ROS based LiDAR autonomous navigation robot design and application

ROS has become the mainstream of robot application development, in which SLAM synchronous positioning and mapping is the key core technology of robot autonomous navigation. In this paper, a ROS based Lidar autonomous navigation robot is designed and developed for the teaching needs of service robots and artifi cial intelligence majors. The robot can be used as a professional teaching carrier to meet the practical teaching of professional courses such as Linux, ROS and intelligent robot. With Jetson Nano as the main control, the system is equipped with laser radar, robot arm and handle, which can realize SLAM mapping, navigation and robot arm taking and placing materials. The API application function based on Python is designed and developed to realize the motor control, voltage reading, IMU data reading and odometer data reading functions of the autonomous navigation robot. Serial communication is adopted between the upper computer and the lower computer

Frequent alterations in cytoskeleton remodelling genes in primary and metastatic lung adenocarcinomas

The landscape of genetic alterations in lung adenocarcinoma derived from Asian patients is largely uncharacterized. Here we present an integrated genomic and transcriptomic analysis of 335 primary lung adenocarcinomas and 35 corresponding lymph node metastases from Chinese patients. Altogether 13 significantly mutated genes are identified, including the most commonly mutated gene TP53 and novel mutation targets such as RHPN2, GLI3 and MRC2. TP53 mutations are furthermore significantly enriched in tumours from patients harbouring metastases. Genes regulating cytoskeleton remodelling processes are also frequently altered, especially in metastatic samples, of which the high expression level of IQGAP3 is identified as a marker for poor prognosis. Our study represents the first large-scale sequencing effort on lung adenocarcinoma in Asian patients and provides a comprehensive mutational landscape for both primary and metastatic tumours. This may thus form a basis for personalized medical care and shed light on the molecular pathogenesis of metastatic lung adenocarcinoma

Organic package substrate embedded coupled magnetic core inductors using lithographic via technology for power supply in package

In this work, a cost-effective organic package substrate embedded coupled magnetic core inductor technology is proposed and demonstrated for power supply in package applications. Based on a novel lithographic via process, it involves a solid copper pillar electroplating step for creating a groove and integration of the vertical interconnects of the inductor. The primary and secondary windings of the coupled inductor are interleaved on the rectangular magnetic composite core which is accommodated within the groove. The coupled inductor combines solid vertical interconnecting with low loss magnetic composite core, therefore bringing together tight process tolerances and superior current capability. Experimental results show that the 2.9-mm2 coupled inductor achieves a high inductance to resistance ratio of 0.28 nH/mΩ, and a coupling factor of 0.57. In addition, the proposed inductor achieves an ultra-high saturation current of 16.52 A that is the highest reported value for a high-frequency integrated magnetic core inductor to the best of our knowledge. The performance of the coupled inductor has been calculated for a standard 1.8 to 1 V interleaved converter. Notably, it demonstrated a remarkable efficiency exceeding 95% across a wide range of phase currents between 0.11 and 2.32 A

Preparation and Finite Element Analysis of Fly Ash/HDPE Composites for Large Diameter Bellows

In recent years, buried bellows have often had safety accidents such as pipeline bursts and ground subsidence due to the lack of adequate mechanical properties and other quality problems. In order to improve the mechanical properties of bellows, fly ash (FA) was used as a reinforced filler in high density polyethylene (HDPE) to develop composites. The FA was surface treated with a silane coupling agent and HDPE-g-maleic anhydride was used as compatibilizer. Dumbbell-shaped samples were prepared via extrusion blending and injection molding. The cross-section morphology, thermal stability and mechanical properties of the composites were studied. It was observed that when 10% modified FA and 5% compatibilizer were added to HDPE, the tensile yield strength and tensile breaking strength of the composites were nearly 30.2% and 40.4% higher than those of pure HDPE, respectively, and the Young’s modulus could reach 1451.07 MPa. In addition, the ring stiffness of the bellows was analyzed using finite element analysis. Compared with a same-diameter bellows fabricated from common commercially available materials, the ring stiffness increased by nearly 23%. The preparation method of FA/HDPE is simple, efficient, and low-cost. It is of great significance for the popularization of high-performance bellows and the high value-added utilization of FA

Comparative Transcriptome Analysis Reveals Sex-Biased Expression of Hormone-Related Genes at an Early Stage of Sex Differentiation in Red Bayberry (Morella rubra)

