Trigger Sequence Research Articles

Event‐Triggered Robust Control of Robot Manipulators

ABSTRACTThis paper proposes a new event‐triggered robust control system for robot manipulators, based on two event‐triggered mechanisms (ETMs), which lead to intermittent communication not only for the sensor‐to‐controller channel but also for the controller‐to‐actuator channel. The proposed control system enjoys the advantage of requiring fewer resources of data communication and less signal updating of the control actuators. The control performance of the proposed control system is analyzed based on the Lyapunov approach. Furthermore, the absence of the Zeno behavior in the triggering sequence is proved rigorously. Finally, experiments are carried out on a two‐link robot manipulator system to support the theoretical results.

A label-free electrochemical sensor based on π-structured bipedal DNA walker-triggered hybridization chain reaction and AuPt NPs/Zr-MOF for OTA detection

BackgroundOchratoxin A (OTA) is a serious food contaminant, not easily degradable, and capable of causing irreversible damage to the human body. Therefore, it is of great practical significance to establish a sensitive and efficient OTA detection method. The electrochemical aptasensor has a broad development prospect in OTA detection with its advantages of fast response speed and low cost. ResultsHerein, a cascade signal amplification strategy based on AuPt NPs/Zr-MOF and π-structure bipedal DNA walker-triggered hybridization chain reaction (HCR) was designed for the detection of ochratoxin A (OTA). AuPt NPs/Zr-MOF was employed as the electrode modification material, providing a large number of active sites and high conductivity, achieving 1.47 times signal amplification. Interestingly, bipedal DNA walker binds to hairpin 1 (H1) to form the π-structure. Under the activation of Pb2+, one bipedal DNA walker can simultaneously bind and cleave two H1. It exhibits a wide walking range and high recognition efficiency. After H1 is cleaved, the trigger sequence was exposed to trigger HCR and a large amount of methylene blue was loaded on the electrode. Under the optimal conditions, the linear range of the determined OTA is 1 × 10−3–500 ng/mL, and the limit of detection is as low as 0.525 pg/mL. SignificanceThe experimental results demonstrate that the constructed electrochemical aptasensor is a sensitive and efficient platform for OTA monitoring. The applicability in food samples was also confirmed, and the strategy was efficiently selective and reproducible for different analytes. This provides ideas for subsequent food safety testing.

Managing Residual Heat Effects in Femtosecond Laser Material Processing by Pulse-on-Demand Operation

Femtosecond laser processing combines highly accurate structuring with low residual heating of materials, low thermal damage, and nonlinear absorption processes, making it suitable for the machining of transparent brittle materials. However, with high average powers and laser pulse repetition rates, residual heating becomes relevant. Here, we present a study of the femtosecond laser pulse-on-demand operation regime, combined with regular scanners, aiming to improve throughput and quality of processing regardless of the scanner’s capabilities. We developed two methods to define the needed pulse-on-demand trigger sequences that compensate for the initial accelerating scanner movements. The effects of pulse-on-demand operation were studied in detail using direct process monitoring with a fast thermal camera and indirect process monitoring with optical and topographical surface imaging of final structures, both showing clear advantages of pulse-on-demand operation in precision, thermal effects, and structure shape control. The ability to compensate for irregular scanner movement is the basis for simplified, cheaper, and faster femtosecond laser processing of brittle and heat-susceptible materials.

A novel non-contrast agent-enhanced 3D whole-heart magnetic resonance sequence for congenital heart disease patients: the REACT Study.

