Multiple forces facilitate the aquatic acrobatics of grasshopper and bioinspired robot

Aquatic locomotion is challenging for land-dwelling creatures because of the high degree of fluidity with which the water yields to loads. We surprisingly found that the Chinese rice grasshopper Oxya chinensis, known for its terrestrial acrobatics, could swiftly launch itself off the water's surface in around 25 ms and seamlessly transition into flight. Biological observations showed that jumping grasshoppers use their front and middle legs to tilt up bodies first and then lift off by propelling the water toward the lower back with hind legs at angular speeds of up to 18°/ms, whereas the swimming grasshoppers swing their front and middle legs in nearly horizontal planes and move hind legs less violently (~8°/ms). Force measurement and model analysis indicated that the weight support could be achieved by hydrostatics which are proportionate to the mass of the grasshoppers, while the propulsions for motion are derived from the controlled limb-water interactions (i.e., the hydrodynamics). After learning the structural and behavioral strategies of the grasshoppers, a robot was created and was capable of swimming and jumping on the water surface like the insects, further demonstrating the effectiveness of decoupling the challenges of aquatic locomotion by the combined use of the static and dynamic hydro forces. This work not only uncovered the combined mechanisms responsible for facilitating aquatic acrobatics in this species but also laid a foundation for developing bioinspired robots that can locomote across multiple media.

Device for Measuring Contact Reaction Forces during Animal Adhesion Landing/Takeoff from Leaf-like Compliant Substrates

A precise measurement of animal behavior and reaction forces from their surroundings can help elucidate the fundamental principle of animal locomotion, such as landing and takeoff. Compared with stiff substrates, compliant substrates, like leaves, readily yield to loads, presenting grand challenges in measuring the reaction forces on the substrates involving compliance. To gain insight into the kinematic mechanisms and structural-functional evolution associated with arboreal animal locomotion, this study introduces an innovative device that facilitates the quantification of the reaction forces on compliant substrates, like leaves. By utilizing the stiffness-damping characteristics of servomotors and the adjustable length of a cantilever structure, the substrate compliance of the device can be accurately controlled. The substrate was further connected to a force sensor and an acceleration sensor. With the cooperation of these sensors, the measured interaction force between the animal and the compliant substrate prevented the effects of inertial force coupling. The device was calibrated under preset conditions, and its force measurement accuracy was validated, with the error between the actual measured and theoretical values being no greater than 10%. Force curves were measured, and frictional adhesion coefficients were calculated from comparative experiments on the landing/takeoff of adherent animals (tree frogs and geckos) on this device. Analysis revealed that the adhesion force limits were significantly lower than previously reported values (0.2~0.4 times those estimated in previous research). This apparatus provides mechanical evidence for elucidating structural-functional relationships exhibited by animals during locomotion and can serve as an experimental platform for optimizing the locomotion of bioinspired robots on compliant substrates.

Facial Expression Realization of Humanoid Robot Head and Strain-Based Anthropomorphic Evaluation of Robot Facial Expressions

The facial expressions of humanoid robots play a crucial role in human-computer information interactions. However, there is a lack of quantitative evaluation methods for the anthropomorphism of robot facial expressions. In this study, we designed and manufactured a humanoid robot head that was capable of successfully realizing six basic facial expressions. The driving force behind the mechanism was efficiently transmitted to the silicone skin through a rigid linkage drive and snap button connection, which improves both the driving efficiency and the lifespan of the silicone skin. We used human facial expressions as a basis for simulating and acquiring the movement parameters. Subsequently, we designed a control system for the humanoid robot head in order to achieve these facial expressions. Moreover, we used a flexible vertical graphene sensor to measure strain on both the human face and the silicone skin of the humanoid robot head. We then proposed a method to evaluate the anthropomorphic degree of the robot's facial expressions by using the difference rate of strain. The feasibility of this method was confirmed through experiments in facial expression recognition. The evaluation results indicated a high degree of anthropomorphism for the six basic facial expressions which were achieved by the humanoid robot head. Moreover, this study also investigates factors affecting the reproduction of expressions. Finally, the impulse was calculated based on the strain curves of the energy consumption of the humanoid robot head to complete different facial expressions. This offers a reference for fellow researchers when designing humanoid robot heads, based on energy consumption ratios. To conclude, this paper offers data references for optimizing the mechanisms and selecting the drive components of the humanoid robot head. This was realized by considering the anthropomorphic degree and energy consumption of each part. Additionally, a new method for evaluating robot facial expressions is proposed.

High-Frequency Local Field Potential Oscillations for Pigeons in Effective Turning

Flexible turning behavior endows Homing Pigeons (Columba livia domestica) with high adaptability and intelligence in long-distance flight, foraging, hazard avoidance, and social interactions. The present study recorded the activity pattern of their local field potential (LFP) oscillations and explored the relationship between different bands of oscillations and turning behaviors in the formatio reticularis medialis mesencephali (FRM). The results showed that the C (13-60 Hz) and D (61-130 Hz) bands derived from FRM nuclei oscillated significantly in active turning, while the D and E (131-200 Hz) bands oscillated significantly in passive turning. Additionally, compared with lower-frequency stimulation (40 Hz and 60 Hz), 80 Hz stimulation can effectively activate the turning function of FRM nuclei. Electrical stimulation elicited stronger oscillations of neural activity, which strengthened the pigeons' turning locomotion willingness, showing an enhanced neural activation effect. These findings suggest that different band oscillations play different roles in the turning behavior; in particular, higher-frequency oscillations (D and E bands) enhance the turning behavior. These findings will help us decode the complex relationship between bird brains and behaviors and are expected to facilitate the development of neuromodulation techniques for animal robotics.

Preload-Induced Switchable Adhesion

Animals with robust attachment abilities commonly exhibit stable attachment and convenient detachment. However, achieving an efficient attachment-detachment function in bioinspired adhesives is challenging owing to the complexity and delay of actuators. In this study, a class of multilayer adhesives (MAs) comprising backing, middle, and bottom layers is proposed to realize rapid switching by only adjusting the preload. At low preload, the MAs maintain intimate contact with the substrate. By contrast, a sufficiently large preload results in significant deformation of the middle layer, causing underside buckling and reducing adhesion. By optimizing the structural parameters of the MAs, a high switching ratio (up to 136×) can be achieved under different preloads. Furthermore, the design of the MAs incorporates a film-terminated structure, which prevents the embedding of dirt particles, simplifies cleaning, and maintains the separation and uprightness of the microstructures. Consequently, the MAs demonstrate practical potential for simple and efficient transportation applications, as they achieve switchable adhesion through their structure, exhibiting a high switching ratio and fast switching.

