Trajectory planning based on minimum absolute input energy for an LCD glass-handling robot

The main idea of this paper is to design a novel point-to-point (PTP) trajectory based on minimum absolute input energy (MAIE) for an LCD glass-handing robot, which is driven by a permanent magnet synchronous motor (PMSM). The mechatronic system is described by a mathematical model of electrical and mechanical coupling equations. To generate the MAIE PTP trajectory, we employ a high-degree polynomial and compare with the trapezoidal, cycloidal and zero-jerk trajectories for various constraint conditions, which satisfy their corresponding desired constraints of angular displacement, speed, acceleration and jerk at the start and end times. The real-coded genetic algorithm (RGA) is used to search for the coefficients of high-degree polynomials for the PTP trajectories, and the inverse of absolute input electrical energy is adopted as a fitness function. From numerical simulations, it is found that either increasing the degree number of polynomials or decreasing the constraints at the start and end times will decrease the absolute input electrical energy. The proposed methodology for designing the MAIE PTP trajectory can also be applied to any mechatronic system driven by a PMSM.     

Integrated pharmacophore and docking‐based designing of dual inhibitors of aldose reductase (ALR2) and protein tyrosine phosphatase 1B (PTP1B) as novel therapeutics for insulin‐resistant diabetes and its complications

The dual inhibitors against aldose reductase (ALR2) and protein tyrosine phosphatase 1B (PTP1B) may present an anti‐diabetic potency in insulin resistance without risks of serious diabetic complications. Therefore, in the present study, we constructed two separate pharmacophore mapping‐based 3D quantitative structure–activity relationship models for ALR2 (AADRR.1109₃ with standard deviation 0.663, 0.719, F 22.3, root‐mean‐square error 0.705, 0.647, Pearson‐r 0.802) and PTP1B (AARR.15₅ with standard deviation 0.146, 0.945, F 82.70, root‐mean‐square error 0.351, 0.621, Pearson‐r 0.831) employing the dataset of 54 flavonoids as ALR2 inhibitors and 46 naphthoquinones as PTP1B inhibitors to identify structural features necessary for the inhibition of both enzymes. These models were subsequently used as 3D query search for hierarchical virtual screening‐based designing using the PHASE database of 1.5 million compounds. Designed dual inhibitors were further subjected to GLIDE XP docking analysis using high‐resolution 3D structures of ALR2 (1US0, at resolution of 0.66 Å) and PTP1B (2F71 at resolution of 1.55 Å) available in the Protein Data Bank to authenticate identified structural features with important binding interactions necessary for dual inhibition. Copyright © 2014 John Wiley & Sons, Ltd.     

The detection of iron protoporphyrin (heme b) in phytoplankton and marine particulate material by electrospray ionisation mass spectrometry – comparison with diode array detection

A mass spectrometric (MS) method for the identification of iron protoporphyrin (IX) (FePTP, heme b) in marine particulate material and phytoplankton is described. Electrospray ionisation of FePTP produced the molecular Fe(III)PTP⁺ ion (m/z = 616) or the pseudomolecular [Fe(II)PTP + H]⁺ ion (m/z = 617), depending on the oxidation state of the central iron ion. Collision induced dissociation (CID) in the ion trap mass spectrometer resulted in a single detected product ion (m/z = 557) indicative of loss of ethanoic acid from a carboxylic acid side chain. Widening the isolation width to 616 ± 3 resulted in production of a mass spectrum demonstrating the distinctive isotopic ratio of the iron containing fragment, further increasing the specificity of the analysis. Selective reactant monitoring (SRM) of the fragment ion (m/z = 557) was applied to the detection of FePTP after chromatography of ammoniacal OGP extracts of marine samples. The detection limit for FePTP analysed by SRM after chromatography was 1.2 ± 0.5 fmol. For phytoplankton samples, reasonably good agreement was achieved between results obtained with SRM and those obtained by monitoring absorbance at λ = 400 nm using a diode array detector (DAD). Use of SRM for analysis of particulate material obtained from the high latitude North Atlantic allowed for the analysis of FePTP in the presence of a co-eluting compound that interfered with detection by DAD. Simultaneous collection of mass spectra from m/z = 300 to 1500 resulted in identification of the pseudomolecular ion for the interfering compound. The CID fragmentation pattern and UV–visible mass spectra indicated that the interfering compound was a previously unidentified chlorin type compound. Comparison of FePTP determined by SRM and DAD on samples where this compound could not be detected showed that results collected using the two methods correlated. The use of both MS and DAD results in a powerful tool for quantifying this important biogenic component of the particulate iron pool.     

水杨酸类酪氨酸蛋白磷酸酯酶1B抑制剂的分子对接和三维定量构效关系研究

应用Surflex-dock对21个水杨酸类酪氨酸蛋白磷酸酯酶1B抑制剂进行分子对接分析,结果显示水杨酸结构的头部深入活性口袋内部,其氢键决定其与酶结合的稳定性,尾部结构及氢键决定其抑制活性.据此,利用Topomer CoMFA建模时将头尾结构切开分析,从21个化合物中随机选取17个化合物作为训练集,建立3D-QSAR模型,并用包括4个化合物的测试集验证模型的外部预测能力,结果显示模型具有良好的预测能力,预测活性与实测活性的差值均小于0.12μmol/L,该模型可以用于辅助设计同类型新化合物并进行其活性预测.     

基于软件无线电的双向时间同步系统设计与实现

针对全球导航卫星系统建设成本高，信号易被干扰和欺骗等问题，本文基于Zedboard+AD9361软件定义无线电平台设计出一套小型化、高精度的无线时间同步系统．整个系统分为双向时间同步模块和无线通信模块：双向时间同步模块处理主从机时间戳的标定、偏差的计算；无线通信模块将数据进行伪码扩频、数字上变频、部分匹配滤波-快速傅里叶变换捕获，实现主从机之间的无线通信．通过主从机输出到示波器上的1PPS信号比对测试，主从机之间的时间同步误差均方根值（RMS）为18.6ns.     

Camellia sinensis: Insights on its molecular mechanisms of action towards nutraceutical,anticancer potential and other therapeutic applications

The Camellia sinensis plant provides a wide diversity of black, green, oolong, yellow, brick dark, and white tea. Tea is one of the majorly used beverages across the globe, succeeds only in the water for fitness and pleasure. Generally, green tea has been preferred more as compared to other teas due to its main constituent e.g. polyphenols which contribute to various health benefits. The aim of this updated and comprehensive review is to bring together the latest data on the phytochemistry and pharmacological properties of Camellia sinensis and to highlight the therapeutic prospects of the bioactive compounds in this plant so that the full medicinal potential of Camellia sinensis can be realised. A review of published studies on this topic was performed by searching PubMed/MedLine, Scopus, Google scholar, and Web of Science databases from 1999 to 2022. The results of the analysed studies showed that the main polyphenols of tea are the four prime flavonoids catechins: epigallocatechin gallate (EGCG), epicatechin gallate (ECG), epigallocatechin (EGC), and epicatechin (EC) along with the beneficial biological properties of tea for a broad heterogeneity of disorders, including anticancer, neuroprotective, antibacterial, antiviral, antifungal, antiobesity, antidiabetes and antiglaucoma activities. Poor absorption and low bioavailability of bioactive compounds from Camellia sinensis are limiting aspects of their therapeutic use. More human clinical studies and approaching the latest nanoformulation techniques in nanoparticles to transport the target phytochemical compounds to increase therapeutic efficacy are needed in the future.