The three-dimensional balanced-steady-state-free-precession (3D bSSFP) whole-heart (WH) technique has long been used to depict cardiac morphology in congenital heart disease (CHD) but is prone to banding artifacts. The Relaxation Enhanced Angiography without Contrast and Triggering (REACT) sequence is an alternative method that is resistant to off-resonance effects. To evaluate cardiac structures and great vessels in CHD patients using 3D WH REACT sequence and compare it to 3D WH bSSFP sequence. This study was approved by the Institutional Review Board. Thirty CHD patients were prospectively enrolled. Contrast-to-noise ratio (CNR), image quality, and cross-sectional area (CSA) were analyzed. Categorical data were compared with a Wilcoxon signed-rank test and normally distributed variables with a t-test. Thirty patients (16 females) participated in this study (median age 17, range 5months to 52years). REACT showed higher CNR in all pulmonary veins (all P<0.05), while 3D bSSFP had higher CNR in the right ventricle (P<0.001) and right pulmonary artery, (P=0.04). Image quality favored 3D bSSFP in the right atrium and ventricle (both P<0.001), main pulmonary artery (P=0.02), and coronary arteries (left: P<0.001, right: P=0.01). REACT outperformed 3D bSSFP for the pulmonary veins (all P<0.05) from image quality perspective. CSA measurements were not significantly different between REACT and 3D bSSFP (all P≥0.05). The REACT method is associated with improved image quality and CNR for pulmonary veins, with CSA measurements concordant with 3D bSSFP in CHD patients, while bSSFP shows better performance for imaging cardiac chambers and coronary arteries.

Self-Replicating Catalytic Hybridization Assembly of Bipedal DNAzyme Walkers for Enhanced Electrochemiluminescence Bioanalysis.

Dynamic DNA nanodevices, particularly DNA walkers, have proven to be versatile tools for target recognition, signal conversion, and amplification in biosensing. However, their ability to detect low-abundance analytes in complex biological samples is often compromised by limited amplification depth and severe signal leakage. To address these challenges, we developed a simple yet highly efficient strategy to engineer a self-replicating bipedal DNAzyme (SEDY) walker for sensitive and selective electrochemiluminescence (ECL) bioanalysis. Unlike conventional DNA walkers that are typically constructed by catalytic DNA assembly in a single direction, the SEDY walker integrates a self-replicating feedback mechanism that greatly enhances both the selectivity and sensitivity of bioanalysis. First, the SEDY walker is assembled through a target-triggered, enzyme-free, self-replicating catalytic approach, minimizing the risk of undesired side reactions and signal leakage by simplifying reactant complexity. Furthermore, the SEDY walker features newly exposed trigger sequences that facilitate its autonomous replication, leading to a robust and exponential amplification of its products. Our experiments demonstrate that the SEDY walker can sensitively and selectively detect acetamiprid by navigating specific probes within cross-shaped DNA orbits. The ECL biosensor offers a linear detection range from 1 × 10-15 M to 1 × 10-9 M, with a limit of detection as low as 5.8 × 10-16 M. We anticipate that the SEDY walker will be a powerful tool for detecting various analytes in biological applications.

A target-triggered colorimetric sensor for ultrasensitive detection of miRNAs based on self-powered three-dimensional DNA walker

MicroRNAs (miRNAs) play an important role in the process of heart failure (HF) and are emerging biomarkers that can be used for the auxiliary diagnosis of HF. However, it is very challenging to accurately analyze the expression levels of trace miRNAs in complex clinical samples. Here, we developed an enzyme-free colorimetric sensor for the ultrasensitive detection of miRNA-423-5p (HF-associated miRNA) based on three-dimensional DNA walkers constructed from functional nucleic acids and gold nanoparticles (AuNPs). DNAzyme with cleavage activity was specifically activated by miRNA-423-5p to sustainably cleave the substrate, thereby releasing the trigger sequence to initiate the subsequent mismatched catalytic hairpin assembly (MCHA) cycle. Then, as the MCHA cycle proceeded to continuously expose the G-quadruplex (GQ) sequence, the sequence bound with hemin to form a large amount of GQ/hemin DNAzyme on the surface of the AuNPs, which rapidly catalyzed the chromogenic oxidation of 3,3′,5,5′-tetramethylbenzidine to yield an amplified colorimetric signal readout. The colorimetric sensor exhibited an ultralow detection limit (32 fM), showed excellent specificity and performed well in serum samples. The sensor was applied to detect miRNA-423-5p in clinical plasma samples from healthy individuals and HF patients, and the results revealed its good clinical application in HF diagnosis. Thus, the developed colorimetric sensor provides a convenient detection tool for early screening and diagnosis of HF, as well as for pathophysiological studies.