Prevalence and influencing factors of depressive and anxiety symptoms among hospital-based healthcare workers during the surge period of the COVID-19 pandemic in the Chinese mainland: a multicenter cross-sectional study

BACKGROUND

From November 2022 to February 2023, the Chinese mainland experienced a surge in COVID-19 infection and hospitalization, and the hospital-based healthcare workers (HCWs) might suffer serious psychological crisis during this period. This study aims to assess the depressive and anxiety symptoms among HCWs during the surge of COVID-19 pandemic and to provide possible reference on protecting mental health of HCWs in future infectious disease outbreaks.

METHODS

A multicenter cross-sectional study was carried out among hospital-based HCWs in the Chinese mainland from 5 January to 9 February 2023. The PHQ-9 (nine-item Patient Health Questionnaire) and GAD-7 (seven-item Generalized Anxiety Disorder Questionnaire) were used to measure depressive and anxiety symptoms. Ordinal logistic regression analysis was performed to identify influencing factors.

RESULTS

A total of 6522 hospital-based HCWs in the Chinse mainland were included in this survey. The prevalence of depressive symptoms among the HCWs was 70.75%, and anxiety symptoms was 47.87%. The HCWs who perceived higher risk of COVID-19 infection and those who had higher work intensity were more likely to experience depressive and anxiety symptoms. Additionally, higher levels of mindfulness, resilience and perceived social support were negatively associated with depressive and anxiety symptoms.

CONCLUSION

This study revealed that a high proportion of HCWs in the Chinese mainland suffered from mental health disturbances during the surge of the COVID-19 pandemic. Resilience, mindfulness and perceived social support are important protective factors of HCWs' mental health. Tailored interventions, such as mindfulness practice, should be implemented to alleviate psychological symptoms of HCWs during the COVID-19 pandemic or other similar events in the future.

Rate-dependent adhesion together with limb collaborations facilitate grasshoppers reliable attachment under highly dynamic conditions

Dynamic attachment is indispensable for animals to cope with unexpected disturbances. Minor attention has been paid to the dynamic performance of insects' adhesive pads. Through experiments pulling whole grasshoppers off a glass rod at varying speeds, surprising findings emerged. The feet did not always maintain contact but released and then reconnected to the substrate rapidly during leg extension, potentially reducing the shock damage to pads. As the pulling speeds increased from 1 to 400 mm/s, the maximum forces of single front tarsus insects and entire tarsi insects were nearly proportional to the 1/3 power of pulling speeds by 0.11 and 0.29 times, respectively. The force of some individuals could be even 800 times greater than their weight, which is unexpectedly high for smooth insect pads. This work not only helps us to understand the attachment intelligence of animals but is also informative for artificial attachment in extreme situations.

A solar/radiative cooling dual-regulation smart window based on shape-morphing kirigami structures

The energy efficiency of buildings has become a critical issue due to their substantial contribution to global energy consumption. Windows, in particular, are often the least efficient component of the building envelope, and conventional smart windows focus solely on regulating solar transmittance while overlooking radiative cooling. Although several recent designs achieved dual-control of solar and radiative cooling, these windows still face limitations in terms of durability, limited modulation ability and energy-saving performance. To address these challenges, we propose a novel dual-control smart window design consisting of a reconfigurable kirigami structure and polydimethylsiloxane-laminated thermochromic hydrogel coated with silver nanowires. In summer, the thermochromic hydrogel turns translucent to suppress the solar heat gain, while the high emissivity kirigami structure covers the exterior surface of the window, promoting radiative cooling. In winter, the hydrogel becomes transparent to allow for solar transmission. Additionally, the kirigami structure undergoes an out-of-plane structural change, opening towards the outside environment to expose the underlying low-emissivity silver nanowires and suppress heat radiation. Our design achieves a promising solar transmittance modulation ability of ∼24% and a good long-wave infrared emissivity regulation ability of 0.5. Furthermore, it exhibits significantly improved durability, which is nine times longer than the lifespan of conventional smart hydrogels. Our novel approach offers a promising solution for constructing energy-efficient and durable smart windows and outperforms existing state-of-the-art solar/radiative cooling dual-regulation smart windows in the literature.

Hybrid learning mechanisms under a neural control network for various walking speed generation of a quadruped robot

Legged robots that can instantly change motor patterns at different walking speeds are useful and can accomplish various tasks efficiently. However, state-of-the-art control methods either are difficult to develop or require long training times. In this study, we present a comprehensible neural control framework to integrate probability-based black-box optimization (PIBB) and supervised learning for robot motor pattern generation at various walking speeds. The control framework structure is based on a combination of a central pattern generator (CPG), a radial basis function (RBF) -based premotor network and a hypernetwork, resulting in a so-called neural CPG-RBF-hyper control network. First, the CPG-driven RBF network, acting as a complex motor pattern generator, was trained to learn policies (multiple motor patterns) for different speeds using PIBB. We also introduce an incremental learning strategy to avoid local optima. Second, the hypernetwork, which acts as a task/behavior to control parameter mapping, was trained using supervised learning. It creates a mapping between the internal CPG frequency (reflecting the walking speed) and motor behavior. This map represents the prior knowledge of the robot, which contains the optimal motor joint patterns at various CPG frequencies. Finally, when a user-defined robot walking frequency or speed is provided, the hypernetwork generates the corresponding policy for the CPG-RBF network. The result is a versatile locomotion controller which enables a quadruped robot to perform stable and robust walking at different speeds without sensory feedback. The policy of the controller was trained in the simulation (less than 1 h) and capable of transferring to a real robot. The generalization ability of the controller was demonstrated by testing the CPG frequencies that were not encountered during training.

The axial and sagittal CT values of the 7th thoracic vertebrae in screening for osteoporosis and osteopenia

AIM

To evaluate the difference in computed tomography (CT) attenuation value of different planes of the 7th thoracic vertebra and investigate the efficacy of axial and sagittal vertebral CT measurements in predicting osteoporosis.

MATERIALS AND METHODS

Patients who underwent routine chest CT and dual-energy X-ray absorptiometry (DXA) within 1 month were included in this retrospective study. The CT attenuation values of different planes were compared. Logistic regression and receiver operating characteristic (ROC) were used to analyse the difference of each plane in the diagnosis of osteoporosis.

