目的 观察利拉鲁肽(LRG)对脊髓损伤(SCI)大鼠的神经保护作用,并探讨其作用机制是否与阻断铁死亡有关.方法 90只雌性Wistar大鼠随机分为假手术组(n=30)、SCI组(n=30)和LRG+SCI组(n=30).采用改良艾伦法建立大鼠SCI模型.LRG+SCI组在SCI后立即皮下注射LRG(200 μg/kg),随后每天1次,连续10 d.假手术组和SCI组均给予等量的无菌PBS.分别在术后第1、2、3天,通过试剂盒检测受损组织中铁含量和谷胱甘肽(GSH)水平;Western blot分析转运体系统-Xc(xCT)和谷胱甘肽过氧化物酶4(GPX4)蛋白表达水平.在术后1、3、7、14和28 d采用Basso、Bettie、Bresnahan(BBB)运动评定量表评定后肢功能.在术后28 d,取各组损伤区脊髓组织进行HE和Nissl染色,评估术后损伤区周围的结构损伤和存活神经元.通过免疫荧光染色检测神经元凋亡情况.结果 与假手术组相比,SCI组大鼠损伤脊髓的铁含量在伤后3 d内明显升高(P＜0.05),并且GSH水平显著降低(P＜0.05).LRG治疗有效降低了损伤脊髓的铁含量(P＜0.05),并提高了GSH水平(P＜0.05).此外,LRG治疗显著提高了SCI大鼠受损组织中的xCT和GPX4的表达水平(P＜0.01).与SCI组相比,LRG+SCI组在伤后7、14和28 d时BBB评分显著升高(P＜0.05).HE和Nissl染色显示,LRG治疗后受损区域的空腔较SCI组明显减少(P＜0.05),并且脊髓前角运动神经元数量明显增加(P＜0.05).免疫荧光染色检测显示,与假手术组相比,SCI组损伤脊髓中cleaved-Caspase-3阳性神经元比例显著增加(P＜0.05),LRG干预后受损区域的cleaved-Caspase-3阳性神经元明显减少(P＜0.05).结论 LRG治疗可能通过抑制病变部位微环境中的铁死亡来促进SCI修复,保护受损神经元并恢复运动功能.

The goal of this paper is to develop a unified online motion generation scheme for quadruped lateral-sequence walk and trot gaits based on a linear model predictive control formulation.Specifically,the dynamics of the linear pendulum model is formulated over a predictive horizon by dimensional analysis.Through gait pattern conversion,the lateral-sequence walk and trot gaits of the quadruped can be regarded as unified biped gaits,allowing the dynamics of the linear inverted pendulum model to serve quadruped motion generation.In addition,a simple linearization of the center of pressure constraints for these quadruped gaits is developed for linear model predictive control problem.Furthermore,the motion generation problem can be solved online by quadratic programming with foothold adaptation.It is demonstrated that the proposed unified scheme can generate stable locomotion online for quadruped lateral-sequence walk and trot gaits,both in simulation and on hardware.The results show significant performance improvements compared to previous work.Moreover,the results also suggest the linearly simplified scheme has the ability to robustness against unexpected disturbances.

In order to reduce the labor intensity of high-altitude workers and realize the cleaning and maintenance of high-rise building exteriors,this paper proposes a design for a 4-DOF bipedal wall-climbing bionic robot inspired by the inchworm's movement.The robot utilizes vacuum adsorption for vertical wall attachment and legged movement for locomotion.To enhance the robot's movement efficiency and reduce wear on the adsorption device,a gait mimicking an inchworm's movement is planned,and foot trajectory planning is performed using a quintic polynomial function.Under velocity constraints,foot trajectory optimization is achieved using an improved Particle Swarm Optimization(PSO)algorithm,determining the quintic polynomial function with the best fitness through simulation.Finally,through comparative experiments,the climbing time of the robot closely matches the simulation results,validating the trajectory planning method's accuracy.