Event-triggered secure consensus for second-order nonlinear multiagent systems against asynchronous DoS attacks

This paper investigates secure consensus of the second-order nonlinear multiagent systems under malicious asynchronous DoS attacks by using event-triggered control. Due to the presence of diverse attackers, network protocols, and different defense strategies, asynchronous launched DoS attacks are always considered in communication and control channels. Moreover, to alleviate the pressure on communication and computing resources, a distributed event-triggered control strategy is presented, where the control strategy relies on the agent’s own and its neighbors’ information. Then, several secure consensus criteria for multiagent systems with directed and undirected topologies are established based on the designed distributed controller and different Lyapunov functions. Furthermore, it is demonstrated that the trigger sequences eliminate Zeno behavior by utilizing a hybrid event-triggered strategy. Finally, the usefulness of the achieved outcomes is substantiated via two simulation examples.

A highly efficient homogeneous electrochemiluminescence aptasensor for amplified analysis of Ochratoxin A

Ochratoxin A (OTA) is a toxic thermostable subordinate metabolite produced by Aspergillus and Penicillium species. OTA contamination occurs in a wide range of foods and poses a threat to human health. Therefore, it is crucial to construct a sensitive and reliable method for analyzing OTA to ensure food safety. Herein, a simple yet sensitive ECL aptasensor has been constructed for OTA detection through the synergistic amplification between catalytic DNA assembly (CDA) and exonuclease III (Exo III)-initiated recycling reaction. The anti-OTA aptamer-encoded sensing unit specifically recognizes target OTA and leads to the release of the trigger sequence for stimulating the CDA circuit, yielding numerous dsDNA hybrids that carry the re-assembled S strand. Each of the as-assembled S sequence could hybridize with the Ru(bpy)32+-labeled substrate (S*-Ru) to produce a T-shape structure with a blunt 3′ terminus, which can be hydrolyzed and digested by Exo III, leading to the liberation of mononucleotide functionalized with Ru(bpy)32+ (Ru). Simultaneously, the S sequence was released and hybridized with another S*-Ru sequence for initiating the subsequent cycle of Exo III-stimulated digestion process until all the S*-Ru strands are digested, thus resulting in the generation of numerous Ru and remarkably amplified ECL signals for high-performance detection of OTA. With reliable analyte recognition and high signal gain, the ECL system enabled the high-performance and accurate determination of OTA in buffer, wheat, and wine samples, thus showing considerable potential applications for highly efficient determination of contaminants of low concentration in foodstuff.

A Label-Free Fluorescent Amplification Strategy for High-Sensitive Detection of Pseudomonas aeruginosa based on Protective-EXPAR (p-EXPAR) and Catalytic Hairpin Assembly.

This study presents a fluorescent mechanism for two-step amplification by combining two widely used techniques, exponential amplification reaction (EXPAR) and catalytic hairpin assembly (CHA). Pseudomonas aeruginosa (P. aeruginosa) engaged in competition with the complementary DNA in order to attach to the aptamer that had been fixed on the magnetic beads. The unbound complementary strand in the liquid above was utilized as a trigger sequence to initiate the protective-EXPAR (p-EXPAR) process, resulting in the generation of a substantial quantity of short single-stranded DNA (ssDNA). The amplified ssDNA can initiate the second CHA amplification process, resulting in the generation of many double-stranded DNA (dsDNA) products. The CHA reaction was initiated by the target/trigger DNA, resulting in the release of G-quadruplex sequences. These sequences have the ability to bond with the fluorescent amyloid dye thioflavin T (ThT), generating fluorescence signals. The method employed in this study demonstrated a detection limit of 16 CFU/ml and exhibited a strong linear correlation within the concentration range of 50 CFU/ml to 105 CFU/ml. This method of signal amplification has been effectively utilized to create a fluorescent sensing platform without the need for labels, enabling the detection of P. aeruginosa with high sensitivity.

