteins, AcpA and AcpB, having the characteristics of acyl carrier proteins (ACPs). We report that the acpA gene located in the fatty acid synthesis operon is essential for fatty acid synthesis and the ΔacpA strain requires unsaturated fatty acids for growth. The ΔacpA strain could be complemented by a plasmid carrying a wild-type acpA gene, but not by a plasmid carrying a wild-type acpB gene. Substitution of four AcpA residues for those of AcpB resulted in a protein that modestly complemented the ΔacpA strain and restored fatty acid synthesis, although the acyl chains synthesized were unusually short. IMPORTANCE Enterococcus faecalis, as well as related species, has two genes-acpA and acpB-encoding putative acyl carrier proteins (ACPs). It has been assumed that AcpA is essential for fatty acid synthesis whereas AcpB is involved utilization of environmental fatty acids. We report here the first experimental test of the essentiality of acpA and show that it is indeed an essential gene that cannot be replaced by acpB.
Subject(s)
Acyl Carrier Protein/metabolism , Bacterial Proteins/metabolism , Enterococcus faecalis , Enterococcus faecalis/metabolism , Fatty Acids/metabolism , Fatty Acids, Unsaturated , OperonABSTRACT
Droplet actuation using Surface Acoustic Wave (SAW) technology has been widely employed in 'lab-on-a-chip' applications, such as for on-chip Polymerase Chain Reactions. The current strategy uses the exciter-absorber mode (exciting a single InterDigital Transducer, IDT) to form a pure Travelling Surface Acoustic Wave (TSAW) and to actuate the droplet, where the velocity and direction of the droplet can be adjusted by controlling the on-off and amplitude of the excitation signals applied to a pair of IDTs. Herein, in a way that is different from using the exciter-absorber mode, we propose a method of actuating droplets by using the exciter-exciter mode (exciting a pair of IDTs simultaneously), where the velocity and directional adjustment of the droplet can be realized by changing only one excitation parameter for the signals (the temporal phase shift, θ), and the droplet velocity can also be significantly improved. Specifically, we report for the first time the equation of the vibration of the mixed waves (TSAW and Standing Surface Acoustic Wave (SSAW)) formed on the substrate surface using the exciter-exciter mode. This is analyzed theoretically, where it is shown in this work that the amplitude and direction of the TSAW component of the mixed waves can be adjusted by changing θ. Following that, the velocity and directional adjustment of the droplet has been realized by changing θ and the improvement of the droplet velocity has been verified on a one-dimensional SAW device, using this exciter-exciter mode. Moreover a series of experiments on droplet transportation, along different trajectories in an x-y plane, has been carried out using a two-dimensional SAW device and this has demonstrated the effectiveness of the θ changing-based approach. Here this exciter-exciter mode provides an alternative method for the transportation of droplets in 'lab-on-a-chip' applications.
Subject(s)
Sound , Transducers , VibrationABSTRACT
Peak emission is an important policy/scheme for all the countries to respond greenhouse gas mitigation. The key is how to distribute the emission burden shares to its sub-regions. This study aims to develop a prefecture city leveled CO2 emission allocation model by integrating multi-indicators method and benchmark method so that China's 2025 (end year of 14th Five-Year Plan, FYP) CO2 emission burdens can be allocated to its prefecture cities and provinces. Results show that China's total CO2 emission will reach 12 billion tons in 2025. The majority of such emission will occur in the east China due to its more developed economy and dense population. Cities with high emissions are usually allocated more emission quotas, such as Shanghai, Tianjin, Chongqing, Tangshan, Yulin, Suzhou, and Ningbo. The top five provinces with higher CO2 emission quotas are traditionally high-emission and energy-intensive provinces, including Shandong, Jiangsu, Inner Mongolia, Henan, and Hebei. The national CO2 emission intensity will decrease by 69.35% in 2025 compared to the 2005 level. The CO2 emission intensity reduction rates among the 340 Chinese cities is found to be fluctuating significantly from 16 to 74% during the 14th FYP. Finally, policy recommendations are raised for mitigating city level CO2 emissions by considering the local realities.