RESULTS

The study included 1,338 patients (mean age of 61.9±11.9; 54% female). The CT attenuation values decreased successively in the normal group, osteopenia group, and osteoporosis group. The paired t-test results showed that the mid-axial measurements were greater than mid-sagittal measurements, with a mean difference of 9 HU, the difference was statistically significant (p<0.001, 95% confidence interval [CI] = 7.8-10.1). For each one-unit reduction in mid-sagittal CT attenuation value, the risk of osteopenia or osteoporosis increased by 3.6%. To distinguish osteoporosis from non-osteoporosis (osteopenia + normal), the sensitivity was 90% and the specificity was 52.4% at the mid-sagittal threshold of 113.7 HU.

CONCLUSIONS

The CT attenuation values of mid-sagittal plane have higher diagnostic efficacy than axial planes in predicting osteoporosis. For patients with a sagittal CT attenuation value of <113.7 HU in the T7, further DXA examination is warranted.

Bioinspired Rigid-Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations

This paper presents a study on bioinspired rigid-flexible coupling adaptive compliant motion control of a robot gecko with hybrid actuation for space stations. The biomimetic robot gecko is made of a rigid trunk, four motor-driven active legs with dual-degree-of-freedom shoulder joints, and four pneumatic flexible pleated active attachment-detachment feet. The adaptive impedance model consists of four input parameters: the inertia coefficient, stiffness coefficient, damping coefficient, and segmented expected plantar force. The robot gecko is equipped with four force sensors mounted on its four feet, from which the normal force of each foot can be sensed in real-time. Based on the sensor signal, the variable stiffness characteristics of the feet in different states are analyzed. Furthermore, an adaptive active compliance control strategy with whole-body rigidity-flexibility-force feedback coupling is proposed for the robot gecko. Four sets of experiments are presented, including open-loop motion control, static anti-interference experiment, segmented variable stiffness experiment, and adaptative compliant motion control, both in a microgravity environment. The experiment results indicated that the presented control strategy worked well and the robot gecko demonstrates the capability of stable attachment and compliant detachment, thereby normal impact and microgravity instability are avoided. It achieves position tracking and force tracking while exhibiting strong robustness for external disturbances.

HMGB1 acts as an agent of host defense at the gut mucosal barrier

Mucosal barriers provide the first line of defense between internal body surfaces and microbial threats from the outside world. ¹ In the colon, the barrier consists of two layers of mucus and a single layer of tightly interconnected epithelial cells supported by connective tissue and immune cells. ² Microbes colonize the loose, outer layer of colonic mucus, but are essentially excluded from the tight, epithelial-associated layer by host defenses. ³ The amount and composition of the mucus is calibrated based on microbial signals and loss of even a single component of this mixture can destabilize microbial biogeography and increase the risk of disease. ^4-7 However, the specific components of mucus, their molecular microbial targets, and how they work to contain the gut microbiota are still largely unknown. Here we show that high mobility group box 1 (HMGB1), the prototypical damage-associated molecular pattern molecule (DAMP), acts as an agent of host mucosal defense in the colon. HMGB1 in colonic mucus targets an evolutionarily conserved amino acid sequence found in bacterial adhesins, including the well-characterized Enterobacteriaceae adhesin FimH. HMGB1 aggregates bacteria and blocks adhesin-carbohydrate interactions, inhibiting invasion through colonic mucus and adhesion to host cells. Exposure to HMGB1 also suppresses bacterial expression of FimH. In ulcerative colitis, HMGB1 mucosal defense is compromised, leading to tissue-adherent bacteria expressing FimH. Our results demonstrate a new, physiologic role for extracellular HMGB1 that refines its functions as a DAMP to include direct, virulence limiting effects on bacteria. The amino acid sequence targeted by HMGB1 appears to be broadly utilized by bacterial adhesins, critical for virulence, and differentially expressed by bacteria in commensal versus pathogenic states. These characteristics suggest that this amino acid sequence is a novel microbial virulence determinant and could be used to develop new approaches to diagnosis and treatment of bacterial disease that precisely identify and target virulent microbes.

The air temperature change effect on water quality in the Kvarken Archipelago area

The Kvarken Archipelago is Finland's World Heritage site designated by UNESCO. How climate change has affected the Kvaken Archipelago remains unclear. This study was conducted to investigate this issue by analyzing air temperature and water quality in this area. Here we use long-term historical data sets of 61 years from several monitoring stations. Water quality parameters included chlorophyll-a; total phosphorus; total nitrogen; coliform bacteria thermos tolerant; temperature; nitrate as nitrogen; nitrite-nitrate as nitrogen, and Secchi depth and correlations analysis was conducted to identify the most relevant parameters. Based on the correlation analysis of weather data and water quality parameters, air temperature showed a significant correlation with water temperature (Pearson's correlations = 0.89691, P < 0.0001). The air temperature increased in April (R² (goodness-of-fit) = 0.2109 &P = 0.0009) and July (R² = 0.1207 &P = 0.0155) which has indirectly increased the chlorophyll-a level (e.g. in June increasing slope = 0.39101, R² = 0.4685, P < 0.0001) an indicator of phytoplankton growth and abundance in the water systems. The study concludes that there might be indirect effects of the likely increase in air temperature on water quality in the Kvarken Archipelago, in particular causing water temperature and chlorophyll-a concentration to increase at least in some months.

Difference in general practice telehealth utilisation associated with birth country during COVID-19 from two Australian states

Objective

Telehealth has been an integral part of ensuring continued general practice access during the COVID-19 pandemic. Whether telehealth was similarly adopted across different ethnic, cultural, and linguistic groups in Australia is unknown. In this study, we assessed how telehealth utilisation differed by birth country.

Methods

In this retrospective observational study, electronic health record data from 799 general practices across Victoria and New South Wales, Australia between March 2020 to November 2021 were extracted (12,403,592 encounters from 1,307,192 patients). Multivariate generalised estimating equation models were used to assess the likelihood of a telehealth consultation (against face-to-face consultation) by birth country (relative to Australia or New Zealand born patients), education index, and native language (English versus others).