New quasi-Co/Cu-MOF nanozyme coupled with entropy-driven DNA amplification cascades for highly sensitive electrochemical aptamer growth differentiation factor 15 assay

BackgroundThe monitoring of concentration variation of the newly developed growth differentiation factor 15 (GDF15) biomarker in human serum is of great significance for diagnosing cardiovascular diseases. Current methods for the detection of the GDF15 protein mainly are based on antibody-assisted immunoassays, which encounter the limitations in terms of sensitivity, complexity and costs. The development of simple and sensitive biosensors for GDF15 can therefore facilitate the diagnosis of cardiovascular diseases. ResultsA new bimetallic quasi-Cu/Co-MOF nanozyme with high catalytic performance for electrochemical reduction of H2O2 is synthesized via simple one-step precipitation and low-temperature calcination method. Such nanozymes are further employed as amplification tags and coupled with cyclic entropy-driven DNA signal enhancement strategies to construct ultrasensitive aptamer-based biosensor for detecting GDF15 in human serums. GDF15 molecules associate with two aptamers and release the ssDNA trigger sequences via target-binding induced displacement reaction. These ssDNAs subsequently initiate cyclic DNA-fueled strand displacement and catalytic hairpin assembly (CHA) reaction cascades for confining many quasi-Cu/Co-MOF nanozymes on sensor electrode, which yield drastically amplified H2O2 reduction current for detecting GDF15 down to 0.12 pg mL−1 with a dynamic range of 0.5 pg mL−1 to 20 ng mL−1. The electrochemical aptasensor also presents good reproducibility and selectivity and exhibits the capability to detect GDF15 in diluent serums. SignificanceOur aptamer-based GDF15 protein electrochemical assay clearly outperforms current existing antibody-based methods and the quasi-Cu/Co-MOF nanozyme/entropy-driven cascaded signal amplification means can be used as a universal strategy for sensitive monitoring of different biomolecular markers for diverse applications.

Dual-Recognition-Mediated Autocatalytic Amplification Assay for the Subpopulations of PD-L1 Positive Extracellular Vesicle.

The PD-L1 protein on extracellular vesicles (EVs) is a promising biomarker for tumor immunotherapy. However, PD-L1+ EVs have various cell origins, so further analysis of the subpopulations is essential to help understand better their relationship with tumor immunotherapy. Different from the previous work which focus on the level of total PD-L1+ EVs expression, we, herein, report a dual-recognition mediated autocatalytic amplification (DRMAA) assay to detect the PD-L1 derived from tumors (EpCAM+), immune T cells (CD3+), and total (Lipids) EVs, respectively. The DRMAA assay employed proximity hybridization to construct a complete trigger sequence and then catalyzed the cross-hybridization of three hairpin probes, producing a three-way DNA junction (3-WJ) structure carrying the newly exposed trigger sequence. The 3-WJ complex subsequently initiated an autocatalytic amplification reaction and higher sensitivity than the traditional catalytic hairpin assembly assay was obtained. It was found that the EpCAM+ and PD-L1+ EVs were more effective than others in distinguishing lung cancer patients from healthy people. Surprisingly, the CD3+ and PD-L1+ EVs in lung cancer patients were also upregulated, indicating that immune cell-derived PD-L1+ EVs are also non-negligible marker in a tumor microenvironment. Our results suggested that the DRMAA assay would improve the study of subpopulations of PD-L1+ EVs to provide new insights for cancer immunotherapies.

