The reconfigurable and modular method, and the adaptive morphology method are two main methodologies to achieve the multimodal robots. Basically, the former method mimics the biological multicellular systems, while th...
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The reconfigurable and modular method, and the adaptive morphology method are two main methodologies to achieve the multimodal robots. Basically, the former method mimics the biological multicellular systems, while the latter is mostly inspired by the multimodal animals. Herein inspired by the rhombic dodecahedron (RDD) origami model, a novel type of soft multicellular robots with multimodal locomotion is presented. Morphologically, the combinable and expandable three-dimensional (3D)-printed soft RDD cells are assembled into several typical patterns: in-line, cross shaped, oblong shaped, and parallelogra shaped. The kinematics based on the sequential monolithic deformations of soft RDDs is analyzed to generate multimodal locomotion: peristaltic crawling, two-anchor crawling, crawling with turning functions, and omnidirectional crawling through the propagating waves in two orthogonal directions. More encouragingly, without reorganizing the pattern or reshaping the morph, the in-line multicellular robots manifest excellent climbing abilities, where the built-in rhombic meshes alternately tighten and loosen the pole-like structures to provide the gripping forces reliably without sacrificing mobility. To wrap up, owing to the monolithic and hierarchical deformability, high reconfigurability, and 3D-printable manufacturability of the RDD, we anticipate that the soft multicellular robot can potentially manifest further contributions to the advanced robotics with embodied intelligence, such as task-oriented self-assembly robots, self-reconfigurable robotic systems, and goal-directed metamorphosis robots.
Excessive iron can be accumulated in the retina and lead to retinal iron overload. Salvianic acid A (SAA) has a variety of pharmacologic effects, but there is only a limited understanding of its benefits for retinal i...
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Excessive iron can be accumulated in the retina and lead to retinal iron overload. Salvianic acid A (SAA) has a variety of pharmacologic effects, but there is only a limited understanding of its benefits for retinal iron overload. The aim of this study was to examine the protective effects and latent mechanisms of SAA on retinal iron overload. SAA reduced iron in the serum and retina, attenuated pathophysiological changes, and reduced retinal iron deposition in the retinas of iron-overloaded mice. It also reduced intracellular iron in ARPE-19 cells by regulating iron-handling proteins and chelating with iron. It also significantly inhibited cellular oxidative and inflammatory damage by increasing the nuclear translocation of nuclear erythroid 2-related factor 2 (Nrf2) while decreasing nuclear factor-kappa B (NF-kappa B), protecting the ARPE-19 cells from apoptosis by suppressing the Bax/ Bcl-2 ratio, cytochrome c release, caspase activation, and poly ADP-ribose polymerase cleavage. The ability of SAA to inhibit apoptosis, increase nuclear Nrf2 expression, and decrease nuclear NF-kappa B expression was further confirmed in the retinas of iron-overloaded mice. This study demonstrates that SAA shows significant protective effects against retinal iron overload;its mechanisms might be associated with iron chelation;regulation of ironhandling proteins;and inhibition of oxidative stress, inflammation and apoptosis.
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