Results

Patients born in Southeastern Asia (aOR: 0.54; 95% CI: 0.52-0.55), Eastern Asia (aOR: 0.63; 95% CI: 0.60-0.66), and India (aOR: 0.64; 95% CI: 0.63-0.66) had a lower likelihood of having a telehealth consultation compared to those born in Australia or New Zealand. Northern America, British Isles, and most European countries did not present with a statistically significant difference. Additionally, higher education levels (aOR: 1.34; 95% CI: 1.26-1.42) was associated with an increase in the likelihood of a telehealth consultation, while being from a non-English-speaking country was associated with a reduced likelihood (aOR: 0.83; 95% CI: 0.81-0.84).

Conclusions

This study provides evidence showing differences in telehealth use associated with birth country. Strategies to ensure continued healthcare access for patients, whose native language is not English, such as providing interpreter services for telehealth consultations, would be beneficial.

Perspectives

Understanding cultural and linguistic differences may reduce health disparities in telehealth access in Australia and could present an opportunity to promote healthcare access in diverse communities.

Robust and reusable self-organized locomotion of legged robots under adaptive physical and neural communications

Introduction

Animals such as cattle can achieve versatile and elegant behaviors through automatic sensorimotor coordination. Their self-organized movements convey an impression of adaptability, robustness, and motor memory. However, the adaptive mechanisms underlying such natural abilities of these animals have not been completely realized in artificial legged systems.

Methods

Hence, we propose adaptive neural control that can mimic these abilities through adaptive physical and neural communications. The control algorithm consists of distributed local central pattern generator (CPG)-based neural circuits for generating basic leg movements, an adaptive sensory feedback mechanism for generating self-organized phase relationships among the local CPG circuits, and an adaptive neural coupling mechanism for transferring and storing the formed phase relationships (a gait pattern) into the neural structure. The adaptive neural control was evaluated in experiments using a quadruped robot.

Results

The adaptive neural control enabled the robot to 1) rapidly and automatically form its gait (i.e., self-organized locomotion) within a few seconds, 2) memorize the gait for later recovery, and 3) robustly walk, even when a sensory feedback malfunction occurs. It also enabled maneuverability, with the robot being able to change its walking speed and direction. Moreover, implementing adaptive physical and neural communications provided an opportunity for understanding the mechanism of motor memory formation.

Discussion

Overall, this study demonstrates that the integration of the two forms of communications through adaptive neural control is a powerful way to achieve robust and reusable self-organized locomotion in legged robots.

Multi-Phase Fusion for Pedestrian Localization Using Mass-Market GNSS and MEMS Sensors

Precise pedestrian positioning based on smartphone-grade sensors has been a research hotspot for several years. Due to the poor performance of the mass-market Micro-Electro-Mechanical Systems (MEMS) Magnetic, Angular Rate, and Gravity (MARG) sensors, the standalone pedestrian dead reckoning (PDR) module cannot avoid long-time heading drift, which leads to the failure of the entire positioning system. In outdoor scenes, the Global Navigation Satellite System (GNSS) is one of the most popular positioning systems, and smartphone users can use it to acquire absolute coordinates. However, the smartphone's ultra-low-cost GNSS module is limited by some components such as the antenna, and so it is susceptible to serious interference from the multipath effect, which is a main error source of smartphone-based GNSS positioning. In this paper, we propose a multi-phase GNSS/PDR fusion framework to overcome the limitations of standalone modules. The first phase is to build a pseudorange double-difference based on smartphone and reference stations, the second phase proposes a novel multipath mitigation method based on multipath partial parameters estimation (MPPE) and a Double-Difference Code-Minus-Carrier (DDCMC) filter, and the third phase is to propose the joint stride lengths and heading estimations of the two standalone modules, to reduce the long-time drift and noise. The experimental results demonstrate that the proposed multipath error estimation can effectively suppress the double-difference multipath error exceeding 4 m, and compared to other methods, our fusion method achieves a minimum error RMSE of 1.63 m in positioning accuracy, and a minimum error RMSE of 4.71 m in long-time robustness for 20 min of continuous walking.

Comparative clinical outcomes and predictive biomarkers of sintilimab combinations vs. single therapy in cancer: a systematic review and meta-analysis of randomized controlled trials

OBJECTIVE

This study aimed to compare the efficacy and safety between sintilimab combinations and single treatment in cancer patients, as well as identify biomarkers for selection of patients who might benefit from the combination treatments.

MATERIALS AND METHODS

A search of randomized clinical trials (RCTs) comparing sintilimab combinations vs. single treatment in different tumors according to the PRISMA guidelines was performed. Selected endpoints included completion response rate (CR), objective response rate (ORR), disease control rate (DCR), overall survival (OS), progression-free survival (PFS), major adverse effects (AEs), immune-related adverse events (irAEs). Subgroup analyses based on different combination regimens, tumor type and basic biomarkers were included.

RESULTS

Results reported from 11 RCTs involving 2,248 patients were included in this analysis. Pooled results indicated that both sintilimab plus chemotherapy and sintilimab plus targeted therapy significantly improved CR [RR=2.44, 95% CI (1.14, 5.20), p=0.021; RR=2.91, 95% CI (1.29, 6.57), p=0.010], ORR [RR=1.34, 95% CI (1.13, 1.59), p=0.001; RR=1.70, 95% CI (1.13, 2.56), p=0.011], PFS [HR=0.56, 95% CI (0.43, 0.69), p<0.001; HR=0.56, 95% CI (0.49, 0.64), p<0.001] and OS [HR=0.59, 95% CI (0.48, 0.70), p<0.001]. Subgroup analyses suggested that the sintilimab-chemotherapy group exhibited a superior PFS benefit than the chemotherapy alone group regardless of age, gender, EGOS PS, PD-L1 expression, smoking status, and clinical stage. There were no significant statistical differences in the incidence of any grade and grade 3 or worse AEs between the two groups [RR=1.00, 95% CI (0.91, 1.10), p=0.991; RR=1.06, 95% CI (0.94, 1.20), p=0.352]. While the incidence of any grade irAEs was higher with sintilimab plus chemotherapy as compared to chemotherapy alone (RR=1.24, 95% CI (1.01, 1.54), p=0.044), but no significant difference was found for grade 3 or worse irAEs (RR=1.11, 95% CI (0.60, 2.03), p=0.741).

CONCLUSIONS

Sintilimab combinations brought benefits to a greater number of patients at the cost of a mild increase of irAEs. PD-L1 expression may not be used as a predictive biomarker, composite biomarkers consisting of PD-L1 and MHC class II expression are worth to be explored to enlarge the patient population that benefits from sintilimab combinations.