Subject(s)
Carbon Dioxide , Policy , China , CitiesABSTRACT
The phospholipid acyl chains of Enterococcus faecalis can be derived either by de novo synthesis or by incorporation of exogenous fatty acids through the fatty acid kinase complex (Fak)-phosphate acyltransferase (PlsX) pathway. Exogenous fatty acids suppress fatty acid synthesis through the transcriptional repressor FabT, the loss of which eliminated regulation of de novo fatty acid biosynthesis and resulted in decreased incorporation of exogenous unsaturated fatty acids. Purified FabT bound to the promoters of several fatty acid synthesis genes that contain a specific palindromic sequence and binding was enhanced by acylated derivatives of acyl carrier protein B (acyl-AcpB). The loss of the PlsX pathway blocked FabT-dependent transcriptional repression in the presence of oleic acid. Transcriptional repression was partially retained in a E. faecalis ΔacpB strain which showed decreased fatty acid biosynthesis in the presence of exogenous unsaturated fatty acids. The FabT-dependent activity remaining in the ΔacpB strain indicates that acylated derivatives of AcpA were weak enhancers of FabT binding although AcpA is believed to primarily function in de novo fatty acid synthesis.
ABSTRACT
Reliable forecast of municipal solid waste (MSW) generation is crucial for sustainable and efficient waste management. Big data analysis is a novel method to forecast MSW more accurately. Thus, this study employs five kinds of supervised machine learning approaches including linear regression, polynomial regression, support vector machine, random forest, and extreme gradient boosting (XGBoost) to examine their forecast performances. China's MSW generation from 2020 to 2060 under five shared socioeconomic pathways (SSPs) is further predicted and the mechanisms between MSW generation and socioeconomic features are explored. Results show that population and GDP are two dominant indicators in MSW prediction, and XGBoost model is proved to be effective in MSW forecast. MSW generation of China in 2060 is estimated to be 464-688 megatons under different SSPs scenarios, about four to six times of that in 2000. SSP3 that has the most population, least GDP and the highest climate change challenges is the only scenario showing a potential of MSW peak during the study period. The key for MSW increase is mainly the increase of per capita MSW caused by GDP. Finally, several policy recommendations are raised to reduce the overall MSW generation.
Subject(s)
Refuse Disposal , Waste Management , China , Cities , Machine Learning , Refuse Disposal/methods , Socioeconomic Factors , Solid Waste/analysisABSTRACT
In this study, iron nanoparticles were prepared and synthesized in aqueous medium using Cinnamomum verum as stabilizing and reducing agents. We determined the anti-acute leukemia potentials of FeNPs against acute T cell leukemia and acute lymphoblastic leukemia cell lines. FeNPs inhibited half of the DPPH molecules in the concentration of 139 µg/mL. MTT assay was used on J.RT3-T3.5 (Acute T cell leukemia cell line), Jurkat, Clone E6-1 (Acute T cell leukemia cell line), MOLT-3 (Acute lymphoblastic leukemia cell line), TALL-104 (Acute lymphoblastic leukemia cell line), and HUVEC (Normal cell line) for analyzing of cytotoxicity and anti-acute leukemia effects of FeNPs. These nanoparticles had high cell death and anti-acute leukemia effects against J.RT3-T3.5, Jurkat, Clone E6-1, MOLT-3, and TALL-104 cell lines. Among the above cell lines, the best result of anti-acute leukemia properties of composite was gained in the cell line of Jurkat, Clone E6-1. All result showed the iron nanoparticles may be used as a chemotherapeutic treatment drug of leukemia in humans.
