Stable, efficient and lossless fruit picking has always been a difficult problem, perplexing the development of fruit automatic picking technology. In order to effectively solve this technical problem, this paper establishes a multi-objective trajectory model of the manipulator and proposes an improved multi-objective particle swarm optimization algorithm (represented as GMOPSO). The algorithm combines the methods of mutation operator, annealing factor and feedback mechanism to improve the diversity of the population on the basis of meeting the stable motion, avoiding the local optimal solution and accelerating the convergence speed. By adopting the average optimal evaluation method, the robot arm motion trajectory has been testified to constructively fulfill the picking standards of stability, efficiency and lossless. The performance of the algorithm is verified by ZDT1~ZDT3 benchmark functions, and its competitive advantages and disadvantages with other multi-objective evolutionary algorithms are further elaborated. In this paper, the algorithm is simulated and verified by practical experiments with the optimization objectives of time, energy consumption and pulsation. The simulation results show that the solution set of the algorithm is close to the real Pareto frontier. The optimal solution obtained by the average optimal evaluation method is as follows: the time is 34.20 s, the energy consumption is 61.89 °/S2 and the pulsation is 72.18 °/S3. The actual test results show that the trajectory can effectively complete fruit picking, the average picking time is 25.5 s, and the success rate is 96.67%. The experimental results show that the trajectory of the manipulator obtained by GMOPSO algorithm can make the manipulator run smoothly and facilitates efficient, stable and nondestructive picking.

Background: The purpose of this meta-analysis is to systematically evaluate the efficacy of probiotics on allergic rhinitis (AR). Methods: Collecting randomized controlled trials (RCTs) with probiotics as intervention mea-sures for AR, two researchers independently screened the literature, extracted the data and evaluated the methodological quality of the included studies, and used RevMan 5.3 software for meta-analysis to observe the effects of probiotics on Rhinitis Quality of Life (RQLQ) scores, Rhinitis Total Symptom Scores (RTSS), blood eosinophil count, total and antigen-specific serum immunoglobulin E (IgE) levels by using the fixed- or the random-effects model to calculate the pooled risk for significant heterogeneity. Results: A total of 2708 patients were included in 30 RCTs. Meta-analysis results showed that the RQLQ global scores (mean difference [MD] = −9.43; P < 0.00001), RQLQ nasal scores (MD = −1.52; P = 0.03), and RTSS nasal scores (MD = −1.96; P = 0.02) significantly improved in the probiotic group when compared with those in the placebo group. There was no significant difference in blood eosinophil count (MD = −0.09; P=0.82), RQLQ eye scores (MD = −1.45; P = 0.07), RTSS global scores (MD = −2.24; P = 0.26), RTSS eye scores (MD = −0.39; P = 0.31), total and antigen-specific serum IgE levels (MD = −0.04; P = 0.7 and MD = −0.08; P = 0.81) between the probiotic and the placebo group. Conclusion: Compared with the placebo group, the quality of life and symptoms of patients with AR significantly improved in the probiotic group, thus providing a new potential method for the application of probiotics in AR. However, because of the limited evidence for the current study outcomes, the heterogeneity of research, and the differences in research results, more high-quality studies are needed to in the future.

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Renal injury can be postponed and improved when treated with SKL plus prednisone; it may contribute to the depression of abnormal activation of NF-kappaB, and the inhibition of production of TNF-alpha and NO.

Allergic rhinitis (AR) is a common, non-infectious, chronic nasal mucosal disease primarily mediated by immunoglobulin E (IgE) following allergen exposure. Currently, studies on AR mainly focus on cytokines, IgE and its receptors, basophils, eosinophils, mast cells, and related genes. Among these, an imbalance between T helper (Th) 1 and Th2 cells is considered an important mechanism underlying AR pathogenesis. The most important cytokines in AR are interleukin (Il)-4 and interferon gamma (IFN-γ) which are secreted by Th2 and Th1 cells, respectively. Il-4 and IFN-γ are antagonistic to each other in regulating IgE synthesis. In this study, the expression of extracellular signal-regulated protein kinase (ERK) 1/2 and its phosphorylation from p-ERK1/2, were significantly increased in a cluster of differentiation of 4+ T cells of AR mice, suggesting that the ERK signaling pathway in these cells is involved in the occurrence and development of AR. This result also implies an enhanced expression of deoxyribonucleic acid methyltransferases (DNMTs). To verify the relationship between ERK signaling and DNMT expression, AR mice were treated with PD98059, a specific inhibitor of the ERK1/2 signaling pathway. The results revealed that perturbations in ERK signaling were significantly positively correlated with the downregulation of DNMT1 expression. Pharmacological intervention is key to treating AR. This study demonstrated that Xingbi gel intervention affected both serum IgE levels and AR behavior scores in mice. Based on its effects on IFN-γ gene expression, the regulation of Th1/Th2 balance, and the ERK signaling pathway, research on the effects of Xingbi gel on AR may provide new avenues in its prevention and treatment.