Enhancing gosling growth and secretion of somatotrophic and thyrotrophic axis hormones through egg turning during incubation

1. Growth performance of Yangzhou geese hatched from eggs with turning angles of 50° or 70° was evaluated in association with serum hormones and somatotrophic gene mRNA expression.2. Egg turning at 70° significantly (P< 0.05) increased hatchability, gosling quality and hatching weight. Gosling post-hatch body weight, leg and breast muscle weight in the 70° turning group was significantly heavier until 50 d of age.3. Serum concentrations of GH were significantly higher until 30 d of age in the 70° turning group goslings, and those of IGF-I and T3 were higher from hatching to 50 d of age.4. The mRNA expression of GHRH, pituitary GH, liver and leg muscle IGF-I were all significantly higher at 1 and 30 d of age after hatch, but not at 70 d after hatch, in the 70° turning group.5. Egg turning at 70° during incubation improves embryo and gosling quality and growth performance through up-regulation of gene expression and secretion of somatotrophic axis hormones, GHRH, GH and IGF-I, as well as T3.

A neural coordination strategy for attachment and detachment of a climbing robot inspired by gecko locomotion

Climbing behavior is a superior motion skill that animals have evolved to obtain a more beneficial position in complex natural environments. Compared to animals, current bionic climbing robots are less agile, stable, and energy-efficient. Further, they locomote at a low speed and have poor adaptation to the substrate. One of the key elements that can improve their locomotion efficiency is the active and flexible feet or toes observed in climbing animals. Inspired by the active attachment-detachment behavior of geckos, a hybrid pneumatic-electric-driven climbing robot with active attachment-detachment bionic flexible feet (toes) was developed. Although the introduction of bionic flexible toes can effectively improve the robot's adaptability to the environment, it also poses control challenges, specifically, the realization of attachment-detachment behavior by the mechanics of the feet, the realization of hybrid drive control with different response characteristics, and the interlimb collaboration and limb-foot coordination with a hysteresis effect. Through the analysis of geckos' limbs and foot kinematic behavior during climbing, rhythmic attachment-detachment strategies and coordination behavior between toes and limbs at different inclines were identified. To enable the robot to achieve similar foot attachment-detachment behavior for climbing ability enhancement, we propose a modular neural control framework comprising a central pattern generator module, a post-processing central pattern generation module, a hysteresis delay line module, and an actuator signal conditioning module. Among them, the hysteresis adaptation module helps the bionic flexible toes to achieve variable phase relationships with the motorized joint, thus enabling proper limb-to-foot coordination and interlimb collaboration. The experiments demonstrated that the robot with neural control achieved proper coordination, resulting in a foot with a 285% larger adhesion area than that of a conventional algorithm. In addition, in the plane/arc climbing scenario, the robot with coordination behavior increased by as much as 150%, compared to the incoordinated one owing to its higher adhesion reliability.

Grade-control outdoor turning flight of robo-pigeon with quantitative stimulus parameters

Introduction

The robo-pigeon using homing pigeons as a motion carrier has great potential in search and rescue operations due to its superior weight-bearing capacity and sustained flight capabilities. However, before deploying such robo-pigeons, it is necessary to establish a safe, stable, and long-term effective neuro-electrical stimulation interface and quantify the motion responses to various stimuli.

Methods

In this study, we investigated the effects of stimulation variables such as stimulation frequency (SF), stimulation duration (SD), and inter-stimulus interval (ISI) on the turning flight control of robo-pigeons outdoors, and evaluated the efficiency and accuracy of turning flight behavior accordingly.

Results

The results showed that the turning angle can be significantly controlled by appropriately increasing SF and SD. Increasing ISI can significantly control the turning radius of robotic pigeons. The success rate of turning flight control decreases significantly when the stimulation parameters exceed SF > 100 Hz or SD > 5 s. Thus, the robo-pigeon's turning angle from 15 to 55° and turning radius from 25 to 135 m could be controlled in a graded manner by selecting varying stimulus variables.

Discussion

These findings can be used to optimize the stimulation strategy of robo-pigeons to achieve precise control of their turning flight behavior outdoors. The results also suggest that robo-pigeons have potential for use in search and rescue operations where precise control of flight behavior is required.

Biomimetic Patch with Wicking-Breathable and Multi-mechanism Adhesion for Bioelectrical Signal Monitoring

Wearable bioelectrical monitoring devices can provide long-term human health information such as electrocardiogram and other physiological signals. It is a crucial part of the remote medical system. These can provide prediction for the diagnosis and treatment of cardiovascular disease and access to timely treatment. However, the patch comfort of the wearable monitoring devices in long-term contact with the skin have been a technical bottleneck of the hardware. In this study, the biomimetic patch with wicking-breathable and multi-mechanism adhesion performance to achieve adaptability and comfortability to human skin has been reported. The patch was designed based on a conical through-hole and hexagonal microgroove to directionally transport sweat from skin to air which gives the patch the breathable performance. The breathable and drainage capability of the biomimetic patch was experimentally verified by analyzing the conical through-hole and hexagonal microgroove with the structural mechanism of wicking. Multi-mechanism adhesion of the Ag/Ni microneedle array and PDMS-t adhesion material ensures the stability of patch signal acquisition. This study provides a new way for enhancing the breathability and adaptability of the patch to realize accurate bioelectrical signal monitoring under sweat conditions on human skin.

Alkylresorcinol, a biomarker for whole grain intake, and its association with osteoarthritis: the MOST study

INTRODUCTION

Higher intake of fiber has been associated with lower risk of incident symptomatic osteoarthritis (OA). We examined whether levels of alkylresorcinol (AR), a marker of whole grain intake, were associated with OA in subjects in The Multicenter Osteoarthritis (MOST) Study.

METHOD

Knee x-rays and knee pain were assessed at baseline and through 60-months. Stored baseline fasting plasma samples were analyzed for AR homologues (C17:0, C19:0, C21:0, C23:0, C25:0) and total AR levels (AR sum). Two nested case-control studies, one for incident radiographic OA and one for incident symptomatic OA were performed with participants re-assessed at 15, 30 and 60 months. Multivariable conditional logistic regression with baseline covariates including age, sex, BMI, physical activity, quadriceps strength, race, smoking, depressive symptoms, diabetes and knee injury tested the association of log transformed AR levels with OA outcomes.

