A New Class of Multiple-rate Codes Based on Block Markov Superposition Transmission

Hadamard transform~(HT) as over the binary field provides a natural way to implement multiple-rate codes~(referred to as {\em HT-coset codes}), where the code length $N=2^p$ is fixed but the code dimension $K$ can be varied from $1$ to $N-1$ by adjusting the set of frozen bits. The HT-coset codes, including Reed-Muller~(RM) codes and polar codes as typical examples, can share a pair of encoder and decoder with implementation complexity of order $O(N \log N)$. However, to guarantee that all codes with designated rates perform well, HT-coset coding usually requires a sufficiently large code length, which in turn causes difficulties in the determination of which bits are better for being frozen. In this paper, we propose to transmit short HT-coset codes in the so-called block Markov superposition transmission~(BMST) manner. At the transmitter, signals are spatially coupled via superposition, resulting in long codes. At the receiver, these coupled signals are recovered by a sliding-window iterative soft successive cancellation decoding algorithm. Most importantly, the performance around or below the bit-error-rate~(BER) of $10^{-5}$ can be predicted by a simple genie-aided lower bound. Both these bounds and simulation results show that the BMST of short HT-coset codes performs well~(within one dB away from the corresponding Shannon limits) in a wide range of code rates

Indocyanine Green-Loaded Polydopamine-Reduced Graphene Oxide Nanocomposites with Amplifying Photoacoustic and Photothermal Effects for Cancer Theranostics

Photoacoustic (PA) imaging and photothermal therapy (PTT) as light-induced theranostic platforms have been attracted much attention in recent years. However, the development of highly efficient and integrated phototheranostic nanoagents for amplifying PA imaging and PTT treatments poses great challenges. Here, we report a novel phototheranostic nanoagent using indocyanine green-loaded polydopamine-reduced graphene oxide nanocomposites (ICG-PDA-rGO) with amplifying PA and PTT effects for cancer theranostics. The results demonstrate that the PDA layer coating on the surface of rGO could effectively absorb a large number of ICG molecules, quench ICG's fluorescence, and enhance the PDA-rGO's optical absorption at 780 nm. The obtained ICG-PDA-rGO exhibits stronger PTT effect and higher PA contrast than that of pure GO and PDA-rGO. After PA imaging-guided PTT treatments, the tumors in 4T1 breast subcutaneous and orthotopic mice models are suppressed completely and no treatment-induced toxicity being observed. It illustrates that the ICG-PDA-rGO nanocomposites constitute a new class of theranostic nanomedicine for amplifying PA imaging and PTT treatments

Intrachromosomal Looping Is Required for Activation of Endogenous Pluripotency Genes during Reprogramming

SummaryGeneration of induced pluripotent stem cells (iPSCs) by defined factors is an extremely inefficient process, because there is a strong epigenetic block preventing cells from achieving pluripotency. Here we report that virally expressed factors bound to the promoters of their target genes to the same extent in both iPSCs and unreprogrammed cells (URCs). However, expression of endogenous pluripotentcy genes was observed only in iPSCs. Comparison of local chromatin structure of the OCT4 locus revealed that there was a cohesin-complex-mediated intrachromosomal loop that juxtaposes a downstream enhancer to the gene’s promoter, enabling activation of endogenous stemness genes. None of these long-range interactions were observed in URCs. Knockdown of the cohesin-complex gene SMC1 by RNAi abolished the intrachromosomal interaction and affected pluripotency. These findings highlight the importance of the SMC1-orchestrated intrachromosomal loop as a critical epigenetic barrier to the induction of pluripotency

PyPose: A Library for Robot Learning with Physics-based Optimization

Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physics-based optimization generalizes better, but it does not perform as well in complicated tasks due to the lack of high-level semantic information and the reliance on manual parametric tuning. To take advantage of these two complementary worlds, we present PyPose: a robotics-oriented, PyTorch-based library that combines deep perceptual models with physics-based optimization techniques. Our design goal for PyPose is to make it user-friendly, efficient, and interpretable with a tidy and well-organized architecture. Using an imperative style interface, it can be easily integrated into real-world robotic applications. Besides, it supports parallel computing of any order gradients of Lie groups and Lie algebras and $2^{\text{nd}}$-order optimizers, such as trust region methods. Experiments show that PyPose achieves 3-20$\times$ speedup in computation compared to state-of-the-art libraries. To boost future research, we provide concrete examples across several fields of robotics, including SLAM, inertial navigation, planning, and control