Legged robots show great potential for high-dynamic motions in continuous interaction with the physical environment,yet achieving animal-like agility remains significant challenges.Legged animals usually predict and plan their next locomotion by combining high-dimensional information from proprioception and exteroception,and adjust the stiffness of the body's skeletal muscle system to adapt to the current environment.Traditional control methods have limitations in handling high-dimensional state information or complex robot motion that are difficult to plan manually,and Deep Reinforcement Learn-ing(DRL)algorithms provide new solutions to robot motioncontrol problems.Inspired by biomimetics theory,we propose a perception-driven high-dynamic jump adaptive learning algorithm by combining DRL algorithms with Virtual Model Control(VMC)method.The robot will be fully trained in simulation to explore its motion potential by learning the factors related to continuous jumping while knowing its real-time jumping height.The policy trained in simulation is successfully deployed on the bio-inspired single-legged robot testing platform without further adjustments.Experimental results show that the robot can achieve continuous and ideal vertical jumping motion through simple training

In order to strike a balance between achieving desired velocities and minimizing energy consumption,legged animals have the ability to adopt the appropriate gait pattern and seamlessly transition to another if needed.This ability makes them more versatile and efficient when traversing natural terrains,and more suitable for long treks.In the same way,it is meaningful and important for quadruped robots to master this ability.To achieve this goal,we propose an effective gait-heuristic rein-forcement learning framework in which multiple gait locomotion and smooth gait transitions automatically emerge to reach target velocities while minimizing energy consumption.We incorporate a novel trajectory generator with explicit gait infor-mation as a memory mechanism into the deep reinforcement learning framework.This allows the quadruped robot to adopt reliable and distinct gait patterns while benefiting from a warm start provided by the trajectory generator.Furthermore,we investigate the key factors contributing to the emergence of multiple gait locomotion.We tested our framework on a closed-chain quadruped robot and demonstrated that the robot can change its gait patterns,such as standing,walking,and trotting,to adopt the most energy-efficient gait at a given speed.Lastly,we deploy our learned controller to a quadruped robot and demonstrate the energy efficiency and robustness of our method.

目的:比较脑小血管病（CSVD）患者认知以及运动双重任务行走（DTW）的步态特征差异，并判断何种步态参数能够更好地诊断CSVD及判断疾病的严重程度。方法:纳入2020年9月1日至2021年7月1日在解放军总医院第七医学中心神经内科就诊的经磁共振成像证实有CSVD的患者106例以及同期的体检人员21名，根据Fazekas评分，将研究对象分为轻度组（34例，1分）、中度组（34例，2分）、重度组（38例，3分）以及健康对照组（21名）。在单任务行走（STW）和DTW条件下记录参与者参数，并通过单任务和双任务之间的差异计算双重任务效应（DTC）。采用广义估算方程评估疾病严重程度以及行走条件对基本步态参数及DTC的影响，事后分析通过Bonferroni方法校正。通过Spearman相关分析确定疾病严重程度与步态参数及DTC间的相关性。通过Logistic回归建立联合预测因子，应用联合诊断试验计算步态参数及其DTC预测CSVD的敏感度、特异度及受试者工作特征（ROC）曲线下面积。结果:试验组中STW的基础步态参数显著优于认知或运动DTW（均 P<0.05），而对照组中不同任务下的基础步态参数差异无统计学意义（均 P>0.05）。在认知DTW中，时间步态参数（步频和跨步时间）仅在中重度组出现显著恶化［步频：中度组（100.220±1.795）步/min，重度组（94.525±2.139）步/min；跨步时间：中度组（1.227±0.024）s，重度组（1.299±0.031）s］，但空间参数（跨步长及步速）在各组（除对照组和轻度组外）间［跨步长：对照组（1.050±0.021）m，轻度组（0.974±0.022）m，中度组（0.903±0.025）m，重度组（0.793±0.026）m；步速：对照组（0.944±0.028）m/s，轻度组（0.866±0.030）m/s，中度组（0.751±0.027）m/s，重度组（0.606±0.022）m/s］差异均有统计学意义（均 P<0.05）。同样无论疾病严重程度，认知DTW条件下所有步态参数DTC均高于运动DTW（均 P<0.05），而对照组中不同任务下的步态参数DTC差异无统计学意义（均 P>0.05）。其中认知DTW的时间参数DTC仅在中重度组出现异常，而空间参数DTC在各组间差异均有统计学意义（包括对照组和轻度组；均 P<0.05）。认知DTW条件下，空间参数及DTC与疾病严重程度的相关性显著高于时间参数（0.50< r<0.64比0.15< r<0.39）。应用空间参数对CSVD的判别进行联合诊断试验发现，联合诊断因子ROC曲线下面积显著大于单一指标。 结论:认知DTW能够更好地反映CSVD患者的步态异常。认知DTW的空间参数及其DTC能更有效地诊断CSVD并区分其严重程度，DTC可能是更好的指标。对于诊断CSVD而言，空间参数及其DTC之间差异并无统计学意义，但联合因子可以显著提高敏感度，降低假阴性率。

