Grasp Stability Assessment Through Attention-Guided Cross-Modality Fusion and Transfer Learning

Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion techniques to combine visual and tactile modalities, resulting in the inadequate utilization of complementary information and the inability to model interactions between unimodal features. This work proposes an attention-guided cross-modality fusion architecture to comprehensively integrate visual and tactile features. This model mainly comprises convolutional neural networks (CNNs), self-attention, and cross-attention mechanisms. In addition, most existing methods collect datasets from real-world systems, which is time-consuming and high-cost, and the datasets collected are comparatively limited in size. This work establishes a robotic grasping system through physics simulation to collect a multimodal dataset. To address the sim-to-real transfer gap, we propose a migration strategy encompassing domain randomization and domain adaptation techniques. The experimental results demonstrate that the proposed fusion framework achieves markedly enhanced prediction performance (approximately 10%) compared to other baselines. Moreover, our findings suggest that the trained model can be reliably transferred to real robotic systems, indicating its potential to address real-world challenges.Comment: Accepted by IROS 202

Zabuye Salt Lake solar pond in Tibet, China: Construction and operational experience

We describe the construction of the Zabuye Salt Lake solar pond and our experience during its operation. The salinity gradient was experimentally determined in the pond, which has a surface area of about 3588 m2, and different conditions and modes of operation. The method for establishing a salinity and temperature gradient can save large amounts of fresh water during the establishment of a temperature and salinity gradient in a solar pond. A technology to control solar pond operation was developed on the basis of our experimental results and is now being used to operate the pond

Comprehensive analysis of SSRs and database construction using all complete gene-coding sequences in major horticultural and representative plants

Simple sequence repeats (SSRs) are one of the most important genetic markers and widely exist in most species. Here, we identified 249,822 SSRs from 3,951,919 genes in 112 plants. Then, we conducted a comprehensive analysis of these SSRs and constructed a plant SSR database (PSSRD). Interestingly, more SSRs were found in lower plants than in higher plants, showing that lower plants needed to adapt to early extreme environments. Four specific enriched functional terms in the lower plant Chlamydomonas reinhardtii were detected when it was compared with seven other higher plants. In addition, Guanylate_cyc existed in more genes of lower plants than of higher plants. In our PSSRD, we constructed an interactive plotting function in the chart interface, and users can easily view the detailed information of SSRs. All SSR information, including sequences, primers, and annotations, can be downloaded from our database. Moreover, we developed Web SSR Finder and Batch SSR Finder tools, which can be easily used for identifying SSRs. Our database was developed using PHP, HTML, JavaScript, and MySQL, which are freely available at http://www.pssrd.info/. We conducted an analysis of the Myb gene families and flowering genes as two applications of the PSSRD. Further analysis indicated that whole-genome duplication and whole-genome triplication played a major role in the expansion of the Myb gene families. These SSR markers in our database will greatly facilitate comparative genomics and functional genomics studies in the future

The Transcription Factor TCF1 Preserves the Effector Function of Exhausted CD8 T Cells During Chronic Viral Infection

The long-term persistence of viral antigens drives virus-specific CD8 T cell exhaustion during chronic viral infection. Yet exhausted, CD8 T cells are still endowed with certain levels of effector function, by which they can keep viral replication in check in chronic infection. However, the regulatory factors involved in regulating the effector function of exhausted CD8 T cell are largely unknown. Using mouse model of chronic LCMV infection, we found that the deletion of transcription factor TCF-1 in LCMV-specific exhausted CD8 T cells led to the profound reduction in cytokine production and degranulation. Conversely, ectopic expression of TCF-1 or using agonist to activate TCF-1 activities promotes the effector function of exhausted CD8 T cells. Mechanistically, TCF-1 fuels the functionalities of exhausted CD8 T cells by promoting the expression of an array of key effector function-associated transcription regulators, including Foxo1, Zeb2, Id3, and Eomes. These results collectively indicate that targeting TCF-1 mediated transcriptional pathway may represent a promising immunotherapy strategy against chronic viral infections by reinvigorating the effector function of exhausted virus-specific CD8 T cells

Deep-ultraviolet photonics for the disinfection of SARS-CoV-2 and its variants (Delta and Omicron) in the cryogenic environment

Deep-ultraviolet (DUV) disinfection technology provides an expeditious and efficient way to suppress the transmission of coronavirus disease 2019 (COVID-19). However, the influences of viral variants (Delta and Omicron) and low temperatures on the DUV virucidal efficacy are still unknown. Here, we developed a reliable and uniform planar light source comprised of 275-nm light-emitting diodes (LEDs) to investigate the effects of these two unknown factors and delineated the principle behind different disinfection performances. We found the lethal effect of DUV at the same radiation dose was reduced by the cryogenic environment, and a negative-U large-relaxation model was used to explain the difference in view of the photoelectronic nature. The chances were higher in the cryogenic environment for the capture of excited electrons within active genetic molecules back to the initial photo-ionised positions. Additionally, the variant of Omicron required a significantly higher DUV dose to achieve the same virucidal efficacy, and this was thanks to the genetic and proteinic characteristics of the Omicron. The findings in this study are important for human society using DUV disinfection in cold conditions (e.g., the food cold chain logistics and the open air in winter), and the relevant DUV disinfection suggestion against COVID-19 is provided

