Snakebite has become a serious public health problem with high mortality and disability rates.Ultrasound can provide imaging basis for diagnosis and treatment of snakebites and relative complications.The application p...Snakebite has become a serious public health problem with high mortality and disability rates.Ultrasound can provide imaging basis for diagnosis and treatment of snakebites and relative complications.The application progresses of ultrasound in snakebites and complications were reviewed in this article.展开更多
A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filte...A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filtering to solve the state of nonlinear mobile target tracking.First,the steps of extended Kalman filtering(EKF)are introduced.Second,the ISO is used to adjust the parameters of the EKF in real time to adapt to the current motion state of the mobile target.Finally,the effectiveness of the algorithm is demonstrated through filtering and tracking using the constant velocity circular motion model(CM).Under the specified conditions,the position and velocity mean square error curves are compared among the snake optimizer(SO)-EKF algorithm,EKF algorithm,and the proposed algorithm.The comparison shows that the proposed algorithm reduces the root mean square error of position by 52%and 41%compared to the SOEKF algorithm and EKF algorithm,respectively.展开更多
This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance ...This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.展开更多
This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined traj...This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory.The optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences.Then,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input.The compensation is adopted to enhance the compatibility of a robot within ever-changing environments.Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.展开更多
Bothrops envenomation is complex and provokes prominent local tissue damage and systemic disturbances,but little is known about their effects on the male reproductive system.After intratesticular injection,the bioacti...Bothrops envenomation is complex and provokes prominent local tissue damage and systemic disturbances,but little is known about their effects on the male reproductive system.After intratesticular injection,the bioactive peptide fraction(Bj-PF)obtained from Bothrops jararaca snake venom changes the structure of different stages of the seminiferous epithelium cycle in adult mice.For the first time,we investigated whether local envenomation of Bj-PF induces toxicological effects on the male reproductive system,particularly on the seminiferous epithelium and Sertoli cells.Male adult mice were treated with 0.24 mg.kg^(-1) by intramuscular(i.m.)injection for 24 h.The testes samples were collected for morphological and morphometric evaluation.The toxicological effects of Bj-PF were also analyzed on mitochondrial metabolism and nitrite(NO2)production in 15P-1 Sertoli cell culture.Bj-PF changed the structure and function of the seminiferous epithelium,particularly the disruption of the epithelium and the presence of degenerated germ cells in the adluminal compartment,but there were no alterations in the basal compartment.Bj-PF increased the thickness of the seminiferous epithelium and decreased the lumen diameter of the tubule.Semiquantitative histological assessment of the degree of tubule degeneration revealed that Bj-PF also increased the number of hypospermatogenic tubules compared to control.Bj-PF reduced NO2 levels in 15P-1 Sertoli cells without changing the mitochondrial metabolism.Overall,the fact that Bj-PF alters the structure and function of the seminiferous epithelium suggests that bioactive peptides found in B.jararaca snake venom can have toxicological effects on the reproductive systems of affected male mice,providing new insight into the biological characteristics of snake venom and therapeutic strategies for envenomation inflammation.展开更多
This report describes an outbreak and treatment of pneumonia and enteritis in a snake farm with more than 3000 snakes containing Elaphe carinata(one-year-old)and Ptyas mucosus(three-month-old)seedlings in Huanggang,Hu...This report describes an outbreak and treatment of pneumonia and enteritis in a snake farm with more than 3000 snakes containing Elaphe carinata(one-year-old)and Ptyas mucosus(three-month-old)seedlings in Huanggang,Hubei,China.Gentamicin was used once in the early stage as treatment,administered orally with water or feed by owners,but mortality increased.Lobar pneumonia was confirmed by dissection and histopathology in infected snakes.Four main pathogenic bacteria were isolated and identified with culture and 16S rRNA sequencing:Staphylococcus sciuri,Salmonella enteritis,Vagococcus fluvialis and Providencia vermicola.Drug susceptibility tests were performed,and amikacin,gentamicin and cefitriaxone were chosen accordingly.After two rounds of treatment,the clinical signs for Elaphe carinata were under control,and the mortality was close to 0%after treatment.However,treatments for Ptyas mucosus seedlings did not work well,potentially because of poor administration technique and weak body condition.展开更多