目的:运用生物信息学方法挖掘农药慢性暴露诱导的差异表达基因（DEGs）及其富集的信号通路，探索其潜在致病机制和关键基因。方法:于2021年7月，从基因表达综合数据库（GEO）中下载与农药毒效应相关的高通量基因表达谱数据，样本来源为长期接触农药的美洲男性农场工人和其他行业工人，获取DEGs；利用R软件clusterProfiler包对所选择的DEGs进行GO、KEGG及基因集富集分析（GSEA）；采用STRING、Cytoscape等工具对其进行蛋白质相互作用网络的构建及可视化分析；借助MCODE及Cytohubba等分析得到基因功能模块，从而筛选出核心基因。结果:共筛选出GSE30335数据集的DEGs 189个，其中上调基因101个，下调基因88个。GO、KEGG及GSEA结果显示，DEGs主要富集于神经元投射发育调控、运动调节、核糖体蛋白合成等生物学功能及以帕金森病为代表的复杂神经系统疾病相关的通路上。综合筛选发现，KLF1为农药暴露的核心基因，其差异表达倍数为0.456（ t=-3.82， P=0.021）。 结论:长期农药暴露可造成接触人群多个基因的差异表达，可能通过下调KLF1并经由其介导的一系列生物学途径参与神经系统的病理学改变。

目的:通过结构方程模型探讨老年人内在能力中活力指示变量的构建方法。方法:针对2020年5月至2022年5月于北京医院老年科就诊患者的老年综合评估数据，收集常用于测量活力及活动能力的7个测量变量(体质指数、体重丢失、小腿围、握力、4 m步速、起立-行走、起立-坐下)。通过结构方程模型，以活动能力为参照，应用探索性因子分析、验证性因素分析及相关性分析探索并验证活力的指示变量。结果:探索性因子分析可知以上7个变量可归纳为两个潜变量，分别为活力、活动能力；其中体质指数、体重丢失、小腿围可共同反映活力；握力、4 m步速、起立-行走、起立-坐下可共同反映活动能力。验证性因素分析及模型检验提示测量模型构建合理，活力及活动能力指示变量分配合理[卡方和自由度比值( χ2/ df)＝35/13，比较拟合指数( CFI)＝0.96，近似误差平方根(RMESEA)(95% CI)＝0.06(0.04，0.08)]。指示变量相关性研究结果显示，握力-活力指示变量相关性较低，握力-活动能力的指示变量相关性较好( ＝0.33， ＝0.21)。 结论:老年人内在能力中的活力可用体质指数、体重丢失及小腿围测量；相比活力，握力更适合用于反映老年人的活动能力。

