Dual quaternion-based inverse kinematics of dexterous finger

The inverse kinematics solution of a dexterous robotic finger has a significant impact on the real-time control of the robotic hand. Therefore a rapid method for solving is needed. The classical homogeneous matrix transformation is the most popular method used in robot kinematics. However, for the multi degree-of-freedom (DOF) robotic finger, the matrix parameters cost much storage and the inverse matrix calculation requires a large amount of computational cost. So it is not conducive to the real-time control of the robotic hand. Therefore, a method based on dual quaternions is presented for analysing the kinematics of a multi-DOF (4-DOF) robotic thumb. Firstly, the kinematics equation is expressed by dual quaternions. Then the multivariate kinematic equations are converted to binary quadratic equations with methods of separating variables and variable substitution, which is relatively easy to obtain the closed-form solution of the inverse kinematics. Finally, it proves that the dual quaternions method has advantages over the homogeneous matrix transformation in storage and computational cost by the specific numbers for the robotic thumb, which is conducive to the real-time control of robotic hand

Optimal View Angle in Collective Dynamics of Self-propelled Agents

We study a system of self-propelled agents in which each agent has a part of omnidirectional or panoramic view of its sensor disc, the field of vision of the agent in this case is only a sector of a disc bounded by two radii and the included arc. The inclination of these two radii is characterized as the view angle. Contrary to our intuition, we find that, the non-omnidirectional-view for swarm agents with periodic boundary conditions in noiseless Vicsek model can accelerate the transient process of the emergence of the ordered state. One consequent implication is that, there are generally superfluous communications in the Vicsek Model, which may even obstruct the possible fast swarm emergence. This phenomenon may invoke further efforts and attentions to explore the underlying mechanism of the emergence in self-propelled agents.Comment: 4 pages, 6 figure

Reputation, Academic Experience, and Collaboration Returns from International Co-authorships

In recent years, the phenomenon of international co-authorships from emerging economies, especially Chinese scholars' academic collaborations, has become the focus of academic attention. Based on resource-based theory, taking the native scholars from mainland China with international co-authorships in 39 leading management journals as the sample, the article investigates the influence of individual scholars’ reputation and academic experience on their international collaboration returns. The empirical results show that, (1) Chinese native scholars could receive positive collaboration returns from international co-authorships; (2)the impact of academic experience of native scholars on collaboration returns depends on the measurement of “experience”. Early publishing experience in international journals positively influence collaboration returns, while the number of articles published in international journal does not have significant impact on collaboration returns. Keywords: Chinese native scholars, Collaboration returns from international co-authorships, Resources-based theory, Reputation, Academic experienc

EXPLORATION AND PRACTICE OF SCHOOL-ENTERPRISE COOPERATION IN PRACTICAL EDUCATION BASED ON “OUTSTANDING PROJECT”

There will be difficulties in moving forward the project for educating and cultivating outstanding engineers, therefore, based on the outstanding project, it’s crucial to come up with an efficient method to deal with the issues in the practice of school-enterprise cooperation engineering. This thesis is going to deliver the discussions in the following aspects: a. The forms and contents of how to build the school-enterprise cooperation practice; How do we conduct engineering practice; c. How do we make sure enough teachers and working places for engineering practice are provided; d. How do we guarantee the quality of engineering practice and build its related valuation system.&nbsp

Molecular Imaging in Tracking Tumor Stem-Like Cells

Cancer remains a major public health problem in many countries. It was found to contain a subset of cancer stem cells (CSCs) that are capable of proliferation and self-renewal, and differentiation into various types of cancer cells. CSCs often display characteristics of chemotherapy resistance and radiotherapy resistance. Numerous putative biomarkers of CSCs are currently identified including CD133, CD44, CD24, ALDH (aldehyde dehydrogenase), and ABCG2. Interestingly, no single marker is exclusively expressed by CSCs. Thus, the various combinations of different biomarkers will be possible to identify CSCs, and considerable work is being done to recognize new ones. In order to demonstrate the mechanisms of resistance and response to therapy and predict the outcome as well as prognosis, the ways to track and identify CSCs will be extremely important. The technologies of molecular imaging will reveal mechanisms of cancer progression and provide visual targets for novel therapeutics. Limited studies were investigated on the detection of various types of CSCs by molecular imaging. Although the tracking of circulating CSCs is still hampered by technological challenges, personalized diagnosis and therapies of cancers are expected to be established based on increased understanding of molecular imaging of cancer stem-like cells biomarkers

Assessment of Long-Term Watershed Management on Reservoir Phosphorus Concentrations and Export Fluxes.

