Bifurcation and chaotic behaviors of 4-UPS-RPS high-speed parallel mechanism

In order to grasp the nonlinear characteristics of high-speed spatial parallel mechanism, the bifurcation and chaotic behaviors of 4-UPS-RPS mechanism are analyzed. Firstly, the nonlinear elastic dynamic model of the mechanism is established by using the Lagrange equation and the finite element method. Then the effects of parameters including driving angular velocity, the radius of motion trajectory, the material of driving limbs, the diameter of driving limbs, and the mass of moving platform, on the bifurcation and chaotic behaviors of high-speed spatial parallel mechanism are studied. The results show that the above parameters all have a certain influence on nonlinear characteristics of the 4-UPS-RPS high-speed spatial parallel mechanism. The research can provide important theoretical basis for the further research on the non-linear dynamics of spatial parallel mechanism

Game-theoretic Distributed Learning Approach for Heterogeneous-cost Task Allocation with Budget Constraints

This paper investigates heterogeneous-cost task allocation with budget constraints (HCTAB), wherein heterogeneity is manifested through the varying capabilities and costs associated with different agents for task execution. Different from the centralized optimization-based method, the HCTAB problem is solved using a fully distributed framework, and a coalition formation game is introduced to provide a theoretical guarantee for this distributed framework. To solve the coalition formation game, a convergence-guaranteed log-linear learning algorithm based on heterogeneous cost is proposed. This algorithm incorporates two improvement strategies, namely, a cooperative exchange strategy and a heterogeneous-cost log-linear learning strategy. These strategies are specifically designed to be compatible with the heterogeneous cost and budget constraints characteristic of the HCTAB problem. Through ablation experiments, we demonstrate the effectiveness of these two improvements. Finally, numerical results show that the proposed algorithm outperforms existing task allocation algorithms and learning algorithms in terms of solving the HCTAB problem.Comment: 15 pages,5 figure

Long-term Orbital Period Variation of Hot Jupiters from Transiting Time Analysis using TESS Survey Data

Many hot Jupiters may experience orbital decays, which are manifested as long-term transit timing variations. We have analyzed 7068 transits from the Transiting Exoplanet Survey Satellite (TESS) for a sample of 326 hot Jupiters. These new mid-transit time data allow us to update ephemerides for these systems. By combining the new TESS transit timing data with archival data, we search for possible long-term orbital period variations in these hot Jupiters using a linear and a quadratic ephemeris model. We identified 26 candidates that exhibit possible long-term orbital period variations, including 18 candidates with decreasing orbital periods and 8 candidates with increasing orbital periods. Among them, 12 candidates have failed in our leave-one-out cross-validation (LOOCV) test and thus should be considered as marginal candidates. In addition to tidal interaction, alternative mechanisms such as apsidal precession, R{\o}mer effect, and Applegate effect could also contribute to the observed period variations. The ephemerides derived in this work are useful for scheduling follow-up observations for these hot Jupiters in the future. The Python code used to generate the ephemerides is made available online.Comment: Accepted for publication in ApJ

Visual-Kinematics Graph Learning for Procedure-agnostic Instrument Tip Segmentation in Robotic Surgeries

Accurate segmentation of surgical instrument tip is an important task for enabling downstream applications in robotic surgery, such as surgical skill assessment, tool-tissue interaction and deformation modeling, as well as surgical autonomy. However, this task is very challenging due to the small sizes of surgical instrument tips, and significant variance of surgical scenes across different procedures. Although much effort has been made on visual-based methods, existing segmentation models still suffer from low robustness thus not usable in practice. Fortunately, kinematics data from the robotic system can provide reliable prior for instrument location, which is consistent regardless of different surgery types. To make use of such multi-modal information, we propose a novel visual-kinematics graph learning framework to accurately segment the instrument tip given various surgical procedures. Specifically, a graph learning framework is proposed to encode relational features of instrument parts from both image and kinematics. Next, a cross-modal contrastive loss is designed to incorporate robust geometric prior from kinematics to image for tip segmentation. We have conducted experiments on a private paired visual-kinematics dataset including multiple procedures, i.e., prostatectomy, total mesorectal excision, fundoplication and distal gastrectomy on cadaver, and distal gastrectomy on porcine. The leave-one-procedure-out cross validation demonstrated that our proposed multi-modal segmentation method significantly outperformed current image-based state-of-the-art approaches, exceeding averagely 11.2% on Dice.Comment: Accepted to IROS 202

SeTransformer: A Transformer-Based Code Semantic Parser for Code Comment Generation

Automated code comment generation technologies can help developers understand code intent, which can significantly reduce the cost of software maintenance and revision. The latest studies in this field mainly depend on deep neural networks, such as convolutional neural networks and recurrent neural network. However, these methods may not generate high-quality and readable code comments due to the long-term dependence problem, which means that the code blocks used to summarize information are far from each other. Owing to the long-term dependence problem, these methods forget the previous input data’s feature information during the training process. In this article, to solve the long-term dependence problem and extract both the text and structure information from the program code, we propose a novel improved-Transformer-based comment generation method, named SeTransformer. Specifically, the SeTransformer utilizes the code tokens and an abstract syntax tree (AST) of programs to extract information as the inputs, and then, it leverages the self-attention mechanism to analyze the text and structural features of code simultaneously. Experimental results based on public corpus gathered from large-scale open-source projects show that our method can significantly outperform five state-of-the-art baselines (such as Hybrid-DeepCom and AST-attendgru). Furthermore, we also conduct a questionnaire survey for developers, and the results show that the SeTransformer can generate higher quality comments than those of other baselines

CIP2A facilitates the G1/S cell cycle transition via B-Myb in human papillomavirus 16 oncoprotein E6-expressing cells

Infection with high-risk human papillomaviruses (HR-HPVs, including HPV-16, HPV-18, HPV-31) plays a central aetiologic role in the development of cervical carcinoma. The transforming properties of HR-HPVs mainly reside in viral oncoproteins E6 and E7. E6 protein degrades the tumour suppressor p53 and abrogates cell cycle checkpoints. Cancerous inhibitor of protein phosphatase 2A (CIP2A) is an oncoprotein that is involved in the carcinogenesis of many human malignancies. Our previous data showed that CIP2A was overexpressed in cervical cancer. However, the regulation of CIP2A by HPV-16E6 remains to be elucidated. In this study, we demonstrated that HPV-16E6 significantly up-regulated CIP2A mRNA and protein expression in a p53-degradation-dependent manner. Knockdown of CIP2A by siRNA inhibited viability and DNA synthesis and caused G1 cell cycle arrest of 16E6-expressing cells. Knockdown of CIP2A resulted in a significant reduction in the expression of cyclin-dependent kinase 1 (Cdk1) and Cdk2. Although CIP2A has been reported to stabilize c-Myc by inhibiting PP2A-mediated dephosphorylation of c-Myc, we have presented evidence that the regulation of Cdk1 and Cdk2 by CIP2A is dependent on transcription factor B-Myb rather than c-Myc. Taken together, our study reveals the role of CIP2A in abrogating the G1 checkpoint in HPV-16E6-expressing cells and helps in understanding the molecular basis of HPV-induced oncogenesis