Asynchronous Collaborative Autoscanning with Mode Switching for Multi-Robot Scene Reconstruction

When conducting autonomous scanning for the online reconstruction of unknown indoor environments, robots have to be competent at exploring scene structure and reconstructing objects with high quality. Our key observation is that different tasks demand specialized scanning properties of robots: rapid moving speed and far vision for global exploration and slow moving speed and narrow vision for local object reconstruction, which are referred as two different scanning modes: explorer and reconstructor, respectively. When requiring multiple robots to collaborate for efficient exploration and fine-grained reconstruction, the questions on when to generate and how to assign those tasks should be carefully answered. Therefore, we propose a novel asynchronous collaborative autoscanning method with mode switching, which generates two kinds of scanning tasks with associated scanning modes, i.e., exploration task with explorer mode and reconstruction task with reconstructor mode, and assign them to the robots to execute in an asynchronous collaborative manner to highly boost the scanning efficiency and reconstruction quality. The task assignment is optimized by solving a modified Multi-Depot Multiple Traveling Salesman Problem (MDMTSP). Moreover, to further enhance the collaboration and increase the efficiency, we propose a task-flow model that actives the task generation and assignment process immediately when any of the robots finish all its tasks with no need to wait for all other robots to complete the tasks assigned in the previous iteration. Extensive experiments have been conducted to show the importance of each key component of our method and the superiority over previous methods in scanning efficiency and reconstruction quality.Comment: 13pages, 12 figures, Conference: SIGGRAPH Asia 202

Preparation of berberine hydrochloride long-circulating liposomes by ionophore A23187-mediated ZnSO4 gradient method

AbstractThe aim of the study was to prepare berberine hydrochloride long-circulating liposomes and optimize the formulation and process parameters, and investigate the influence of different factors on the encapsulation efficiency. Berberine hydrochloride liposomes were prepared in response to a transmembrane ion gradient that was established by ionophore A23187. Free and liposomal drug were separated by cation exchange resin, and then the amount of intraliposomal berberine hydrochloride was determined by UV spectrophotometry. The optimized encapsulation efficiency of berberine hydrochloride liposomes was 94.3% ± 2.1% when the drug-to-lipid ratio was 1:20, and the mean diameter was 146.9 nm ± 3.2 nm. As a result, the ionophore A23187-mediated ZnSO4 gradient method was suitable for the preparation of berberine hydrochloride liposomes that we could get the desired encapsulation efficiency and drug loading

Analysis, Synthesis and Experiments of Networked Platoons with Communication Constraints

This paper investigates the analysis and synthesis of networked vehicle platoons with communication delays, packet dropouts and disorders. In order to deal with the effects of the communication constraints, we introduce a novel Smart Data Processor (SDP) for each vehicle, by which the latest data packets from logic Data Packet Processor and the matched data packet from its Buffer can be obtained. Based on this mechanism, a leader-predecessor-follower control strategy is proposed. In order to guarantee the asymptotic and string stability, the platoon control problem is transformed into a multi-objective H∞-type synthesis problem with the multiple time-varying delays. A sufficient condition for designing the controller gain is derived by solving a set of linear matrix inequalities. Numerous simulations and experiments with laboratory scale Arduino cars show the efficiency of the proposed methods.</span

Business groups and corporate social responsibility: Evidence from China

This study investigates the impact of firms' business group affiliations on their performance in corporate social responsibility (CSR) in the context of China. We find that firms with a dual-status of simultaneously being a business group member and a state-owned enterprise (SOE) have weaker CSR performance. Our finding is consistent with the view that CSR engagement is a strategy for firms to pursue political legitimacy from the government and seek legitimacy in general from the public. The business group affiliation and the SOE identity together afford legitimacy to the firm and reduce its need to conduct CSR activities

A novel class of microRNA-recognition elements that function only within open reading frames.

MicroRNAs (miRNAs) are well known to target 3' untranslated regions (3' UTRs) in mRNAs, thereby silencing gene expression at the post-transcriptional level. Multiple reports have also indicated the ability of miRNAs to target protein-coding sequences (CDS); however, miRNAs have been generally believed to function through similar mechanisms regardless of the locations of their sites of action. Here, we report a class of miRNA-recognition elements (MREs) that function exclusively in CDS regions. Through functional and mechanistic characterization of these 'unusual' MREs, we demonstrate that CDS-targeted miRNAs require extensive base-pairing at the 3' side rather than the 5' seed; cause gene silencing in an Argonaute-dependent but GW182-independent manner; and repress translation by inducing transient ribosome stalling instead of mRNA destabilization. These findings reveal distinct mechanisms and functional consequences of miRNAs that target CDS versus the 3' UTR and suggest that CDS-targeted miRNAs may use a translational quality-control-related mechanism to regulate translation in mammalian cells

Myocardial tissue and metabolism characterization in men with alcohol consumption by cardiovascular magnetic resonance and 11C-acetate PET/CT

Background: Chronic alcohol consumption initially leads to asymptomatic left ventricular dysfunction, but can result in myocardial impairment and heart failure if ongoing. This study sought to characterize myocardial tissues and oxidative metabolism in asymptomatic subjects with chronic alcohol consumption by quantitative cardiovascular magnetic resonance (CMR) and 11C-acetate positron emission tomography (PET)/computed tomography (CT). Methods: Thirty-four male subjects (48.8 +/- 9.1 years) with alcohol consumption > 28 g/day for > 10 years and 35 age-matched healthy male subjects (49.5 +/- 9.7 years) underwent CMR and 11C-acetate PET/CT. Native and post T1 values and extracellular volume (ECV) from CMR and Kmono and K1 from PET imaging were measured. Quantitative measurements by CMR and PET imaging were compared between subjects with moderate to heavy alcohol consumption and healthy controls, and their correlations were also analyzed. Results: Compared to healthy controls, subjects with alcohol consumption showed significantly shorter native T1 (1133 +/- 65 ms vs. 1186 +/- 31 ms, p 0.05). In contrast, subjects with heavy alcohol consumption showed significantly lower Kmono values compared to those with moderate alcohol consumption (52.9 +/- 12.1 min(- 1) x 10(- 3) vs. 63.7 +/- 9.2 min(- 1) x 10(- 3), p = 0.012). Strong and moderate correlations were found between K1 and ECV in healthy controls (r = 0.689, p = 0.013) and subjects with moderate alcohol consumption (r = 0.518, p = 0.048), respectively. Conclusion: Asymptomatic men with heavy alcohol consumption have detectable structural and metabolic changes in myocardium on CMR and 11C-acetate PET/CT. Compared with quantitative CMR, 11C-acetate PET/CT imaging may be more sensitive for detecting differences in myocardial damage among subjects with moderate to heavy alcohol consumption.</div

Probing NaCl hydrate formation from aqueous solutions by Terahertz Time-Domain Spectroscopy

The cooling-induced formation of hydrate in aqueous NaCl solutions was probed using terahertz time-domain spectroscopy (THz-TDS). It was found that the NaCl hydrate formation is accompanied with emergence of four new absorption peaks at 1.60, 2.43, 3.34 and 3.78 THz. Combining the X-ray diffraction measurement with the solid-state based density functional theory (DFT) calculations, we assign the observed terahertz absorption peaks to the vibrational modes of the formed NaCl⋅2H2O hydrate during cooling. This work dedicates THz-TDS based analysis great potential in studying ionic hydrate and the newly revealed collective vibrational modes could be the sensitive indicators to achieve quantitative analysis in phase transitions and lattice dynamics