Neuroprotection of Bone Marrow-Derived Mesenchymal Stem Cell-Derived Extracellular Vesicle-Enclosed miR-410 Correlates with HDAC4 Knockdown in Hypoxic-Ischemic Brain Damage.

Evidence exists reporting that miR-410 may rescue neurological deficits, neuronal injury, and neuronal apoptosis after experimental hypoxic ischemia. This study aimed to explore the mechanism by which miR-410 transferred by bone marrow-derived mesenchymal stem cell-derived extracellular vesicles (BMSC-EVs) may alleviate hypoxic-ischemic brain damage (HIBD) in newborn mice. BMSCs were isolated from total bone marrow cells of femur and tibia of newborn mice, and primary neurons were extracted from the cerebral cortex of newborn mice within 24 h of birth. EVs were extracted from BMSCs transfected with the mimic or inhibitor of miR-410. Primary neurons were subjected to hypoxia and treated with overexpression (oe)-HDAC4, small interfering RNA (siRNA)-ß-catenin, or Wnt pathway inhibitor and/or EV (miR-410 mimic) or EV (miR-410 inhibitor). A neonatal mouse HIBD model was established and treated with EVs. When BMSC-EVs were endocytosed by primary neurons, miR-410 was upregulated, neuronal viability was elevated, and apoptosis was inhibited. miR-410 in BMSC-EVs targeted HDAC4, thus increasing neuronal viability and reducing apoptosis. Conversely, overexpression of HDAC4 activated the Wnt pathway and enhanced the nuclear translocation of ß-catenin. Treatment with miR-410-containing BMSC-EVs improved learning and memory abilities of HIBD mice while attenuating apoptosis by inactivating the Wnt pathway via targeting HDAC4. Taken together, the findings suggest that miR-410 delivered by BMSC-EVs alleviates HIBD by inhibiting HDAC4-dependent Wnt pathway activation.

A New Positioning Method Based on Multiple Ultrasonic Sensors for Autonomous Mobile Robot.

This work proposes a new positioning method based on multiple ultrasonic sensors for the autonomous mobile robot. Unlike the conventional ultrasonic positioning methods, this new method can realize higher accuracy ultrasonic positioning without additional temperature information. Three ultrasonic sensors are used for positioning. A generalized measurement model is established for general sensor configuration. A simplified measurement model, which considers the computational complexity, is also established for linear/simplified sensor configuration. Three time-of-flight signals are obtained from the three ultrasonic sensors. The coordinates of the target are calculated by the ratios of time-of-flights. Positioning experiments were carried out to verify the feasibility and effectiveness of the proposed method. Experimental results show that the new ultrasonic positioning method is effective, both the two established models can implement positioning successfully, and the positioning accuracy is satisfactory. Compared with the conventional ultrasonic positioning method with the default ultrasonic velocity, the positioning accuracy is greatly improved by the proposed method. Compared with the ultrasonic positioning method with additional temperature compensation, the results obtained by the proposed method are comparable.