RESULTS

Seven hundred seventy-seven subjects were, on average, in their 60's, and most were women. For 60-month cumulative incidence, there was no significant association between quartiles of AR concentration and incident radiographic (e.g., for incident radiographic OA, highest vs lowest quartile of AR sum showed RR = 0.93 (95% CI 0.59, 1.47), and for symptomatic OA RR was 1.22 (95% CI 0.76, 1.94). In secondary analyses examining 30-month incidence, high AR levels were associated with a reduced risk of X-ray OA (RR = 0.31 (95% CI 0.15, 0.64).

CONCLUSION

In primary analyses, AR levels were not associated with risk of OA, but secondary analyses left open the possibility that high AR levels may protect against OA.

Effect of the Structural Characteristics on Attachment-Detachment Mechanics of a Rigid-Flexible Coupling Adhesive Unit

The terminal toes of adhesive animals are characterized by rigid-flexible coupling, and their structure–function relationship is an urgent problem to be solved in understanding bioinspired adhesive systems and the design of biomimetic adhesive units. In this paper, inspired by the rigid-flexible coupling adhesive system of the gecko toe, a rigid-flexible coupling adhesive unit was designed, the interface strength of the adhesives under different preloads was tested, and the model and analysis method of the compression and peeling process of the rigid-flexible coupling adhesive unit was established. Meanwhile, combined with the experimental test, the effect of the coupling mechanism of the rigid-flexible structure on the interfacial stress and the final peeling force during the compression and peeling process of the adhesive unit was studied. The research found that the length of the adhesive unit L has no apparent effect on the normal peel force of the system within a specific range, and the normal peeling force increases linearly with the increase in the compression force P; while the influence of the inclination angle θ₀ of the adhesive unit and the thickness of the rigid backing layer h_b on the final normal peeling force of the system presents nonlinear characteristics, when the inclination angle θ₀ of the adhesive unit is 5°, and the thickness of the rigid backing layer h_b is 0.2 mm or 0.3 mm, the normal peel force and the ratio of adhesion force to preload the system reaches its maximum value. Compared with the flexible adhesive unit, the compressed zone formed by the rigid-flexible coupling adhesive unit during the same compression process increased by 6.7 times, while under the same peeling force, the peel zone increased by 8 times, and the maximum normal tensile stress at the peeling end decreased by 20 times. The rigid-flexible coupling mechanics improves the uniformity of the contact stress during the compression and peeling process. The research results provide guidelines for the design of the rigid-flexible coupling adhesive unit, further providing the end effector of the bionic wall-climbing robot with a rigid-flexible coupled bionic design.

[Progress and policy considerations on the pilot program of standardized training for public health physicians in China]

The standardized training for public health physicians plays an important role in exploring the cultivation public health professionals and strengthening the construction of public health service providers. In 2018, the National Health Commission of China launched a pilot program of standardized training for public health physicians in 10 provinces. This paper clarifies the definition of the standardized training for public health physicians, systematically analyzes the status quo of the training in China and other countries, articulates the design and progress of the training in the perspective of Centers for Disease Control and Prevention, and makes some suggestions for the priorities of the pilot training program, so as to provide reference and basis for the better development of the standardized training for public health physicians in China in the future.

The Neural Control Mechanisms of Gekkonid Adhesion Locomotion: The Effect of Spinal Cord Lesions

Objective: the role of the supraspinal system in the neural control mechanisms of adhesion locomotor pattern formation was studied in lizard Gekko gecko. Methods: the locomotor performance and adaptation of the chronically lesioned Gekko gecko was documented before and after either partial or complete spinal lesions. They were filmed moving on a flat and smooth platform that was inclined at 0°, ±45°, and ±90°, as well as the horizontal mats and the vertical oak background board in the terraria, to evaluate locomotor functional recovery. The geckos were also tested on the platform by two half and nose-up or -down rotations in steps of 15° throughout 180° to investigate the recovery of the ability to respond dynamically to external perturbations. Results: after relatively small lesions of a hemisection, the locomotor performance was largely indistinguishable from that before and after a sham operation. During the initial period of recovery after the largest lesions of a dorsal or a ventral hemisection within 1 wk, the geckos behaved essentially as the complete spinal geckos, while permanent deficits in locomotor performance remained and did not decrease afterwards for ≥6 mth. Conclusions: by analyzing the correlation among locomotor performances, and between locomotor performances and spinal cord lesions, we suggest that the dorsal spinal pathways and ventral spinal pathways participate, respectively, in the control of the limb coupling, and in the deployment and the detachment of the adhesive apparatus. The present study will provide certain neurobiological guidance for the design of bio-robots, as well as sprawling robots inspired by the geckos.

The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review

Geckos use millions of dry bristles on their toes to adhere to and rapidly run up walls and across ceilings. This has inspired the successful development of dry adhesive materials and their application to climbing robots. The tails of geckos also help realize adaptive and robust climbing behavior. Existing climbing robots with gecko-inspired tails have demonstrated improved locomotion performance. However, few studies have focused on the role of a robot’s gecko-inspired tail when climbing a sloped surface and its effects on the overall locomotion performance. Thus, this paper reviews and analyzes the roles of the tails of geckos and robots in terms of their climbing performances and compares the advantages and disadvantages of robots’ tails made of rigid and soft materials. This review could assist roboticists decide whether a tail is required for their robots and which materials and motion types to use for the tail in order to fulfill their desired functions and even allow the robots to adapt to different environments and tasks.

Incline-dependent adjustments of toes in geckos inspire functional strategies for biomimetic manipulators

Geckos show versatility by rapidly maneuvering on diverse complex terrain because they benefit from their distributed, setae-covered toes and thus have the ability to generate reliable and adaptive attachment. Significant attention has been paid to their adhesive microstructures (setae), but the effectiveness of the gecko's adaptive attachment at the level of toes and feet remains unclear. In order to better understand the geckos' attachment, we first focused on the deployment of toes while challenging geckos to locomote on varying inclines. When the slope angle was less than 30°, their feet mainly interacted with the substrate using the bases of the toes and generated anisotropic frictional forces. As the slope angle increased to 90°, the participation of the toe bases was reduced. Instead, the setae contribution increased for the middle three toes of the front feet and for the first three toes of the hind feet. As the incline changed from vertical to inverted, the adhesive contribution of the toes of the front feet became more equal, whereas the effective adhesion contact of the hind feet gradually shifted to the toes oriented rearwards. Second, a mathematical model was established and then suggested the potential advantages of distributed control among the toes to regulate foot force. Finally, a physical foot model containing five compliant, adjustable toes was constructed and validated the discoveries with regard to the animals. Using the gecko toes' control strategies, the artificial foot demonstrated diverse behavior regulating attachment forces. The success of the foot prototype not only tested our understanding of the mechanism of biological attachment, but also provided a demonstration for the design and control of gecko-inspired attachment devices, grippers and other manipulators.