Background::Visual inputs are critical for locomotor navigation and sensorimotor integration in the elderly; however, the mechanism needs to be explored intensively. The present study assessed the gait pattern after cataract surgery to investigate the effects of visual restoration on locomotion.Methods::The prospective study recruited 32 patients (70.1 ± 5.2 years) with bilateral age-related cataracts in the Department of Ophthalmology at Peking University Third Hospital from October 2016 to December 2019. The temporal-spatial gait parameters and kinematic parameters were measured by the Footscan system and inertial measurement units. Paired t-test was employed to compare data normally distributed and Wilcoxon rank-sum test for non-normally distributed. Results::After visual restoration, the walking speed increased by 9.3% (1.19 ± 0.40 m/s vs. 1.09 ± 0.34 m/s, P=0.008) and exhibited an efficient gait pattern with significant decrease in gait cycle (1.02 ± 0.08 s vs. 1.04 ± 0.07 s, P=0.012), stance time (0.66 ± 0.06 s vs. 0.68 ± 0.06 s, P=0.045), and single support time (0.36 ± 0.03 s vs. 0.37 ± 0.02 s, P=0.011). High amplitude of joint motion was detected in the sagittal plane in the left hip (37.6° ± 5.3° vs. 35.5° ± 6.2°, P=0.014), left thigh (38.0° ± 5.2° vs. 36.4° ± 5.8°, P=0.026), left shank (71.9° ± 5.7° vs. 70.1° ± 5.6°, P=0.031), and right knee (59.1° ± 4.8° vs. 56.4° ± 4.8°, P=0.001). The motor symmetry of thigh improved from 8.35 ± 5.30% to 6.30 ± 4.73% ( P=0.042). Conclusions::The accelerated gait in response to visual restoration is characterized by decreased stance time and increased range of joint motion. Training programs for improving muscle strength of lower extremities might be helpful to facilitate the adaptation to these changes in gait.

目的:观察儿童早期2 h以内全身麻醉手术暴露对学龄期神经发育的影响。方法:回顾性选择2009年6月至2012年12月在南京医科大学附属儿童医院接受全身麻醉外科手术（时间<2 h）时0~2岁，且入选本研究时（2018年6月至2021年12月）为6~12岁的学龄期儿童为暴露组，共147例，其中男76例，女71例，年龄（8.8±1.6）岁；根据不同麻醉暴露次数分为单次暴露组（ n=65）和多次暴露组（≥2次， n=82）。按照暴露组队列匹配同期（2018年6月至2021年12月）社区招募的同龄、无全身麻醉手术史的健康儿童为健康对照组，共160名，其中男87名，女73名，年龄（8.6±1.9）岁。由专业儿童保健科医师对所有受试者进行多种标准化神经测试，包括韦氏儿童智力量表第四版中文版（WISC-Ⅳ）、整合视听连续执行测试（IVA-CPT）、注意缺陷多动障碍量表（SNAP-Ⅳ）、感觉统合能力发展量表中文版（CSIC）和社会生活能力量表。主要观察指标为WISC-Ⅳ中的全量表总智商（FSIQ），次要观察指标为IVA-CPT、SNAP-Ⅳ、CSIC和社会生活能力量表得分。 结果:单次暴露组、多次暴露组和健康对照组FSIQ分别为105.4±14.1、100.9±10.2和103.6±13.5，差异无统计学意义（ F=2.37， P=0.095）；0~6个月、7~12个月和1~2岁首次暴露年龄组的FSIQ分别为99.8±10.2、104.5±10.5和104.4±14.5，差异无统计学意义（ F=2.39， P=0.095）；暴露0~59 min组、暴露60~119 min组和健康对照组FSIQ分别为102.8±11.3、103.0±13.7和103.6±13.5，差异无统计学意义（ F=0.13， P=0.882）。在次要观察结果中，单次暴露组、多次暴露组和健康对照组IVA-CPT的视觉持续性商数分别为94.8±10.5、94.0±10.9和100.6±17.7，差异有统计学意义（ F=6.96， P=0.001）；社会生活能力量表的运动得分分别为（10.0±0.2）、（10.2±0.6）和（10.4±0.7）分，差异有统计学意义（ F=10.61， P<0.001），但均在标准范围内。 结论:儿童早期2 h以内的全身麻醉手术暴露对学龄期整体FSIQ没有影响，对IVA-CPT的视觉持续性商数以及社会生活能力量表的运动得分略有影响。