Source water nutrient management to prevent eutrophication requires critical strategies to reduce watershed phosphorus (P) loadings. Shanxi Drinking-Water Source Area (SDWSA) in eastern China experienced severe water quality deterioration before 2010, but showed considerable improvement following application of several watershed management actions to reduce P. This paper assessed the changes in total phosphorus (TP) concentrations and fluxes at the SDWSA outlet relative to watershed anthropogenic P sources during 2005⁻2016. Overall anthropogenic P inputs decreased by 21.5% over the study period. Domestic sewage, livestock, and fertilizer accounted for (mean ± SD) 18.4 ± 0.6%, 30.1 ± 1.9%, and 51.5 ± 1.5% of total anthropogenic P inputs during 2005⁻2010, compared to 24.3 ± 2.7%, 8.8 ± 10.7%, and 66.9 ± 8.0% for the 2011⁻2016 period, respectively. Annual average TP concentrations in SDWSA decreased from 0.041 ± 0.019 mg/L in 2009 to 0.025 ± 0.013 mg/L in 2016, a total decrease of 38.2%. Annual P flux exported from SDWSA decreased from 0.46 ± 0.04 kg P/(ha·a) in 2010 to 0.25 ± 0.02 kg P/(ha·a) in 2016, a decrease of 44.9%. The success in reducing TP concentrations was mainly due to the development of domestic sewage/refuse collection/treatment and improved livestock management. These P management practices have prevented harmful algal blooms, providing for safe drinking water

In Utero Exposure to 2,3,7,8-Tetrachlorodibenzo-p-Dioxin Affects the Development of Reproductive System in Mouse

PURPOSE: Exposure of male reproductive organs to 2,3,7,8-Tetrachlorodibenzo-p-Dioxin (TCDD) has been reported to cause developmental changes. In this study, we evaluated the effects of in utero TCDD exposure on male reproductive development. MATERIALS AND METHODS: Pregnant C57BL/6 mice were administered a single intraperitoneal injection of TCDD (1microgram/kg) on gestation day (GD) 15. The offspring were examined in the immature stage on postnatal day (PND) 30 and in the mature stage on PND 60. The testes were examined for histological changes, androgen receptor (AR), proliferating cell nuclear antigen (PCNA) and apoptosis following the measurement of morphological changes. RESULTS: Anogenital distance (AGD) and testis weights were reduced by TCDD exposure both on PND 30 and PND 60 while body weights and length of male offspring were not affected by TCDD. The regular sperm developmental stage was impaired with TCDD treatment on PND 30. However, no difference was found between the control group and TCDD groups on PND 60. Simultaneously, the expression of AR was also reduced on PND 30, while it was increased on PND 60 compared with the control group. The expression of PCNA was decreased whereas apoptosis was not affected by TCDD both on PND 30 and PND 60. CONCLUSION: These results suggest that in utero exposure to TCDD influences the development of testes by inhibiting the expression of AR and PCNA. Moreover, the adverse effects of TCDD on male offspring reduced over timeope

No Weight Catch-Up Growth of SGA Infants Is Associated with Impaired Insulin Sensitivity during the Early Postnatal Period

Objective. To investigate the relationship between weight catch-up growth and insulin sensitivity in small for gestational age (SGA) infants. Methods. Forty-four singleton SGA subjects met the inclusion criteria and finished-3-month followup. Body weight, length, fasting glucose, and fasting insulin (FI) levels were measured at 3 days and 3 months. Insulin sensitivity was evaluated by FI and homeostasis model assessment (HOMA). Results. According to the change of weight Z-score, forty-four subjects were divided into two groups: noncatch-up growth (NCUG) and catch-up growth (CUG). By 3 months of age, the body weight, body length and BMI of NCUG group were significantly lower than those of CUG group. The FI and HOMA were significantly higher in NCUG group. The change of weight Z-score during 3 months was inversely related to the HOMA at 3 months. Conclusion. Our data exemplified that no weight catch-up growth during the first 3 months was associated with impaired insulin sensitivity in SGA infants

Measurement-device-independent quantum key distribution with uncharacterized qubit sources

Measurement-device-independent quantum key distribution (MDIQKD) is proposed to be secure against any possible detection attacks. The security of the original proposal relies on the assumption that the legitimate users can fully characterize the encoding systems including sources. Here, we propose a MDIQKD protocol where we allow uncharacterized encoding systems as long as qubit sources are used. A security proof of the MDIQKD protocol is presented that does not need the knowledge of the encoding states. Simulation results show that the scheme is practical