PyPose v0.6: The Imperative Programming Interface for Robotics

PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has been used in many tasks due to its meticulously designed application programming interface (API) and efficient implementation. From its initial launch in early 2022, PyPose has experienced significant enhancements, incorporating a wide variety of new features into its platform. To satisfy the growing demand for understanding and utilizing the library and reduce the learning curve of new users, we present the fundamental design principle of the imperative programming interface, and showcase the flexible usage of diverse functionalities and modules using an extremely simple Dubins car example. We also demonstrate that the PyPose can be easily used to navigate a real quadruped robot with a few lines of code

Controlling Vehicular Emissions in Beijing During the Last Decade

The vehicle population of Beijing is sharply increasing at an average annual rate of 14.5%, causing severe transportation and environmental problems. The Beijing municipal government and the public have worked hard to control vehicular emissions since 1995. Strategies and measures have been introduced to regulate land use and traffic planning, emission control of in-use vehicles and new vehicles, fuel quality improvement, introduction of clean fuel vehicle technology and fiscal incentives. New development plans for Beijing will change the transportation structure by encouraging public transportation. For in-use vehicles, the I/M program has employed ASM tests since early 2003 and the government has encouraged the retirement of high-emission vehicles. For new vehicles, Beijing introduced Euro 1 and Euro 2 emission standards in early 1999 and 2003, respectively. It is also confirmed that Euro 3 standards will be introduced in 2005. At the same time, the fuel quality in Beijing was improved significantly, by banning lead and reducing sulfur among other changes. CNG and LPG were introduced in 1999 and are used in buses and taxis. Today Beijing has the largest CNG bus fleet in the world with more than 2000 dedicated CNG buses. Beijing has also focused on fiscal incentives such as tax deductions for new vehicles meeting enhanced emission standards to encourage their sales. These strategies and measures have had an impact on the control of vehicular emissions. Despite the rapid increase of the vehicle population by 60% between 1998 and 2003, total vehicular emissions have not increased. With the enhancement of vehicular emission control, the air quality in Beijing is improving as the city strives to its goal for a “Green Olympics”

Controlling vehicular emissions in Beijing during the last decade

The vehicle population of Beijing is sharply increasing at an average annual rate of 14.5%, causing severe transportation and environmental problems. The Beijing municipal government and the public have worked hard to control vehicular emissions since 1995. Strategies and measures have been introduced to regulate land use and traffic planning, emission control of in-use vehicles and new vehicles, fuel quality improvement, introduction of clean fuel vehicle technology and fiscal incentives. New development plans for Beijing will change the transportation structure by encouraging public transportation. For in-use vehicles, the I/M program has employed ASM tests since early 2003 and the government has encouraged the retirement of high-emission vehicles. For new vehicles, Beijing introduced Euro 1 and Euro 2 emission standards in early 1999 and 2003, respectively. It is also confirmed that Euro 3 standards will be introduced in 2005. At the same time, the fuel quality in Beijing was improved significantly, by banning lead and reducing sulfur among other changes. CNG and LPG were introduced in 1999 and are used in buses and taxis. Today Beijing has the largest CNG bus fleet in the world with more than 2000 dedicated CNG buses. Beijing has also focused on fiscal incentives such as tax deductions for new vehicles meeting enhanced emission standards to encourage their sales. These strategies and measures have had an impact on the control of vehicular emissions. Despite the rapid increase of the vehicle population by 60% between 1998 and 2003, total vehicular emissions have not increased. With the enhancement of vehicular emission control, the air quality in Beijing is improving as the city strives to its goal for a "Green Olympics".