Genome-wide association studies have identified a genetic variant at 3p14.3 (SNP rs1354034) that strongly associates with platelet number and mean platelet volume in humans. While originally proposed to be intronic, analysis of mRNA expression in primary human hematopoietic subpopulations reveals that this SNP is located directly upstream of the predominantly expressed ARHGEF3 isoform in megakaryocytes (MK). We found that ARHGEF3, which encodes a Rho guanine exchange factor, is dramatically upregulated during both human and murine MK maturation. We show that the SNP (rs1354034) is located in a DNase I hypersensitive region in human MKs and is an expression quantitative locus (eQTL) associated with ARHGEF3 expression level in human platelets, suggesting that it may be the causal SNP that accounts for the variations observed in human platelet traits and ARHGEF3 expression. In vitro human platelet activation assays revealed that rs1354034 is highly correlated with human platelet activation by ADP. In order to test whether ARHGEF3 plays a role in MK development and/or platelet function, we developed an Arhgef3 KO/LacZ reporter mouse model. Reflecting changes in gene expression, LacZ expression increases during MK maturation in these mice. Although Arhgef3 KO mice have significantly larger platelets, loss of Arhgef3 does not affect baseline MK or platelets nor does it affect platelet function or platelet recovery in response to antibody-mediated platelet depletion compared to littermate controls. In summary, our data suggest that modulation of ARHGEF3 gene expression in humans with a promoter-localized SNP plays a role in human MKs and human platelet function—a finding resulting from the biological follow-up of human genetic studies. Arhgef3 KO mice partially recapitulate the human phenotype.

The traditional single electromechanical conversion energy harvester can collect energy only in a single vibration direction. Moreover, it requires high environmental vibration frequency, and its output power is low. To solve these problems, a cross-shaped magnetically coupled piezoelectric–electromagnetic hybrid harvester is proposed. The harvester comprised a ring-shaped support frame, a piezoelectric generation structure, and an electromagnetic generation structure. The harvester could simultaneously generate energy piezoelectrically and electrically, in addition, it could generate electricity efficiently at a lower environmental vibration, and it can collect the energy in two vibration directions simultaneously. To verify the effectiveness of the device, we set up a vibration experiment system and conducted comparative experiments about non-magnetically coupled piezoelectric, magnetically coupled piezoelectric, and magnetically coupled piezoelectric–electromagnetic hybrid energy harvesters. The experimental results showed that the output power of the magnetically coupled piezoelectric–electromagnetic hybrid energy harvester was 2.13 mW for the piezoelectric structure and 1.76 mW for the electromagnetic structure under the vibration of single-direction resonant frequency. The total hybrid output power was 3.89 mW. The hybrid harvester could collect vibration energy parallel to the ring in any direction. Furthermore, compared with the non-magnetically coupled piezoelectric energy harvester and the magnetically coupled piezoelectric energy harvester, the output power was increased by 141.6% and 55.6%, respectively.

In nature, birds can freely observe and rest on the surface of objects such as tree branches, mainly due to their flexible claws, thus this paper is inspired by bird perching and shows two imitation bird claw perching grasping mechanisms in the shape of “three in front and one at the back”. One is articulated, the other is resilient, the difference being that the former has a pin-articulated claw structure and uses a double fishing line to perform the grasping and resetting action, while the latter uses a resilient linking piece, a single fishing line and resilient linking piece to perform the grasping and resetting action. To verify the grasping effect, experiments were designed to grasp objects of different shapes and maximum grasping weight load. The results show that the two types of perching grasping mechanism can reach a large degree of toe bending, have good passive bending deformation ability, can grasp different types of objects, including the articulated type has a stronger deformation ability, and can grasp branches with a diameter in the range of 12.5–55.8 mm. The elastic reset type is smoother than the articulated type toe bending curve, and the maximum graspable object weight is about three times the overall weight of the grasping mechanism. The maximum gripping weight is about three times the overall weight of the gripping mechanism and the load capacity is about two times that of the articulated type.

It is well known that a multi-axle wheeled robot possesses larger load capability and also higher drive performance. However, its steering flexibility is degraded due to the large number of wheels. In order to solve this problem, in this article, we proposed three control schemes based on the center of rotation or the steering angles of both the first- and last-axle wheels. To release these control schemes, steering mode selection and also the left wheel’s steering angle in a specific axle are added approaching a practical application. Thereafter, the remaining wheels’ steering angles can be calculated with the Ackerman steering theorem. In order to verify the control effects, a five-axle all-wheel-steering wheeled robot has been developed with the Bluetooth wireless monitor system. Based on the newly designed robot, validation experiments are carried out, such as lateral movement, situ rotation, and multi-mode steering within a narrow space. The results indicate that the proposed design in this article can ensure a more flexible and faster movement within a narrow space. It shows large potential in obstacle avoidance compared with the conventional partial-wheel steering mode.