Background: Snakebite envenomation in pregnancy is uncommon. It can lead to a poor outcome in both the mother and the fetus. We describe our approach to envenomation in pregnancy based on the currently available evide...Background: Snakebite envenomation in pregnancy is uncommon. It can lead to a poor outcome in both the mother and the fetus. We describe our approach to envenomation in pregnancy based on the currently available evidence. Case: We reported two case of snakebite in the third trimester of pregnancy having caused placental abruption with expelling a fresh still born baby and a live baby. In both cases, consumption coagulopathy occurred. managed by polyvalent anti-snake and blood transfusion. Their investigations became normal and they were discharged of hospitalization. Conclusion: Snakebite envenomation in pregnant is a maternal and fetal emergency. Treatment must be quick and well adapted.展开更多
The history of research and preparation of prescriptions for snake bites in Fujian Province was reviewed, and the process of incorporating snake doctors into the system and the gradual establishment of snake bite trea...The history of research and preparation of prescriptions for snake bites in Fujian Province was reviewed, and the process of incorporating snake doctors into the system and the gradual establishment of snake bite treatment system in Fujian were explored. The composition of several main snake bite preparations in Fujian was preliminarily compared and analyzed to provide reference for the research and development of similar new preparations at present.展开更多
A sweeping genomic study of snakes,published in Cell,has shed new light on the genetic basis of their unique traits and evolutionary adaptations.An international team,led by Dr.LI Jiatang from the CAS Chengdu Institut...A sweeping genomic study of snakes,published in Cell,has shed new light on the genetic basis of their unique traits and evolutionary adaptations.An international team,led by Dr.LI Jiatang from the CAS Chengdu Institute of Biology(CIB),analyzed the genomes of 25 snake species with a wide diversity,including blind snakes,pythons,and pit vipers.This extensive dataset allowed the researchers to track changes in the snake genome over 117 million years of evolution,and identify genetic modifications linked to limb loss,infrared sensing,asymmetrical lung development,and other distinctive snake features.展开更多
文摘Snakebite has become a serious public health problem with high mortality and disability rates.Ultrasound can provide imaging basis for diagnosis and treatment of snakebites and relative complications.The application progresses of ultrasound in snakebites and complications were reviewed in this article.
基金supported by National Natural Science Foundation of China (Nos.62265010,62061024)Gansu Province Science and Technology Plan (No.23YFGA0062)Gansu Province Innovation Fund (No.2022A-215)。
文摘A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filtering to solve the state of nonlinear mobile target tracking.First,the steps of extended Kalman filtering(EKF)are introduced.Second,the ISO is used to adjust the parameters of the EKF in real time to adapt to the current motion state of the mobile target.Finally,the effectiveness of the algorithm is demonstrated through filtering and tracking using the constant velocity circular motion model(CM).Under the specified conditions,the position and velocity mean square error curves are compared among the snake optimizer(SO)-EKF algorithm,EKF algorithm,and the proposed algorithm.The comparison shows that the proposed algorithm reduces the root mean square error of position by 52%and 41%compared to the SOEKF algorithm and EKF algorithm,respectively.
基金supported in part by the National Natural Science Foundation of China(61825305,62171274,U1933125,U2241228,62273019)the Shanghai Science and Technology Major Project(2021SHZDZX)+2 种基金the National Natural Science Foundation of China through the Main Research Projecton Machine Behavior and Human-Machine Collaborated Decision Making Methodology(72192820)the Third Research Projecton Human Behavior in HumanMachine Collaboration(72192822)the China Postdoctoral Science Foundation(2022M710093)。
文摘This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.
基金supported in part by the National Natural Science Foundation of China(U2241228,62273019,61825305,U1933125,72192820,72192824,62171274)the China Postdoctoral Science Foundation(2022M710093)the Open Project Program of the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions(AMICM202102)。
文摘This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory.The optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences.Then,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input.The compensation is adopted to enhance the compatibility of a robot within ever-changing environments.Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.
基金supported by the State of São Paulo Research Foundation(FAPESP)the Coordination for the Improvement of Higher Education Personnel(CAPES)(Finance Code 001).