[Interference of P2X4 receptor expression in tumor-associated macrophages suppresses migration and invasion of glioma cells]

OBJECTIVE

To investigate the effect of interference of P2X4 receptor expression in tumor-associated macrophages (TAMs) on invasion and migration of glioma cells.

METHODS

C57BL/6 mouse models bearing gliomas in the caudate nucleus were examined for glioma pathology with HE staining and expressions of Iba-1 and P2X4 receptor with immunofluorescence assay. RAW264.7 cells were induced into TAMs using conditioned medium from GL261 cells, and the changes in mRNA expressions of macrophage polarization-related markers and the mRNA and protein expressions of P2X4 receptor were detected with RT-qPCR and Western blotting. The effect of siRNA-mediated P2X4 interference on IL-1β and IL-18 mRNA and protein expressions in the TAMs was detected with RT-qPCR and Western blotting. GL261 cells were cultured in the conditioned medium from the transfected TAMs, and the invasion and migration abilities of the cells were assessed with Transwell invasion and migration experiment.

RESULTS

The glioma tissues from the tumor-bearing mice showed a significantly greater number of Iba-1-positive cells, where an obviously increased P2X4 receptor expression was detected (P=0.001), than the brain tissues of the control mice (P < 0.001). The M2 macrophage markers (Arg-1 and IL-10) and M1 macrophage markers (iNOS and TNF-α) were both significantly up-regulated in the TAMs derived from RAW264.7 cells (all P < 0.01), but the up-regulation of the M2 macrophage markers was more prominent; the expression levels of P2X4 receptor protein and mRNA were both increased in the TAMs (P < 0.05). Interference of P2X4 receptor expression significantly lowered the mRNA(P < 0.01)and protein (P < 0.01, P < 0.05)expression levels of IL-1β and IL-18 in the TAMs and obviously inhibited the ability of the TAMs to promote invasion and migration of the glioma cells (P < 0.05).

CONCLUSION

Interference of P2X4 receptor in the TAMs suppresses the migration and invasion of glioma cells possibly by lowering the expressions of IL-1β and IL-18.

A gecko-inspired robot with CPG-based neural control for locomotion and body height adaptation

Today's gecko-inspired robots have shown the ability of omnidirectional climbing on slopes with a low centre of mass. However, such an ability cannot efficiently cope with bumpy terrains or terrains with obstacles. In this study, we developed a gecko-inspired robot (Nyxbot) with an adaptable body height to overcome this limitation. Based on an analysis of the skeletal system and kinematics of real geckos, the adhesive mechanism and leg structure design of the robot were designed to endow it with adhesion and adjustable body height capabilities. Neural control with exteroceptive sensory feedback is utilised to realise body height adaptability while climbing on a slope. The locomotion performance and body adaptability of the robot were tested by conducting slope climbing and obstacle crossing experiments. The gecko robot can climb a 30° slope with spontaneous obstacle crossing (maximum obstacle height of 38% of the body height) and can climb even steeper slopes (up to 60°) without an obstacle or bump. Using 3D force measuring platforms for ground reaction force analysis of geckos and the robot, we show that the motions of the developed robot driven by neural control and the motions of geckos are dynamically comparable. To this end, this study provides a basis for developing climbing robots with adaptive bump/obstacle crossing on slopes towards more agile and versatile gecko-like locomotion.

Peking geckos (Gekko swinhonis) traversing upward steps: the effect of step height on the transition from horizontal to vertical locomotion

The ability to transition between surfaces (e.g., from the ground to vertical barriers, such as walls, tree trunks, or rock surfaces) is important for the Peking gecko's (Gekko swinhonis Günther 1864) survival. However, quantitative research on gecko's kinematic performance and the effect of obstacle height during transitional locomotion remains scarce. In this study, the transitional locomotion of geckos facing different obstacle heights was assessed. Remarkably, geckos demonstrated a bimodal locomotion ability, as they could climb and jump. Climbing was more common on smaller obstacles and took longer than jumping. The jumping type depended on the obstacle height: when geckos could jump onto the obstacle, the vertical velocity increased with obstacle height; however, geckos jumped from a closer position when the obstacle height exceeded this range and would get attached to the vertical surface. A stability analysis of vertical surface landing using a collision model revealed that geckos can reduce their restraint impulse by increasing the landing angle through limb extension close to the body, consequently dissipating collision energy and reducing their horizontal and vertical velocities. The findings of this study reveal the adaptations evolved by geckos to move in their environments and may have applicability in the robotics field.

Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

In the robot contact operation, the robot relies on the multi-dimensional force/torque sensor installed at the end to sense the external contact force. When the effective load and speed of the robot are large, the gravity/inertial force generated by it will have a non-negligible impact on the output of the force sensor, which will seriously affect the accuracy and effect of the force control. The existing identification algorithm time is often longer, which also affects the efficiency of force control operations. In this paper, a self-developed multi-dimensional force sensor with integrated gravity/inertial force sensing function is used to directly measure the resultant force. Further, a method for the rapid identification of payload based on excitation trajectory is proposed. Firstly, both a gravity compensation algorithm and an inertial force compensation algorithm are introduced. Secondly, the optimal spatial recognition pose based on the excitation trajectory was designed, and the excitation trajectory of each joint is represented by a finite Fourier series. The least square method is used to calculate the identification parameters of the load, the gravity, and inertial force. Finally, the experiment was verified on the robot. The experimental results show that the algorithm can quickly identify the payload, and it is faster and more accurate than other algorithms.