The molecular mechanism of sex development and differentiation in the economically important dioecious fruit tree, red bayberry (Morella rubra), was revealed using next-generation transcriptome sequencing (NGS), and comparative analyses were used to identify differentially expressed genes (DEGs) in female and male flower buds. A total of 7029 of these DEGs were identified at two early development stages. KEGG pathway enrichment analysis revealed that plant hormone signal transduction was significantly overrepresented, and 91 genes related to hormones were identified. An analysis of 7029 DEGs revealed 161 hormone-related genes, with the 42 related to auxin and 26 related to ethylene being the most highly represented. A total of 62 genes were significantly up-regulated in females and 29 were in males, with 18 of them specifically expressed in females and 10 in males. A total of 415 transcription factors were identified, with 129 genes up-regulated in females and 53 in males. Moreover, 38 had female-specific expression and 18 had male-specific expression. Using weighted gene co-expression network analysis (WGCNA), two modules were found to be associated with sexual type. In the module coded light-green, there were five genes related to hormones, one to flower development and ten transcription factors with four genes specifically expressed in the males and four in females. The hub gene in the light-green module is MR0TCONS_00017483.1 (ACO), which is involved in ethylene biosynthesis and had male-specific expression. Among the transcription factors, three of the four male-specific expressed genes involved in flavonoid biosynthesis, including the MYB gene MR1TCONS_00020658.1 and two BHLH genes, MR6G001563.1 and MR8G020751.1, played important roles in male floral differentiation. In the dark-cyan module, six hormone-related genes, five transcription factors and three flower development genes were identified with the hub gene MR1G019545.1 (ETR1), which participates in the ethylene signaling pathway, and MR4G023618.1, which encodes the C3H zinc finger transcription factor. These results indicate that ethylene is the key hormone that interacts with other hormones and transcription factors to regulate sex differentiation in the red bayberry, which also provides new insights into the mechanism of sex determination and differentiation in the red bayberry

Comparative Transcriptome Analysis Reveals Sex-Biased Expression of Hormone-Related Genes at an Early Stage of Sex Differentiation in Red Bayberry (<i>Morella rubra</i>)

The molecular mechanism of sex development and differentiation in the economically important dioecious fruit tree, red bayberry (Morella rubra), was revealed using next-generation transcriptome sequencing (NGS), and comparative analyses were used to identify differentially expressed genes (DEGs) in female and male flower buds. A total of 7029 of these DEGs were identified at two early development stages. KEGG pathway enrichment analysis revealed that plant hormone signal transduction was significantly overrepresented, and 91 genes related to hormones were identified. An analysis of 7029 DEGs revealed 161 hormone-related genes, with the 42 related to auxin and 26 related to ethylene being the most highly represented. A total of 62 genes were significantly up-regulated in females and 29 were in males, with 18 of them specifically expressed in females and 10 in males. A total of 415 transcription factors were identified, with 129 genes up-regulated in females and 53 in males. Moreover, 38 had female-specific expression and 18 had male-specific expression. Using weighted gene co-expression network analysis (WGCNA), two modules were found to be associated with sexual type. In the module coded light-green, there were five genes related to hormones, one to flower development and ten transcription factors with four genes specifically expressed in the males and four in females. The hub gene in the light-green module is MR0TCONS_00017483.1 (ACO), which is involved in ethylene biosynthesis and had male-specific expression. Among the transcription factors, three of the four male-specific expressed genes involved in flavonoid biosynthesis, including the MYB gene MR1TCONS_00020658.1 and two BHLH genes, MR6G001563.1 and MR8G020751.1, played important roles in male floral differentiation. In the dark-cyan module, six hormone-related genes, five transcription factors and three flower development genes were identified with the hub gene MR1G019545.1 (ETR1), which participates in the ethylene signaling pathway, and MR4G023618.1, which encodes the C3H zinc finger transcription factor. These results indicate that ethylene is the key hormone that interacts with other hormones and transcription factors to regulate sex differentiation in the red bayberry, which also provides new insights into the mechanism of sex determination and differentiation in the red bayberry

Bioinformatics Analysis of WRKY Family Genes in Flax (<i>Linum usitatissimum</i>)

WRKY gene family is one of the largest transcription factor families involved in various physiological processes of plants. Flax (Linum usitatissimum) is an important stem fiber crop, and it is also an economically important crop in natural fiber and textile industries around the world. In this study, 105 WRKY genes were obtained by screening the whole genome of flax. There were 26 in group I, 68 in group II, 8 in group III and 3 in group UN. The characteristics of the WRKY motif and gene structure in each group are similar. The promoter sequence of WRKY genes includes photoresponsive elements, core regulatory elements and 12 cis-acting elements under abiotic stress. Similar to A. thaliana and Compositae plants, WRKY genes are evenly distributed on each chromosome, with segmental and tandem repeated events, which play a major role in the evolution of WRKY genes. The flax WRKY gene family is mainly concentrated in group I and group II. This study is mainly based on genome-wide information to classify and analyze the flax WRKY gene family, laying a foundation for further understanding the role of WRKY transcription factors in species evolution and functional analysis