文摘Bothrops envenomation is complex and provokes prominent local tissue damage and systemic disturbances,but little is known about their effects on the male reproductive system.After intratesticular injection,the bioactive peptide fraction(Bj-PF)obtained from Bothrops jararaca snake venom changes the structure of different stages of the seminiferous epithelium cycle in adult mice.For the first time,we investigated whether local envenomation of Bj-PF induces toxicological effects on the male reproductive system,particularly on the seminiferous epithelium and Sertoli cells.Male adult mice were treated with 0.24 mg.kg^(-1) by intramuscular(i.m.)injection for 24 h.The testes samples were collected for morphological and morphometric evaluation.The toxicological effects of Bj-PF were also analyzed on mitochondrial metabolism and nitrite(NO2)production in 15P-1 Sertoli cell culture.Bj-PF changed the structure and function of the seminiferous epithelium,particularly the disruption of the epithelium and the presence of degenerated germ cells in the adluminal compartment,but there were no alterations in the basal compartment.Bj-PF increased the thickness of the seminiferous epithelium and decreased the lumen diameter of the tubule.Semiquantitative histological assessment of the degree of tubule degeneration revealed that Bj-PF also increased the number of hypospermatogenic tubules compared to control.Bj-PF reduced NO2 levels in 15P-1 Sertoli cells without changing the mitochondrial metabolism.Overall,the fact that Bj-PF alters the structure and function of the seminiferous epithelium suggests that bioactive peptides found in B.jararaca snake venom can have toxicological effects on the reproductive systems of affected male mice,providing new insight into the biological characteristics of snake venom and therapeutic strategies for envenomation inflammation.
基金supported by the Fundamental Research Funds for the Central Universities,China(2662017QD015).
文摘This report describes an outbreak and treatment of pneumonia and enteritis in a snake farm with more than 3000 snakes containing Elaphe carinata(one-year-old)and Ptyas mucosus(three-month-old)seedlings in Huanggang,Hubei,China.Gentamicin was used once in the early stage as treatment,administered orally with water or feed by owners,but mortality increased.Lobar pneumonia was confirmed by dissection and histopathology in infected snakes.Four main pathogenic bacteria were isolated and identified with culture and 16S rRNA sequencing:Staphylococcus sciuri,Salmonella enteritis,Vagococcus fluvialis and Providencia vermicola.Drug susceptibility tests were performed,and amikacin,gentamicin and cefitriaxone were chosen accordingly.After two rounds of treatment,the clinical signs for Elaphe carinata were under control,and the mortality was close to 0%after treatment.However,treatments for Ptyas mucosus seedlings did not work well,potentially because of poor administration technique and weak body condition.
文摘Background: Snakebite envenomation in pregnancy is uncommon. It can lead to a poor outcome in both the mother and the fetus. We describe our approach to envenomation in pregnancy based on the currently available evidence. Case: We reported two case of snakebite in the third trimester of pregnancy having caused placental abruption with expelling a fresh still born baby and a live baby. In both cases, consumption coagulopathy occurred. managed by polyvalent anti-snake and blood transfusion. Their investigations became normal and they were discharged of hospitalization. Conclusion: Snakebite envenomation in pregnant is a maternal and fetal emergency. Treatment must be quick and well adapted.
文摘The history of research and preparation of prescriptions for snake bites in Fujian Province was reviewed, and the process of incorporating snake doctors into the system and the gradual establishment of snake bite treatment system in Fujian were explored. The composition of several main snake bite preparations in Fujian was preliminarily compared and analyzed to provide reference for the research and development of similar new preparations at present.
文摘A sweeping genomic study of snakes,published in Cell,has shed new light on the genetic basis of their unique traits and evolutionary adaptations.An international team,led by Dr.LI Jiatang from the CAS Chengdu Institute of Biology(CIB),analyzed the genomes of 25 snake species with a wide diversity,including blind snakes,pythons,and pit vipers.This extensive dataset allowed the researchers to track changes in the snake genome over 117 million years of evolution,and identify genetic modifications linked to limb loss,infrared sensing,asymmetrical lung development,and other distinctive snake features.