[Emergency training need and effect evaluation analysis of novel coronavirus pneumonia in centers of disease control and prevention]

A questionnaire was used to investigate the emergency training needs of novel coronavirus pneumonia of disease prevention and control institutions in provinces, deputy provincial level regions and cities specifically designated in the state plan, and the effect evaluation of emergency training activities conducted by Chinese Center for Disease Control and Prevention (China CDC). The results showed that 67.4% of 47 disease prevention and control institutions (31/46) believed that the emergency training at the initial stage of the epidemic should be conducted as soon as possible, and the form of network training should be given priority. The training should focus on the urgently needed technologies such as epidemiological investigation, formulation and response of prevention and control strategies, laboratory testing, etc. The teaching materials should highlight pertinence and practicability and be presented in the form of electronic video. The average satisfaction score of the video training conducted by China CDC was (8.81±1.125) and the score of audio-video courseware was (8.97±0.893). The needs analysis and evaluation of novel coronavirus pneumonia prevention and control in disease prevention and control institutions could provide reference for the follow-up training and improve the emergency training management.

Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

Developing climbing robots for smooth vertical surfaces (e.g., glass) is one of the most challenging problems in robotics. Here, the adequate functioning of an adhesive foot is an essential factor for successful locomotion performance. Among the various technologies (such as dry adhesion, wet adhesion, magnetic adhesion, and pneumatic adhesion), bio-inspired dry adhesion has been actively studied and successfully applied to climbing robots. Thus, this review focuses on the characteristics of two different types of foot microstructures, namely spatula-shaped and mushroom-shaped, capable of generating such adhesion. These are the most used types of foot microstructures in climbing robots for smooth vertical surfaces. Moreover, this review shows that the spatula-shaped feet are particularly suitable for massive and one-directional climbing robots, whereas mushroom-shaped feet are primarily suitable for light and all-directional climbing robots. Consequently, this study can guide roboticists in selecting the right adhesive foot to achieve the best climbing ability for future robot developments.

[Current situation and suggestions of public health personnel training in disease control and prevention institutions]

Under the background that the national health has become the national priority development strategy, it is essential to speed up public health ability among talents. Based on the consulting project of the Chinese Academy of Engineering, "Research on the training strategy of medical and health personnel in China", this paper analyzes the current situation and existing problems of public health personnel training in disease control and prevention institutions. Based on three stages of public health education, this paper puts forward that the public health personnel training should first solve the problem of public health personnel team construction and create programs on college education-post graduate education-continuing education. Through the personnel training system, different training modes are designed for other groups of people to improve the ability of public health personnel in an all-around way.

[The Museum of Western Studies on Chinese Medicine:Chinese medicine in the western societies]

The historical artifacts displayed in the Museum of Western study on Chinese Medicine at Yunnan University of Chinese Medicine came from a variety of Chinese medical schools in America and European countries. They are in the memorial galleries for some well-known figures, such as George Soulié de Morant (Su Lie), Jacques-André Lavier (La Wei Ai), Felix Mann (Man Fu Li) and Manfred Porkert (Man Xi Bo), representing the development and status of respective Chinese medical schools in America and European countries. The displayed artifacts are nearly 3,000 photos, manuscripts, documents and more than 500 hours of audiovisual materials, including instruments for acupuncture and moxibustion, books, passports, letters and even supplies for their life. The displayed artifacts demonstrate the process and the access of people in the western societies to know, learn and take use of Chinese medicine.

Corrigendum: Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors

[This corrects the article DOI: 10.3389/fnbot.2020.00014.].

Corrigendum: [A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion]

[This corrects the article DOI: 10.3389/frobt.2021.638684.].

Copper stimulates neonicotinoid insecticide thiacloprid degradation by Ensifer adhaerens TMX-23

AIMS

Aims of this study are to elucidate the molecular mechanism of copper-improved thiacloprid (THI) degradation by Ensifer adhaerens TMX-23 and characterize copper resistance of this strain.

METHODS AND RESULTS

Resting cells of E. adhaerens TMX-23 were used to degrade THI, with formation of THI amide and 98·31% of 0·59 mmol l^-1 THI was degraded in 100 min. The addition of copper improved the degradation of THI and showed little inhibitory effects on the growth of E. adhaerens TMX-23. E. adhaerens TMX-23 degraded THI to THI amide by nitrile hydratases (NhcA and NhpA). QPCR analysis indicated that the expression of nhpA was up-regulated in the presence of copper. E. adhaerens TMX-23 nitrile hydratases were purified, and enzyme assay of NhpA exhibited the highest NHase activity toward THI. The addition of copper activated the activity of NhcA. Soil degradation experiment indicated that E. adhaerens TMX-23 could quickly eliminate THI residual in copper-added soil.

CONCLUSIONS

Copper improved THI degradation by E. adhaerens TMX-23 was attributed to the induced expression of nhpA and activated NhcA.

SIGNIFICANCE AND IMPACT OF THE STUDY

This study broadens the investigation of regulatory mechanism of NHase expression and provided theoretical basis for using metal-resistant microbes to degrade pesticide in heavy metal co-contaminated environments.

[Survey on provincial disease prevention and control professionals' attitudes and cognition to public health physician standardized training in China]

Objective: To understand the attitudes and cognition of disease control and prevention professionals at provincial level on public health physician standardized training and provide evidence for the improvement of the standardized training and exploration of more effective training mode in China. Methods: By cluster sampling, 2 193 professionals at provincial centers for disease control and prevention (CDC) in 6 provinces, including Jiangsu and Guangdong, Shanxi and Hubei,Sichuan and Xinjiang were selected as the study subjects, the sample size was estimated to be 1 933 persons. Results: A total of 1 716 provincial-level CDC professionals were surveyed, the support rate to the standardized training was 70.7%(1 213/1 716). The level of support was negatively associated with the educational level of professionals and their specialty of public health and preventive medicine. Of 875 public health and preventive medicine professionals, 61.6%(318/516) of those with master's degree or above supported the standard training for public health physicians, which was lower than 73.1%(225/308) of those with bachelor's degree and 86.3%(44/51) of those with college degree or below. There were 14.9%(232/1 555) of the respondents suggested a two year training, and 60.4%(933/1 544) suggesting a field training mode. In terms of training content, 86.6%(1 355/1 564) suggesting "epidemiological survey and public health practice", and 76.7%(1 199/1 564) suggesting "basic theories and methodology". Conclusions: In general, the professionals of provincial CDC showed a relatively low interest in the standardized training for public health physicians and failed to reach a consensus. Besides, they were ill-informed about current training duration, method and content. Thas, the professionals at provincial CDC are suggested to be the key target-population whom should be mobilized during the training pilot period, especially the highly educated ones with relevant specialties of public health. It is suggested that public health physician standardized training should to be implemented in whole CDC system to reach full consensus based on its practical achievements and effects. It is also suggested to establish public health graduate medical education system in China.