Subject(s)
Leukemia , Nanoparticles , Antioxidants/pharmacology , Apoptosis , Humans , Leukemia/drug therapyABSTRACT
Overcapacity is regarded as an inevitable problem for rapid economic developing countries like China, which also causes serious adverse impacts on the environment and public health. However, few studies have quantified the overcapacity feature and corresponding co-benefit from de-capacity policy. To fill such research gaps, this study constructed a comprehensive assessment model by combining the Data Envelopment Analysis (DEA) model, the GAINS-China (Greenhouse gas - Air pollution Interactions and Synergies) model, and a meta-analysis and health impact assessment module, to measure the capacity utilization rate of 41 industrial sectors in 31 Chinese provinces and forecast the environmental and health co-benefits from de-capacity policy in 2050. Results showed that the capacity utilization rate of China's industry is 64.13% in 2018, which is much lower than the threshold value of 75%, indicating serious overcapacity in China's industry. Capacity utilization rates of light industries are higher (around 70%) than heavy industries (50%-60%), and the capacity utilization rate in East and South-Central China is higher (70%-96%) than West China (below 40%). Under a de-capacity scenario in 2050, China's CO2 and PM2.5 emissions are reduced by 1.05 billion tons (9.6%) and 57.8 kilotons (5.8%), respectively. This reduction in PM2.5 emissions results in a substantial health co-benefit, reducing national premature mortality cases by approximately 792,100 (1.6%). Finally, it is recommended that de-capacity priority be given to industries with low capacity utilization rate, as well as regions with intensive heavy industry or high levels of greenhouse gas emissions, severe air pollution, and dense population.
Subject(s)
Air Pollution , China , Environmental Health , MetallurgyABSTRACT
Robust output-feedback torque controller is developed for series elastic actuators (SEAs) in the presence of parameter uncertainties and external disturbances. The strong robustness of the proposed controller results from the filter-based observer which can estimate the velocity signals and the system lumped disturbance. The dynamic surface method is adopted to make the time-domain controller independent of any derivatives of the command reference, making the torque controller an ideal building block for multi-level control frameworks. The semiglobal stability of the closed-loop control system is proven under the assumption that only the state-independent uncertainty is bounded. The experimental results verify the effectiveness of the torque controller, and the implementation of two-level control frameworks, including the impedance control and SEA's load position control, further demonstrates its wide applicability.
ABSTRACT
BACKGROUND: Eczema is a chronic inflammatory disease associated with impaired quality of life. We identified indoor environmental risk factors, to provide strong evidence for the prevention and control of eczema in preschool children. METHODS: Using a cross-sectional study with stratified random cluster sampling, we conducted a self-administered questionnaire survey among 8153 parents of children aged 2-8 years in 60 kindergartens in six districts of Urumqi city during August 2019. RESULTS: Among 8153 preschool children, 12.0% of the children have been diagnosed with eczema. Multivariate logistic regression analysis showed that caesarean section (odds ratio [OR] = 1.18, 95% confidence interval [CI]: 1.03-1.36), being an only child (OR = 1.36, 95% CI: 1.18-1.57), presence of mould or moisture in the mother's home before pregnancy (OR = 1.53, 95% CI: 1.17-2.00), presence of flies or mosquitoes in the dwelling currently (OR = 1.31, 95% CI: 1.10-1.55), pets kept in the child's home currently (OR = 1.23, 95% CI: 1.01-1.51), presence of pets during child's first year (OR = 1.45, 95% CI: 1.14-1.85), and family history of eczema (OR = 3.53, 95% CI: 2.98-4.19) are the risk factors for the development of eczema, whereas ethnicity other than the Han Chinese (OR = 0.77, 95% CI: 0.61-0.96) is a protective factor for eczema. CONCLUSION: Preschool children in Urumqi are at a high risk of eczema, particularly those of the Han Chinese ethnicity. Parents should be attentive to the indoor living environment of children and take actions to reduce indoor humidity, pest control and elimination, and avoid raising pets to reduce the risk of development of eczema in children.