Target and acidic tumor microenvironment-induced in situ HCR for bispecific tumor cell imaging and therapy

The tumor microenvironment is characterized by an acidic extracellular milieu generated through the anaerobic glycolysis of tumor cells. Leveraging this characteristic, we suggest employing an in situ hybridization chain reaction (HCR) activated by both target recognition and the acidic microenvironment for bispecific tumor cell imaging and therapy. By integrating the recognition capability of aptamers, the pH responsiveness of i-motifs, and the signal amplification of HCR, we have developed a pH-induced HCR (pH-HCR) system. This system consists of three DNA probes: pH-Apt, HP1, and HP2. pH-Apt is composed of the Apt-T-B and Imotif sequences (sequences that can form an i-motif structure). Apt-T-B includes two segments: an aptamer sequence for MUC1 recognition and a trigger sequence blocked by the Imotif sequence for HCR. Under acidic conditions, upon binding to MUC1, the Imotif sequence forms an i-motif structure, detaching from pH-Apt and exposing the trigger sequence. This initiation of HCR, in conjunction with HP1 and HP2, amplifies fluorescent signals, achieving the bispecific imaging of tumor cells. Simultaneously, doxorubicin (Dox) can be loaded onto probes and released under acidic conditions, resulting in a 47% cytotoxic efficiency against tumor cells. pH-HCR enables successful bispecific imaging and cell killing induced by MUC1 in the acidic microenvironment of SW620 cells.

Label-Free, Sensitive, and Versatile Colorimetric Method for Molecule Detection via the G-Quadruplex-Based Signal Quenching Strategy.

Signal amplification strategies have emerged as a prominent tool in the field of improving the detection sensitivity of small extracellular vesicles (sEVs). It is important to highlight that the utilization of signal quenching strategies is not commonly implemented. A detection technique for sEVs was established based on the unwinding of G-quadruplex using Klenow fragment polymerase (KF), which served as an inspiration for this study. This system is characterized by its simplicity and lack of labeling, making it an efficient approach for signal quenching. In the presence of sEVs, the CD63 aptamer in the capture@sMBs complex binds with the CD63 protein on the surface of sEVs to release trigger sequences, which were employed as a primer to mediate the DNA polymerase/endonuclease-assisted signal recycling. The signal recycling process produces numerous single-stranded DNA sequences that can bind to the toehold section of the G-quadruplex. This leads to the rupture of the G-quadruplex structure and the subsequent deactivation of a DNAzyme generated by the G-quadruplex structure and hemin, thereby inhibiting its biological catalytic function. Consequently, the G-quadruplex structure would undergo a transformation to a duplex structure, leading to the emergence of a discernible differential signal that can be noticed in a majority of instances, even without the aid of magnification devices. The decrease in the prominent signal allows for the efficient analysis of target sEVs, which exhibit a notably low detection limit. In addition to the detection of sEVs, the approach has also been utilized for the investigation of miRNA-21. The approach demonstrates a high level of selectivity and robustness in its capacity to differentiate between target miRNA and base-mismatched miRNA as well as other miRNA families. This statement suggests that the assay holds significant promise for use in biochemical research and clinical diagnosis.

Deep-Learning-Assisted Sensor with Multiple Perception Capabilities for an Intelligent Driver Assistance Monitoring System.

Driver assistance systems can help drivers achieve better control of their vehicles while driving and reduce driver fatigue and errors. However, the current driver assistance devices have a complex structure and severely violate the privacy of drivers, hindering the development of driver assistance technology. To address these limitations, this article proposes an intelligent driver assistance monitoring system (IDAMS), which combines a Kresling origami structure-based triboelectric sensor (KOS-TS) and a convolutional neural network (CNN)-based data analysis. For different driving behaviors, the output signals of the KOS-TSs contain various features, such as a driver's pressing force, pressing time, and sensor triggering sequence. This study develops a multiscale CNN that employs different pooling methods to process KOS-TS data and analyze temporal information. The proposed IDAMS is verified by driver identification experiments, and the results show that the accuracy of the IDAMS in discriminating eight different users is improved from 96.25% to 99.38%. In addition, the results indicate that IDAMS can successfully monitor driving behaviors and can accurately distinguish between different driving behaviors. Finally, the proposed IDAMS has excellent hands-off detection (HOD), identification, and driving behavior monitoring capabilities and shows broad potential for application in the fields of safety warning, personalization, and human-computer interaction.