A Meta-Analysis of Array-CGH Studies Implicates Antiviral Immunity Pathways in the Development of Hepatocellular Carcinoma

BACKGROUND: The development and progression of hepatocellular carcinoma (HCC) is significantly correlated to the accumulation of genomic alterations. Array-based comparative genomic hybridization (array CGH) has been applied to a wide range of tumors including HCCs for the genome-wide high resolution screening of DNA copy number changes. However, the relevant chromosomal variations that play a central role in the development of HCC still are not fully elucidated. METHODS: In present study, in order to further characterize the copy number alterations (CNAs) important to HCC development, we conducted a meta-analysis of four published independent array-CGH datasets including total 159 samples. RESULTS: Eighty five significant gains (frequency ≥ 25%) were mostly mapped to five broad chromosomal regions including 1q, 6p, 8q, 17q and 20p, as well as two narrow regions 5p15.33 and 9q34.2-34.3. Eighty eight significant losses (frequency ≥ 25%) were most frequently present in 4q, 6q, 8p, 9p, 13q, 14q, 16q, and 17p. Significant correlations existed between chromosomal aberrations either located on the same chromosome or the different chromosomes. HCCs with different etiologies largely exhibited surprisingly similar profiles of chromosomal aberrations with only a few exceptions. Furthermore, the Kyoto Encyclopedia of Genes and Genomes (KEGG) pathway analysis indicated that the genes affected by these chromosomal aberrations were significantly enriched in 31 canonical pathways with the highest enrichment observed for antiviral immunity pathways. CONCLUSIONS: Taken together, our findings provide novel and important clues for the implications of antiviral immunity-related gene pathways in the pathogenesis and progression of HCC

Experimental Study on the Road Performance of Phosphogypsum-Modified Lime-Fly Ash Stabilized Red Clay

To assess the impact of solid waste phosphogypsum on the road performance of lime-fly ash-stabilized red clay, we conducted comprehensive tests on the road performance, swelling and shrinkage characteristics, and mechanical properties of lime-fly ash soil with varying phosphogypsum content and curing age. Additionally, we analyzed the microstructure and composition changes using scanning electron microscopy and X-ray diffraction tests. The results revealed that phosphogypsum significantly enhances the early strength and moisture stability of lime-fly ash soil. The mechanical properties of lime-fly ash soil continue to improve with increased curing age, with performance improvements tapering off after 60 days and eventually stabilizing. Moreover, as the phosphogypsum content increases, the unconfined compressive strength (UCS), splitting strength, and CBR value of the lime-fly ash soil initially increase and then decrease. The optimal mixing ratio was determined to be 4% phosphogypsum, resulting in a 7-day UCS increase of 67.2%, a 28-day UCS increase of 3 times, and a 28-day splitting strength increase of 4.3 times. The moisture stability coefficient also exhibited a 43% increase after 7 days, and its anti-disintegration ability was enhanced, reaching 0.91 after 28 days, which meets the specified standards. Microscopic analysis revealed that the addition of phosphogypsum improved the overall integrity of the lime-fly ash soil, and the formation of ettringite effectively filled the soil’s pores. However, excessive ettringite caused increased expansion and deformation. To optimize the use of phosphogypsum-modified lime-fly ash-stabilized red clay as subgrade filler, it is advisable to incorporate additives to further reduce swelling deformation

Fall perception for elderly care: A fall detection algorithm in Smart Wristlet mHealth system

Mobile Health (mHealth) is expected to play a special role in today and the future healthcare delivery. Based on this trend, we design a Smart Wristlet mHealth system with mobile interface. The designed Smart Wristlet is dedicated to offer real-time alert for elderly fall, which is the most important when population ageing is becoming. In the Smart Wristlet mHealth system, fall detection is the 'bottleneck' of the system operation. To remove this bottleneck away, we propose a fall perception solution for elderly care. In this proposal, we abstract and construct primitive-based features from raw data collected by the Smart Wristlet mHealth system, in which the most valuable features can be selected by using a TF-IDF (Term Frequency-Inverse Document Frequency) metric. In reality, these selected features are the most effective to perform fall detection. Our system tests and clinical trials demonstrate that this proposal is eligible to turn the Smart Wristlet mHealth system into a real solution for elderly care. Results show that the recognition precision and recall can reach 93% and 88%, respectively. Compared with existing solutions, the gain from our proposal is an efficient prevention method for elderly fall, and can save more than 800 million dollars per year at today's socio-economic level. ? 2014 IEEE.EI