Nosema bombycis contains functional aquaporins (NbAQPs), which are key targets for exploring the mechanism of N. bombycis infection; however, the regulation of these NbAQPs remains unknown. The two highly conserved asparagine-proline-alanine sequences (NPA motifs) play important roles in AQP biogenesis. As part of this study, we constructed a series of NbAQP mutants (NbAQP_NPA1, NbAQP_NPA2, and NbAQP_NPA1,2) and expressed them in BmN cells. The results showed that mutations in either NPA motif or in both NPA motifs did not affect NbAQP expression in vitro. After expression in Xenopus laevis oocytes, those injected with wild-type NbAQP rapidly expanded, whereas oocytes injected with NbAQP_NPAs did not significantly change in size. The associated water permeability (pf) of NbAQP_NPAs was significantly reduced five-six times compared to that of wild-type NbAQP. These results indicated that NPA motifs are necessary for the water channel function of AQPs in N. bombycis. The present study shows for the first time that the NbAQP NPA motif has an impact on the water permeability of aquaporin in N. bombycis, thereby providing a platform for further research into the mechanisms underlying the regulation of NbAQP expression.
In this paper, the problem of actuator and sensor faults of a quadrotor unmanned aerial vehicle (QUAV) system is studied. In the system fault model, time delay, nonlinear term, and disturbances of QUAV during the flight are considered. A fault estimation algorithm based on an intermediate observer is proposed. To deal with a single actuator fault, an intermediate variable is introduced, and the intermediate observer is designed for the system to estimate fault. For simultaneous actuator and sensor faults, the system is first augmented, and then two intermediate variables are introduced, and an intermediate observer is designed for the augmented system to estimate the system state, faults, and disturbances. The Lyapunov–Krasovskii functional is used to prove that the estimation error system is uniformly eventually bounded. The simulation results verify the feasibility and effectiveness of the proposed fault estimation method.
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