Aptamer-mediated double strand displacement amplification with microchip electrophoresis for ultrasensitive detection of Salmonella typhimurium

Rapid and quantitative detection of foodborne bacteria is of great significance to public health. In this work, an aptamer-mediated double strand displacement amplification (SDA) strategy was first explored to couple with microchip electrophoresis (MCE) for rapid and ultrasensitive detection of Salmonella typhimurium (S. Typhimurium). In double-SDA, a bacteria-identified probe consisting of the aptamer (Apt) and trigger sequence (Tr) was ingeniously designed. The aptamer showed high affinity to the S. Typhimurium, releasing the Tr sequence from the probe. The released Tr hybridized with template C1 chain, initiating the first SDA to produce numerous output strands (OS). The second SDA process was induced with the hybridization of the liberated OS and template C2 sequence, generating a large number of reporter strands (RS), which were separated and quantified through MCE. Cascade signal amplification and rapid separation of nucleic acids could be realized by the proposed double-SDA method with MCE, achieving the limit of detection for S. typhimurium down to 6 CFU/mL under the optimal conditions. Based on the elaborate design of the probes, the double-SDA assisted MCE strategy achieved better amplification performance, showing high separation efficiency and simple operation, which has satisfactory expectation for bacterial disease diagnosis.

Dynamic event‐triggered orbit coordination for spacecraft formation via a self‐learning sliding mode control approach

SummaryThis article investigates the issue of orbit coordination control for a class of multi‐spacecraft formation systems in presence of limited communication and external disturbance. To solve the limitation of communication sources, a dynamic event trigger (DET) mechanism is developed to reduce the communication frequency between the follower spacecrafts. Subsequently, we explore a robust DET mechanism‐based distributed self‐learning sliding mode control design, in which a variable learning intensity‐based iterative learning algorithm is designed to approximate and compensate space perturbation. This approach can guarantee an event triggering sequence without Zeno phenomenon and accurate coordination control for formation configuration simultaneously. Compared with the traditional event‐triggered control and other state‐of‐the‐art approaches, the distributed DET control scheme achieves higher control accuracy of formation configuration meanwhile requires less communication resource. Finally, a series of numerical simulations demonstrate the feasibility and superiority of the event triggered control method.

Capacitor Voltage Balancing Control of MMC Sub-Module Based on Neural Network Prediction

The issue of sub-module (SM) capacitor voltage unbalance is a hot topic in the current research into the modular multilevel converter (MMC). An excellent strategy comprises mitigating the SM capacitor voltage imbalance by adjusting the SM on time. The traditional capacitor voltage balancing control regulates the speed to maintain accuracy. A unique SM capacitor voltage balancing control strategy is presented in this paper and is based on conventional capacitor voltage balance management and neural network prediction. Firstly, the SM capacitor voltage and arm current are speculated by operating the time series forecasting technique in real time, considering the dynamic changes in the SM capacitor voltage and arm current. Secondly, the SM capacitor voltage distinction between the actual and theoretical value is determined, and a deviation’s mixed Gaussian distribution is established to estimate its compensation voltage. Thirdly, the SM triggering sequence is anticipated by using the neural network along with the pilot values of the SM capacitor voltage, arm current, and the offset compensation value, and the control is executed. Finally, a three-phase, six-leg, eight-module, nine-level MMC model is built to verify the feasibility of the suggested approach.

Influence of preprocessing, distortion correction and cardiac triggering on the quality of diffusion MR images of spinal cord

Diffusion MRI of the spinal cord (SC) is susceptible to geometric distortion caused by field inhomogeneities, and prone to misalignment across time series and signal dropout caused by biological motion. Several modifications of image acquisition and image processing techniques have been introduced to overcome these artifacts, but their specific benefits are largely unproven and warrant further investigations. We aim to evaluate two specific aspects of image acquisition and processing that address image quality in diffusion studies of the spinal cord: susceptibility corrections to reduce geometric distortions, and cardiac triggering to minimize motion artifacts. First, we evaluate 4 distortion preprocessing strategies on 7 datasets of the cervical and lumbar SC and find that while distortion correction techniques increase geometric similarity to structural images, they are largely driven by the high-contrast cerebrospinal fluid, and do not consistently improve the geometry within the cord nor improve white-to-gray matter contrast. We recommend at a minimum to perform bulk-motion correction in preprocessing and posit that improvements/adaptations are needed for spinal cord distortion preprocessing algorithms, which are currently optimized and designed for brain imaging. Second, we design experiments to evaluate the impact of removing cardiac triggering. We show that when triggering is foregone, images are qualitatively similar to triggered sequences, do not have increased prevalence of artifacts, and result in similar diffusion tensor indices with similar reproducibility to triggered acquisitions. When triggering is removed, much shorter acquisitions are possible, which are also qualitatively and quantitatively similar to triggered sequences. We suggest that removing cardiac triggering for cervical SC diffusion can be a reasonable option to save time with minimal sacrifice to image quality.

Dual-Event-Triggered Intelligence Security Control for Multiagent Systems Against DoS Attacks With Applications in Mobile Robot Systems

The intelligence security control problem of multiagent systems in the presence of actuator faults is investigated against denial-of-service (DoS) attacks. Noticing that the DoS attacks usually make the actuator signal not available for distributed control protocols, a novel intelligence dual-eventtriggered control strategy is developed to eliminate the impact of DoS attacks. This control strategy includes two related event triggers respectively set on different channels, in which the second event-triggered condition is related to the triggering sequence of the previous event. Through the coordination between two nested event triggers set on different channels, the controller is avoided by being affected by wrong signals caused by DoS attacks. The developed distributed control protocol can not only guarantee the realization of the tracking control task but also ensure that no ‘Zeno behavior” occurs in the process of the event triggering. Moreover, the obtained results are applied to the mobile robot systems. Finally, a numerical simulation example and a mobile robot system application are given to verify the feasibility and effectiveness of the proposed control strategy.

A Simple and Robust Exponential Amplification Reaction (EXPAR)-Based Hairpin Template (exp-Hairpin) for Highly Specific, Sensitive, and Universal MicroRNA Detection.

Specific and sensitive detection of microRNAs continues to encounter significant challenges, especially in the development of rapid and efficient isothermal amplification strategies for point-of-care settings. The exponential amplification reaction (EXPAR) has garnered significant attention owing to its simplicity and rapid amplification of signals within a short period. However, a substantial loss of amplification efficiency, difficulty in distinguishing closely related homologous sequences, and adapting the designed templates to other targets seriously hamper the practical application of the EXPAR. In this work, a hairpin template tailored for the EXPAR system (exp-Hairpin) was constructed by adding identical trigger sequences and enzyme cleavage sites on two arms of the hairpin, achieving theoretically more than 2n amplification efficiency and minimal background amplification of EXPAR. Modulating the stability of the exp-Hairpin template by increasing the stem length, the specificity of detecting target miRNA in highly homologous sequences could be significantly improved. Using miRNA let-7a as a target model, the exp-Hairpin with 8 bp stem length for EXPAR amplification curves could effectively distinguish target let-7a and nontarget let-7b/7c/7f/7g/7i homologous sequences. This strategy enabled the sensitive and accurate analysis of let-7a in diluted human serum with satisfactory recoveries. By simply replacing the loop recognition sequence of exp-Hairpin, the specific detection of miR-200b was also achieved, demonstrating the universality of this strategy. The exp-Hairpin EXPAR accelerates simple and rapid molecular diagnostic applications for short nucleic acids.